diff --git a/blenderobj_eval/target/scene_000008__traj001__bullettime_early/caption.txt b/blenderobj_eval/target/scene_000008__traj001__bullettime_early/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..991fd2ac570efbea532cf8918bec15370ec5b588 --- /dev/null +++ b/blenderobj_eval/target/scene_000008__traj001__bullettime_early/caption.txt @@ -0,0 +1 @@ +A modern dining room with a long table and chairs, illuminated by hanging pendant lights, features various objects—including books, a bottle, and a box—suspended in mid-air, seemingly defying gravity, while the room's wooden paneling and glass partitions create a sleek, contemporary ambiance. A high orbital camera move. The camera tracks along a smooth arc at a steep elevation of 58°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It looks down on the objects from well above them, so the shot reads as a near-overhead orbit in which the supporting surface fills much of the frame and the objects turn beneath the camera. The motion of the scene is frozen at an early moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000008__traj001__bullettime_early/extras/blender_meta.json b/blenderobj_eval/target/scene_000008__traj001__bullettime_early/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47fabc6da21d1f1910e9bd4ab9101373ba428374 --- /dev/null +++ b/blenderobj_eval/target/scene_000008__traj001__bullettime_early/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000008", + "trajectory_index": 1, + "trajectory_id": "T2", + "trajectory_name": "high_polar_arc", + "pattern": "bullettime_10", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 10, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 10, + 10 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "timestamps": [ + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333 + ], + "timestamp_range": [ + 0.333333333, + 0.333333333 + ], + "scene_time_span_seconds": 0.0, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000008__traj001__bullettime_early/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000008__traj001__bullettime_early/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..0b3cd3d477d4280c8036a573647c9be59ac55840 --- /dev/null +++ b/blenderobj_eval/target/scene_000008__traj001__bullettime_early/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "bullettime_early", + "original_pattern": "bullettime_10", + "trajectory": { + "dir": "traj001", + "index": 1, + "id": "T2", + "name": "high_polar_arc" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10 + ], + "timestamps_seconds": [ + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.333333333, + 0.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000008__traj001__bullettime_early/transforms.json b/blenderobj_eval/target/scene_000008__traj001__bullettime_early/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a0b472559e166d31f596ccb3adcd843a1945a3c7 --- /dev/null +++ b/blenderobj_eval/target/scene_000008__traj001__bullettime_early/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + -0.7200561165809631, + -0.588473916053772, + 0.3677193522453308, + -1.2648069858551025 + ], + [ + -0.6939157843589783, + 0.6106421947479248, + -0.3815716505050659, + -2.215799570083618 + ], + [ + 2.1557372775760086e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.7026969790458679, + -0.6033769845962524, + 0.3770318329334259, + -1.2778445482254028 + ], + [ + -0.7114891409873962, + 0.5959208607673645, + -0.37237265706062317, + -2.2286782264709473 + ], + [ + -6.78349891813923e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.6849091649055481, + -0.6179121136665344, + 0.38611435890197754, + -1.2905601263046265 + ], + [ + -0.7286286354064941, + 0.5808358788490295, + -0.3629465401172638, + -2.241874933242798 + ], + [ + 1.378608160962358e-08, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.666702926158905, + -0.6320700645446777, + 0.39496126770973206, + -1.3029457330703735 + ], + [ + -0.7453234195709229, + 0.5653961300849915, + -0.35329878330230713, + -2.2553815841674805 + ], + [ + -1.9847531618211178e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.6480903625488281, + -0.6458421945571899, + 0.4035671055316925, + -1.314993977546692 + ], + [ + -0.761563241481781, + 0.5496118068695068, + -0.3434355854988098, + -2.2691900730133057 + ], + [ + -6.686126141630666e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.6290823221206665, + -0.6592207551002502, + 0.4119267463684082, + -1.3266974687576294 + ], + [ + -0.7773388028144836, + 0.5334920883178711, + -0.33336275815963745, + -2.283292055130005 + ], + [ + 4.426475186392054e-09, + -0.5299192070960999, + -0.8480481505393982, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.6096901297569275, + -0.6721965074539185, + 0.42003506422042847, + -1.3380491733551025 + ], + [ + -0.7926396131515503, + 0.5170466303825378, + -0.3230865001678467, + -2.2976787090301514 + ], + [ + -1.3454048541916563e-07, + -0.5299192070960999, + -0.8480481505393982, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.58992600440979, + -0.6847624182701111, + 0.4278870224952698, + -1.3490419387817383 + ], + [ + -0.8074570298194885, + 0.5002856254577637, + -0.31261318922042847, + -2.3123414516448975 + ], + [ + -6.5766467827188535e-09, + -0.5299191474914551, + -0.8480481505393982, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.5698020458221436, + -0.6969103813171387, + 0.43547797203063965, + -1.3596692085266113 + ], + [ + -0.8217816948890686, + 0.4832195043563843, + -0.3019491732120514, + -2.3272712230682373 + ], + [ + -1.3072535054448053e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.549330472946167, + -0.708633303642273, + 0.4428032338619232, + -1.369924545288086 + ], + [ + -0.8356050848960876, + 0.46585866808891296, + -0.2911008298397064, + -2.342458724975586 + ], + [ + -4.22718571257974e-09, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.528523862361908, + -0.7199237942695618, + 0.44985827803611755, + -1.379801630973816 + ], + [ + -0.8489185571670532, + 0.4482136368751526, + -0.28007495403289795, + -2.3578951358795166 + ], + [ + 3.961212158287708e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.5073944330215454, + -0.7307749390602112, + 0.45663881301879883, + -1.3892943859100342 + ], + [ + -0.8617140054702759, + 0.43029487133026123, + -0.26887810230255127, + -2.373570680618286 + ], + [ + 6.092181337180591e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.48595577478408813, + -0.7411802411079407, + 0.46314072608947754, + -1.3983969688415527 + ], + [ + -0.8739836812019348, + 0.41211390495300293, + -0.2575172483921051, + -2.3894760608673096 + ], + [ + 6.17384046108782e-08, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.4642203450202942, + -0.7511330842971802, + 0.4693600535392761, + -1.4071040153503418 + ], + [ + -0.885719895362854, + 0.39368119835853577, + -0.24599920213222504, + -2.4056012630462646 + ], + [ + -3.777942225724473e-08, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.44220104813575745, + -0.760627806186676, + 0.4752928912639618, + -1.4154101610183716 + ], + [ + -0.8969157934188843, + 0.375007688999176, + -0.23433099687099457, + -2.421936511993408 + ], + [ + 1.2437861585112842e-07, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.41991278529167175, + -0.7696583271026611, + 0.48093587160110474, + -1.4233102798461914 + ], + [ + -0.9075644612312317, + 0.3561062216758728, + -0.22251993417739868, + -2.438472032546997 + ], + [ + 5.4059626108937664e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.39736807346343994, + -0.7782192230224609, + 0.48628532886505127, + -1.4307994842529297 + ], + [ + -0.9176592826843262, + 0.3369871973991394, + -0.21057306230068207, + -2.455197811126709 + ], + [ + 7.902606569132331e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.3745808005332947, + -0.7863051295280457, + 0.4913380444049835, + -1.437873363494873 + ], + [ + -0.9271940588951111, + 0.3176625072956085, + -0.19849766790866852, + -2.4721033573150635 + ], + [ + 5.053312435165935e-09, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.3515654504299164, + -0.7939116358757019, + 0.4960910379886627, + -1.4445273876190186 + ], + [ + -0.9361634254455566, + 0.2981444299221039, + -0.18630124628543854, + -2.489178419113159 + ], + [ + -2.2196603666202464e-08, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.32833489775657654, + -0.8010334968566895, + 0.5005412101745605, + -1.4507577419281006 + ], + [ + -0.9445613622665405, + 0.27844375371932983, + -0.17399102449417114, + -2.5064125061035156 + ], + [ + 7.099843912783399e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.30490437150001526, + -0.8076665997505188, + 0.5046861171722412, + -1.456560492515564 + ], + [ + -0.9523830413818359, + 0.25857359170913696, + -0.16157467663288116, + -2.5237953662872314 + ], + [ + 3.532933945393779e-09, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.2812874913215637, + -0.8138068914413452, + 0.5085229277610779, + -1.4619321823120117 + ], + [ + -0.9596234560012817, + 0.2385452687740326, + -0.14905975759029388, + -2.541316270828247 + ], + [ + 8.882907565066489e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.25749897956848145, + -0.8194505572319031, + 0.5120494961738586, + -1.4668693542480469 + ], + [ + -0.9662783145904541, + 0.2183714509010315, + -0.13645385205745697, + -2.558964490890503 + ], + [ + 1.0538747119426262e-07, + -0.5299191474914551, + -0.8480481505393982, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.2335537225008011, + -0.824594259262085, + 0.5152637362480164, + -1.4713692665100098 + ], + [ + -0.9723438024520874, + 0.19806472957134247, + -0.12376473844051361, + -2.5767292976379395 + ], + [ + 7.291248493856983e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.2094661146402359, + -0.8292350172996521, + 0.5181635022163391, + -1.4754289388656616 + ], + [ + -0.9778159856796265, + 0.17763735353946686, + -0.11100009083747864, + -2.594599962234497 + ], + [ + -2.964783973880003e-09, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.1852501928806305, + -0.8333694934844971, + 0.5207470059394836, + -1.4790458679199219 + ], + [ + -0.9826912879943848, + 0.15710103511810303, + -0.09816773235797882, + -2.612565279006958 + ], + [ + 6.15960757954781e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.16092140972614288, + -0.8369956016540527, + 0.5230128765106201, + -1.4822181463241577 + ], + [ + -0.986967146396637, + 0.1364690512418747, + -0.08527545630931854, + -2.6306142807006836 + ], + [ + 7.314380923162389e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.1364945024251938, + -0.8401110768318176, + 0.5249596238136292, + -1.4849435091018677 + ], + [ + -0.9906408190727234, + 0.11575387418270111, + -0.07233111560344696, + -2.6487364768981934 + ], + [ + 4.953377796823588e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.1119842454791069, + -0.8427137732505798, + 0.5265859961509705, + -1.4872205257415771 + ], + [ + -0.9937098622322083, + 0.09496795386075974, + -0.05934276059269905, + -2.6669201850891113 + ], + [ + 1.0429194929884034e-07, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.08740588277578354, + -0.8448024392127991, + 0.5278911590576172, + -1.489047646522522 + ], + [ + -0.9961727857589722, + 0.07412438839673996, + -0.04631805792450905, + -2.685154676437378 + ], + [ + 1.0427191554640558e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.06277402490377426, + -0.846375584602356, + 0.5288741588592529, + -1.4904237985610962 + ], + [ + -0.9980278015136719, + 0.05323540046811104, + -0.033265143632888794, + -2.7034287452697754 + ], + [ + 8.006093565882111e-09, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.038103606551885605, + -0.8474321961402893, + 0.5295343995094299, + -1.491348147392273 + ], + [ + -0.9992737770080566, + 0.032313667237758636, + -0.020191876217722893, + -2.721731424331665 + ], + [ + 3.0907287396075844e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + -0.013410327024757862, + -0.8479717969894409, + 0.5298715829849243, + -1.491820216178894 + ], + [ + -0.9999099969863892, + 0.011372626759111881, + -0.00710637029260397, + -2.740051031112671 + ], + [ + -6.4419360512602e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.011291240341961384, + -0.8479940295219421, + 0.5298854112625122, + -1.4918396472930908 + ], + [ + -0.9999362230300903, + -0.009575516916811466, + 0.00598343787714839, + -2.7583768367767334 + ], + [ + -1.7580177313902823e-09, + -0.5299192070960999, + -0.8480481505393982, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.03598610311746597, + -0.8474988341331482, + 0.5295760035514832, + -1.4914064407348633 + ], + [ + -0.9993522763252258, + -0.03051798604428768, + 0.019069664180278778, + -2.7766976356506348 + ], + [ + 6.818552122922483e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.06065899878740311, + -0.8464863300323486, + 0.5289434194564819, + -1.4905208349227905 + ], + [ + -0.9981584548950195, + -0.05144181102514267, + 0.03214424103498459, + -2.795001983642578 + ], + [ + 9.161355762898893e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.08529474586248398, + -0.8449575304985046, + 0.527988076210022, + -1.4891834259033203 + ], + [ + -0.9963556528091431, + -0.07233410328626633, + 0.045199211686849594, + -2.813278913497925 + ], + [ + 8.060321476932586e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.10987832397222519, + -0.8429131507873535, + 0.5267106294631958, + -1.48739492893219 + ], + [ + -0.9939450025558472, + -0.09318210184574127, + 0.05822662264108658, + -2.831517219543457 + ], + [ + -9.601967221328778e-09, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.13439498841762543, + -0.8403544425964355, + 0.525111734867096, + -1.4851564168930054 + ], + [ + -0.9909278154373169, + -0.11397339403629303, + 0.07121850550174713, + -2.849705934524536 + ], + [ + -4.266579622935751e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.1588296890258789, + -0.8372830152511597, + 0.5231924653053284, + -1.4824694395065308 + ], + [ + -0.9873059988021851, + -0.13469523191452026, + 0.08416689932346344, + -2.8678336143493652 + ], + [ + 2.0890968954745404e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.18316741287708282, + -0.8337005972862244, + 0.5209539532661438, + -1.4793355464935303 + ], + [ + -0.9830817580223083, + -0.15533477067947388, + 0.09706395864486694, + -2.8858895301818848 + ], + [ + -1.0197695132774243e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.20739321410655975, + -0.8296096324920654, + 0.5183975696563721, + -1.4757565259933472 + ], + [ + -0.9782577157020569, + -0.1758793741464615, + 0.10990174114704132, + -2.903862476348877 + ], + [ + -5.632252708664964e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.23149290680885315, + -0.82501220703125, + 0.5155248641967773, + -1.4717347621917725 + ], + [ + -0.9728366136550903, + -0.19631712138652802, + 0.12267253547906876, + -2.921741485595703 + ], + [ + 1.769575774801524e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.2554510831832886, + -0.819911539554596, + 0.5123375654220581, + -1.4672726392745972 + ], + [ + -0.9668219685554504, + -0.21663479506969452, + 0.1353684812784195, + -2.9395158290863037 + ], + [ + -4.318281554560599e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.27925336360931396, + -0.814310610294342, + 0.5088377594947815, + -1.4623727798461914 + ], + [ + -0.9602174758911133, + -0.2368202805519104, + 0.14798173308372498, + -2.95717453956604 + ], + [ + 9.67621360814519e-09, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.30288538336753845, + -0.8082127571105957, + 0.5050274133682251, + -1.4570382833480835 + ], + [ + -0.9530270099639893, + -0.2568614184856415, + 0.1605047583580017, + -2.9747066497802734 + ], + [ + 8.346999891273299e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.32633256912231445, + -0.801621675491333, + 0.5009087920188904, + -1.4512723684310913 + ], + [ + -0.9452549815177917, + -0.2767457664012909, + 0.17292985320091248, + -2.9921019077301025 + ], + [ + 3.952956717512279e-08, + -0.5299192070960999, + -0.8480481505393982, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.3495804965496063, + -0.794541597366333, + 0.4964846968650818, + -1.4450786113739014 + ], + [ + -0.9369062781333923, + -0.2964611053466797, + 0.18524938821792603, + -3.0093493461608887 + ], + [ + 4.6003975739949965e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.37261512875556946, + -0.78697669506073, + 0.49175769090652466, + -1.4384607076644897 + ], + [ + -0.9279859662055969, + -0.31599554419517517, + 0.19745594263076782, + -3.0264384746551514 + ], + [ + 8.688276764701186e-09, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.39542269706726074, + -0.7789314985275269, + 0.4867304861545563, + -1.4314227104187012 + ], + [ + -0.918499231338501, + -0.33533748984336853, + 0.20954208076000214, + -3.04335880279541 + ], + [ + 2.6008185827208763e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.417988657951355, + -0.7704111933708191, + 0.4814063608646393, + -1.4239689111709595 + ], + [ + -0.9084522724151611, + -0.3544744551181793, + 0.22150026261806488, + -3.0601003170013428 + ], + [ + -1.3383592900595431e-08, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.44029977917671204, + -0.7614206075668335, + 0.4757884442806244, + -1.4161038398742676 + ], + [ + -0.897850751876831, + -0.3733954131603241, + 0.23332324624061584, + -3.0766525268554688 + ], + [ + 4.111175400112188e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.46234217286109924, + -0.7519655823707581, + 0.46988028287887573, + -1.407832384109497 + ], + [ + -0.8867015838623047, + -0.3920884132385254, + 0.24500396847724915, + -3.093005657196045 + ], + [ + 7.649988731373014e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.48410239815711975, + -0.7420516610145569, + 0.46368545293807983, + -1.399159550666809 + ], + [ + -0.8750113844871521, + -0.4105421304702759, + 0.256535142660141, + -3.109149217605591 + ], + [ + 7.708199234457425e-08, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.5055672526359558, + -0.7316849827766418, + 0.4572075605392456, + -1.3900905847549438 + ], + [ + -0.862787127494812, + -0.4287453591823578, + 0.26790979504585266, + -3.1250736713409424 + ], + [ + 1.3499147577533677e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.5267236232757568, + -0.7208718657493591, + 0.4504508078098297, + -1.3806310892105103 + ], + [ + -0.8500365614891052, + -0.4466869831085205, + 0.27912095189094543, + -3.1407694816589355 + ], + [ + 5.3721354476010674e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.547558605670929, + -0.7096189260482788, + 0.4434191584587097, + -1.3707867860794067 + ], + [ + -0.836767315864563, + -0.464356005191803, + 0.2901619076728821, + -3.156226634979248 + ], + [ + -1.3609518845214552e-08, + -0.5299193263053894, + -0.8480480313301086, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.5680595636367798, + -0.6979328989982605, + 0.43611690402030945, + -1.3605637550354004 + ], + [ + -0.82298743724823, + -0.48174187541007996, + 0.3010256588459015, + -3.171435832977295 + ], + [ + 5.2584478993367156e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.5882138013839722, + -0.6858211159706116, + 0.4285486340522766, + -1.3499680757522583 + ], + [ + -0.8087054491043091, + -0.4988335967063904, + 0.3117057979106903, + -3.1863882541656494 + ], + [ + 1.8833802073459083e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.6080091595649719, + -0.6732907891273499, + 0.42071884870529175, + -1.3390063047409058 + ], + [ + -0.7939299941062927, + -0.5156210064888, + 0.32219579815864563, + -3.2010741233825684 + ], + [ + -1.184018749711413e-08, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.6274335384368896, + -0.6603497266769409, + 0.4126323163509369, + -1.3276852369308472 + ], + [ + -0.7786701321601868, + -0.53209388256073, + 0.33248913288116455, + -3.215484857559204 + ], + [ + 4.851885648804455e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.6464750170707703, + -0.6470057368278503, + 0.4042940139770508, + -1.316011667251587 + ], + [ + -0.7629351615905762, + -0.548241913318634, + 0.34257954359054565, + -3.229611396789551 + ], + [ + -1.5657832364013302e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.6651221513748169, + -0.6332668662071228, + 0.3957090377807617, + -1.3039926290512085 + ], + [ + -0.7467345595359802, + -0.5640556216239929, + 0.3524610102176666, + -3.24344539642334 + ], + [ + 3.099583523180627e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.6833633780479431, + -0.6191416382789612, + 0.3868826627731323, + -1.2916356325149536 + ], + [ + -0.7300784587860107, + -0.5795249938964844, + 0.3621274530887604, + -3.2569785118103027 + ], + [ + 2.6928262286674e-08, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.7011876106262207, + -0.6046386361122131, + 0.37782013416290283, + -1.278948187828064 + ], + [ + -0.7129768133163452, + -0.594640851020813, + 0.3715728521347046, + -3.2702019214630127 + ], + [ + -2.2840946911628635e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.7185841202735901, + -0.5897665619850159, + 0.36852705478668213, + -1.2659379243850708 + ], + [ + -0.6954399943351746, + -0.6093939542770386, + 0.38079148530960083, + -3.2831082344055176 + ], + [ + 4.830311439718571e-08, + -0.5299192070960999, + -0.8480481505393982, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.7355420589447021, + -0.5745348334312439, + 0.3590092360973358, + -1.252612829208374 + ], + [ + -0.677479088306427, + -0.6237750053405762, + 0.38977792859077454, + -3.295689105987549 + ], + [ + 9.419315105674286e-09, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.7520512342453003, + -0.5589523911476135, + 0.3492722511291504, + -1.2389811277389526 + ], + [ + -0.6591046452522278, + -0.6377756595611572, + 0.3985263705253601, + -3.307936906814575 + ], + [ + 2.7863229945523926e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.7681014537811279, + -0.5430291295051575, + 0.33932220935821533, + -1.2250510454177856 + ], + [ + -0.6403281688690186, + -0.6513869166374207, + 0.407031774520874, + -3.3198444843292236 + ], + [ + -4.114783536124378e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.7836831212043762, + -0.5267742276191711, + 0.3291650414466858, + -1.2108310461044312 + ], + [ + -0.6211608052253723, + -0.6646009683609009, + 0.4152888059616089, + -3.331404209136963 + ], + [ + -4.7211457854245964e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.7987865805625916, + -0.5101980566978455, + 0.31880712509155273, + -1.196329951286316 + ], + [ + -0.6016145348548889, + -0.6774094104766846, + 0.42329245805740356, + -3.342609405517578 + ], + [ + -2.312517821678739e-08, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.8134025931358337, + -0.4933105707168579, + 0.3082546591758728, + -1.1815564632415771 + ], + [ + -0.5817011594772339, + -0.6898044943809509, + 0.4310377240180969, + -3.353452682495117 + ], + [ + 7.895906151134113e-12, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.827522337436676, + -0.47612202167510986, + 0.29751402139663696, + -1.1665196418762207 + ], + [ + -0.5614327788352966, + -0.7017787098884583, + 0.43852004408836365, + -3.3639280796051025 + ], + [ + -4.267432629490031e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.8411371111869812, + -0.45864295959472656, + 0.28659194707870483, + -1.1512287855148315 + ], + [ + -0.54082190990448, + -0.7133247256278992, + 0.44573476910591125, + -3.3740286827087402 + ], + [ + 1.4360418632008987e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.8542386293411255, + -0.44088414311408997, + 0.2754950225353241, + -1.1356929540634155 + ], + [ + -0.5198810696601868, + -0.7244354486465454, + 0.45267748832702637, + -3.3837485313415527 + ], + [ + 2.3801133508527528e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.8668190240859985, + -0.4228561818599701, + 0.2642298936843872, + -1.1199219226837158 + ], + [ + -0.4986228942871094, + -0.7351042032241821, + 0.45934411883354187, + -3.3930816650390625 + ], + [ + -1.2841692154097473e-09, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.87887042760849, + -0.4045703411102295, + 0.25280359387397766, + -1.1039249897003174 + ], + [ + -0.47706058621406555, + -0.7453243732452393, + 0.46573036909103394, + -3.40202260017395 + ], + [ + 1.1131473520720192e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.8903855085372925, + -0.3860376179218292, + 0.2412230372428894, + -1.087712287902832 + ], + [ + -0.4552071988582611, + -0.7550897598266602, + 0.47183239459991455, + -3.4105653762817383 + ], + [ + -1.8094489462328056e-08, + -0.5299192070960999, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.9013574123382568, + -0.36726927757263184, + 0.2294953465461731, + -1.0712934732437134 + ], + [ + -0.43307602405548096, + -0.7643944025039673, + 0.47764670848846436, + -3.4187052249908447 + ], + [ + 1.509890878992337e-08, + -0.5299193263053894, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.9117792844772339, + -0.34827688336372375, + 0.21762752532958984, + -1.0546785593032837 + ], + [ + -0.4106805622577667, + -0.7732326984405518, + 0.4831693172454834, + -3.4264371395111084 + ], + [ + -2.6736288738504754e-09, + -0.5299192070960999, + -0.8480481505393982, + 2.4095375537872314 + ], + [ + 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": [ + [ + 0.9216448664665222, + -0.32907187938690186, + 0.2056269645690918, + -1.0378777980804443 + ], + [ + -0.38803449273109436, + -0.7815991640090942, + 0.4883973300457001, + -3.4337563514709473 + ], + [ + 1.9111965343654447e-08, + -0.5299192667007446, + -0.8480480909347534, + 2.4095375537872314 + ], + [ + 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_000045__traj002__bullettime_early/caption.txt b/blenderobj_eval/target/scene_000045__traj002__bullettime_early/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..5bcc6fb072ad348823d95d52c7c1741b59b53cb3 --- /dev/null +++ b/blenderobj_eval/target/scene_000045__traj002__bullettime_early/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 weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. The motion of the scene is frozen at an early moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000045__traj002__bullettime_early/extras/blender_meta.json b/blenderobj_eval/target/scene_000045__traj002__bullettime_early/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aae6847b449ccdb26adeba41cd395193f964093a --- /dev/null +++ b/blenderobj_eval/target/scene_000045__traj002__bullettime_early/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000045", + "trajectory_index": 2, + "trajectory_id": "T4", + "trajectory_name": "spherical_figure_eight", + "pattern": "bullettime_10", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 10, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 10, + 10 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "timestamps": [ + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333 + ], + "timestamp_range": [ + 0.333333333, + 0.333333333 + ], + "scene_time_span_seconds": 0.0, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10 + ], + "written_at": "2026-09-17T14:34:27" +} \ No newline at end of file diff --git a/dycheck_eval/target/block__camera_2/rgb_video/00048.png b/dycheck_eval/target/block__camera_2/rgb_video/00048.png new file mode 100644 index 0000000000000000000000000000000000000000..1f990d88140db1b63312eb45379c906d46791140 --- /dev/null +++ b/dycheck_eval/target/block__camera_2/rgb_video/00048.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbf760b64db3258df4d182e5fc9b77c35fa79f755e0fffd9c4526cb0fe09afe5 +size 508641 diff --git a/dycheck_eval/target/block__camera_2/rgb_video/00249.png b/dycheck_eval/target/block__camera_2/rgb_video/00249.png new file mode 100644 index 0000000000000000000000000000000000000000..0c2755a546051de835f616b932576aff92473675 --- /dev/null +++ b/dycheck_eval/target/block__camera_2/rgb_video/00249.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35c07eabdd128e8d61a7d105113badc1014bfe4fded3ff1934e0d93ebd447094 +size 557151 diff --git a/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/boom_down/transforms.json b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1aa939cb4bbf2282778bdc5784d3cc832fc88065 --- /dev/null +++ b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/boom_down/transforms.json @@ -0,0 +1,2918 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 83, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0296749763938351e-07, + 3.9372025639750063e-05, + -4.9055423005484045e-05 + ], + [ + -9.60969757102248e-08, + 1.0, + -0.0001745025219861418, + 0.0002419097872916609 + ], + [ + -3.937204019166529e-05, + 0.0001745025219861418, + 1.0, + 6.51580048725009e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999929070472717, + 0.0012096739374101162, + 0.00356945488601923, + 0.008366918188474345 + ], + [ + -0.0012147531379014254, + 0.9999982714653015, + 0.0014211328234523535, + 0.005294510149737684 + ], + [ + -0.0035677296109497547, + -0.0014254588168114424, + 0.9999926090240479, + -0.015630910689545023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999167323112488, + 0.0023722720798105, + 0.012683488428592682, + 0.02265274590051665 + ], + [ + -0.002417842159047723, + 0.999990701675415, + 0.0035787264350801706, + 0.014227896133755765 + ], + [ + -0.012674881145358086, + -0.003609095001593232, + 0.9999131560325623, + -0.039331309307116744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999755322933197, + 0.002711550099775195, + 0.021951865404844284, + 0.03634821609281594 + ], + [ + -0.00283634546212852, + 0.9999799728393555, + 0.005655826535075903, + 0.021218891323703092 + ], + [ + -0.021936088800430298, + -0.005716706160455942, + 0.9997430443763733, + -0.05906272406928332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9993681907653809, + 0.002701930236071348, + 0.03543974831700325, + 0.05042299635299459 + ], + [ + -0.0029578041285276413, + 0.9999698996543884, + 0.007169533520936966, + 0.029858422779091974 + ], + [ + -0.03541931137442589, + -0.007269827648997307, + 0.9993460774421692, + -0.07857263614309998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986662268638611, + 0.0022930724080652, + 0.0515805147588253, + 0.06715390572136995 + ], + [ + -0.0027777033392339945, + 0.9999526739120483, + 0.009325898252427578, + 0.03914829752430683 + ], + [ + -0.05155668780207634, + -0.009456734172999859, + 0.9986252784729004, + -0.11132252513340152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9976832866668701, + 0.0016717276303097606, + 0.06800967454910278, + 0.07431899586198397 + ], + [ + -0.0023511687759310007, + 0.9999481439590454, + 0.00991154182702303, + 0.048775307906837 + ], + [ + -0.06798957288265228, + -0.01004848163574934, + 0.9976354241371155, + -0.1355443032253988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966046810150146, + 7.908229599706829e-05, + 0.08233556151390076, + 0.0801250830994388 + ], + [ + -0.0009564862120896578, + 0.999943196773529, + 0.010617050342261791, + 0.05849093951103164 + ], + [ + -0.08233004808425903, + -0.01065975520759821, + 0.9965481162071228, + -0.1541627610681533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9951991438865662, + -0.002262552035972476, + 0.09784474968910217, + 0.08711445570764381 + ], + [ + 0.0011455458588898182, + 0.9999335408210754, + 0.011470778845250607, + 0.06691008228354338 + ], + [ + -0.09786419570446014, + -0.011303623206913471, + 0.9951356053352356, + -0.17623063497608754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9942072629928589, + -0.003861332079395652, + 0.10741052031517029, + 0.0934556185384281 + ], + [ + 0.0026839335914701223, + 0.999934732913971, + 0.011104069650173187, + 0.06946571736437518 + ], + [ + -0.10744638741016388, + -0.01075146347284317, + 0.9941527247428894, + -0.19214609422516532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9932758808135986, + -0.005405290983617306, + 0.1156451627612114, + 0.09945718654454118 + ], + [ + 0.004337716847658157, + 0.9999456405639648, + 0.009481137618422508, + 0.07047985930268358 + ], + [ + -0.11569011956453323, + -0.008915750309824944, + 0.9932453632354736, + -0.20627714182454637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9922252297401428, + -0.008599039167165756, + 0.12415761500597, + 0.10627209087606611 + ], + [ + 0.007936257869005203, + 0.9999514818191528, + 0.005831834394484758, + 0.07085194707643695 + ], + [ + -0.12420173734426498, + -0.004801146220415831, + 0.9922453761100769, + -0.22169740778200964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9917566180229187, + -0.011310040950775146, + 0.12763579189777374, + 0.11061908490047222 + ], + [ + 0.01100001111626625, + 0.9999346137046814, + 0.0031336538959294558, + 0.07228974956201345 + ], + [ + -0.12766288220882416, + -0.0017038269434124231, + 0.9918161630630493, + -0.22944012725294183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9913309812545776, + -0.013724153861403465, + 0.1306695193052292, + 0.11373721188752026 + ], + [ + 0.013746626675128937, + 0.9999052286148071, + 0.0007300525903701782, + 0.07427624889263293 + ], + [ + -0.13066716492176056, + 0.0010725412284955382, + 0.9914256930351257, + -0.234661786270856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9910206198692322, + -0.017582911998033524, + 0.13254790008068085, + 0.11740491812730708 + ], + [ + 0.01791445165872574, + 0.999838650226593, + -0.0013090783031657338, + 0.07821641451701886 + ], + [ + -0.13250349462032318, + 0.003671846352517605, + 0.9911757111549377, + -0.2374533406095352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.990797758102417, + -0.020634612068533897, + 0.13376857340335846, + 0.12228613981704523 + ], + [ + 0.02109593339264393, + 0.9997754096984863, + -0.0020320583134889603, + 0.07825539206586232 + ], + [ + -0.13369660079479218, + 0.004835331346839666, + 0.9910104870796204, + -0.24205522450175498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9905630946159363, + -0.023563718423247337, + 0.13501667976379395, + 0.12555175565364884 + ], + [ + 0.024197401478886604, + 0.999702513217926, + -0.003054015338420868, + 0.07924956019695212 + ], + [ + -0.13490456342697144, + 0.006292247213423252, + 0.9908386468887329, + -0.24555731820987492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9902364015579224, + -0.027462756261229515, + 0.1366664469242096, + 0.13308415681169164 + ], + [ + 0.02838185615837574, + 0.999585747718811, + -0.0047807409428060055, + 0.07992982842573305 + ], + [ + -0.13647854328155518, + 0.00861291028559208, + 0.9906055927276611, + -0.2532383951358497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9897552132606506, + -0.030948858708143234, + 0.1393798440694809, + 0.13847566505939496 + ], + [ + 0.03205354884266853, + 0.9994699954986572, + -0.005687427707016468, + 0.08148952415440142 + ], + [ + -0.13912995159626007, + 0.010096780024468899, + 0.9902226328849792, + -0.26074415769019144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9892926216125488, + -0.03435209020972252, + 0.14184510707855225, + 0.14379867647388359 + ], + [ + 0.03562753275036812, + 0.9993442296981812, + -0.00646123755723238, + 0.08504571818360468 + ], + [ + -0.1415301263332367, + 0.011445646174252033, + 0.9898678064346313, + -0.26724118681329234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9884542226791382, + -0.039025381207466125, + 0.14640788733959198, + 0.15226187102678346 + ], + [ + 0.040500253438949585, + 0.999154269695282, + -0.0071053048595786095, + 0.0910412485643131 + ], + [ + -0.146006777882576, + 0.012952824123203754, + 0.9891988039016724, + -0.2760060548373475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9876331090927124, + -0.04257741570472717, + 0.1508907526731491, + 0.15579656780492968 + ], + [ + 0.0440995916724205, + 0.9990043044090271, + -0.006754503585398197, + 0.09586824320438432 + ], + [ + -0.15045292675495148, + 0.013325191102921963, + 0.9885273575782776, + -0.2821599658090258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9869638085365295, + -0.04618768393993378, + 0.15417228639125824, + 0.16196556269395643 + ], + [ + 0.047733381390571594, + 0.9988400340080261, + -0.006337171420454979, + 0.1005196082519322 + ], + [ + -0.15370075404644012, + 0.01361372321844101, + 0.9880236387252808, + -0.28688634544974423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9860396385192871, + -0.051382556557655334, + 0.15838442742824554, + 0.1693320198938614 + ], + [ + 0.052934788167476654, + 0.9985823035240173, + -0.005594548303633928, + 0.1056847607217184 + ], + [ + -0.15787242352962494, + 0.01390049234032631, + 0.9873616695404053, + -0.29307909012295125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9854005575180054, + -0.05510219186544418, + 0.16108831763267517, + 0.17582065426721805 + ], + [ + 0.05657951533794403, + 0.9983875155448914, + -0.004594651982188225, + 0.1090007155043323 + ], + [ + -0.16057538986206055, + 0.013641869649291039, + 0.9869292974472046, + -0.2980324500762835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9846968054771423, + -0.05902652442455292, + 0.16397599875926971, + 0.18145790123721448 + ], + [ + 0.06041676551103592, + 0.998167097568512, + -0.0034996368922293186, + 0.11062583817941386 + ], + [ + -0.1634688824415207, + 0.013352980837225914, + 0.9864581227302551, + -0.30126490853954013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9837770462036133, + -0.06378854811191559, + 0.16767163574695587, + 0.18564029107006585 + ], + [ + 0.06523473560810089, + 0.9978650808334351, + -0.003125539980828762, + 0.11079953251088538 + ], + [ + -0.16711430251598358, + 0.014012848027050495, + 0.9858379364013672, + -0.30658064593401985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9830908179283142, + -0.06719423085451126, + 0.17034488916397095, + 0.18708488509604115 + ], + [ + 0.06876689940690994, + 0.9976271390914917, + -0.0033421777188777924, + 0.11240492521262752 + ], + [ + -0.16971611976623535, + 0.01499975472688675, + 0.9853788614273071, + -0.3093837992901482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9825502038002014, + -0.07074777781963348, + 0.1720169484615326, + 0.18851372446955705 + ], + [ + 0.07238700985908508, + 0.997371256351471, + -0.0032675485126674175, + 0.11514691056274787 + ], + [ + -0.17133358120918274, + 0.01566232182085514, + 0.985088586807251, + -0.30978127482642487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9818049669265747, + -0.07504817098379135, + 0.17443257570266724, + 0.19405049835218163 + ], + [ + 0.07675089687108994, + 0.9970456957817078, + -0.0030266758985817432, + 0.11882629438144404 + ], + [ + -0.17369011044502258, + 0.016359461471438408, + 0.9846644401550293, + -0.3097973923607752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9812783598899841, + -0.07807797938585281, + 0.17605838179588318, + 0.19612291100911977 + ], + [ + 0.07971423119306564, + 0.9968152642250061, + -0.002229586709290743, + 0.12009688721197406 + ], + [ + -0.17532360553741455, + 0.016222205013036728, + 0.9843772053718567, + -0.3126102865378304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9807555079460144, + -0.08074788749217987, + 0.17775945365428925, + 0.1976178166888109 + ], + [ + 0.0824752002954483, + 0.9965903759002686, + -0.002337062731385231, + 0.12038120714629569 + ], + [ + -0.1769646555185318, + 0.01695283316075802, + 0.9840711951255798, + -0.3148773602119124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9801316261291504, + -0.08452222496271133, + 0.17943783104419708, + 0.19943178034410244 + ], + [ + 0.08647406846284866, + 0.9962493777275085, + -0.0030693677254021168, + 0.12122552929128089 + ], + [ + -0.17850540578365326, + 0.018525104969739914, + 0.9837645292282104, + -0.3203241665188859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.979690670967102, + -0.08692537248134613, + 0.18069343268871307, + 0.19958395785311372 + ], + [ + 0.08912201225757599, + 0.9960124492645264, + -0.004058034159243107, + 0.1241236300366681 + ], + [ + -0.179620161652565, + 0.02007938176393509, + 0.98353111743927, + -0.32359023631164213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9792429804801941, + -0.08876779675483704, + 0.1822182983160019, + 0.20076122945401725 + ], + [ + 0.09107780456542969, + 0.9958343505859375, + -0.0043315039947628975, + 0.1276755030925681 + ], + [ + -0.18107475340366364, + 0.020837634801864624, + 0.9832485914230347, + -0.32487997376337285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9786661267280579, + -0.09137703478336334, + 0.18401861190795898, + 0.2032973970763567 + ], + [ + 0.0937684178352356, + 0.9955846667289734, + -0.00431694183498621, + 0.13365361003614054 + ], + [ + -0.1828116476535797, + 0.021479979157447815, + 0.9829132556915283, + -0.3250637157115994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9781771302223206, + -0.0932430773973465, + 0.18567511439323425, + 0.20680041989175285 + ], + [ + 0.09554176032543182, + 0.995419442653656, + -0.0034511564299464226, + 0.13620964252367251 + ], + [ + -0.18450281023979187, + 0.021115567535161972, + 0.9826051592826843, + -0.32613784687184705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9777345657348633, + -0.09445403516292572, + 0.18738608062267303, + 0.2086075000828359 + ], + [ + 0.09664447605609894, + 0.995315670967102, + -0.0025672148913145065, + 0.13731975631742943 + ], + [ + -0.18626581132411957, + 0.02061988227069378, + 0.9822829961776733, + -0.32730348836403433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9772388935089111, + -0.0959356352686882, + 0.18921023607254028, + 0.21046242959252218 + ], + [ + 0.09820462018251419, + 0.9951627850532532, + -0.002630910836160183, + 0.13749410361051562 + ], + [ + -0.18804258108139038, + 0.021152343600988388, + 0.981933057308197, + -0.329249022019709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9768913984298706, + -0.09693301469087601, + 0.19049203395843506, + 0.21078823187910928 + ], + [ + 0.09932010620832443, + 0.9950510263442993, + -0.0030009960755705833, + 0.1390924691063602 + ], + [ + -0.1892583966255188, + 0.02185133472084999, + 0.981684148311615, + -0.32978966411021426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.976650059223175, + -0.09744089841842651, + 0.19146785140037537, + 0.2121862198521451 + ], + [ + 0.09990078210830688, + 0.994992196559906, + -0.003212873823940754, + 0.14110102595352544 + ], + [ + -0.1901959478855133, + 0.022265639156103134, + 0.9814936518669128, + -0.33046852252105385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9763465523719788, + -0.09789101779460907, + 0.19278158247470856, + 0.21647002175450325 + ], + [ + 0.1003807932138443, + 0.9949440360069275, + -0.003166074864566326, + 0.1435787335038185 + ], + [ + -0.19149695336818695, + 0.022442754358053207, + 0.9812365770339966, + -0.3327034505084157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9760685563087463, + -0.09823296219110489, + 0.19401155412197113, + 0.2209312391535538 + ], + [ + 0.10074426978826523, + 0.994907557964325, + -0.0030956678092479706, + 0.14649998563818817 + ], + [ + -0.1927194744348526, + 0.022567136213183403, + 0.9809943437576294, + -0.33574563801379465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9757054448127747, + -0.09856846183538437, + 0.19566085934638977, + 0.22494574522645008 + ], + [ + 0.10114889591932297, + 0.994866132736206, + -0.0032152850180864334, + 0.1495909712300068 + ], + [ + -0.19433942437171936, + 0.02292804792523384, + 0.9806663393974304, + -0.33764704124684014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9752634167671204, + -0.0985274687409401, + 0.1978725790977478, + 0.23004825693078157 + ], + [ + 0.10111289471387863, + 0.9948704838752747, + -0.0029798652976751328, + 0.15349962911227855 + ], + [ + -0.1965639889240265, + 0.022913621738553047, + 0.9802232384681702, + -0.3395487500127496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9748985171318054, + -0.09844354540109634, + 0.19970405101776123, + 0.23366221435731505 + ], + [ + 0.10106141120195389, + 0.9948758482933044, + -0.0029319319874048233, + 0.15574645650822944 + ], + [ + -0.1983921229839325, + 0.023040711879730225, + 0.9798518419265747, + -0.3417582152093329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9745818972587585, + -0.09863773733377457, + 0.20114852488040924, + 0.23738700262293583 + ], + [ + 0.10120037943124771, + 0.994862973690033, + -0.0024709468707442284, + 0.15777585680891829 + ], + [ + -0.1998714953660965, + 0.02276444435119629, + 0.9795576333999634, + -0.34286618203651614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9742196798324585, + -0.09839771687984467, + 0.20301219820976257, + 0.2429797915968953 + ], + [ + 0.1009846031665802, + 0.9948850870132446, + -0.0023977113887667656, + 0.16051169095969783 + ], + [ + -0.2017378807067871, + 0.022837001830339432, + 0.9791733026504517, + -0.34523951776961725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9738045334815979, + -0.09861363470554352, + 0.20489034056663513, + 0.24683385665823773 + ], + [ + 0.10123060643672943, + 0.9948602914810181, + -0.0023038331419229507, + 0.16397695701296738 + ], + [ + -0.20361009240150452, + 0.022984657436609268, + 0.9787822365760803, + -0.3472143236456848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9734880924224854, + -0.09851391613483429, + 0.2064361721277237, + 0.2519019701677125 + ], + [ + 0.10099157691001892, + 0.9948862195014954, + -0.0014724591746926308, + 0.16659451614065868 + ], + [ + -0.20523543655872345, + 0.022281736135482788, + 0.9784589409828186, + -0.34846148770756835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9729662537574768, + -0.09859662503004074, + 0.20884282886981964, + 0.25745600798144574 + ], + [ + 0.1008879616856575, + 0.994897723197937, + -0.00032094772905111313, + 0.168889446047748 + ], + [ + -0.20774562656879425, + 0.021382000297307968, + 0.9779491424560547, + -0.3517450805208305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9725425839424133, + -0.0987159013748169, + 0.21075135469436646, + 0.25990622087222776 + ], + [ + 0.10096217691898346, + 0.9948902726173401, + 0.00010186992585659027, + 0.16988910400285953 + ], + [ + -0.20968452095985413, + 0.021178841590881348, + 0.9775397181510925, + -0.3545574667977124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9720366597175598, + -0.09878978133201599, + 0.21303828060626984, + 0.2620723232990358 + ], + [ + 0.10096468031406403, + 0.9948897957801819, + 0.000673951581120491, + 0.17046413785073816 + ], + [ + -0.21201618015766144, + 0.02085423469543457, + 0.977043628692627, + -0.35633756169458713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9713032841682434, + -0.0987928956747055, + 0.21635590493679047, + 0.261899850226757 + ], + [ + 0.10101504623889923, + 0.9948846101760864, + 0.0007916316390037537, + 0.171926297392787 + ], + [ + -0.21532736718654633, + 0.02108628675341606, + 0.9763142466545105, + -0.35715734544778016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9707441329956055, + -0.09886034578084946, + 0.21882066130638123, + 0.2616615910173916 + ], + [ + 0.10108328610658646, + 0.9948773980140686, + 0.0010415613651275635, + 0.1737011532594518 + ], + [ + -0.21780270338058472, + 0.021108020097017288, + 0.9757645130157471, + -0.3575368519327263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9702211022377014, + -0.0993766039609909, + 0.22089652717113495, + 0.2618533313819548 + ], + [ + 0.1015259325504303, + 0.9948315620422363, + 0.0016314219683408737, + 0.1745708003276732 + ], + [ + -0.2199169546365738, + 0.020843885838985443, + 0.975295901298523, + -0.356688699298879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9694944620132446, + -0.09954085201025009, + 0.22399142384529114, + 0.2604597487827627 + ], + [ + 0.10166414827108383, + 0.9948166608810425, + 0.0020629018545150757, + 0.17451660182417894 + ], + [ + -0.2230357527732849, + 0.020771922543644905, + 0.974588930606842, + -0.35596730347450184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9690141677856445, + -0.09958639740943909, + 0.22604015469551086, + 0.25891123657546394 + ], + [ + 0.10171666741371155, + 0.9948108792304993, + 0.0022329790517687798, + 0.1752074182033539 + ], + [ + -0.22508957982063293, + 0.020828261971473694, + 0.9741154313087463, + -0.3551576817726217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9684953689575195, + -0.09984838962554932, + 0.22813814878463745, + 0.2568165838718414 + ], + [ + 0.1019902229309082, + 0.9947824478149414, + 0.0024124272167682648, + 0.17698215311620294 + ], + [ + -0.22718870639801025, + 0.020931433886289597, + 0.9736257791519165, + -0.352159384628985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9677824974060059, + -0.10010741651058197, + 0.23103152215480804, + 0.256184114097822 + ], + [ + 0.10222476720809937, + 0.994757354259491, + 0.0028188657015562057, + 0.1800082348468827 + ], + [ + -0.23010249435901642, + 0.020889094099402428, + 0.9729421734809875, + -0.34725737064486234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.967292845249176, + -0.1001557782292366, + 0.23305225372314453, + 0.25563991960228943 + ], + [ + 0.10221942514181137, + 0.9947565793991089, + 0.003237471915781498, + 0.18293679305692997 + ], + [ + -0.23215451836585999, + 0.020690884441137314, + 0.9724588394165039, + -0.3425061312935701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9668145775794983, + -0.10058937966823578, + 0.23484334349632263, + 0.2562832116535524 + ], + [ + 0.10270975530147552, + 0.9947061538696289, + 0.0032174047082662582, + 0.1856141177619376 + ], + [ + -0.2339237630367279, + 0.02101006917655468, + 0.9720278978347778, + -0.3357737450633289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9661476612091064, + -0.10112108290195465, + 0.23734620213508606, + 0.25531096825512445 + ], + [ + 0.1032743901014328, + 0.9946471452713013, + 0.0033768750727176666, + 0.18965249508619308 + ], + [ + -0.23641720414161682, + 0.02124922350049019, + 0.9714192748069763, + -0.326190317231344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9656456112861633, + -0.10174784809350967, + 0.23911498486995697, + 0.2539801856094017 + ], + [ + 0.10391844063997269, + 0.9945794939994812, + 0.0035461746156215668, + 0.19344893388631867 + ], + [ + -0.23817966878414154, + 0.021424105390906334, + 0.9709848165512085, + -0.3179245430408273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9651763439178467, + -0.1023307666182518, + 0.24075515568256378, + 0.2526274247867305 + ], + [ + 0.10438936203718185, + 0.9945275187492371, + 0.004222669638693333, + 0.19635259992465742 + ], + [ + -0.23986972868442535, + 0.021056652069091797, + 0.9705767035484314, + -0.30832925744173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9644829034805298, + -0.10264375805854797, + 0.24338658154010773, + 0.24983358001563608 + ], + [ + 0.1046459972858429, + 0.9944983124732971, + 0.004724069498479366, + 0.20076705170113868 + ], + [ + -0.24253244698047638, + 0.02091314271092415, + 0.969917893409729, + -0.29719171434550024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9639757871627808, + -0.10310329496860504, + 0.2451947033405304, + 0.2485967160361569 + ], + [ + 0.1049892008304596, + 0.9944586753845215, + 0.005403568968176842, + 0.2035811691022501 + ], + [ + -0.24439314007759094, + 0.020533883944153786, + 0.969458818435669, + -0.2901951872130356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9633874893188477, + -0.10376669466495514, + 0.24721850454807281, + 0.2497087063767561 + ], + [ + 0.10561396181583405, + 0.9943901896476746, + 0.00581434927880764, + 0.2066522842500268 + ], + [ + -0.2464350014925003, + 0.02050825208425522, + 0.9689422845840454, + -0.28330945080918507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9625318050384521, + -0.10457653552293777, + 0.25019240379333496, + 0.2488498162569069 + ], + [ + 0.10621703416109085, + 0.9943184852600098, + 0.006975059863179922, + 0.20943413623949378 + ], + [ + -0.24950037896633148, + 0.019860973581671715, + 0.9681710004806519, + -0.2764754175140363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9619197249412537, + -0.10541258752346039, + 0.2521877884864807, + 0.24827442716171103 + ], + [ + 0.10691989958286285, + 0.9942373633384705, + 0.00775922741740942, + 0.21111643278017278 + ], + [ + -0.2515524625778198, + 0.019500140100717545, + 0.9676471948623657, + -0.2737119106030682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.961264967918396, + -0.10661543160676956, + 0.2541707754135132, + 0.24733106692026302 + ], + [ + 0.1079782024025917, + 0.9941158294677734, + 0.008625773712992668, + 0.21271619491460847 + ], + [ + -0.2535948157310486, + 0.01915324293076992, + 0.967120885848999, + -0.2696223377772584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9603771567344666, + -0.10798031836748123, + 0.25693580508232117, + 0.24744514591265016 + ], + [ + 0.10914424806833267, + 0.9939779043197632, + 0.009770577773451805, + 0.21502858814669817 + ], + [ + -0.2564435303211212, + 0.018659617751836777, + 0.9663791060447693, + -0.26498767100728865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9596894979476929, + -0.10926106572151184, + 0.25895583629608154, + 0.24736196907555186 + ], + [ + 0.11034035682678223, + 0.9938393235206604, + 0.010409003123641014, + 0.21689130249546795 + ], + [ + -0.25849777460098267, + 0.018583865836262703, + 0.9658330678939819, + -0.2628017192751896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9589948654174805, + -0.11077123135328293, + 0.2608804702758789, + 0.24732060113512888 + ], + [ + 0.11170326918363571, + 0.9936773777008057, + 0.01130018848925829, + 0.21852221031014513 + ], + [ + -0.2604827284812927, + 0.018304377794265747, + 0.965304970741272, + -0.26000654228576797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9579321146011353, + -0.1126784235239029, + 0.2639501094818115, + 0.24754745942063447 + ], + [ + 0.11357410252094269, + 0.993458092212677, + 0.011915149167180061, + 0.2209751441711333 + ], + [ + -0.26356595754623413, + 0.018563993275165558, + 0.9644627571105957, + -0.25728960900408465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9571306705474854, + -0.11452953517436981, + 0.2660523056983948, + 0.2464768445891578 + ], + [ + 0.11534841358661652, + 0.9932451844215393, + 0.012600511312484741, + 0.22313373917486612 + ], + [ + -0.26569831371307373, + 0.018628375604748726, + 0.9638762474060059, + -0.2547920185550139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9562839865684509, + -0.11634677648544312, + 0.2682991027832031, + 0.2453819956721329 + ], + [ + 0.11701501905918121, + 0.9930376410484314, + 0.013556277379393578, + 0.22478744583885846 + ], + [ + -0.26800835132598877, + 0.018431371077895164, + 0.9632402658462524, + -0.2513756112990583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9550940990447998, + -0.11901813745498657, + 0.27134841680526733, + 0.24344153804023091 + ], + [ + 0.11956745386123657, + 0.9927191734313965, + 0.014569535851478577, + 0.22466630528612835 + ], + [ + -0.2711068391799927, + 0.018529165536165237, + 0.9623709321022034, + -0.2487137767190977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9543424248695374, + -0.12091828137636185, + 0.27314698696136475, + 0.24295942479880844 + ], + [ + 0.12147814780473709, + 0.9924818277359009, + 0.014927688986063004, + 0.2243155336234628 + ], + [ + -0.27289843559265137, + 0.018935255706310272, + 0.961856484413147, + -0.24772121461062896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9534991383552551, + -0.12291793525218964, + 0.2751918137073517, + 0.24191785663729762 + ], + [ + 0.12353615462779999, + 0.9922243356704712, + 0.015155051834881306, + 0.22483030928344264 + ], + [ + -0.27491483092308044, + 0.01954580657184124, + 0.9612698554992676, + -0.24673340027788426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.952465295791626, + -0.12530910968780518, + 0.2776823341846466, + 0.24029128871312955 + ], + [ + 0.12599459290504456, + 0.9919106364250183, + 0.015449135564267635, + 0.22620134818844678 + ], + [ + -0.27737197279930115, + 0.020271703600883484, + 0.9605487585067749, + -0.24384701215639348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9516607522964478, + -0.12712424993515015, + 0.2796090841293335, + 0.23863451866115012 + ], + [ + 0.12765368819236755, + 0.991683304309845, + 0.01639433391392231, + 0.2279324019100608 + ], + [ + -0.2793678045272827, + 0.020091285929083824, + 0.959973931312561, + -0.24064463280005063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.950617790222168, + -0.12969712913036346, + 0.281965434551239, + 0.23600607067346574 + ], + [ + 0.1302037388086319, + 0.9913411140441895, + 0.017023786902427673, + 0.22941220700740816 + ], + [ + -0.28173184394836426, + 0.020529840141534805, + 0.9592735171318054, + -0.23622401915490626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/boom_up/transforms.json b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9ca47dc60d5f8f3997172ec7b1b0f0eebf14e909 --- /dev/null +++ b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/boom_up/transforms.json @@ -0,0 +1,2918 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 83, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0296749763938351e-07, + 3.9372025639750063e-05, + -4.9055423005484045e-05 + ], + [ + -9.60969757102248e-08, + 1.0, + -0.0001745025219861418, + 0.0002419097872916609 + ], + [ + -3.937204019166529e-05, + 0.0001745025219861418, + 1.0, + 6.51580048725009e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999929070472717, + 0.0012096739374101162, + 0.00356945488601923, + 0.00836396776423676 + ], + [ + -0.0012147531379014254, + 0.9999982714653015, + 0.0014211328234523535, + 0.0028554899754320703 + ], + [ + -0.0035677296109497547, + -0.0014254588168114424, + 0.9999926090240479, + -0.01562743396072353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999167323112488, + 0.0023722720798105, + 0.012683488428592682, + 0.022641173841590742 + ], + [ + -0.002417842159047723, + 0.999990701675415, + 0.0035787264350801706, + 0.009349892710948863 + ], + [ + -0.012674881145358086, + -0.003609095001593232, + 0.9999131560325623, + -0.039313703965645555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999755322933197, + 0.002711550099775195, + 0.021951865404844284, + 0.03632837548232978 + ], + [ + -0.00283634546212852, + 0.9999799728393555, + 0.005655826535075903, + 0.013901964693171221 + ], + [ + -0.021936088800430298, + -0.005716706160455942, + 0.9997430443763733, + -0.059020894512011694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9993681907653809, + 0.002701930236071348, + 0.03543974831700325, + 0.05039663605800852 + ], + [ + -0.0029578041285276413, + 0.9999698996543884, + 0.007169533520936966, + 0.02010261888002477 + ], + [ + -0.03541931137442589, + -0.007269827648997307, + 0.9993460774421692, + -0.07850171099530487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986662268638611, + 0.0022930724080652, + 0.0515805147588253, + 0.06712594142371062 + ], + [ + -0.0027777033392339945, + 0.9999526739120483, + 0.009325898252427578, + 0.026953752720501364 + ], + [ + -0.05155668780207634, + -0.009456734172999859, + 0.9986252784729004, + -0.11120719910690152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9976832866668701, + 0.0016717276303097606, + 0.06800967454910278, + 0.07429453155519895 + ], + [ + -0.0023511687759310007, + 0.9999481439590454, + 0.00991154182702303, + 0.0341419204342656 + ], + [ + -0.06798957288265228, + -0.01004848163574934, + 0.9976354241371155, + -0.13539725227463173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966046810150146, + 7.908229599706829e-05, + 0.08233556151390076, + 0.08012373291389738 + ], + [ + -0.0009564862120896578, + 0.999943196773529, + 0.010617050342261791, + 0.04141873859050797 + ], + [ + -0.08233004808425903, + -0.01065975520759821, + 0.9965481162071228, + -0.1539807652475358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9951991438865662, + -0.002262552035972476, + 0.09784474968910217, + 0.08715860306444329 + ], + [ + 0.0011455458588898182, + 0.9999335408210754, + 0.011470778845250607, + 0.04739918392605898 + ], + [ + -0.09786419570446014, + -0.011303623206913471, + 0.9951356053352356, + -0.17601007647448924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9942072629928589, + -0.003861332079395652, + 0.10741052031517029, + 0.09354037948651239 + ], + [ + 0.0026839335914701223, + 0.999934732913971, + 0.011104069650173187, + 0.047515930544312406 + ], + [ + -0.10744638741016388, + -0.01075146347284317, + 0.9941527247428894, + -0.1919100864903956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9932758808135986, + -0.005405290983617306, + 0.1156451627612114, + 0.09958902290999526 + ], + [ + 0.004337716847658157, + 0.9999456405639648, + 0.009481137618422508, + 0.04609094124014784 + ], + [ + -0.11569011956453323, + -0.008915750309824944, + 0.9932453632354736, + -0.20605968449991652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9922252297401428, + -0.008599039167165756, + 0.12415761500597, + 0.10650279680494128 + ], + [ + 0.007936257869005203, + 0.9999514818191528, + 0.005831834394484758, + 0.04402398049104504 + ], + [ + -0.12420173734426498, + -0.004801146220415831, + 0.9922453761100769, + -0.2215685965419497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9917566180229187, + -0.011310040950775146, + 0.12763579189777374, + 0.1109501104892754 + ], + [ + 0.01100001111626625, + 0.9999346137046814, + 0.0031336538959294558, + 0.043023370624315445 + ], + [ + -0.12766288220882416, + -0.0017038269434124231, + 0.9918161630630493, + -0.22939025914728095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9913309812545776, + -0.013724153861403465, + 0.1306695193052292, + 0.11417236798556477 + ], + [ + 0.013746626675128937, + 0.9999052286148071, + 0.0007300525903701782, + 0.042571936765821966 + ], + [ + -0.13066716492176056, + 0.0010725412284955382, + 0.9914256930351257, + -0.23469579367566196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9910206198692322, + -0.017582911998033524, + 0.13254790008068085, + 0.1180053102443131 + ], + [ + 0.01791445165872574, + 0.999838650226593, + -0.0013090783031657338, + 0.044075582558062015 + ], + [ + -0.13250349462032318, + 0.003671846352517605, + 0.9911757111549377, + -0.23757872072888947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.990797758102417, + -0.020634612068533897, + 0.13376857340335846, + 0.12304106464882086 + ], + [ + 0.02109593339264393, + 0.9997754096984863, + -0.0020320583134889603, + 0.041678242930551855 + ], + [ + -0.13369660079479218, + 0.004835331346839666, + 0.9910104870796204, + -0.2422321268681028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9905630946159363, + -0.023563718423247337, + 0.13501667976379395, + 0.12647131539699508 + ], + [ + 0.024197401478886604, + 0.999702513217926, + -0.003054015338420868, + 0.04023677919332574 + ], + [ + -0.13490456342697144, + 0.006292247213423252, + 0.9908386468887329, + -0.24580286932064266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9902364015579224, + -0.027462756261229515, + 0.1366664469242096, + 0.1342228564615475 + ], + [ + 0.02838185615837574, + 0.999585747718811, + -0.0047807409428060055, + 0.03848359010568479 + ], + [ + -0.13647854328155518, + 0.00861291028559208, + 0.9906055927276611, + -0.2535955158062279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9897552132606506, + -0.030948858708143234, + 0.1393798440694809, + 0.13983439544170367 + ], + [ + 0.03205354884266853, + 0.9994699954986572, + -0.005687427707016468, + 0.037610353620314015 + ], + [ + -0.13912995159626007, + 0.010096780024468899, + 0.9902226328849792, + -0.2611874309595583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9892926216125488, + -0.03435209020972252, + 0.14184510707855225, + 0.14539060260555367 + ], + [ + 0.03562753275036812, + 0.9993442296981812, + -0.00646123755723238, + 0.038734644124420674 + ], + [ + -0.1415301263332367, + 0.011445646174252033, + 0.9898678064346313, + -0.2677715948067333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9884542226791382, + -0.039025381207466125, + 0.14640788733959198, + 0.15416554815885497 + ], + [ + 0.040500253438949585, + 0.999154269695282, + -0.0071053048595786095, + 0.04230201589625056 + ], + [ + -0.146006777882576, + 0.012952824123203754, + 0.9891988039016724, + -0.2766378999165282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9876331090927124, + -0.04257741570472717, + 0.1508907526731491, + 0.15797736226785475 + ], + [ + 0.0440995916724205, + 0.9990043044090271, + -0.006754503585398197, + 0.044699730051726824 + ], + [ + -0.15045292675495148, + 0.013325191102921963, + 0.9885273575782776, + -0.2828424755972242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9869638085365295, + -0.04618768393993378, + 0.15417228639125824, + 0.16444392622244067 + ], + [ + 0.047733381390571594, + 0.9988400340080261, + -0.006337171420454979, + 0.046923313744184444 + ], + [ + -0.15370075404644012, + 0.01361372321844101, + 0.9880236387252808, + -0.28761683791512394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9860396385192871, + -0.051382556557655334, + 0.15838442742824554, + 0.17221445599343718 + ], + [ + 0.052934788167476654, + 0.9985823035240173, + -0.005594548303633928, + 0.04966672906061498 + ], + [ + -0.15787242352962494, + 0.01390049234032631, + 0.9873616695404053, + -0.2938588738396037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9854005575180054, + -0.05510219186544418, + 0.16108831763267517, + 0.17904614842519528 + ], + [ + 0.05657951533794403, + 0.9983875155448914, + -0.004594651982188225, + 0.0505585194724362 + ], + [ + -0.16057538986206055, + 0.013641869649291039, + 0.9869292974472046, + -0.29883099854355905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9846968054771423, + -0.05902652442455292, + 0.16397599875926971, + 0.1850570795557848 + ], + [ + 0.06041676551103592, + 0.998167097568512, + -0.0034996368922293186, + 0.049761990766699724 + ], + [ + -0.1634688824415207, + 0.013352980837225914, + 0.9864581227302551, + -0.3020791146881515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9837770462036133, + -0.06378854811191559, + 0.16767163574695587, + 0.18968541851130927 + ], + [ + 0.06523473560810089, + 0.9978650808334351, + -0.003125539980828762, + 0.04752028348242364 + ], + [ + -0.16711430251598358, + 0.014012848027050495, + 0.9858379364013672, + -0.3074692655650036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9830908179283142, + -0.06719423085451126, + 0.17034488916397095, + 0.19150987103036266 + ], + [ + 0.06876689940690994, + 0.9976271390914917, + -0.0033421777188777924, + 0.04670752824806585 + ], + [ + -0.16971611976623535, + 0.01499975472688675, + 0.9853788614273071, + -0.3103715880160652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9825502038002014, + -0.07074777781963348, + 0.1720169484615326, + 0.19334528002797102 + ], + [ + 0.07238700985908508, + 0.997371256351471, + -0.0032675485126674175, + 0.0470337515924035 + ], + [ + -0.17133358120918274, + 0.01566232182085514, + 0.985088586807251, + -0.3108508968044345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9818049669265747, + -0.07504817098379135, + 0.17443257570266724, + 0.1993587836168888 + ], + [ + 0.07675089687108994, + 0.9970456957817078, + -0.0030266758985817432, + 0.048303550045664716 + ], + [ + -0.17369011044502258, + 0.016359461471438408, + 0.9846644401550293, + -0.31095452500143794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9812783598899841, + -0.07807797938585281, + 0.17605838179588318, + 0.20183593389101145 + ], + [ + 0.07971423119306564, + 0.9968152642250061, + -0.002229586709290743, + 0.04715918495160778 + ], + [ + -0.17532360553741455, + 0.016222205013036728, + 0.9843772053718567, + -0.31379727714854044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9807555079460144, + -0.08074788749217987, + 0.17775945365428925, + 0.20372314476748793 + ], + [ + 0.0824752002954483, + 0.9965903759002686, + -0.002337062731385231, + 0.045029251895299764 + ], + [ + -0.1769646555185318, + 0.01695283316075802, + 0.9840711951255798, + -0.31615915979236003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9801316261291504, + -0.08452222496271133, + 0.17943783104419708, + 0.20602863692655796 + ], + [ + 0.08647406846284866, + 0.9962493777275085, + -0.0030693677254021168, + 0.04346948029791436 + ], + [ + -0.17850540578365326, + 0.018525104969739914, + 0.9837645292282104, + -0.3217700283701827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.979690670967102, + -0.08692537248134613, + 0.18069343268871307, + 0.20658039027234404 + ], + [ + 0.08912201225757599, + 0.9960124492645264, + -0.004058034159243107, + 0.04395677436415741 + ], + [ + -0.179620161652565, + 0.02007938176393509, + 0.98353111743927, + -0.3252063816731296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9792429804801941, + -0.08876779675483704, + 0.1822182983160019, + 0.20812246138002816 + ], + [ + 0.09107780456542969, + 0.9958343505859375, + -0.0043315039947628975, + 0.04509411792202693 + ], + [ + -0.18107475340366364, + 0.020837634801864624, + 0.9832485914230347, + -0.3266079727469421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9786661267280579, + -0.09137703478336334, + 0.18401861190795898, + 0.21109787565542432 + ], + [ + 0.0937684178352356, + 0.9955846667289734, + -0.00431694183498621, + 0.04866467507147207 + ], + [ + -0.1828116476535797, + 0.021479979157447815, + 0.9829132556915283, + -0.32689737246894257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9781771302223206, + -0.0932430773973465, + 0.18567511439323425, + 0.21498761693151985 + ], + [ + 0.09554176032543182, + 0.995419442653656, + -0.0034511564299464226, + 0.04880695975408321 + ], + [ + -0.18450281023979187, + 0.021115567535161972, + 0.9826051592826843, + -0.32799189670420276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9777345657348633, + -0.09445403516292572, + 0.18738608062267303, + 0.21713140081705118 + ], + [ + 0.09664447605609894, + 0.995315670967102, + -0.0025672148913145065, + 0.04749858601064216 + ], + [ + -0.18626581132411957, + 0.02061988227069378, + 0.9822829961776733, + -0.32916430700797494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9772388935089111, + -0.0959356352686882, + 0.18921023607254028, + 0.21935402505644938 + ], + [ + 0.09820462018251419, + 0.9951627850532532, + -0.002630910836160183, + 0.04525950402021407 + ], + [ + -0.18804258108139038, + 0.021152343600988388, + 0.981933057308197, + -0.331209483133947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9768913984298706, + -0.09693301469087601, + 0.19049203395843506, + 0.22000868937409507 + ], + [ + 0.09932010620832443, + 0.9950510263442993, + -0.0030009960755705833, + 0.04444127391751219 + ], + [ + -0.1892583966255188, + 0.02185133472084999, + 0.981684148311615, + -0.33186820570561215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.976650059223175, + -0.09744089841842651, + 0.19146785140037537, + 0.22169264896613797 + ], + [ + 0.09990078210830688, + 0.994992196559906, + -0.003212873823940754, + 0.044028616533046815 + ], + [ + -0.1901959478855133, + 0.022265639156103134, + 0.9814936518669128, + -0.3326407799996981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9763465523719788, + -0.09789101779460907, + 0.19278158247470856, + 0.22625912353396416 + ], + [ + 0.1003807932138443, + 0.9949440360069275, + -0.003166074864566326, + 0.04408432990312576 + ], + [ + -0.19149695336818695, + 0.022442754358053207, + 0.9812365770339966, + -0.334947725944221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9760685563087463, + -0.09823296219110489, + 0.19401155412197113, + 0.2309941279633743 + ], + [ + 0.10074426978826523, + 0.994907557964325, + -0.0030956678092479706, + 0.04458262604184267 + ], + [ + -0.1927194744348526, + 0.022567136213183403, + 0.9809943437576294, + -0.3380573934307549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9757054448127747, + -0.09856846183538437, + 0.19566085934638977, + 0.23528341317503917 + ], + [ + 0.10114889591932297, + 0.994866132736206, + -0.0032152850180864334, + 0.04525135243084372 + ], + [ + -0.19433942437171936, + 0.02292804792523384, + 0.9806663393974304, + -0.3400516901755842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9752634167671204, + -0.0985274687409401, + 0.1978725790977478, + 0.24062193650298003 + ], + [ + 0.10111289471387863, + 0.9948704838752747, + -0.0029798652976751328, + 0.04673304059883443 + ], + [ + -0.1965639889240265, + 0.022913621738553047, + 0.9802232384681702, + -0.34200777283347233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9748985171318054, + -0.09844354540109634, + 0.19970405101776123, + 0.2444669937306061 + ], + [ + 0.10106141120195389, + 0.9948758482933044, + -0.0029319319874048233, + 0.04655276584189112 + ], + [ + -0.1983921229839325, + 0.023040711879730225, + 0.9798518419265747, + -0.3442870738302789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9745818972587585, + -0.09863773733377457, + 0.20114852488040924, + 0.24845367559209103 + ], + [ + 0.10120037943124771, + 0.994862973690033, + -0.0024709468707442284, + 0.046157084151012134 + ], + [ + -0.1998714953660965, + 0.02276444435119629, + 0.9795576333999634, + -0.34542024164665036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9742196798324585, + -0.09839771687984467, + 0.20301219820976257, + 0.2542595298733653 + ], + [ + 0.1009846031665802, + 0.9948850870132446, + -0.0023977113887667656, + 0.04646388830208196 + ], + [ + -0.2017378807067871, + 0.022837001830339432, + 0.9791733026504517, + -0.3478574179794367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9738045334815979, + -0.09861363470554352, + 0.20489034056663513, + 0.258378867550594 + ], + [ + 0.10123060643672943, + 0.9948602914810181, + -0.0023038331419229507, + 0.04750550825421402 + ], + [ + -0.20361009240150452, + 0.022984657436609268, + 0.9787822365760803, + -0.34990521036997074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9734880924224854, + -0.09851391613483429, + 0.2064361721277237, + 0.2636755845350463 + ], + [ + 0.10099157691001892, + 0.9948862195014954, + -0.0014724591746926308, + 0.04769348015145558 + ], + [ + -0.20523543655872345, + 0.022281736135482788, + 0.9784589409828186, + -0.35112442690424805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9729662537574768, + -0.09859662503004074, + 0.20884282886981964, + 0.2694799866436458 + ], + [ + 0.1008879616856575, + 0.994897723197937, + -0.00032094772905111313, + 0.04756045541385325 + ], + [ + -0.20774562656879425, + 0.021382000297307968, + 0.9779491424560547, + -0.35435264153269735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9725425839424133, + -0.0987159013748169, + 0.21075135469436646, + 0.2721855159212903 + ], + [ + 0.10096217691898346, + 0.9948902726173401, + 0.00010186992585659027, + 0.04613446033582455 + ], + [ + -0.20968452095985413, + 0.021178841590881348, + 0.9775397181510925, + -0.3571919080687732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9720366597175598, + -0.09878978133201599, + 0.21303828060626984, + 0.27460175898016953 + ], + [ + 0.10096468031406403, + 0.9948897957801819, + 0.000673951581120491, + 0.044282993020080944 + ], + [ + -0.21201618015766144, + 0.02085423469543457, + 0.977043628692627, + -0.358982489021813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9713032841682434, + -0.0987928956747055, + 0.21635590493679047, + 0.2746706391798287 + ], + [ + 0.10101504623889923, + 0.9948846101760864, + 0.0007916316390037537, + 0.0433192624188051 + ], + [ + -0.21532736718654633, + 0.02108628675341606, + 0.9763142466545105, + -0.35988313373541686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9707441329956055, + -0.09886034578084946, + 0.21882066130638123, + 0.27468222192511327 + ], + [ + 0.10108328610658646, + 0.9948773980140686, + 0.0010415613651275635, + 0.04266852035028178 + ], + [ + -0.21780270338058472, + 0.021108020097017288, + 0.9757645130157471, + -0.36031693262843095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9702211022377014, + -0.0993766039609909, + 0.22089652717113495, + 0.2751843392303804 + ], + [ + 0.1015259325504303, + 0.9948315620422363, + 0.0016314219683408737, + 0.041117785907373194 + ], + [ + -0.2199169546365738, + 0.020843885838985443, + 0.975295901298523, + -0.35948483032606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9694944620132446, + -0.09954085201025009, + 0.22399142384529114, + 0.27405557247196755 + ], + [ + 0.10166414827108383, + 0.9948166608810425, + 0.0020629018545150757, + 0.038639204240426786 + ], + [ + -0.2230357527732849, + 0.020771922543644905, + 0.974588930606842, + -0.3588044441146095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9690141677856445, + -0.09958639740943909, + 0.22604015469551086, + 0.2727561747518981 + ], + [ + 0.10171666741371155, + 0.9948108792304993, + 0.0022329790517687798, + 0.03690444231033324 + ], + [ + -0.22508957982063293, + 0.020828261971473694, + 0.9741154313087463, + -0.35805331819304603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9684953689575195, + -0.09984838962554932, + 0.22813814878463745, + 0.2709414780139923 + ], + [ + 0.1019902229309082, + 0.9947824478149414, + 0.0024124272167682648, + 0.03625683123018683 + ], + [ + -0.22718870639801025, + 0.020931433886289597, + 0.9736257791519165, + -0.3551204167397284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9677824974060059, + -0.10010741651058197, + 0.23103152215480804, + 0.2705898154981253 + ], + [ + 0.10222476720809937, + 0.994757354259491, + 0.0028188657015562057, + 0.03686022533149255 + ], + [ + -0.23010249435901642, + 0.020889094099402428, + 0.9729421734809875, + -0.35026336223477633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.967292845249176, + -0.1001557782292366, + 0.23305225372314453, + 0.27029686275778747 + ], + [ + 0.10221942514181137, + 0.9947565793991089, + 0.003237471915781498, + 0.03736265948632869 + ], + [ + -0.23215451836585999, + 0.020690884441137314, + 0.9724588394165039, + -0.34553406560202926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9668145775794983, + -0.10058937966823578, + 0.23484334349632263, + 0.2712489486285826 + ], + [ + 0.10270975530147552, + 0.9947061538696289, + 0.0032174047082662582, + 0.03762125096670012 + ], + [ + -0.2339237630367279, + 0.02101006917655468, + 0.9720278978347778, + -0.3388996334042309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9661476612091064, + -0.10112108290195465, + 0.23734620213508606, + 0.2706024490842005 + ], + [ + 0.1032743901014328, + 0.9946471452713013, + 0.0033768750727176666, + 0.039242438971996293 + ], + [ + -0.23641720414161682, + 0.02124922350049019, + 0.9714192748069763, + -0.32940361444361327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9656456112861633, + -0.10174784809350967, + 0.23911498486995697, + 0.26961461104816054 + ], + [ + 0.10391844063997269, + 0.9945794939994812, + 0.0035461746156215668, + 0.040623304320544715 + ], + [ + -0.23817966878414154, + 0.021424105390906334, + 0.9709848165512085, + -0.3212165397228446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9651763439178467, + -0.1023307666182518, + 0.24075515568256378, + 0.26860100786860397 + ], + [ + 0.10438936203718185, + 0.9945275187492371, + 0.004222669638693333, + 0.041109279924776476 + ], + [ + -0.23986972868442535, + 0.021056652069091797, + 0.9705767035484314, + -0.3116161494720273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9644829034805298, + -0.10264375805854797, + 0.24338658154010773, + 0.2661063709273571 + ], + [ + 0.1046459972858429, + 0.9944983124732971, + 0.004724069498479366, + 0.04310268508951837 + ], + [ + -0.24253244698047638, + 0.02091314271092415, + 0.969917893409729, + -0.30050721258015894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9639757871627808, + -0.10310329496860504, + 0.2451947033405304, + 0.2651938318115909 + ], + [ + 0.1049892008304596, + 0.9944586753845215, + 0.005403568968176842, + 0.04349757745498563 + ], + [ + -0.24439314007759094, + 0.020533883944153786, + 0.969458818435669, + -0.2935006417016067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9633874893188477, + -0.10376669466495514, + 0.24721850454807281, + 0.26666570282200486 + ], + [ + 0.10561396181583405, + 0.9943901896476746, + 0.00581434927880764, + 0.04415437521004094 + ], + [ + -0.2464350014925003, + 0.02050825208425522, + 0.9689422845840454, + -0.28666079932051464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9625318050384521, + -0.10457653552293777, + 0.25019240379333496, + 0.2661942172704673 + ], + [ + 0.10621703416109085, + 0.9943184852600098, + 0.006975059863179922, + 0.0445227777085653 + ], + [ + -0.24950037896633148, + 0.019860973581671715, + 0.9681710004806519, + -0.2797694326446551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9619197249412537, + -0.10541258752346039, + 0.2521877884864807, + 0.2660145943302934 + ], + [ + 0.10691989958286285, + 0.9942373633384705, + 0.00775922741740942, + 0.0437935594378448 + ], + [ + -0.2515524625778198, + 0.019500140100717545, + 0.9676471948623657, + -0.27699364149806704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.961264967918396, + -0.10661543160676956, + 0.2541707754135132, + 0.2655337015848334 + ], + [ + 0.1079782024025917, + 0.9941158294677734, + 0.008625773712992668, + 0.042989102078647146 + ], + [ + -0.2535948157310486, + 0.01915324293076992, + 0.967120885848999, + -0.27289240364348744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9603771567344666, + -0.10798031836748123, + 0.25693580508232117, + 0.26614417665433593 + ], + [ + 0.10914424806833267, + 0.9939779043197632, + 0.009770577773451805, + 0.04290070715473919 + ], + [ + -0.2564435303211212, + 0.018659617751836777, + 0.9663791060447693, + -0.2682189706667531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9596894979476929, + -0.10926106572151184, + 0.25895583629608154, + 0.2665492781778661 + ], + [ + 0.11034035682678223, + 0.9938393235206604, + 0.010409003123641014, + 0.04236342129183977 + ], + [ + -0.25849777460098267, + 0.018583865836262703, + 0.9658330678939819, + -0.2660652274220455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9589948654174805, + -0.11077123135328293, + 0.2608804702758789, + 0.2670432837907134 + ], + [ + 0.11170326918363571, + 0.9936773777008057, + 0.01130018848925829, + 0.04159916501219679 + ], + [ + -0.2604827284812927, + 0.018304377794265747, + 0.965304970741272, + -0.2632656144296251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9579321146011353, + -0.1126784235239029, + 0.2639501094818115, + 0.2678845407395828 + ], + [ + 0.11357410252094269, + 0.993458092212677, + 0.011915149167180061, + 0.04166807386933302 + ], + [ + -0.26356595754623413, + 0.018563993275165558, + 0.9644627571105957, + -0.26064018340009015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9571306705474854, + -0.11452953517436981, + 0.2660523056983948, + 0.26742736931617667 + ], + [ + 0.11534841358661652, + 0.9932451844215393, + 0.012600511312484741, + 0.041442546902633284 + ], + [ + -0.26569831371307373, + 0.018628375604748726, + 0.9638762474060059, + -0.25819964823880936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9562839865684509, + -0.11634677648544312, + 0.2682991027832031, + 0.266948715215776 + ], + [ + 0.11701501905918121, + 0.9930376410484314, + 0.013556277379393578, + 0.04071217579085651 + ], + [ + -0.26800835132598877, + 0.018431371077895164, + 0.9632402658462524, + -0.2547921581330096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9550940990447998, + -0.11901813745498657, + 0.27134841680526733, + 0.2657937248305577 + ], + [ + 0.11956745386123657, + 0.9927191734313965, + 0.014569535851478577, + 0.038228801983158756 + ], + [ + -0.2711068391799927, + 0.018529165536165237, + 0.9623709321022034, + -0.2521936443929629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9543424248695374, + -0.12091828137636185, + 0.27314698696136475, + 0.26596339052406753 + ], + [ + 0.12147814780473709, + 0.9924818277359009, + 0.014927688986063004, + 0.03550191761516942 + ], + [ + -0.27289843559265137, + 0.018935255706310272, + 0.961856484413147, + -0.25132353154987824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9534991383552551, + -0.12291793525218964, + 0.2751918137073517, + 0.2656020441615 + ], + [ + 0.12353615462779999, + 0.9922243356704712, + 0.015155051834881306, + 0.03364562021522985 + ], + [ + -0.27491483092308044, + 0.01954580657184124, + 0.9612698554992676, + -0.2504995434953854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.952465295791626, + -0.12530910968780518, + 0.2776823341846466, + 0.264741846700994 + ], + [ + 0.12599459290504456, + 0.9919106364250183, + 0.015449135564267635, + 0.03265780937380906 + ], + [ + -0.27737197279930115, + 0.020271703600883484, + 0.9605487585067749, + -0.24780246651754145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9516607522964478, + -0.12712424993515015, + 0.2796090841293335, + 0.2637493095019969 + ], + [ + 0.12765368819236755, + 0.991683304309845, + 0.01639433391392231, + 0.032014480814701166 + ], + [ + -0.2793678045272827, + 0.020091285929083824, + 0.959973931312561, + -0.24461388684945498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.950617790222168, + -0.12969712913036346, + 0.281965434551239, + 0.2619454964995384 + ], + [ + 0.1302037388086319, + 0.9913411140441895, + 0.017023786902427673, + 0.031143984198570243 + ], + [ + -0.28173184394836426, + 0.020529840141534805, + 0.9592735171318054, + -0.24032998718321325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/move_left/transforms.json b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..aa528fbb2e3e6a261f593b91ff7fc4f64792bff1 --- /dev/null +++ b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/move_left/transforms.json @@ -0,0 +1,2918 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 83, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0296749763938351e-07, + 3.9372025639750063e-05, + -4.9055423005484045e-05 + ], + [ + -9.60969757102248e-08, + 1.0, + -0.0001745025219861418, + 0.0002419097872916609 + ], + [ + -3.937204019166529e-05, + 0.0001745025219861418, + 1.0, + 6.51580048725009e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999929070472717, + 0.0012096739374101162, + 0.00356945488601923, + 0.007145939431175953 + ], + [ + -0.0012147531379014254, + 0.9999982714653015, + 0.0014211328234523535, + 0.00407648146885061 + ], + [ + -0.0035677296109497547, + -0.0014254588168114424, + 0.9999926090240479, + -0.015624821435364826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999167323112488, + 0.0023722720798105, + 0.012683488428592682, + 0.020208138572733576 + ], + [ + -0.002417842159047723, + 0.999990701675415, + 0.0035787264350801706, + 0.011794791598349992 + ], + [ + -0.012674881145358086, + -0.003609095001593232, + 0.9999131560325623, + -0.03929159229212418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999755322933197, + 0.002711550099775195, + 0.021951865404844284, + 0.032680654362207504 + ], + [ + -0.00283634546212852, + 0.9999799728393555, + 0.005655826535075903, + 0.01757080488207909 + ], + [ + -0.021936088800430298, + -0.005716706160455942, + 0.9997430443763733, + -0.0589615553072313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9993681907653809, + 0.002701930236071348, + 0.03543974831700325, + 0.04553484942128019 + ], + [ + -0.0029578041285276413, + 0.9999698996543884, + 0.007169533520936966, + 0.024994949142380457 + ], + [ + -0.03541931137442589, + -0.007269827648997307, + 0.9993460774421692, + -0.07836439644054669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986662268638611, + 0.0022930724080652, + 0.0515805147588253, + 0.06105049535995576 + ], + [ + -0.0027777033392339945, + 0.9999526739120483, + 0.009325898252427578, + 0.03306796233788723 + ], + [ + -0.05155668780207634, + -0.009456734172999859, + 0.9986252784729004, + -0.11095049207257789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9976832866668701, + 0.0016717276303097606, + 0.06800967454910278, + 0.06700664209883388 + ], + [ + -0.0023511687759310007, + 0.9999481439590454, + 0.00991154182702303, + 0.04147581784452153 + ], + [ + -0.06798957288265228, + -0.01004848163574934, + 0.9976354241371155, + -0.1349732930703861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966046810150146, + 7.908229599706829e-05, + 0.08233556151390076, + 0.07161680707117406 + ], + [ + -0.0009564862120896578, + 0.999943196773529, + 0.010617050342261791, + 0.04996300417697057 + ], + [ + -0.08233004808425903, + -0.01065975520759821, + 0.9965481162071228, + -0.15336894567419843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9951991438865662, + -0.002262552035972476, + 0.09784474968910217, + 0.0774272694456868 + ], + [ + 0.0011455458588898182, + 0.9999335408210754, + 0.011470778845250607, + 0.057143457047641275 + ], + [ + -0.09786419570446014, + -0.011303623206913471, + 0.9951356053352356, + -0.17516558308426927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9942072629928589, + -0.003861332079395652, + 0.10741052031517029, + 0.08258596807718277 + ], + [ + 0.0026839335914701223, + 0.999934732913971, + 0.011104069650173187, + 0.05846136614663254 + ], + [ + -0.10744638741016388, + -0.01075146347284317, + 0.9941527247428894, + -0.19084880073986402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9932758808135986, + -0.005405290983617306, + 0.1156451627612114, + 0.08740998422954141 + ], + [ + 0.004337716847658157, + 0.9999456405639648, + 0.009481137618422508, + 0.05823250128546866 + ], + [ + -0.11569011956453323, + -0.008915750309824944, + 0.9932453632354736, + -0.2047575580455908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9922252297401428, + -0.008599039167165756, + 0.12415761500597, + 0.09307710539277007 + ], + [ + 0.007936257869005203, + 0.9999514818191528, + 0.005831834394484758, + 0.05733150178793727 + ], + [ + -0.12420173734426498, + -0.004801146220415831, + 0.9922453761100769, + -0.21996688129516637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9917566180229187, + -0.011310040950775146, + 0.12763579189777374, + 0.09627108621161158 + ], + [ + 0.01100001111626625, + 0.9999346137046814, + 0.0031336538959294558, + 0.05749558432073128 + ], + [ + -0.12766288220882416, + -0.0017038269434124231, + 0.9918161630630493, + -0.22754695589949445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9913309812545776, + -0.013724153861403465, + 0.1306695193052292, + 0.09823856706299433 + ], + [ + 0.013746626675128937, + 0.9999052286148071, + 0.0007300525903701782, + 0.058206158503890035 + ], + [ + -0.13066716492176056, + 0.0010725412284955382, + 0.9914256930351257, + -0.2326072373586457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9910206198692322, + -0.017582911998033524, + 0.13254790008068085, + 0.10078524994414027 + ], + [ + 0.01791445165872574, + 0.999838650226593, + -0.0013090783031657338, + 0.060840142045806095 + ], + [ + -0.13250349462032318, + 0.003671846352517605, + 0.9911757111549377, + -0.2352537758830117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.990797758102417, + -0.020634612068533897, + 0.13376857340335846, + 0.10453925299935224 + ], + [ + 0.02109593339264393, + 0.9997754096984863, + -0.0020320583134889603, + 0.05958091627760995 + ], + [ + -0.13369660079479218, + 0.004835331346839666, + 0.9910104870796204, + -0.2396980061581949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9905630946159363, + -0.023563718423247337, + 0.13501667976379395, + 0.10668347514257198 + ], + [ + 0.024197401478886604, + 0.999702513217926, + -0.003054015338420868, + 0.059271025276038704 + ], + [ + -0.13490456342697144, + 0.006292247213423252, + 0.9908386468887329, + -0.24304780960083008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9902364015579224, + -0.027462756261229515, + 0.1366664469242096, + 0.11312421538480898 + ], + [ + 0.02838185615837574, + 0.999585747718811, + -0.0047807409428060055, + 0.05861830493071821 + ], + [ + -0.13647854328155518, + 0.00861291028559208, + 0.9906055927276611, + -0.25058752225666514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9897552132606506, + -0.030948858708143234, + 0.1393798440694809, + 0.11742869630092528 + ], + [ + 0.03205354884266853, + 0.9994699954986572, + -0.005687427707016468, + 0.058846324400567425 + ], + [ + -0.13912995159626007, + 0.010096780024468899, + 0.9902226328849792, + -0.2579117222166643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9892926216125488, + -0.03435209020972252, + 0.14184510707855225, + 0.12167200562430591 + ], + [ + 0.03562753275036812, + 0.9993442296981812, + -0.00646123755723238, + 0.061064665151260245 + ], + [ + -0.1415301263332367, + 0.011445646174252033, + 0.9898678064346313, + -0.2642270342242427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9884542226791382, + -0.039025381207466125, + 0.14640788733959198, + 0.12910507001527927 + ], + [ + 0.040500253438949585, + 0.999154269695282, + -0.0071053048595786095, + 0.06568382117079526 + ], + [ + -0.146006777882576, + 0.012952824123203754, + 0.9891988039016724, + -0.2727608364529726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9876331090927124, + -0.04257741570472717, + 0.1508907526731491, + 0.13159392199865202 + ], + [ + 0.0440995916724205, + 0.9990043044090271, + -0.006754503585398197, + 0.06915460684132285 + ], + [ + -0.15045292675495148, + 0.013325191102921963, + 0.9885273575782776, + -0.2786481579447665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9869638085365295, + -0.04618768393993378, + 0.15417228639125824, + 0.13672522764380385 + ], + [ + 0.047733381390571594, + 0.9988400340080261, + -0.006337171420454979, + 0.07244080930221372 + ], + [ + -0.15370075404644012, + 0.01361372321844101, + 0.9880236387252808, + -0.28312791291533446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9860396385192871, + -0.051382556557655334, + 0.15838442742824554, + 0.14311602857054734 + ], + [ + 0.052934788167476654, + 0.9985823035240173, + -0.005594548303633928, + 0.07619098863768868 + ], + [ + -0.15787242352962494, + 0.01390049234032631, + 0.9873616695404053, + -0.28904085302861726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9854005575180054, + -0.05510219186544418, + 0.16108831763267517, + 0.1485924094188504 + ], + [ + 0.05657951533794403, + 0.9983875155448914, + -0.004594651982188225, + 0.07812363167361515 + ], + [ + -0.16057538986206055, + 0.013641869649291039, + 0.9869292974472046, + -0.2937319568017634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9846968054771423, + -0.05902652442455292, + 0.16397599875926971, + 0.15323624632707455 + ], + [ + 0.06041676551103592, + 0.998167097568512, + -0.0034996368922293186, + 0.0783519399147935 + ], + [ + -0.1634688824415207, + 0.013352980837225914, + 0.9864581227302551, + -0.29668820422233605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9837770462036133, + -0.06378854811191559, + 0.16767163574695587, + 0.15646992405740226 + ], + [ + 0.06523473560810089, + 0.9978650808334351, + -0.003125539980828762, + 0.077091489550544 + ], + [ + -0.16711430251598358, + 0.014012848027050495, + 0.9858379364013672, + -0.30172620957217566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9830908179283142, + -0.06719423085451126, + 0.17034488916397095, + 0.15692731454605008 + ], + [ + 0.06876689940690994, + 0.9976271390914917, + -0.0033421777188777924, + 0.0772919507742655 + ], + [ + -0.16971611976623535, + 0.01499975472688675, + 0.9853788614273071, + -0.30428947995348676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9825502038002014, + -0.07074777781963348, + 0.1720169484615326, + 0.15737900748485473 + ], + [ + 0.07238700985908508, + 0.997371256351471, + -0.0032675485126674175, + 0.0786185795214118 + ], + [ + -0.17133358120918274, + 0.01566232182085514, + 0.985088586807251, + -0.30446567084731124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9818049669265747, + -0.07504817098379135, + 0.17443257570266724, + 0.1619822702029856 + ], + [ + 0.07675089687108994, + 0.9970456957817078, + -0.0030266758985817432, + 0.08085056122664998 + ], + [ + -0.17369011044502258, + 0.016359461471438408, + 0.9846644401550293, + -0.3042332596531728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9812783598899841, + -0.07807797938585281, + 0.17605838179588318, + 0.16307899464921255 + ], + [ + 0.07971423119306564, + 0.9968152642250061, + -0.002229586709290743, + 0.0807116617698495 + ], + [ + -0.17532360553741455, + 0.016222205013036728, + 0.9843772053718567, + -0.3067895035918166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9807555079460144, + -0.08074788749217987, + 0.17775945365428925, + 0.16359313835458056 + ], + [ + 0.0824752002954483, + 0.9965903759002686, + -0.002337062731385231, + 0.07958726463157956 + ], + [ + -0.1769646555185318, + 0.01695283316075802, + 0.9840711951255798, + -0.3088281327813137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9801316261291504, + -0.08452222496271133, + 0.17943783104419708, + 0.16448116956687553 + ], + [ + 0.08647406846284866, + 0.9962493777275085, + -0.0030693677254021168, + 0.07897290700092548 + ], + [ + -0.17850540578365326, + 0.018525104969739914, + 0.9837645292282104, + -0.31408103282858685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.979690670967102, + -0.08692537248134613, + 0.18069343268871307, + 0.16365559827990647 + ], + [ + 0.08912201225757599, + 0.9960124492645264, + -0.004058034159243107, + 0.08045358463394933 + ], + [ + -0.179620161652565, + 0.02007938176393509, + 0.98353111743927, + -0.31716969273075823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9792429804801941, + -0.08876779675483704, + 0.1822182983160019, + 0.16383908768979513 + ], + [ + 0.09107780456542969, + 0.9958343505859375, + -0.0043315039947628975, + 0.08260841373263336 + ], + [ + -0.18107475340366364, + 0.020837634801864624, + 0.9832485914230347, + -0.31823599567500555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9786661267280579, + -0.09137703478336334, + 0.18401861190795898, + 0.1654253016884734 + ], + [ + 0.0937684178352356, + 0.9955846667289734, + -0.00431694183498621, + 0.0871568320364487 + ], + [ + -0.1828116476535797, + 0.021479979157447815, + 0.9829132556915283, + -0.31817760790993527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9781771302223206, + -0.0932430773973465, + 0.18567511439323425, + 0.1679496565969979 + ], + [ + 0.09554176032543182, + 0.995419442653656, + -0.0034511564299464226, + 0.08831378483190769 + ], + [ + -0.18450281023979187, + 0.021115567535161972, + 0.9826051592826843, + -0.3189647484116438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9777345657348633, + -0.09445403516292572, + 0.18738608062267303, + 0.16875215906922408 + ], + [ + 0.09664447605609894, + 0.995315670967102, + -0.0025672148913145065, + 0.08804838382979718 + ], + [ + -0.18626581132411957, + 0.02061988227069378, + 0.9822829961776733, + -0.31982922083357485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9772388935089111, + -0.0959356352686882, + 0.18921023607254028, + 0.169621546893585 + ], + [ + 0.09820462018251419, + 0.9951627850532532, + -0.002630910836160183, + 0.08682585800202881 + ], + [ + -0.18804258108139038, + 0.021152343600988388, + 0.981933057308197, + -0.3215150841852514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9768913984298706, + -0.09693301469087601, + 0.19049203395843506, + 0.16893655265249857 + ], + [ + 0.09932010620832443, + 0.9950510263442993, + -0.0030009960755705833, + 0.08704311036300369 + ], + [ + -0.1892583966255188, + 0.02185133472084999, + 0.981684148311615, + -0.32182762092206535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.976650059223175, + -0.09744089841842651, + 0.19146785140037537, + 0.16929796810557202 + ], + [ + 0.09990078210830688, + 0.994992196559906, + -0.003212873823940754, + 0.0876916123599541 + ], + [ + -0.1901959478855133, + 0.022265639156103134, + 0.9814936518669128, + -0.3222768001440095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9763465523719788, + -0.09789101779460907, + 0.19278158247470856, + 0.17254724502563476 + ], + [ + 0.1003807932138443, + 0.9949440360069275, + -0.003166074864566326, + 0.08881249204277993 + ], + [ + -0.19149695336818695, + 0.022442754358053207, + 0.9812365770339966, + -0.32425074055790903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9760685563087463, + -0.09823296219110489, + 0.19401155412197113, + 0.17596892823533314 + ], + [ + 0.10074426978826523, + 0.994907557964325, + -0.0030956678092479706, + 0.0903812334850067 + ], + [ + -0.1927194744348526, + 0.022567136213183403, + 0.9809943437576294, + -0.32703051825122137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9757054448127747, + -0.09856846183538437, + 0.19566085934638977, + 0.17894953758251375 + ], + [ + 0.10114889591932297, + 0.994866132736206, + -0.0032152850180864334, + 0.09211701241026564 + ], + [ + -0.19433942437171936, + 0.02292804792523384, + 0.9806663393974304, + -0.3286583958965976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9752634167671204, + -0.0985274687409401, + 0.1978725790977478, + 0.18300388898791337 + ], + [ + 0.10111289471387863, + 0.9948704838752747, + -0.0029798652976751328, + 0.09469076489529958 + ], + [ + -0.1965639889240265, + 0.022913621738553047, + 0.9802232384681702, + -0.3302309254320656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9748985171318054, + -0.09844354540109634, + 0.19970405101776123, + 0.18556407566477612 + ], + [ + 0.10106141120195389, + 0.9948758482933044, + -0.0029319319874048233, + 0.09560355812129451 + ], + [ + -0.1983921229839325, + 0.023040711879730225, + 0.9798518419265747, + -0.33213527191702913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9745818972587585, + -0.09863773733377457, + 0.20114852488040924, + 0.18824867170031478 + ], + [ + 0.10120037943124771, + 0.994862973690033, + -0.0024709468707442284, + 0.09628937602406595 + ], + [ + -0.1998714953660965, + 0.02276444435119629, + 0.9795576333999634, + -0.33293090844299733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9742196798324585, + -0.09839771687984467, + 0.20301219820976257, + 0.19278024006180647 + ], + [ + 0.1009846031665802, + 0.9948850870132446, + -0.0023977113887667656, + 0.09769964774207371 + ], + [ + -0.2017378807067871, + 0.022837001830339432, + 0.9791733026504517, + -0.3349854430047477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9738045334815979, + -0.09861363470554352, + 0.20489034056663513, + 0.19560316990061502 + ], + [ + 0.10123060643672943, + 0.9948602914810181, + -0.0023038331419229507, + 0.09981553859826994 + ], + [ + -0.20361009240150452, + 0.022984657436609268, + 0.9787822365760803, + -0.33664112745261776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9734880924224854, + -0.09851391613483429, + 0.2064361721277237, + 0.19961692792613334 + ], + [ + 0.10099157691001892, + 0.9948862195014954, + -0.0014724591746926308, + 0.10110913562338526 + ], + [ + -0.20523543655872345, + 0.022281736135482788, + 0.9784589409828186, + -0.3375288885359357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9729662537574768, + -0.09859662503004074, + 0.20884282886981964, + 0.20414078671757768 + ], + [ + 0.1008879616856575, + 0.994897723197937, + -0.00032094772905111313, + 0.10207324574996786 + ], + [ + -0.20774562656879425, + 0.021382000297307968, + 0.9779491424560547, + -0.34038144477256915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9725425839424133, + -0.0987159013748169, + 0.21075135469436646, + 0.2055584637857065 + ], + [ + 0.10096217691898346, + 0.9948902726173401, + 0.00010186992585659027, + 0.10173242726340527 + ], + [ + -0.20968452095985413, + 0.021178841590881348, + 0.9775397181510925, + -0.3428333330808616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9720366597175598, + -0.09878978133201599, + 0.21303828060626984, + 0.20669569198678178 + ], + [ + 0.10096468031406403, + 0.9948897957801819, + 0.000673951581120491, + 0.10097092717159085 + ], + [ + -0.21201618015766144, + 0.02085423469543457, + 0.977043628692627, + -0.34421509686039714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9713032841682434, + -0.0987928956747055, + 0.21635590493679047, + 0.20550588609241857 + ], + [ + 0.10101504623889923, + 0.9948846101760864, + 0.0007916316390037537, + 0.10109375862450135 + ], + [ + -0.21532736718654633, + 0.02108628675341606, + 0.9763142466545105, + -0.34460273902954125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9707441329956055, + -0.09886034578084946, + 0.21882066130638123, + 0.20424485381056623 + ], + [ + 0.10108328610658646, + 0.9948773980140686, + 0.0010415613651275635, + 0.10152813259784768 + ], + [ + -0.21780270338058472, + 0.021108020097017288, + 0.9757645130157471, + -0.3445837874238084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9702211022377014, + -0.0993766039609909, + 0.22089652717113495, + 0.203443029668273 + ], + [ + 0.1015259325504303, + 0.9948315620422363, + 0.0016314219683408737, + 0.10103462690987237 + ], + [ + -0.2199169546365738, + 0.020843885838985443, + 0.975295901298523, + -0.34333623736733343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9694944620132446, + -0.09954085201025009, + 0.22399142384529114, + 0.20104828273377767 + ], + [ + 0.10166414827108383, + 0.9948166608810425, + 0.0020629018545150757, + 0.09963498558939957 + ], + [ + -0.2230357527732849, + 0.020771922543644905, + 0.974588930606842, + -0.34215416384906305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9690141677856445, + -0.09958639740943909, + 0.22604015469551086, + 0.19847540375663014 + ], + [ + 0.10171666741371155, + 0.9948108792304993, + 0.0022329790517687798, + 0.09898538142442703 + ], + [ + -0.22508957982063293, + 0.020828261971473694, + 0.9741154313087463, + -0.34095902919042403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9684953689575195, + -0.09984838962554932, + 0.22813814878463745, + 0.1953756999678728 + ], + [ + 0.1019902229309082, + 0.9947824478149414, + 0.0024124272167682648, + 0.09940554957564283 + ], + [ + -0.22718870639801025, + 0.020931433886289597, + 0.9736257791519165, + -0.3375704555976682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9677824974060059, + -0.10010741651058197, + 0.23103152215480804, + 0.1937538338870537 + ], + [ + 0.10222476720809937, + 0.994757354259491, + 0.0028188657015562057, + 0.10107903342421462 + ], + [ + -0.23010249435901642, + 0.020889094099402428, + 0.9729421734809875, + -0.33220421135789013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.967292845249176, + -0.1001557782292366, + 0.23305225372314453, + 0.19219086591790363 + ], + [ + 0.10221942514181137, + 0.9947565793991089, + 0.003237471915781498, + 0.10267025613930167 + ], + [ + -0.23215451836585999, + 0.020690884441137314, + 0.9724588394165039, + -0.32703318246980995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9668145775794983, + -0.10058937966823578, + 0.23484334349632263, + 0.19184450790649507 + ], + [ + 0.10270975530147552, + 0.9947061538696289, + 0.0032174047082662582, + 0.10397708061628225 + ], + [ + -0.2339237630367279, + 0.02101006917655468, + 0.9720278978347778, + -0.3199350434469014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9661476612091064, + -0.10112108290195465, + 0.23734620213508606, + 0.18990651965141295 + ], + [ + 0.1032743901014328, + 0.9946471452713013, + 0.0033768750727176666, + 0.10663891558240099 + ], + [ + -0.23641720414161682, + 0.02124922350049019, + 0.9714192748069763, + -0.3099215186950637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9656456112861633, + -0.10174784809350967, + 0.23911498486995697, + 0.18760755258362466 + ], + [ + 0.10391844063997269, + 0.9945794939994812, + 0.0035461746156215668, + 0.10905214134694599 + ], + [ + -0.23817966878414154, + 0.021424105390906334, + 0.9709848165512085, + -0.3012713717069568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9651763439178467, + -0.1023307666182518, + 0.24075515568256378, + 0.18528337972920114 + ], + [ + 0.10438936203718185, + 0.9945275187492371, + 0.004222669638693333, + 0.11058347752181495 + ], + [ + -0.23986972868442535, + 0.021056652069091797, + 0.9705767035484314, + -0.2912511636571186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9644829034805298, + -0.10264375805854797, + 0.24338658154010773, + 0.18151706239072285 + ], + [ + 0.1046459972858429, + 0.9944983124732971, + 0.004724069498479366, + 0.11363975885437756 + ], + [ + -0.24253244698047638, + 0.02091314271092415, + 0.969917893409729, + -0.27962433047047475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9639757871627808, + -0.10310329496860504, + 0.2451947033405304, + 0.1793069788595525 + ], + [ + 0.1049892008304596, + 0.9944586753845215, + 0.005403568968176842, + 0.11508902296787354 + ], + [ + -0.24439314007759094, + 0.020533883944153786, + 0.969458818435669, + -0.2721772470852224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9633874893188477, + -0.10376669466495514, + 0.24721850454807281, + 0.17947139754527952 + ], + [ + 0.10561396181583405, + 0.9943901896476746, + 0.00581434927880764, + 0.11677389626459378 + ], + [ + -0.2464350014925003, + 0.02050825208425522, + 0.9689422845840454, + -0.26484958225997485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9625318050384521, + -0.10457653552293777, + 0.25019240379333496, + 0.1777023061019618 + ], + [ + 0.10621703416109085, + 0.9943184852600098, + 0.006975059863179922, + 0.11817021511676834 + ], + [ + -0.24950037896633148, + 0.019860973581671715, + 0.9681710004806519, + -0.2574321497504304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9619197249412537, + -0.10541258752346039, + 0.2521877884864807, + 0.17620248511070158 + ], + [ + 0.10691989958286285, + 0.9942373633384705, + 0.00775922741740942, + 0.11845807772947521 + ], + [ + -0.2515524625778198, + 0.019500140100717545, + 0.9676471948623657, + -0.25418555663853154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.961264967918396, + -0.10661543160676956, + 0.2541707754135132, + 0.17437317967414856 + ], + [ + 0.1079782024025917, + 0.9941158294677734, + 0.008625773712992668, + 0.11863499707201632 + ], + [ + -0.2535948157310486, + 0.01915324293076992, + 0.967120885848999, + -0.2496090327821127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9603771567344666, + -0.10798031836748123, + 0.25693580508232117, + 0.17364005381014289 + ], + [ + 0.10914424806833267, + 0.9939779043197632, + 0.009770577773451805, + 0.11951435300089965 + ], + [ + -0.2564435303211212, + 0.018659617751836777, + 0.9663791060447693, + -0.2443990639433628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9596894979476929, + -0.10926106572151184, + 0.25895583629608154, + 0.17269020429471643 + ], + [ + 0.11034035682678223, + 0.9938393235206604, + 0.010409003123641014, + 0.11993894031861933 + ], + [ + -0.25849777460098267, + 0.018583865836262703, + 0.9658330678939819, + -0.24173610777389712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9589948654174805, + -0.11077123135328293, + 0.2608804702758789, + 0.17180800932209667 + ], + [ + 0.11170326918363571, + 0.9936773777008057, + 0.01130018848925829, + 0.12011637223384729 + ], + [ + -0.2604827284812927, + 0.018304377794265747, + 0.965304970741272, + -0.23844676228558145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9579321146011353, + -0.1126784235239029, + 0.2639501094818115, + 0.17126846778683547 + ], + [ + 0.11357410252094269, + 0.993458092212677, + 0.011915149167180061, + 0.12107223879273345 + ], + [ + -0.26356595754623413, + 0.018563993275165558, + 0.9644627571105957, + -0.235179675643037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9571306705474854, + -0.11452953517436981, + 0.2660523056983948, + 0.16940966757332404 + ], + [ + 0.11534841358661652, + 0.9932451844215393, + 0.012600511312484741, + 0.12173798325948598 + ], + [ + -0.26569831371307373, + 0.018628375604748726, + 0.9638762474060059, + -0.23219415836217927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9562839865684509, + -0.11634677648544312, + 0.2682991027832031, + 0.16753415668882973 + ], + [ + 0.11701501905918121, + 0.9930376410484314, + 0.013556277379393578, + 0.12190451636546995 + ], + [ + -0.26800835132598877, + 0.018431371077895164, + 0.9632402658462524, + -0.22824408630045448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9550940990447998, + -0.11901813745498657, + 0.27134841680526733, + 0.16493196603728502 + ], + [ + 0.11956745386123657, + 0.9927191734313965, + 0.014569535851478577, + 0.12021987808913719 + ], + [ + -0.2711068391799927, + 0.018529165536165237, + 0.9623709321022034, + -0.22499611712083584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9543424248695374, + -0.12091828137636185, + 0.27314698696136475, + 0.16368249407628688 + ], + [ + 0.12147814780473709, + 0.9924818277359009, + 0.014927688986063004, + 0.1183534871695972 + ], + [ + -0.27289843559265137, + 0.018935255706310272, + 0.961856484413147, + -0.22356374140192822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9534991383552551, + -0.12291793525218964, + 0.2751918137073517, + 0.16189844804566078 + ], + [ + 0.12353615462779999, + 0.9922243356704712, + 0.015155051834881306, + 0.11733631082787746 + ], + [ + -0.27491483092308044, + 0.01954580657184124, + 0.9612698554992676, + -0.22213077476111853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.952465295791626, + -0.12530910968780518, + 0.2776823341846466, + 0.1595931242151958 + ], + [ + 0.12599459290504456, + 0.9919106364250183, + 0.015449135564267635, + 0.11713742337575772 + ], + [ + -0.27737197279930115, + 0.020271703600883484, + 0.9605487585067749, + -0.21876405906386492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9516607522964478, + -0.12712424993515015, + 0.2796090841293335, + 0.15718640074497314 + ], + [ + 0.12765368819236755, + 0.991683304309845, + 0.01639433391392231, + 0.11736374777264712 + ], + [ + -0.2793678045272827, + 0.020091285929083824, + 0.959973931312561, + -0.21503317181657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.950617790222168, + -0.12969712913036346, + 0.281965434551239, + 0.15391400456428528 + ], + [ + 0.1302037388086319, + 0.9913411140441895, + 0.017023786902427673, + 0.11725772172212601 + ], + [ + -0.28173184394836426, + 0.020529840141534805, + 0.9592735171318054, + -0.21010381877422332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/orbit_left/transforms.json b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d04ee9fb6f822db636cc8029a57e52b7f2f79dd0 --- /dev/null +++ b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/orbit_left/transforms.json @@ -0,0 +1,2918 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 83, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0296749763938351e-07, + 3.9372025639750063e-05, + -4.9055423005484045e-05 + ], + [ + -9.60969757102248e-08, + 1.0, + -0.0001745025219861418, + 0.0002419097872916609 + ], + [ + -3.937204019166529e-05, + 0.0001745025219861418, + 1.0, + 6.51580048725009e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999764144077881, + 0.0012096739374101162, + 0.00676208408558556, + 0.0052106187923869045 + ], + [ + -0.0012192841549941603, + 0.9999982714653015, + 0.0014172472745837949, + 0.00407942475982731 + ], + [ + -0.006760357867819277, + -0.0014254588168114424, + 0.9999761218943171, + -0.015202375761224239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998153597506584, + 0.0023722720798105, + 0.0190680057002755, + 0.01634536683566702 + ], + [ + -0.002440644137087127, + 0.999990701675415, + 0.003563214812400793, + 0.011807131635645635 + ], + [ + -0.019059375756872197, + -0.003609095001593232, + 0.9998118385050293, + -0.03841148919225117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999499212880986, + 0.002711550099775195, + 0.03152639494618513, + 0.026898988726256446 + ], + [ + -0.0028903861894592204, + 0.9999799728393555, + 0.005628400931986735, + 0.017594335978190476 + ], + [ + -0.03151050146288426, + -0.005716706160455942, + 0.9994870859937895, + -0.057587800910757714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988341198242496, + 0.002701930236071348, + 0.04819914469530916, + 0.03785138007382817 + ], + [ + -0.003049120422657495, + 0.9999698996543884, + 0.007131176678410579, + 0.02502978092569323 + ], + [ + -0.0481784270242667, + -0.007269827648997307, + 0.9988122692912597, + -0.07642892556002094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9977156205527455, + 0.0022930724080652, + 0.0675153514864312, + 0.051486492121744526 + ], + [ + -0.002926215936218928, + 0.9999526739120483, + 0.009280370377848172, + 0.03311423822014205 + ], + [ + -0.0674908739186698, + -0.009456734172999859, + 0.9976750577216476, + -0.10837637529598107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9961975229118182, + 0.001671727630309761, + 0.08710770155985476, + 0.055582222578938745 + ], + [ + -0.0025405918097232954, + 0.9999481439590456, + 0.00986468698226694, + 0.04152785233070387 + ], + [ + -0.08708668678041613, + -0.010048481635749342, + 0.9961500542085102, + -0.1316958558666511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9945158645557806, + 7.908229599706829e-05, + 0.10458599360199679, + 0.058344611791841555 + ], + [ + -0.0011935051771888093, + 0.999943196773529, + 0.01059302455562444, + 0.05000685451979526 + ], + [ + -0.1045792175028941, + -0.01065975520759821, + 0.9944594370812738, + -0.14935400747053368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.992375725293417, + -0.002262552035972476, + 0.12322885572235819, + 0.06233238176555983 + ], + [ + 0.0008522242839023238, + 0.9999335408210754, + 0.011496293159162028, + 0.057163839760962516 + ], + [ + -0.12324667270778202, + -0.011303623206913471, + 0.9923117108415418, + -0.1703410834165976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9907109412534024, + -0.003861332079395652, + 0.13592988097885209, + 0.0656572837999359 + ], + [ + 0.0023638043643107063, + 0.999934732913971, + 0.011176595691291006, + 0.05845610907410061 + ], + [ + -0.1359641663773253, + -0.01075146347284317, + 0.990655395050431, + -0.18525788381819883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.989078144474402, + -0.005405290983617306, + 0.1472929163238042, + 0.0686525923332699 + ], + [ + 0.004032855747870417, + 0.9999456405639648, + 0.009614771578503174, + 0.05818788541748295 + ], + [ + -0.14733687605472878, + -0.008915750309824944, + 0.9890462073675109, + -0.19838953251370073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9872539516352306, + -0.008599039167165756, + 0.15892027837086098, + 0.072505268208626 + ], + [ + 0.00772659558207763, + 0.9999514818191528, + 0.00610689790966419, + 0.05718907674475984 + ], + [ + -0.1589650808858696, + -0.004801146220415831, + 0.9872725363495688, + -0.212785284112485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9861400484772518, + -0.011310040950775146, + 0.16552911996054626, + 0.07385731720132159 + ], + [ + 0.010871911589015308, + 0.9999346137046814, + 0.0035526848576941947, + 0.057255549989843085 + ], + [ + -0.16555847113002778, + -0.0017038269434124231, + 0.9861985121891339, + -0.2196341832248172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.985055394416279, + -0.013724153861403469, + 0.17169014998541113, + 0.07398408912384474 + ], + [ + 0.013704496109148234, + 0.9999052286148074, + 0.0012998108033147172, + 0.057863981035830875 + ], + [ + -0.1716917274927249, + 0.0010725412284955385, + 0.9851501223211792, + -0.2239615325612538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9841082417046422, + -0.017582911998033524, + 0.1766968687634077, + 0.07468438607913541 + ], + [ + 0.017955052320369907, + 0.999838650226593, + -0.0005073070169236034, + 0.06034676806843191 + ], + [ + -0.1766594375316305, + 0.003671846352517605, + 0.9842651622408987, + -0.22589467825037574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9832580491992532, + -0.020634612068533897, + 0.18104650611382775, + 0.07658812490953493 + ], + [ + 0.021169024972819882, + 0.9997754096984863, + -0.0010198276307381438, + 0.05895536566085434 + ], + [ + -0.18098479974787798, + 0.004835331346839666, + 0.9834739797402313, + -0.22963676897079469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9823769297532753, + -0.023563718423247344, + 0.18541929812742755, + 0.07688450870343908 + ], + [ + 0.02432177718705218, + 0.9997025132179262, + -0.0018144978592222094, + 0.05850086503291747 + ], + [ + -0.1853213979026675, + 0.006292247213423254, + 0.9826578473106081, + -0.2322795321145793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9813642304108341, + -0.027462756261229515, + 0.19018437358369422, + 0.08148522442188239 + ], + [ + 0.028599412031818854, + 0.999585747718811, + -0.003234018304092841, + 0.057650034875336965 + ], + [ + -0.19001677483136134, + 0.00861291028559208, + 0.9817430714816703, + -0.23909604905627607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9801157908024003, + -0.03094885870814324, + 0.1959978564404588, + 0.08396565914165575 + ], + [ + 0.032327299674923884, + 0.9994699954986574, + -0.0038369940134879614, + 0.05768631035737299 + ], + [ + -0.19577522346162965, + 0.0100967800244689, + 0.9805967917484676, + -0.24565470912964302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9788738450629549, + -0.03435209020972252, + 0.20155872849078416, + 0.08638639783425898 + ], + [ + 0.0359537066040246, + 0.9993442296981812, + -0.004289482728868418, + 0.05970257552721129 + ], + [ + -0.2012791968873049, + 0.011445646174252033, + 0.9794670672238103, + -0.2512035520902045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9770975037259855, + -0.039025381207466125, + 0.20918290565892284, + 0.09203272172562185 + ], + [ + 0.040871106644926915, + 0.999154269695282, + -0.004506498350794126, + 0.06405593849527368 + ], + [ + -0.20883012546218005, + 0.012952824123203754, + 0.9778661623799042, + -0.2588840586674609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9753050692355488, + -0.04257741570472718, + 0.2167191716065946, + 0.09274047247212296 + ], + [ + 0.044453035241515254, + 0.9990043044090273, + -0.003784833176770161, + 0.06730199473749575 + ], + [ + -0.21634224041566522, + 0.013325191102921966, + 0.976226641135015, + -0.2639025615512926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9737102337538514, + -0.04618768393993378, + 0.2230583644140247, + 0.09608013203646906 + ], + [ + 0.04806043332392998, + 0.9988400340080261, + -0.0029715634447340044, + 0.0703489570278333 + ], + [ + -0.22266237481310058, + 0.01361372321844101, + 0.9748005433507815, + -0.267546360306996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9717624138265429, + -0.051382556557655334, + 0.23029895062077554, + 0.10070485451469192 + ], + [ + 0.05320258222951445, + 0.9985823035240173, + -0.0016958812367244053, + 0.07377944365275592 + ], + [ + -0.2298853180602181, + 0.01390049234032631, + 0.97311844558054, + -0.2725715401783988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9701780060131254, + -0.0551021918654442, + 0.23604732890443375, + 0.1043939437786503 + ], + [ + 0.05676521696729514, + 0.9983875155448916, + -0.000250050734810302, + 0.07544778867806841 + ], + [ + -0.23565293006523802, + 0.013641869649291042, + 0.9717415245530336, + -0.2764252552193786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9684876875959311, + -0.05902652442455292, + 0.24196596012884827, + 0.10726025251755156 + ], + [ + 0.06050345167263004, + 0.998167097568512, + 0.001328664325807402, + 0.0753901776458799 + ], + [ + -0.24160089194313134, + 0.013352980837225914, + 0.9702838308657227, + -0.27852518067178456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9664872208732981, + -0.06378854811191559, + 0.24866343912962893, + 0.1087411347360125 + ], + [ + 0.06526926365932292, + 0.9978650808334351, + 0.002294112333860786, + 0.07377267877206752 + ], + [ + -0.2482789021670144, + 0.014012848027050495, + 0.968587225649942, + -0.2826597922166567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9647745594081946, + -0.06719423085451126, + 0.2543520927336195, + 0.10742868091893075 + ], + [ + 0.06879930668009743, + 0.9976271390914917, + 0.0025907539988458206, + 0.0736583516090085 + ], + [ + -0.2539226483181011, + 0.01499975472688675, + 0.9671082413708434, + -0.2843588298372845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9632698500378541, + -0.07074777781963348, + 0.25904812208137146, + 0.1060958636678729 + ], + [ + 0.07238967714279501, + 0.997371256351471, + 0.0032079140861029625, + 0.07465494910214676 + ], + [ + -0.25859409997274174, + 0.01566232182085514, + 0.9658591053394684, + -0.2837125094949138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9614725028880606, + -0.07504817098379135, + 0.26445858416418966, + 0.10893855359656213 + ], + [ + 0.07670199217052175, + 0.9970456957817078, + 0.004082319755354874, + 0.07650316569820191 + ], + [ + -0.26398367264120703, + 0.016359461471438408, + 0.9643883734010286, + -0.2826116643446602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9599435981383904, + -0.07807797938585281, + 0.26909489363806693, + 0.10825705018107235 + ], + [ + 0.07956209112103359, + 0.9968152642250061, + 0.005404014067719722, + 0.07605210954887381 + ], + [ + -0.26865983980377034, + 0.016222205013036728, + 0.963098509806218, + -0.28433100328390004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9583911959524103, + -0.08074788749217988, + 0.27379938869695297, + 0.10699710116919202 + ], + [ + 0.08230250965627957, + 0.9965903759002688, + 0.005823867294397787, + 0.07460523722733092 + ], + [ + -0.2733361079703498, + 0.016952833160758022, + 0.9617691918845713, + -0.2855264268783567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9567203573456832, + -0.08452222496271133, + 0.2784638173780694, + 0.10612043859661224 + ], + [ + 0.08633619940777024, + 0.9962493777275085, + 0.0057659523561084305, + 0.07357258889421028 + ], + [ + -0.2779067665625319, + 0.018525104969739914, + 0.9604294133148712, + -0.28993624393033407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9552558847741285, + -0.08692537248134613, + 0.2827191574711524, + 0.10351649589351078 + ], + [ + 0.08905458301401462, + 0.9960124492645264, + 0.005336848721585404, + 0.07470170594501517 + ], + [ + -0.2820557124913095, + 0.02007938176393509, + 0.9591879046852356, + -0.2922023303024868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9537381310573578, + -0.08876779675483704, + 0.2872349220205145, + 0.10192861326876156 + ], + [ + 0.091010998255727, + 0.9958343505859375, + 0.005561169644176135, + 0.07654957957894395 + ], + [ + -0.28653206738454606, + 0.020837634801864624, + 0.95784405474791, + -0.2924202506394039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9520422127130993, + -0.09137703478336336, + 0.29200318893083543, + 0.10175921857807373 + ], + [ + 0.09366498796709634, + 0.9955846667289736, + 0.006166214337312917, + 0.08073761571623764 + ], + [ + -0.2912773549029336, + 0.02147997915744782, + 0.9563974431441602, + -0.291489711671021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9504293471881193, + -0.09324307739734651, + 0.2966307505948786, + 0.10252341830662678 + ], + [ + 0.09530717480757397, + 0.9954194426536562, + 0.007528670333117201, + 0.08160046688000676 + ], + [ + -0.2959740027394212, + 0.021115567535161976, + 0.9549626043661268, + -0.29140103274095885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9488363339559277, + -0.09445403516292572, + 0.3013105301992342, + 0.10156654642814028 + ], + [ + 0.09627350683896754, + 0.995315670967102, + 0.008840657519853084, + 0.08108315227212096 + ], + [ + -0.3007341209412999, + 0.02061988227069378, + 0.9534850945608342, + -0.2913784590020208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9471567171456322, + -0.0959356352686882, + 0.30608907459603385, + 0.10068539217178417 + ], + [ + 0.0978011759890381, + 0.9951627850532532, + 0.009273569549040683, + 0.0795565459975667 + ], + [ + -0.305498110120517, + 0.021152343600988388, + 0.951957691311524, + -0.29217013994304347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9456706535243143, + -0.09693301469087603, + 0.3103401913880739, + 0.09823330977369198 + ], + [ + 0.09892388207431885, + 0.9950510263442995, + 0.009357084483144141, + 0.07949224384259146 + ], + [ + -0.3097113300244349, + 0.021851334720849994, + 0.9505795073501526, + -0.291622637420688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9443113658587023, + -0.09744089841842651, + 0.3142949579782968, + 0.09681673836095264 + ], + [ + 0.0994964357897581, + 0.994992196559906, + 0.009536670760517913, + 0.07989862560862504 + ], + [ + -0.31365029295042407, + 0.022265639156103134, + 0.9492775047262159, + -0.2912278615998944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.942830726378655, + -0.0978910177946091, + 0.31857110708035086, + 0.09830046802196256 + ], + [ + 0.09993527730884846, + 0.9949440360069277, + 0.009963334055032427, + 0.08078736048789323 + ], + [ + -0.3179357444529141, + 0.02244275435805321, + 0.9478465939474929, + -0.29232664613223214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9413688922233229, + -0.09823296219110489, + 0.3227613956186468, + 0.0999553344285064 + ], + [ + 0.10025375923556792, + 0.994907557964325, + 0.010400712162768585, + 0.08213202831305207 + ], + [ + -0.3221394477007098, + 0.022567136213183403, + 0.9464232005535311, + -0.2942325673682487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9397482144022169, + -0.09856846183538437, + 0.32734932479738993, + 0.10118580743278291 + ], + [ + 0.1006372314451526, + 0.994866132736206, + 0.010657619363645362, + 0.08363556170950155 + ], + [ + -0.3267192422579036, + 0.02292804792523384, + 0.9448432768616755, + -0.2949504877107439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.937950956317357, + -0.0985274687409401, + 0.3324760039257387, + 0.10350980804365681 + ], + [ + 0.10053408314982876, + 0.9948704838752747, + 0.011206926422329686, + 0.08601944352106647 + ], + [ + -0.33187475949939477, + 0.022913621738553047, + 0.9430451436606685, + -0.2955576365939856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.936261325650948, + -0.09844354540109637, + 0.3372292347781072, + 0.10432936168073784 + ], + [ + 0.10043997473542664, + 0.9948758482933047, + 0.0115679096839507, + 0.0867405447156302 + ], + [ + -0.3366400237994344, + 0.023040711879730228, + 0.9413514545403803, + -0.29652156431894544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9346553026956519, + -0.09863773733377457, + 0.34159928083786295, + 0.1052645614583044 + ], + [ + 0.1004725439720664, + 0.994862973690033, + 0.012364881044625055, + 0.08722583721288744 + ], + [ + -0.3410641263807344, + 0.02276444435119629, + 0.9397643499878908, + -0.29639960622483386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9329231716724254, + -0.0983977168798447, + 0.3463701675252651, + 0.10806149836546086 + ], + [ + 0.10020825517774135, + 0.9948850870132449, + 0.012725749127190093, + 0.08846014799659675 + ], + [ + -0.3458507030409602, + 0.022837001830339435, + 0.9380116312400038, + -0.29749759028796247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9311155931975598, + -0.09861363470554352, + 0.35113967760875503, + 0.10915795795843342 + ], + [ + 0.10039590510890688, + 0.9948602914810181, + 0.013175946419790512, + 0.09035845598747423 + ], + [ + -0.3506342762240025, + 0.022984657436609268, + 0.9362303886872574, + -0.2981894066315189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.92943635150262, + -0.09851391613483429, + 0.3555882840542062, + 0.1114322809001849 + ], + [ + 0.09998768528888102, + 0.9948862195014954, + 0.014280389818386991, + 0.09149464326656284 + ], + [ + -0.35517668872793284, + 0.022281736135482788, + 0.9345335753160129, + -0.29812842118232113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9273985806261119, + -0.09859662503004074, + 0.3608469630936092, + 0.11425699128492722 + ], + [ + 0.09965624490731999, + 0.994897723197937, + 0.0157199450222874, + 0.0922964983317193 + ], + [ + -0.36055577437965197, + 0.021382000297307968, + 0.9324925223027171, + -0.29994438928696854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9255143356852481, + -0.0987159013748169, + 0.36562060325970497, + 0.1139592879574905 + ], + [ + 0.09961023990666995, + 0.9948902726173401, + 0.016467290348978713, + 0.09176177463894242 + ], + [ + -0.36537795549727103, + 0.021178841590881348, + 0.9306183151699279, + -0.3014046936733105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9234654130613515, + -0.09878978133201602, + 0.3707454756540863, + 0.11340082372498198 + ], + [ + 0.0994650857845274, + 0.9948897957801821, + 0.017349858544998355, + 0.09081688097388013 + ], + [ + -0.3705648679432167, + 0.020854234695434574, + 0.9285724482579314, + -0.30175001876868884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9209954311849354, + -0.0987928956747055, + 0.3768386434185165, + 0.11056523359678369 + ], + [ + 0.09943901510392811, + 0.9948846101760864, + 0.017791810544730443, + 0.09074186391102179 + ], + [ + -0.37666866887258965, + 0.02108628675341606, + 0.9261080375257552, + -0.3009971906376824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9188139209080161, + -0.09886034578084948, + 0.3821094506886609, + 0.10762665572663377 + ], + [ + 0.0994060572819984, + 0.9948773980140688, + 0.01836712704348168, + 0.09097939023017819 + ], + [ + -0.3819678384476342, + 0.02110802009701729, + 0.9239345067981775, + -0.2999089375212216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9167116551582445, + -0.09937660396099093, + 0.3869935454767179, + 0.10513876467290123 + ], + [ + 0.0996797037076557, + 0.9948315620422366, + 0.019342522757574317, + 0.09025686560756573 + ], + [ + -0.38691558421055827, + 0.020843885838985447, + 0.9218795434986752, + -0.29761956482623303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9142059902795174, + -0.09954085201025009, + 0.39283466899910774, + 0.10110749892667176 + ], + [ + 0.09967672002567766, + 0.9948166608810425, + 0.020109850637658935, + 0.08865631447583402 + ], + [ + -0.3928002259634308, + 0.020771922543644905, + 0.9193892065711952, + -0.2952844599874078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9121039977481048, + -0.09958639740943909, + 0.3976794012719305, + 0.09685151254514254 + ], + [ + 0.09963287926386745, + 0.9948108792304993, + 0.020604756605911625, + 0.08780889297085934 + ], + [ + -0.39766774849816755, + 0.020828261971473694, + 0.9172930580038487, + -0.29303684185650236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9099334805922817, + -0.09984838962554932, + 0.4025560278026637, + 0.09207777722651203 + ], + [ + 0.09980242633682575, + 0.9947824478149414, + 0.02114949351296683, + 0.08800657732692829 + ], + [ + -0.40256742162049536, + 0.020931433886289597, + 0.9151509914728848, + -0.2885835230913827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.907401551639874, + -0.10010741651058197, + 0.4081677971081532, + 0.0888273101151672 + ], + [ + 0.09988868180381168, + 0.994757354259491, + 0.021911190795809832, + 0.08946668983567954 + ], + [ + -0.40822138234710825, + 0.020889094099402428, + 0.9126439250018408, + -0.28205647130274747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9052283569748714, + -0.10015577822923663, + 0.41295329416806764, + 0.08559321003505879 + ], + [ + 0.09973327425807683, + 0.9947565793991091, + 0.02263992284640311, + 0.09087215078941742 + ], + [ + -0.4130555392581218, + 0.020690884441137317, + 0.9104707772604022, + -0.27580906758387547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9030894739630291, + -0.10058937966823578, + 0.41750595854662353, + 0.08357213007241443 + ], + [ + 0.10014542834410846, + 0.9947061538696289, + 0.023033425904992716, + 0.09192390103068798 + ], + [ + -0.41761266705625794, + 0.02101006917655468, + 0.9083822000658751, + -0.26765908780039527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.900605817788308, + -0.10112108290195468, + 0.42270992878524716, + 0.08000375206452082 + ], + [ + 0.10059362800451613, + 0.9946471452713015, + 0.0236204348175197, + 0.09432444852043921 + ], + [ + -0.4228357647654125, + 0.021249223500490192, + 0.9059571832685581, + -0.2565048412455885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8984063496159321, + -0.1017478480935097, + 0.4272159331712285, + 0.07603972445294849 + ], + [ + 0.10111494586337628, + 0.9945794939994814, + 0.024236034793144106, + 0.09646489919949902 + ], + [ + -0.42736616674160016, + 0.021424105390906337, + 0.903824777332254, + -0.2467894535271345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8962454952389379, + -0.10233076661825183, + 0.4315929009034652, + 0.07204642183648352 + ], + [ + 0.1013609084421512, + 0.9945275187492373, + 0.025316715529254786, + 0.09775605522420415 + ], + [ + -0.43182169317609803, + 0.0210566520690918, + 0.9017131747471631, + -0.23570581305797417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.893642259110821, + -0.102643758058548, + 0.4368842088143277, + 0.06666915128265574 + ], + [ + 0.10142738562601619, + 0.9944983124732973, + 0.026183716803511843, + 0.1005931422827725 + ], + [ + -0.4371682125903982, + 0.020913142710924152, + 0.8991366201502532, + -0.22289366025854712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8913687899155803, + -0.10310329496860504, + 0.4413971467361198, + 0.06280659021445262 + ], + [ + 0.1015367604741689, + 0.9944586753845215, + 0.027243662034015813, + 0.10181645317149403 + ], + [ + -0.4417601475940958, + 0.020533883944153786, + 0.8968981991047318, + -0.21434853538726778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8889505059684302, + -0.10376669466495514, + 0.44609353448075273, + 0.06133853785174251 + ], + [ + 0.10197258358773202, + 0.9943901896476746, + 0.028101739882353045, + 0.10323059027692594 + ], + [ + -0.4465070698363835, + 0.02050825208425522, + 0.8945450225682803, + -0.20589409304505674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8860455687613883, + -0.10457653552293777, + 0.4516491610805627, + 0.05800299847303253 + ], + [ + 0.10222124236232456, + 0.9943184852600098, + 0.029690527377872367, + 0.1043781412074859 + ], + [ + -0.452188066463665, + 0.019860973581671715, + 0.8917014510607806, + -0.19721480050794069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8835657724682814, + -0.10541258752346039, + 0.45628912283253936, + 0.05488190419512615 + ], + [ + 0.10264045464476008, + 0.9942373633384705, + 0.030935539549868867, + 0.10439173176238528 + ], + [ + -0.45692070100199106, + 0.019500140100717545, + 0.8892936568703387, + -0.19282343547899652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8810265227498516, + -0.10661543160676956, + 0.46089628750161, + 0.051440780163007294 + ], + [ + 0.10338109393266795, + 0.9941158294677734, + 0.03234262796260852, + 0.10424651509652237 + ], + [ + -0.4616325076417002, + 0.01915324293076992, + 0.8868644576819238, + -0.18709601805178264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8780640207413686, + -0.10798031836748123, + 0.4662015300169876, + 0.0491551410317341 + ], + [ + 0.104156236044223, + 0.9939779043197632, + 0.03405010381083897, + 0.10479374905753513 + ], + [ + -0.46707074871858756, + 0.018659617751836777, + 0.8840230633501058, + -0.1806231527748312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8754412765442232, + -0.10926106572151187, + 0.47081273235281024, + 0.04660831438388513 + ], + [ + 0.10506617262537381, + 0.9938393235206606, + 0.03527663618522537, + 0.10486330643157782 + ], + [ + -0.4717665537458926, + 0.018583865836262706, + 0.8815276134517204, + -0.17679181498463598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8728132978723347, + -0.11077123135328293, + 0.475317492551741, + 0.04413157701117715 + ], + [ + 0.10607324468813514, + 0.9936773777008057, + 0.036793768052967274, + 0.10466568902464157 + ], + [ + -0.47638789296374323, + 0.018304377794265747, + 0.8790446597371672, + -0.17233583686372989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8695395904798516, + -0.11267842352390292, + 0.4808372875181325, + 0.0420897524745901 + ], + [ + 0.10763015502214217, + 0.9934580922126772, + 0.038168013742182115, + 0.10516067608578718 + ], + [ + -0.4819924098016394, + 0.01856399327516556, + 0.8759787330319407, + -0.16774711678367615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8667228506541449, + -0.11452953517436981, + 0.4854631294177386, + 0.03866722856040394 + ], + [ + 0.10906888909687466, + 0.9932451844215393, + 0.0395980660318007, + 0.105375020251612 + ], + [ + -0.48671907907405426, + 0.018628375604748726, + 0.8733599213890911, + -0.16355887864338636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.863806791798832, + -0.11634677648544312, + 0.4902053630507629, + 0.0352440714293511 + ], + [ + 0.11033005270936952, + 0.9930376410484314, + 0.04127428752813722, + 0.10510824328511217 + ], + [ + -0.49159450959548195, + 0.018431371077895164, + 0.8706291542692626, + -0.15837372117669013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8603411094750757, + -0.1190181374549866, + 0.4956287690198373, + 0.031176242901598872 + ], + [ + 0.1124268150826024, + 0.9927191734313967, + 0.04323029780337846, + 0.10285436486583283 + ], + [ + -0.4971653977215621, + 0.01852916553616524, + 0.8674579508620528, + -0.15377212785463984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8575825783188042, + -0.12091828137636185, + 0.49993085697525436, + 0.028361535668620236 + ], + [ + 0.11405170399167353, + 0.9924818277359009, + 0.04440703895926699, + 0.1004854043419207 + ], + [ + -0.5015419084384843, + 0.018935255706310272, + 0.8649261048415742, + -0.15116077990091908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8546551899229817, + -0.12291793525218964, + 0.504435969686409, + 0.02503876230602889 + ], + [ + 0.11584549844075862, + 0.9922243356704712, + 0.045504698519535786, + 0.09893172105544373 + ], + [ + -0.5061069768920293, + 0.01954580657184124, + 0.8622491677550403, + -0.14851030194750858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8514108129273944, + -0.1253091096878052, + 0.5093105595174491, + 0.021244019162072525 + ], + [ + 0.11800401097378022, + 0.9919106364250185, + 0.04677998102918584, + 0.09812871663979732 + ], + [ + -0.5110525214424017, + 0.020271703600883487, + 0.8593104497740306, + -0.14385493017277518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8485098877157159, + -0.12712424993515015, + 0.5136831687312217, + 0.01729900222745162 + ], + [ + 0.11921626307441684, + 0.991683304309845, + 0.04849454517950258, + 0.0978889637244719 + ], + [ + -0.5155758735670068, + 0.020091285929083824, + 0.8566083338385785, + -0.13889391618590421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8452482499829667, + -0.12969712913036346, + 0.5183956840766316, + 0.012545534061109448 + ], + [ + 0.12136107372453864, + 0.9913411140441895, + 0.0501429227775246, + 0.09715895972789226 + ], + [ + -0.520410319853957, + 0.020529840141534805, + 0.8536694978470718, + -0.1326729838843262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/pan_left/transforms.json b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5853e2157c4d3e768f1c7acfa0f5df3f3d4aca48 --- /dev/null +++ b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/pan_left/transforms.json @@ -0,0 +1,2918 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 83, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0296749763938351e-07, + 3.9372025639750063e-05, + -4.9055423005484045e-05 + ], + [ + -9.60969757102248e-08, + 1.0, + -0.0001745025219861418, + 0.0002419097872916609 + ], + [ + -3.937204019166529e-05, + 0.0001745025219861418, + 1.0, + 6.51580048725009e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999992065911145, + 0.0012096739374101162, + 0.00037678930239979, + 0.008365442976355553 + ], + [ + -0.0012102097386259495, + 0.9999982714653015, + 0.0014250038864753768, + 0.004075000062584877 + ], + [ + -0.00037506498761314126, + -0.0014254588168114424, + 0.9999989030611754, + -0.015629172325134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999977335699015, + 0.0023722720798105, + 0.0062984540185171845, + 0.022646959871053696 + ], + [ + -0.0023949415993748105, + 0.999990701675415, + 0.0035940921438931154, + 0.011788894422352314 + ], + [ + -0.006289869746392338, + -0.003609095001593232, + 0.9999737045330851, + -0.03932250663638115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999197175435025, + 0.002711550099775195, + 0.012375322045732154, + 0.03633829578757286 + ], + [ + -0.002782044534455307, + 0.9999799728393555, + 0.005682733284583493, + 0.017560428008437157 + ], + [ + -0.012359663767517423, + -0.005716706160455942, + 0.9999072884434603, + -0.05904180929064751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997392761383557, + 0.002701930236071348, + 0.0226745721194394, + 0.050409816205501556 + ], + [ + -0.002866005450236636, + 0.9999698996543884, + 0.007206721094213918, + 0.024980520829558372 + ], + [ + -0.022654419238359667, + -0.007269827648997307, + 0.9997169036313536, + -0.07853717356920242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993623490488674, + 0.0022930724080652, + 0.035632534077944956, + 0.06713992357254028 + ], + [ + -0.0026284829167635675, + 0.9999526739120483, + 0.009369049664277884, + 0.0330510251224041 + ], + [ + -0.035609363803888947, + -0.009456734172999859, + 0.9993210255326769, + -0.11126486212015152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9988029573875675, + 0.001671727630309761, + 0.04888669185506547, + 0.07430676370859146 + ], + [ + -0.0021608829968938342, + 0.9999481439590456, + 0.009954759699534441, + 0.0414586141705513 + ], + [ + -0.04886751067777164, + -0.010048481635749342, + 0.9987547185941932, + -0.13547077775001526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9981957483840092, + 7.908229599706829e-05, + 0.06004400735241032, + 0.08012440800666809 + ], + [ + -0.0007189895348635579, + 0.999943196773529, + 0.01063577349762562, + 0.049954839050769806 + ], + [ + -0.06003975934588369, + -0.01065975520759821, + 0.9981390744937351, + -0.15407176315784454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9973733663735186, + -0.002262552035972476, + 0.07239681680179373, + 0.08713652938604355 + ], + [ + 0.001438120162423524, + 0.9999335408210754, + 0.011437781822971595, + 0.05715463310480118 + ], + [ + -0.07241787916190869, + -0.011303623206913471, + 0.9973103451706986, + -0.1761203557252884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9968827766626506, + -0.003861332079395652, + 0.07880248254649916, + 0.09349799901247025 + ], + [ + 0.003001846988558361, + 0.999934732913971, + 0.011022376194659757, + 0.058490823954343796 + ], + [ + -0.0788399017264803, + -0.01075146347284317, + 0.9968292913919441, + -0.19202809035778046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9964612395052418, + -0.005405290983617306, + 0.08387954005461881, + 0.09952310472726822 + ], + [ + 0.004638156811623705, + 0.9999456405639648, + 0.009337840188218713, + 0.05828540027141571 + ], + [ + -0.08392544810896677, + -0.008915750309824944, + 0.996432172560347, + -0.20616841316223145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9959728484558632, + -0.008599039167165756, + 0.08924183455960596, + 0.10638744384050369 + ], + [ + 0.008136132784915208, + 0.9999514818191528, + 0.005549578783499727, + 0.057437963783741 + ], + [ + -0.08928522230741921, + -0.004801146220415831, + 0.9959945316359304, + -0.22163300216197968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9959176479700063, + -0.011310040950775146, + 0.08955514070962234, + 0.11078459769487381 + ], + [ + 0.011111966610320363, + 0.9999346137046814, + 0.0027100238649466453, + 0.057656560093164444 + ], + [ + -0.08957993040347448, + -0.0017038269434124231, + 0.9959781869478278, + -0.2294151932001114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9958991000402486, + -0.013724153861403469, + 0.0894238235016073, + 0.11395478993654251 + ], + [ + 0.013765080057280001, + 0.9999052286148074, + 0.0001590369351602744, + 0.05842409282922745 + ], + [ + -0.08941754128254534, + 0.0010725412284955385, + 0.9959936325649149, + -0.23467878997325897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9959534046008313, + -0.017582911998033524, + 0.08813416298920879, + 0.11770511418581009 + ], + [ + 0.017838066342203324, + 0.999838650226593, + -0.002108234666206206, + 0.061145998537540436 + ], + [ + -0.08808287200151055, + 0.003671846352517605, + 0.9961063568364877, + -0.23751603066921234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9960655415529406, + -0.020634612068533897, + 0.08618390581769071, + 0.12266360223293304 + ], + [ + 0.02097446827949416, + 0.9997754096984863, + -0.0030396294328062594, + 0.05996681749820709 + ], + [ + -0.08610183200160208, + 0.004835331346839666, + 0.9962745811732007, + -0.2421436756849289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9961649934657132, + -0.023563718423247344, + 0.08426181829865319, + 0.12601153552532196 + ], + [ + 0.024009897513084657, + 0.9997025132179262, + -0.004285565240304355, + 0.05974316969513893 + ], + [ + -0.08413577834848975, + 0.006292247213423254, + 0.996434461569556, + -0.2456800937652588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9961922225775452, + -0.027462756261229515, + 0.08274602323544933, + 0.13365350663661957 + ], + [ + 0.028080712739882812, + 0.999585747718811, + -0.006313383797705934, + 0.05920670926570892 + ], + [ + -0.08253836809842138, + 0.00861291028559208, + 0.9965506765394452, + -0.2534169554710388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9961267803368967, + -0.03094885870814324, + 0.08230164400008727, + 0.13915503025054932 + ], + [ + 0.031673967436656694, + 0.9994699954986574, + -0.007519083331995171, + 0.05954993888735771 + ], + [ + -0.08202531709755409, + 0.0100967800244689, + 0.9965790753692775, + -0.2609657943248749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9960721778967213, + -0.03435209020972252, + 0.08160969304707516, + 0.14459463953971863 + ], + [ + 0.03517029915123333, + 0.9993442296981812, + -0.008609224022076502, + 0.06189018115401268 + ], + [ + -0.08126042185077632, + 0.011445646174252033, + 0.9966272095002446, + -0.2675063908100128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9957821154152344, + -0.039025381207466125, + 0.08303612723762313, + 0.1532137095928192 + ], + [ + 0.039964325837913255, + 0.999154269695282, + -0.009675150959432005, + 0.06667163223028183 + ], + [ + -0.08258832339654698, + 0.012952824123203754, + 0.996499584378588, + -0.27632197737693787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9955232124262846, + -0.04257741570472718, + 0.08438430505051202, + 0.1568869650363922 + ], + [ + 0.043547986268979905, + 0.9990043044090273, + -0.009693822583280288, + 0.07028398662805557 + ], + [ + -0.08388755177897826, + 0.013325191102921966, + 0.9963861191859068, + -0.282501220703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9953502013757726, + -0.04618768393993378, + 0.08452591243665376, + 0.16320474445819855 + ], + [ + 0.047170933741591384, + 0.9988400340080261, + -0.009671527828445391, + 0.07372146099805832 + ], + [ + -0.08398116269532989, + 0.01361372321844101, + 0.9963743256360679, + -0.2872515916824341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9950023384400329, + -0.051382556557655334, + 0.0856162489360866, + 0.1707732379436493 + ], + [ + 0.05238168788444454, + 0.9985823035240173, + -0.009463062053793983, + 0.07767574489116669 + ], + [ + -0.08500863328156999, + 0.01390049234032631, + 0.9962832432879384, + -0.29346898198127747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9948403867240642, + -0.0551021918654442, + 0.08518397605909457, + 0.17743340134620667 + ], + [ + 0.05606178261473467, + 0.9983875155448916, + -0.008912289984751628, + 0.07977961748838425 + ], + [ + -0.08455552942117579, + 0.013641869649291042, + 0.9963253767887731, + -0.29843172430992126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9946360103102764, + -0.05902652442455292, + 0.08494194417391795, + 0.18325749039649963 + ], + [ + 0.059945384421730814, + 0.998167097568512, + -0.008305654683639618, + 0.0801939144730568 + ], + [ + -0.08429600871320214, + 0.013352980837225914, + 0.9963512866164236, + -0.3016720116138458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9942919614335276, + -0.06378854811191559, + 0.08552513957798898, + 0.18766285479068756 + ], + [ + 0.06475095996478081, + 0.9978650808334351, + -0.008523667853098112, + 0.07915990799665451 + ], + [ + -0.08479884822730285, + 0.014012848027050495, + 0.9962995444608176, + -0.3070249557495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9941064223972916, + -0.06719423085451126, + 0.08507266604324266, + 0.1892973780632019 + ], + [ + 0.06822381363527252, + 0.9976271390914917, + -0.009250289671369155, + 0.07955622673034668 + ], + [ + -0.08424924104659308, + 0.01499975472688675, + 0.9963318359057671, + -0.3098776936531067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.993983783971181, + -0.07074777781963348, + 0.08361202514093023, + 0.19092950224876404 + ], + [ + 0.07180625050931738, + 0.997371256351471, + -0.009716916044459494, + 0.08109033107757568 + ], + [ + -0.08270477020452813, + 0.01566232182085514, + 0.9964510228271567, + -0.3103160858154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9937269564480571, + -0.07504817098379135, + 0.08291231860490096, + 0.19670464098453522 + ], + [ + 0.0761423273440482, + 0.9970456957817078, + -0.010109744019684602, + 0.08356492221355438 + ], + [ + -0.08190865982194291, + 0.016359461471438408, + 0.9965055371739762, + -0.31037595868110657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9936178922904753, + -0.07807797938585281, + 0.08140796956806824, + 0.1989794224500656 + ], + [ + 0.07913564304216121, + 0.9968152642250061, + -0.009842749204333501, + 0.08362803608179092 + ], + [ + -0.08038020646753849, + 0.016222205013036728, + 0.9966322649415787, + -0.3132037818431854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9935205291708757, + -0.08074788749217988, + 0.07997967145431104, + 0.20067048072814941 + ], + [ + 0.08184065261433031, + 0.9965903759002688, + -0.010475118407219052, + 0.08270522952079773 + ], + [ + -0.07886113511466078, + 0.016952833160758022, + 0.9967414548151929, + -0.31551826000213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9933213599574223, + -0.08452222496271133, + 0.07854053476234737, + 0.2027302086353302 + ], + [ + 0.08571012220052757, + 0.9962493777275085, + -0.0118726781781453, + 0.08234750479459763 + ], + [ + -0.07724245907461251, + 0.018525104969739914, + 0.9968402235953844, + -0.3210470974445343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9932605848184238, + -0.08692537248134613, + 0.07666379877728337, + 0.20308217406272888 + ], + [ + 0.08820106903347485, + 0.9960124492645264, + -0.01340791301542911, + 0.08404020220041275 + ], + [ + -0.07519260437324114, + 0.02007938176393509, + 0.9969668668972917, + -0.32439830899238586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9932204301126657, + -0.08876779675483704, + 0.07505664705890124, + 0.2044418454170227 + ], + [ + 0.09007246607942543, + 0.9958343505859375, + -0.014173188268205832, + 0.08638481050729752 + ], + [ + -0.07348587339061814, + 0.020837634801864624, + 0.9970785752725796, + -0.32574397325515747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9930824983678285, + -0.09137703478336336, + 0.07373865044156447, + 0.2071976363658905 + ], + [ + 0.09270221292914908, + 0.9955846667289736, + -0.014746249969693596, + 0.0911591425538063 + ], + [ + -0.07206561121487286, + 0.02147997915744782, + 0.9971685486477014, + -0.325980544090271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9930170634478312, + -0.09324307739734651, + 0.07226934271433272, + 0.21089401841163635 + ], + [ + 0.09451559392563003, + 0.9954194426536562, + -0.014385442352309834, + 0.09250830113887787 + ], + [ + -0.07059695177806292, + 0.021115567535161976, + 0.9972814329139876, + -0.3270648717880249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9930048993925021, + -0.09445403516292572, + 0.07084979905656207, + 0.21286945044994354 + ], + [ + 0.095668391461454, + 0.995315670967102, + -0.013939304847590555, + 0.0924091711640358 + ], + [ + -0.06920128429869207, + 0.02061988227069378, + 0.9973896025623242, + -0.32823389768600464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9929547767517303, + -0.0959356352686882, + 0.06954983642733444, + 0.21490822732448578 + ], + [ + 0.09716436788714135, + 0.9951627850532532, + -0.014496714459212995, + 0.09137680381536484 + ], + [ + -0.06782265650204633, + 0.021152343600988388, + 0.9974731217428265, + -0.330229252576828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9929861510802777, + -0.09693301469087603, + 0.0676943357354654, + 0.21539846062660217 + ], + [ + 0.0981784775577704, + 0.9950510263442995, + -0.015312609807502132, + 0.09176687151193619 + ], + [ + -0.06587502382854808, + 0.021851334720849994, + 0.997588587031323, + -0.3308289349079132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9930821223268935, + -0.09744089841842651, + 0.06552232150359469, + 0.21693943440914154 + ], + [ + 0.09867805147257692, + 0.994992196559906, + -0.015910090560252325, + 0.09256482124328613 + ], + [ + -0.06364389490409975, + 0.022265639156103134, + 0.997724281496924, + -0.331554651260376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9931568181598139, + -0.0978910177946091, + 0.06369351154377167, + 0.2213645726442337 + ], + [ + 0.09910876591613754, + 0.9949440360069277, + -0.016241311365430562, + 0.09383153170347214 + ], + [ + -0.06178159631834424, + 0.02244275435805321, + 0.9978373302372734, + -0.33382558822631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9932440442993103, + -0.09823296219110489, + 0.06177846074007095, + 0.22596268355846405 + ], + [ + 0.0994260341080195, + 0.994907557964325, + -0.016536468664951624, + 0.09554130584001541 + ], + [ + -0.059839447072306685, + 0.022567136213183403, + 0.9979528740802285, + -0.3369015157222748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9933022397019866, + -0.09856846183538437, + 0.0602905259595498, + 0.23011457920074463 + ], + [ + 0.09975718085261315, + 0.994866132736206, + -0.017027685450013322, + 0.09742116183042526 + ], + [ + -0.05830260478548096, + 0.02292804792523384, + 0.9980356142781255, + -0.33884936571121216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9933616677578906, + -0.0985274687409401, + 0.05937075603640749, + 0.2353350967168808 + ], + [ + 0.09969962464681623, + 0.9948704838752747, + -0.017107949026582622, + 0.10011633485555649 + ], + [ + -0.05738060138143809, + 0.022913621738553047, + 0.9980894075982655, + -0.34077826142311096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9934472401280163, + -0.09844354540109637, + 0.058063825061095926, + 0.23906460404396057 + ], + [ + 0.09960040632892796, + 0.9948758482933047, + -0.017371359141461262, + 0.10114961117506027 + ], + [ + -0.05605621317043756, + 0.023040711879730228, + 0.9981616940926775, + -0.3430226445198059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9935257222092975, + -0.09863773733377457, + 0.05636703677274318, + 0.24292033910751343 + ], + [ + 0.09974936850278007, + 0.994862973690033, + -0.017253575245818793, + 0.10196647047996521 + ], + [ + -0.05437562667468416, + 0.02276444435119629, + 0.9982610194912711, + -0.34414321184158325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9936210794628398, + -0.0983977168798447, + 0.05509162950865707, + 0.2486196607351303 + ], + [ + 0.09949137182754475, + 0.9948850870132449, + -0.017467284519602378, + 0.10348778963088989 + ], + [ + -0.05309109864663447, + 0.022837001830339435, + 0.9983285352928426, + -0.346548467874527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9936683208592764, + -0.09861363470554352, + 0.053838547598633144, + 0.2526063621044159 + ], + [ + 0.09969254814875837, + 0.9948602914810181, + -0.01772961280742816, + 0.1057412326335907 + ], + [ + -0.05181346058502704, + 0.022984657436609268, + 0.9983922584169145, + -0.34855976700782776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9937634149420087, + -0.09851391613483429, + 0.052242074747408204, + 0.2577887773513794 + ], + [ + 0.09952885593854915, + 0.9948862195014954, + -0.017189344907730938, + 0.10714399814605713 + ], + [ + -0.0502815256336643, + 0.022281736135482788, + 0.9984864805237075, + -0.3497929573059082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9937924921549269, + -0.09859662503004074, + 0.05152805699526456, + 0.2634679973125458 + ], + [ + 0.09955421135776836, + 0.994897723197937, + -0.01635367914153471, + 0.10822495073080063 + ], + [ + -0.04965274172450065, + 0.021382000297307968, + 0.9985376186344879, + -0.3530488610267639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9938432604815265, + -0.0987159013748169, + 0.050306904917173365, + 0.26604586839675903 + ], + [ + 0.0996432677489486, + 0.9948902726173401, + -0.016266245356973127, + 0.10801178216934204 + ], + [ + -0.04844410715363072, + 0.021178841590881348, + 0.9986013555844837, + -0.3558746874332428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9938777723528107, + -0.09878978133201602, + 0.04947272442024846, + 0.26833704113960266 + ], + [ + 0.09968783692925057, + 0.9948897957801821, + -0.016020488445175222, + 0.10737356543540955 + ], + [ + -0.047637238077095925, + 0.020854234695434574, + 0.9986469879621569, + -0.3576600253582001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.993866461760799, + -0.0987928956747055, + 0.04969309433013176, + 0.26828524470329285 + ], + [ + 0.09970564528158615, + 0.9948846101760864, + -0.016231159733097963, + 0.10762277990579605 + ], + [ + -0.047835372917957135, + 0.02108628675341606, + 0.9986326453595707, + -0.3585202395915985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9938920213398282, + -0.09886034578084948, + 0.049043893370965735, + 0.26817190647125244 + ], + [ + 0.0997634204684091, + 0.9948773980140688, + -0.01631488635040887, + 0.10818483680486679 + ], + [ + -0.047179771961436315, + 0.02110802009701729, + 0.9986633424625219, + -0.3589268922805786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9938911948033345, + -0.09937660396099093, + 0.04800578960926113, + 0.2685188353061676 + ], + [ + 0.10024970993679795, + 0.9948315620422366, + -0.016129853547419012, + 0.1078442931175232 + ], + [ + -0.046154732766084554, + 0.020843885838985447, + 0.9987168280697061, + -0.3580867648124695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9938747314633294, + -0.09954085201025009, + 0.04800716602015431, + 0.2672576606273651 + ], + [ + 0.10041044809041143, + 0.9948166608810425, + -0.01604981376929567, + 0.10657790303230286 + ], + [ + -0.046160734414179665, + 0.020771922543644905, + 0.9987180369227732, + -0.35738587379455566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9939213527665408, + -0.09958639740943909, + 0.046935630589194414, + 0.26583370566368103 + ], + [ + 0.10044112698460274, + 0.9948108792304993, + -0.01621254561320203, + 0.10605593025684357 + ], + [ + -0.04507752761602134, + 0.020828261971473694, + 0.9987663435266934, + -0.35660549998283386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9939424876771942, + -0.09984838962554932, + 0.045919775839107606, + 0.26387903094291687 + ], + [ + 0.10069077235096228, + 0.9947824478149414, + -0.016407124731019896, + 0.10661949217319489 + ], + [ + -0.04404196055856763, + 0.020931433886289597, + 0.9988103783272054, + -0.3536399006843567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9939255681106903, + -0.10010741651058197, + 0.045721893775466906, + 0.26338696479797363 + ], + [ + 0.10094438009171473, + 0.994757354259491, + -0.016373184250259493, + 0.10843423008918762 + ], + [ + -0.04384311976953659, + 0.020889094099402428, + 0.9988200096599104, + -0.34876036643981934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9939705111342219, + -0.10015577822923663, + 0.04462537877999048, + 0.26296839118003845 + ], + [ + 0.10096604599594704, + 0.9947565793991091, + -0.0162834166154454, + 0.11014972627162933 + ], + [ + -0.042760505151133145, + 0.020690884441137317, + 0.998871089758933, + -0.3440200984477997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9939853127408957, + -0.10058937966823578, + 0.04330151798885452, + 0.2637660801410675 + ], + [ + 0.10139072103706613, + 0.9947061538696289, + -0.016720263596294978, + 0.11161768436431885 + ], + [ + -0.04139041705000141, + 0.02101006917655468, + 0.9989221163127721, + -0.3373366892337799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9939568025531414, + -0.10112108290195468, + 0.04271296742338634, + 0.2629567086696625 + ], + [ + 0.10192179171908272, + 0.9946471452713015, + -0.01699856784707425, + 0.1144474670290947 + ], + [ + -0.04076541728557724, + 0.021249223500490192, + 0.9989427824626312, + -0.32779696583747864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9939495530764818, + -0.1017478480935097, + 0.04137279933301668, + 0.26179739832878113 + ], + [ + 0.10253189128397062, + 0.9945794939994814, + -0.01728666911756106, + 0.1170361191034317 + ], + [ + -0.03938964600907356, + 0.021424105390906337, + 0.9989942564311306, + -0.31957054138183594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9939498827807042, + -0.10233076661825183, + 0.03990050584368171, + 0.26061421632766724 + ], + [ + 0.10307457205890766, + 0.9945275187492373, + -0.017047065444833125, + 0.11873093992471695 + ], + [ + -0.03793769881819919, + 0.0210566520690918, + 0.9990582341477695, + -0.30997270345687866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9939358167228408, + -0.102643758058548, + 0.03944478945959906, + 0.2579699754714966 + ], + [ + 0.10337405718617715, + 0.9944983124732973, + -0.016938296296973875, + 0.12193486839532852 + ], + [ + -0.0374891690454795, + 0.020913142710924152, + 0.9990782101512292, + -0.2988494634628296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9939389736789556, + -0.10310329496860504, + 0.03814547659130694, + 0.2568952739238739 + ], + [ + 0.10379718883780376, + 0.9944586753845215, + -0.016675564097856727, + 0.12353937327861786 + ], + [ + -0.036214808305625325, + 0.020533883944153786, + 0.9991330718272993, + -0.29184791445732117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9939104201408127, + -0.10376669466495514, + 0.0370745236324344, + 0.2581872045993805 + ], + [ + 0.10444114314150617, + 0.9943901896476746, + -0.01673807657013924, + 0.12540332973003387 + ], + [ + -0.03512969655339987, + 0.02050825208425522, + 0.9991722900659445, + -0.28498512506484985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9938287029046805, + -0.10457653552293777, + 0.03698951080061152, + 0.25752201676368713 + ], + [ + 0.10522610502598727, + 0.9943184852600098, + -0.01606787562601803, + 0.12697845697402954 + ], + [ + -0.03509904522923467, + 0.019860973581671715, + 0.9991864602265413, + -0.2781224250793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9937804707638686, + -0.10541258752346039, + 0.03589726759939895, + 0.2571445107460022 + ], + [ + 0.10603150269648791, + 0.9942373633384705, + -0.015792117427667254, + 0.1274549961090088 + ], + [ + -0.034025745308908034, + 0.019500140100717545, + 0.9992306959907427, + -0.2753527760505676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9936910328783143, + -0.10661543160676956, + 0.03480305731815049, + 0.2564323842525482 + ], + [ + 0.1072045805954136, + 0.9941158294677734, + -0.015520118092472392, + 0.1278526484966278 + ], + [ + -0.032943565484940464, + 0.01915324293076992, + 0.9992736661716632, + -0.2712573707103729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9935534068836518, + -0.10798031836748123, + 0.03452417675437516, + 0.25679466128349304 + ], + [ + 0.10854798685119929, + 0.9939779043197632, + -0.015008851620982734, + 0.1289646476507187 + ], + [ + -0.032695595352630766, + 0.018659617751836777, + 0.9992911782298413, + -0.2666033208370209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9934492684462406, + -0.10926106572151187, + 0.03347549322306562, + 0.256955623626709 + ], + [ + 0.10980962839718446, + 0.9938393235206606, + -0.01500623876798784, + 0.12962736189365387 + ], + [ + -0.03162964667724035, + 0.018583865836262706, + 0.9993268634246929, + -0.26443347334861755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9933197451596948, + -0.11077123135328293, + 0.03233659759984409, + 0.25718194246292114 + ], + [ + 0.11129305116532373, + 0.9936773777008057, + -0.014804437460342077, + 0.13006068766117096 + ], + [ + -0.030492221088241976, + 0.018304377794265747, + 0.9993673813107834, + -0.26163607835769653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9931031932198308, + -0.11267842352390292, + 0.03239821131233408, + 0.25771600008010864 + ], + [ + 0.11320802260163064, + 0.9934580922126772, + -0.014999705388521538, + 0.13132160902023315 + ], + [ + -0.030496128132808564, + 0.01856399327516556, + 0.9993625017977925, + -0.2589648962020874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9929215667704256, + -0.11452953517436981, + 0.03145969027619871, + 0.25695210695266724 + ], + [ + 0.11504579031511449, + 0.9932451844215393, + -0.015116068703730692, + 0.1322881430387497 + ], + [ + -0.029515956559072656, + 0.018628375604748726, + 0.9993907256583172, + -0.2564958333969116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9927349017469967, + -0.11634677648544312, + 0.030673871208274507, + 0.25616535544395447 + ], + [ + 0.1168443690165342, + 0.9930376410484314, + -0.014955961050216168, + 0.13274981081485748 + ], + [ + -0.028720256147550437, + 0.018431371077895164, + 0.9994175468816089, + -0.25308388471603394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9924157644032532, + -0.1190181374549866, + 0.030751453572637474, + 0.2546176314353943 + ], + [ + 0.11951831184791682, + 0.9927191734313967, + -0.014967315417621401, + 0.13144755363464355 + ], + [ + -0.028746196066431057, + 0.01852916553616524, + 0.9994150216087113, + -0.2504537105560303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9922236794837609, + -0.12091828137636185, + 0.02951118878742942, + 0.254461407661438 + ], + [ + 0.12140994178624165, + 0.9924818277359009, + -0.015472631579521053, + 0.1299087256193161 + ], + [ + -0.027418369077027323, + 0.018935255706310272, + 0.9994446887115318, + -0.2495223730802536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9920065347767559, + -0.12291793525218964, + 0.028533771849662232, + 0.2537599503993988 + ], + [ + 0.1234095561167737, + 0.9922243356704712, + -0.01615359264691705, + 0.12923796474933624 + ], + [ + -0.026326326292354738, + 0.01954580657184124, + 0.9994622673703081, + -0.24861647188663483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9917214945317637, + -0.1253091096878052, + 0.028037398048830778, + 0.25251656770706177 + ], + [ + 0.12581033667176028, + 0.9919106364250185, + -0.016884087702015754, + 0.12942957878112793 + ], + [ + -0.025694850360968538, + 0.020271703600883487, + 0.9994643082313698, + -0.24582473933696747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.991520899276397, + -0.12712424993515015, + 0.026939444820014754, + 0.2511919140815735 + ], + [ + 0.1276014351234377, + 0.991683304309845, + -0.01679619147409617, + 0.12997344136238098 + ], + [ + -0.024580227211715537, + 0.020091285929083824, + 0.9994959386792465, + -0.2426292598247528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9912042990279047, + -0.12969712913036346, + 0.02631970663109184, + 0.24897578358650208 + ], + [ + 0.1301732342647689, + 0.9913411140441895, + -0.017255491916931664, + 0.1302780956029892 + ], + [ + -0.023853808461576136, + 0.020529840141534805, + 0.9995046314984478, + -0.23827700316905975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/pan_right/transforms.json b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..017496489726ab348a594a922d917e5af0f7a71a --- /dev/null +++ b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/pan_right/transforms.json @@ -0,0 +1,2918 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 83, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0296749763938351e-07, + 3.9372025639750063e-05, + -4.9055423005484045e-05 + ], + [ + -9.60969757102248e-08, + 1.0, + -0.0001745025219861418, + 0.0002419097872916609 + ], + [ + -3.937204019166529e-05, + 0.0001745025219861418, + 1.0, + 6.51580048725009e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999764144077881, + 0.0012096739374101162, + 0.00676208408558556, + 0.008365442976355553 + ], + [ + -0.0012192841549941603, + 0.9999982714653015, + 0.0014172472745837949, + 0.004075000062584877 + ], + [ + -0.006760357867819277, + -0.0014254588168114424, + 0.9999761218943171, + -0.015629172325134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998153597506584, + 0.0023722720798105, + 0.0190680057002755, + 0.022646959871053696 + ], + [ + -0.002440644137087127, + 0.999990701675415, + 0.003563214812400793, + 0.011788894422352314 + ], + [ + -0.019059375756872197, + -0.003609095001593232, + 0.9998118385050293, + -0.03932250663638115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999499212880986, + 0.002711550099775195, + 0.03152639494618513, + 0.03633829578757286 + ], + [ + -0.0028903861894592204, + 0.9999799728393555, + 0.005628400931986735, + 0.017560428008437157 + ], + [ + -0.03151050146288426, + -0.005716706160455942, + 0.9994870859937895, + -0.05904180929064751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988341198242496, + 0.002701930236071348, + 0.04819914469530916, + 0.050409816205501556 + ], + [ + -0.003049120422657495, + 0.9999698996543884, + 0.007131176678410579, + 0.024980520829558372 + ], + [ + -0.0481784270242667, + -0.007269827648997307, + 0.9988122692912597, + -0.07853717356920242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9977156205527455, + 0.0022930724080652, + 0.0675153514864312, + 0.06713992357254028 + ], + [ + -0.002926215936218928, + 0.9999526739120483, + 0.009280370377848172, + 0.0330510251224041 + ], + [ + -0.0674908739186698, + -0.009456734172999859, + 0.9976750577216476, + -0.11126486212015152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9961975229118182, + 0.001671727630309761, + 0.08710770155985476, + 0.07430676370859146 + ], + [ + -0.0025405918097232954, + 0.9999481439590456, + 0.00986468698226694, + 0.0414586141705513 + ], + [ + -0.08708668678041613, + -0.010048481635749342, + 0.9961500542085102, + -0.13547077775001526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9945158645557806, + 7.908229599706829e-05, + 0.10458599360199679, + 0.08012440800666809 + ], + [ + -0.0011935051771888093, + 0.999943196773529, + 0.01059302455562444, + 0.049954839050769806 + ], + [ + -0.1045792175028941, + -0.01065975520759821, + 0.9944594370812738, + -0.15407176315784454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.992375725293417, + -0.002262552035972476, + 0.12322885572235819, + 0.08713652938604355 + ], + [ + 0.0008522242839023238, + 0.9999335408210754, + 0.011496293159162028, + 0.05715463310480118 + ], + [ + -0.12324667270778202, + -0.011303623206913471, + 0.9923117108415418, + -0.1761203557252884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9907109412534024, + -0.003861332079395652, + 0.13592988097885209, + 0.09349799901247025 + ], + [ + 0.0023638043643107063, + 0.999934732913971, + 0.011176595691291006, + 0.058490823954343796 + ], + [ + -0.1359641663773253, + -0.01075146347284317, + 0.990655395050431, + -0.19202809035778046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.989078144474402, + -0.005405290983617306, + 0.1472929163238042, + 0.09952310472726822 + ], + [ + 0.004032855747870417, + 0.9999456405639648, + 0.009614771578503174, + 0.05828540027141571 + ], + [ + -0.14733687605472878, + -0.008915750309824944, + 0.9890462073675109, + -0.20616841316223145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9872539516352306, + -0.008599039167165756, + 0.15892027837086098, + 0.10638744384050369 + ], + [ + 0.00772659558207763, + 0.9999514818191528, + 0.00610689790966419, + 0.057437963783741 + ], + [ + -0.1589650808858696, + -0.004801146220415831, + 0.9872725363495688, + -0.22163300216197968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9861400484772518, + -0.011310040950775146, + 0.16552911996054626, + 0.11078459769487381 + ], + [ + 0.010871911589015308, + 0.9999346137046814, + 0.0035526848576941947, + 0.057656560093164444 + ], + [ + -0.16555847113002778, + -0.0017038269434124231, + 0.9861985121891339, + -0.2294151932001114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.985055394416279, + -0.013724153861403469, + 0.17169014998541113, + 0.11395478993654251 + ], + [ + 0.013704496109148234, + 0.9999052286148074, + 0.0012998108033147172, + 0.05842409282922745 + ], + [ + -0.1716917274927249, + 0.0010725412284955385, + 0.9851501223211792, + -0.23467878997325897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9841082417046422, + -0.017582911998033524, + 0.1766968687634077, + 0.11770511418581009 + ], + [ + 0.017955052320369907, + 0.999838650226593, + -0.0005073070169236034, + 0.061145998537540436 + ], + [ + -0.1766594375316305, + 0.003671846352517605, + 0.9842651622408987, + -0.23751603066921234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9832580491992532, + -0.020634612068533897, + 0.18104650611382775, + 0.12266360223293304 + ], + [ + 0.021169024972819882, + 0.9997754096984863, + -0.0010198276307381438, + 0.05996681749820709 + ], + [ + -0.18098479974787798, + 0.004835331346839666, + 0.9834739797402313, + -0.2421436756849289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9823769297532753, + -0.023563718423247344, + 0.18541929812742755, + 0.12601153552532196 + ], + [ + 0.02432177718705218, + 0.9997025132179262, + -0.0018144978592222094, + 0.05974316969513893 + ], + [ + -0.1853213979026675, + 0.006292247213423254, + 0.9826578473106081, + -0.2456800937652588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9813642304108341, + -0.027462756261229515, + 0.19018437358369422, + 0.13365350663661957 + ], + [ + 0.028599412031818854, + 0.999585747718811, + -0.003234018304092841, + 0.05920670926570892 + ], + [ + -0.19001677483136134, + 0.00861291028559208, + 0.9817430714816703, + -0.2534169554710388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9801157908024003, + -0.03094885870814324, + 0.1959978564404588, + 0.13915503025054932 + ], + [ + 0.032327299674923884, + 0.9994699954986574, + -0.0038369940134879614, + 0.05954993888735771 + ], + [ + -0.19577522346162965, + 0.0100967800244689, + 0.9805967917484676, + -0.2609657943248749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9788738450629549, + -0.03435209020972252, + 0.20155872849078416, + 0.14459463953971863 + ], + [ + 0.0359537066040246, + 0.9993442296981812, + -0.004289482728868418, + 0.06189018115401268 + ], + [ + -0.2012791968873049, + 0.011445646174252033, + 0.9794670672238103, + -0.2675063908100128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9770975037259855, + -0.039025381207466125, + 0.20918290565892284, + 0.1532137095928192 + ], + [ + 0.040871106644926915, + 0.999154269695282, + -0.004506498350794126, + 0.06667163223028183 + ], + [ + -0.20883012546218005, + 0.012952824123203754, + 0.9778661623799042, + -0.27632197737693787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9753050692355488, + -0.04257741570472718, + 0.2167191716065946, + 0.1568869650363922 + ], + [ + 0.044453035241515254, + 0.9990043044090273, + -0.003784833176770161, + 0.07028398662805557 + ], + [ + -0.21634224041566522, + 0.013325191102921966, + 0.976226641135015, + -0.282501220703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9737102337538514, + -0.04618768393993378, + 0.2230583644140247, + 0.16320474445819855 + ], + [ + 0.04806043332392998, + 0.9988400340080261, + -0.0029715634447340044, + 0.07372146099805832 + ], + [ + -0.22266237481310058, + 0.01361372321844101, + 0.9748005433507815, + -0.2872515916824341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9717624138265429, + -0.051382556557655334, + 0.23029895062077554, + 0.1707732379436493 + ], + [ + 0.05320258222951445, + 0.9985823035240173, + -0.0016958812367244053, + 0.07767574489116669 + ], + [ + -0.2298853180602181, + 0.01390049234032631, + 0.97311844558054, + -0.29346898198127747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9701780060131254, + -0.0551021918654442, + 0.23604732890443375, + 0.17743340134620667 + ], + [ + 0.05676521696729514, + 0.9983875155448916, + -0.000250050734810302, + 0.07977961748838425 + ], + [ + -0.23565293006523802, + 0.013641869649291042, + 0.9717415245530336, + -0.29843172430992126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9684876875959311, + -0.05902652442455292, + 0.24196596012884827, + 0.18325749039649963 + ], + [ + 0.06050345167263004, + 0.998167097568512, + 0.001328664325807402, + 0.0801939144730568 + ], + [ + -0.24160089194313134, + 0.013352980837225914, + 0.9702838308657227, + -0.3016720116138458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9664872208732981, + -0.06378854811191559, + 0.24866343912962893, + 0.18766285479068756 + ], + [ + 0.06526926365932292, + 0.9978650808334351, + 0.002294112333860786, + 0.07915990799665451 + ], + [ + -0.2482789021670144, + 0.014012848027050495, + 0.968587225649942, + -0.3070249557495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9647745594081946, + -0.06719423085451126, + 0.2543520927336195, + 0.1892973780632019 + ], + [ + 0.06879930668009743, + 0.9976271390914917, + 0.0025907539988458206, + 0.07955622673034668 + ], + [ + -0.2539226483181011, + 0.01499975472688675, + 0.9671082413708434, + -0.3098776936531067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9632698500378541, + -0.07074777781963348, + 0.25904812208137146, + 0.19092950224876404 + ], + [ + 0.07238967714279501, + 0.997371256351471, + 0.0032079140861029625, + 0.08109033107757568 + ], + [ + -0.25859409997274174, + 0.01566232182085514, + 0.9658591053394684, + -0.3103160858154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9614725028880606, + -0.07504817098379135, + 0.26445858416418966, + 0.19670464098453522 + ], + [ + 0.07670199217052175, + 0.9970456957817078, + 0.004082319755354874, + 0.08356492221355438 + ], + [ + -0.26398367264120703, + 0.016359461471438408, + 0.9643883734010286, + -0.31037595868110657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9599435981383904, + -0.07807797938585281, + 0.26909489363806693, + 0.1989794224500656 + ], + [ + 0.07956209112103359, + 0.9968152642250061, + 0.005404014067719722, + 0.08362803608179092 + ], + [ + -0.26865983980377034, + 0.016222205013036728, + 0.963098509806218, + -0.3132037818431854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9583911959524103, + -0.08074788749217988, + 0.27379938869695297, + 0.20067048072814941 + ], + [ + 0.08230250965627957, + 0.9965903759002688, + 0.005823867294397787, + 0.08270522952079773 + ], + [ + -0.2733361079703498, + 0.016952833160758022, + 0.9617691918845713, + -0.31551826000213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9567203573456832, + -0.08452222496271133, + 0.2784638173780694, + 0.2027302086353302 + ], + [ + 0.08633619940777024, + 0.9962493777275085, + 0.0057659523561084305, + 0.08234750479459763 + ], + [ + -0.2779067665625319, + 0.018525104969739914, + 0.9604294133148712, + -0.3210470974445343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9552558847741285, + -0.08692537248134613, + 0.2827191574711524, + 0.20308217406272888 + ], + [ + 0.08905458301401462, + 0.9960124492645264, + 0.005336848721585404, + 0.08404020220041275 + ], + [ + -0.2820557124913095, + 0.02007938176393509, + 0.9591879046852356, + -0.32439830899238586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9537381310573578, + -0.08876779675483704, + 0.2872349220205145, + 0.2044418454170227 + ], + [ + 0.091010998255727, + 0.9958343505859375, + 0.005561169644176135, + 0.08638481050729752 + ], + [ + -0.28653206738454606, + 0.020837634801864624, + 0.95784405474791, + -0.32574397325515747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9520422127130993, + -0.09137703478336336, + 0.29200318893083543, + 0.2071976363658905 + ], + [ + 0.09366498796709634, + 0.9955846667289736, + 0.006166214337312917, + 0.0911591425538063 + ], + [ + -0.2912773549029336, + 0.02147997915744782, + 0.9563974431441602, + -0.325980544090271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9504293471881193, + -0.09324307739734651, + 0.2966307505948786, + 0.21089401841163635 + ], + [ + 0.09530717480757397, + 0.9954194426536562, + 0.007528670333117201, + 0.09250830113887787 + ], + [ + -0.2959740027394212, + 0.021115567535161976, + 0.9549626043661268, + -0.3270648717880249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9488363339559277, + -0.09445403516292572, + 0.3013105301992342, + 0.21286945044994354 + ], + [ + 0.09627350683896754, + 0.995315670967102, + 0.008840657519853084, + 0.0924091711640358 + ], + [ + -0.3007341209412999, + 0.02061988227069378, + 0.9534850945608342, + -0.32823389768600464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9471567171456322, + -0.0959356352686882, + 0.30608907459603385, + 0.21490822732448578 + ], + [ + 0.0978011759890381, + 0.9951627850532532, + 0.009273569549040683, + 0.09137680381536484 + ], + [ + -0.305498110120517, + 0.021152343600988388, + 0.951957691311524, + -0.330229252576828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9456706535243143, + -0.09693301469087603, + 0.3103401913880739, + 0.21539846062660217 + ], + [ + 0.09892388207431885, + 0.9950510263442995, + 0.009357084483144141, + 0.09176687151193619 + ], + [ + -0.3097113300244349, + 0.021851334720849994, + 0.9505795073501526, + -0.3308289349079132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9443113658587023, + -0.09744089841842651, + 0.3142949579782968, + 0.21693943440914154 + ], + [ + 0.0994964357897581, + 0.994992196559906, + 0.009536670760517913, + 0.09256482124328613 + ], + [ + -0.31365029295042407, + 0.022265639156103134, + 0.9492775047262159, + -0.331554651260376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.942830726378655, + -0.0978910177946091, + 0.31857110708035086, + 0.2213645726442337 + ], + [ + 0.09993527730884846, + 0.9949440360069277, + 0.009963334055032427, + 0.09383153170347214 + ], + [ + -0.3179357444529141, + 0.02244275435805321, + 0.9478465939474929, + -0.33382558822631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9413688922233229, + -0.09823296219110489, + 0.3227613956186468, + 0.22596268355846405 + ], + [ + 0.10025375923556792, + 0.994907557964325, + 0.010400712162768585, + 0.09554130584001541 + ], + [ + -0.3221394477007098, + 0.022567136213183403, + 0.9464232005535311, + -0.3369015157222748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9397482144022169, + -0.09856846183538437, + 0.32734932479738993, + 0.23011457920074463 + ], + [ + 0.1006372314451526, + 0.994866132736206, + 0.010657619363645362, + 0.09742116183042526 + ], + [ + -0.3267192422579036, + 0.02292804792523384, + 0.9448432768616755, + -0.33884936571121216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.937950956317357, + -0.0985274687409401, + 0.3324760039257387, + 0.2353350967168808 + ], + [ + 0.10053408314982876, + 0.9948704838752747, + 0.011206926422329686, + 0.10011633485555649 + ], + [ + -0.33187475949939477, + 0.022913621738553047, + 0.9430451436606685, + -0.34077826142311096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.936261325650948, + -0.09844354540109637, + 0.3372292347781072, + 0.23906460404396057 + ], + [ + 0.10043997473542664, + 0.9948758482933047, + 0.0115679096839507, + 0.10114961117506027 + ], + [ + -0.3366400237994344, + 0.023040711879730228, + 0.9413514545403803, + -0.3430226445198059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9346553026956519, + -0.09863773733377457, + 0.34159928083786295, + 0.24292033910751343 + ], + [ + 0.1004725439720664, + 0.994862973690033, + 0.012364881044625055, + 0.10196647047996521 + ], + [ + -0.3410641263807344, + 0.02276444435119629, + 0.9397643499878908, + -0.34414321184158325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9329231716724254, + -0.0983977168798447, + 0.3463701675252651, + 0.2486196607351303 + ], + [ + 0.10020825517774135, + 0.9948850870132449, + 0.012725749127190093, + 0.10348778963088989 + ], + [ + -0.3458507030409602, + 0.022837001830339435, + 0.9380116312400038, + -0.346548467874527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9311155931975598, + -0.09861363470554352, + 0.35113967760875503, + 0.2526063621044159 + ], + [ + 0.10039590510890688, + 0.9948602914810181, + 0.013175946419790512, + 0.1057412326335907 + ], + [ + -0.3506342762240025, + 0.022984657436609268, + 0.9362303886872574, + -0.34855976700782776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.92943635150262, + -0.09851391613483429, + 0.3555882840542062, + 0.2577887773513794 + ], + [ + 0.09998768528888102, + 0.9948862195014954, + 0.014280389818386991, + 0.10714399814605713 + ], + [ + -0.35517668872793284, + 0.022281736135482788, + 0.9345335753160129, + -0.3497929573059082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9273985806261119, + -0.09859662503004074, + 0.3608469630936092, + 0.2634679973125458 + ], + [ + 0.09965624490731999, + 0.994897723197937, + 0.0157199450222874, + 0.10822495073080063 + ], + [ + -0.36055577437965197, + 0.021382000297307968, + 0.9324925223027171, + -0.3530488610267639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9255143356852481, + -0.0987159013748169, + 0.36562060325970497, + 0.26604586839675903 + ], + [ + 0.09961023990666995, + 0.9948902726173401, + 0.016467290348978713, + 0.10801178216934204 + ], + [ + -0.36537795549727103, + 0.021178841590881348, + 0.9306183151699279, + -0.3558746874332428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9234654130613515, + -0.09878978133201602, + 0.3707454756540863, + 0.26833704113960266 + ], + [ + 0.0994650857845274, + 0.9948897957801821, + 0.017349858544998355, + 0.10737356543540955 + ], + [ + -0.3705648679432167, + 0.020854234695434574, + 0.9285724482579314, + -0.3576600253582001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9209954311849354, + -0.0987928956747055, + 0.3768386434185165, + 0.26828524470329285 + ], + [ + 0.09943901510392811, + 0.9948846101760864, + 0.017791810544730443, + 0.10762277990579605 + ], + [ + -0.37666866887258965, + 0.02108628675341606, + 0.9261080375257552, + -0.3585202395915985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9188139209080161, + -0.09886034578084948, + 0.3821094506886609, + 0.26817190647125244 + ], + [ + 0.0994060572819984, + 0.9948773980140688, + 0.01836712704348168, + 0.10818483680486679 + ], + [ + -0.3819678384476342, + 0.02110802009701729, + 0.9239345067981775, + -0.3589268922805786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9167116551582445, + -0.09937660396099093, + 0.3869935454767179, + 0.2685188353061676 + ], + [ + 0.0996797037076557, + 0.9948315620422366, + 0.019342522757574317, + 0.1078442931175232 + ], + [ + -0.38691558421055827, + 0.020843885838985447, + 0.9218795434986752, + -0.3580867648124695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9142059902795174, + -0.09954085201025009, + 0.39283466899910774, + 0.2672576606273651 + ], + [ + 0.09967672002567766, + 0.9948166608810425, + 0.020109850637658935, + 0.10657790303230286 + ], + [ + -0.3928002259634308, + 0.020771922543644905, + 0.9193892065711952, + -0.35738587379455566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9121039977481048, + -0.09958639740943909, + 0.3976794012719305, + 0.26583370566368103 + ], + [ + 0.09963287926386745, + 0.9948108792304993, + 0.020604756605911625, + 0.10605593025684357 + ], + [ + -0.39766774849816755, + 0.020828261971473694, + 0.9172930580038487, + -0.35660549998283386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9099334805922817, + -0.09984838962554932, + 0.4025560278026637, + 0.26387903094291687 + ], + [ + 0.09980242633682575, + 0.9947824478149414, + 0.02114949351296683, + 0.10661949217319489 + ], + [ + -0.40256742162049536, + 0.020931433886289597, + 0.9151509914728848, + -0.3536399006843567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.907401551639874, + -0.10010741651058197, + 0.4081677971081532, + 0.26338696479797363 + ], + [ + 0.09988868180381168, + 0.994757354259491, + 0.021911190795809832, + 0.10843423008918762 + ], + [ + -0.40822138234710825, + 0.020889094099402428, + 0.9126439250018408, + -0.34876036643981934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9052283569748714, + -0.10015577822923663, + 0.41295329416806764, + 0.26296839118003845 + ], + [ + 0.09973327425807683, + 0.9947565793991091, + 0.02263992284640311, + 0.11014972627162933 + ], + [ + -0.4130555392581218, + 0.020690884441137317, + 0.9104707772604022, + -0.3440200984477997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9030894739630291, + -0.10058937966823578, + 0.41750595854662353, + 0.2637660801410675 + ], + [ + 0.10014542834410846, + 0.9947061538696289, + 0.023033425904992716, + 0.11161768436431885 + ], + [ + -0.41761266705625794, + 0.02101006917655468, + 0.9083822000658751, + -0.3373366892337799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.900605817788308, + -0.10112108290195468, + 0.42270992878524716, + 0.2629567086696625 + ], + [ + 0.10059362800451613, + 0.9946471452713015, + 0.0236204348175197, + 0.1144474670290947 + ], + [ + -0.4228357647654125, + 0.021249223500490192, + 0.9059571832685581, + -0.32779696583747864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8984063496159321, + -0.1017478480935097, + 0.4272159331712285, + 0.26179739832878113 + ], + [ + 0.10111494586337628, + 0.9945794939994814, + 0.024236034793144106, + 0.1170361191034317 + ], + [ + -0.42736616674160016, + 0.021424105390906337, + 0.903824777332254, + -0.31957054138183594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8962454952389379, + -0.10233076661825183, + 0.4315929009034652, + 0.26061421632766724 + ], + [ + 0.1013609084421512, + 0.9945275187492373, + 0.025316715529254786, + 0.11873093992471695 + ], + [ + -0.43182169317609803, + 0.0210566520690918, + 0.9017131747471631, + -0.30997270345687866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.893642259110821, + -0.102643758058548, + 0.4368842088143277, + 0.2579699754714966 + ], + [ + 0.10142738562601619, + 0.9944983124732973, + 0.026183716803511843, + 0.12193486839532852 + ], + [ + -0.4371682125903982, + 0.020913142710924152, + 0.8991366201502532, + -0.2988494634628296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8913687899155803, + -0.10310329496860504, + 0.4413971467361198, + 0.2568952739238739 + ], + [ + 0.1015367604741689, + 0.9944586753845215, + 0.027243662034015813, + 0.12353937327861786 + ], + [ + -0.4417601475940958, + 0.020533883944153786, + 0.8968981991047318, + -0.29184791445732117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8889505059684302, + -0.10376669466495514, + 0.44609353448075273, + 0.2581872045993805 + ], + [ + 0.10197258358773202, + 0.9943901896476746, + 0.028101739882353045, + 0.12540332973003387 + ], + [ + -0.4465070698363835, + 0.02050825208425522, + 0.8945450225682803, + -0.28498512506484985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8860455687613883, + -0.10457653552293777, + 0.4516491610805627, + 0.25752201676368713 + ], + [ + 0.10222124236232456, + 0.9943184852600098, + 0.029690527377872367, + 0.12697845697402954 + ], + [ + -0.452188066463665, + 0.019860973581671715, + 0.8917014510607806, + -0.2781224250793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8835657724682814, + -0.10541258752346039, + 0.45628912283253936, + 0.2571445107460022 + ], + [ + 0.10264045464476008, + 0.9942373633384705, + 0.030935539549868867, + 0.1274549961090088 + ], + [ + -0.45692070100199106, + 0.019500140100717545, + 0.8892936568703387, + -0.2753527760505676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8810265227498516, + -0.10661543160676956, + 0.46089628750161, + 0.2564323842525482 + ], + [ + 0.10338109393266795, + 0.9941158294677734, + 0.03234262796260852, + 0.1278526484966278 + ], + [ + -0.4616325076417002, + 0.01915324293076992, + 0.8868644576819238, + -0.2712573707103729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8780640207413686, + -0.10798031836748123, + 0.4662015300169876, + 0.25679466128349304 + ], + [ + 0.104156236044223, + 0.9939779043197632, + 0.03405010381083897, + 0.1289646476507187 + ], + [ + -0.46707074871858756, + 0.018659617751836777, + 0.8840230633501058, + -0.2666033208370209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8754412765442232, + -0.10926106572151187, + 0.47081273235281024, + 0.256955623626709 + ], + [ + 0.10506617262537381, + 0.9938393235206606, + 0.03527663618522537, + 0.12962736189365387 + ], + [ + -0.4717665537458926, + 0.018583865836262706, + 0.8815276134517204, + -0.26443347334861755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8728132978723347, + -0.11077123135328293, + 0.475317492551741, + 0.25718194246292114 + ], + [ + 0.10607324468813514, + 0.9936773777008057, + 0.036793768052967274, + 0.13006068766117096 + ], + [ + -0.47638789296374323, + 0.018304377794265747, + 0.8790446597371672, + -0.26163607835769653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8695395904798516, + -0.11267842352390292, + 0.4808372875181325, + 0.25771600008010864 + ], + [ + 0.10763015502214217, + 0.9934580922126772, + 0.038168013742182115, + 0.13132160902023315 + ], + [ + -0.4819924098016394, + 0.01856399327516556, + 0.8759787330319407, + -0.2589648962020874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8667228506541449, + -0.11452953517436981, + 0.4854631294177386, + 0.25695210695266724 + ], + [ + 0.10906888909687466, + 0.9932451844215393, + 0.0395980660318007, + 0.1322881430387497 + ], + [ + -0.48671907907405426, + 0.018628375604748726, + 0.8733599213890911, + -0.2564958333969116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.863806791798832, + -0.11634677648544312, + 0.4902053630507629, + 0.25616535544395447 + ], + [ + 0.11033005270936952, + 0.9930376410484314, + 0.04127428752813722, + 0.13274981081485748 + ], + [ + -0.49159450959548195, + 0.018431371077895164, + 0.8706291542692626, + -0.25308388471603394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8603411094750757, + -0.1190181374549866, + 0.4956287690198373, + 0.2546176314353943 + ], + [ + 0.1124268150826024, + 0.9927191734313967, + 0.04323029780337846, + 0.13144755363464355 + ], + [ + -0.4971653977215621, + 0.01852916553616524, + 0.8674579508620528, + -0.2504537105560303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8575825783188042, + -0.12091828137636185, + 0.49993085697525436, + 0.254461407661438 + ], + [ + 0.11405170399167353, + 0.9924818277359009, + 0.04440703895926699, + 0.1299087256193161 + ], + [ + -0.5015419084384843, + 0.018935255706310272, + 0.8649261048415742, + -0.2495223730802536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8546551899229817, + -0.12291793525218964, + 0.504435969686409, + 0.2537599503993988 + ], + [ + 0.11584549844075862, + 0.9922243356704712, + 0.045504698519535786, + 0.12923796474933624 + ], + [ + -0.5061069768920293, + 0.01954580657184124, + 0.8622491677550403, + -0.24861647188663483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8514108129273944, + -0.1253091096878052, + 0.5093105595174491, + 0.25251656770706177 + ], + [ + 0.11800401097378022, + 0.9919106364250185, + 0.04677998102918584, + 0.12942957878112793 + ], + [ + -0.5110525214424017, + 0.020271703600883487, + 0.8593104497740306, + -0.24582473933696747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8485098877157159, + -0.12712424993515015, + 0.5136831687312217, + 0.2511919140815735 + ], + [ + 0.11921626307441684, + 0.991683304309845, + 0.04849454517950258, + 0.12997344136238098 + ], + [ + -0.5155758735670068, + 0.020091285929083824, + 0.8566083338385785, + -0.2426292598247528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8452482499829667, + -0.12969712913036346, + 0.5183956840766316, + 0.24897578358650208 + ], + [ + 0.12136107372453864, + 0.9913411140441895, + 0.0501429227775246, + 0.1302780956029892 + ], + [ + -0.520410319853957, + 0.020529840141534805, + 0.8536694978470718, + -0.23827700316905975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/pull_out/transforms.json b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ebf6cfba1ddbc024e24b4bf48d9365eb55fdd8d7 --- /dev/null +++ b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/pull_out/transforms.json @@ -0,0 +1,2918 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 83, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0296749763938351e-07, + 3.9372025639750063e-05, + -4.9055423005484045e-05 + ], + [ + -9.60969757102248e-08, + 1.0, + -0.0001745025219861418, + 0.0002419097872916609 + ], + [ + -3.937204019166529e-05, + 0.0001745025219861418, + 1.0, + 6.51580048725009e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999929070472717, + 0.0012096739374101162, + 0.00356945488601923, + 0.008361089982592114 + ], + [ + -0.0012147531379014254, + 0.9999982714653015, + 0.0014211328234523535, + 0.004073266973775789 + ], + [ + -0.0035677296109497547, + -0.0014254588168114424, + 0.9999926090240479, + -0.01684867550687092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999167323112488, + 0.0023722720798105, + 0.012683488428592682, + 0.02261602453342298 + ], + [ + -0.002417842159047723, + 0.999990701675415, + 0.0035787264350801706, + 0.011780165821291143 + ], + [ + -0.012674881145358086, + -0.003609095001593232, + 0.9999131560325623, + -0.041761319212070325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999755322933197, + 0.002711550099775195, + 0.021951865404844284, + 0.036257984084872213 + ], + [ + -0.00283634546212852, + 0.9999799728393555, + 0.005655826535075903, + 0.017539735960138098 + ], + [ + -0.021936088800430298, + -0.005716706160455942, + 0.9997430443763733, + -0.06269940579446351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9993681907653809, + 0.002701930236071348, + 0.03543974831700325, + 0.050236939384443006 + ], + [ + -0.0029578041285276413, + 0.9999698996543884, + 0.007169533520936966, + 0.0249455474953099 + ], + [ + -0.03541931137442589, + -0.007269827648997307, + 0.9993460774421692, + -0.08341203248355447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986662268638611, + 0.0022930724080652, + 0.0515805147588253, + 0.06682540823864501 + ], + [ + -0.0027777033392339945, + 0.9999526739120483, + 0.009325898252427578, + 0.03299415988915759 + ], + [ + -0.05155668780207634, + -0.009456734172999859, + 0.9986252784729004, + -0.1173540406474253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9976832866668701, + 0.0016717276303097606, + 0.06800967454910278, + 0.07380913194359803 + ], + [ + -0.0023511687759310007, + 0.9999481439590454, + 0.00991154182702303, + 0.0413860906937682 + ], + [ + -0.06798957288265228, + -0.01004848163574934, + 0.9976354241371155, + -0.14277054914614049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966046810150146, + 7.908229599706829e-05, + 0.08233556151390076, + 0.07942154345715918 + ], + [ + -0.0009564862120896578, + 0.999943196773529, + 0.010617050342261791, + 0.04986420569418952 + ], + [ + -0.08233004808425903, + -0.01065975520759821, + 0.9965481162071228, + -0.1625788812230273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9951991438865662, + -0.002262552035972476, + 0.09784474968910217, + 0.08618194646224743 + ], + [ + 0.0011455458588898182, + 0.9999335408210754, + 0.011470778845250607, + 0.05704272306728654 + ], + [ + -0.09786419570446014, + -0.011303623206913471, + 0.9951356053352356, + -0.18582899577733947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9942072629928589, + -0.003861332079395652, + 0.10741052031517029, + 0.09231910305779155 + ], + [ + 0.0026839335914701223, + 0.999934732913971, + 0.011104069650173187, + 0.05836895001915897 + ], + [ + -0.10744638741016388, + -0.01075146347284317, + 0.9941527247428894, + -0.2029395227025195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9932758808135986, + -0.005405290983617306, + 0.1156451627612114, + 0.09811279786432661 + ], + [ + 0.004337716847658157, + 0.9999456405639648, + 0.009481137618422508, + 0.05816977664192275 + ], + [ + -0.11569011956453323, + -0.008915750309824944, + 0.9932453632354736, + -0.21828116149437138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9922252297401428, + -0.008599039167165756, + 0.12415761500597, + 0.10472191485871629 + ], + [ + 0.007936257869005203, + 0.9999514818191528, + 0.005831834394484758, + 0.05735973185893693 + ], + [ + -0.12420173734426498, + -0.004801146220415831, + 0.9922453761100769, + -0.23494361086589535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9917566180229187, + -0.011310040950775146, + 0.12763579189777374, + 0.10891675683783322 + ], + [ + 0.01100001111626625, + 0.9999346137046814, + 0.0031336538959294558, + 0.05761070174346791 + ], + [ + -0.12766288220882416, + -0.0017038269434124231, + 0.9918161630630493, + -0.2439295760742048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9913309812545776, + -0.013724153861403465, + 0.1306695193052292, + 0.11188319999633765 + ], + [ + 0.013746626675128937, + 0.9999052286148071, + 0.0007300525903701782, + 0.05841251882474597 + ], + [ + -0.13066716492176056, + 0.0010725412284955382, + 0.9914256930351257, + -0.25039651437503535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9910206198692322, + -0.017582911998033524, + 0.13254790008068085, + 0.11544210125760335 + ], + [ + 0.01791445165872574, + 0.999838650226593, + -0.0013090783031657338, + 0.06116834865491156 + ], + [ + -0.13250349462032318, + 0.003671846352517605, + 0.9911757111549377, + -0.254438542810882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.990797758102417, + -0.020634612068533897, + 0.13376857340335846, + 0.12021661613409113 + ], + [ + 0.02109593339264393, + 0.9997754096984863, + -0.0020320583134889603, + 0.06000398929662457 + ], + [ + -0.13369660079479218, + 0.004835331346839666, + 0.9910104870796204, + -0.260271916302239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9905630946159363, + -0.023563718423247337, + 0.13501667976379395, + 0.1233770637250528 + ], + [ + 0.024197401478886604, + 0.999702513217926, + -0.003054015338420868, + 0.05980276023832763 + ], + [ + -0.13490456342697144, + 0.006292247213423252, + 0.9908386468887329, + -0.2650135307777219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9902364015579224, + -0.027462756261229515, + 0.1366664469242096, + 0.13082017785892253 + ], + [ + 0.02838185615837574, + 0.999585747718811, + -0.0047807409428060055, + 0.059305822187693924 + ], + [ + -0.13647854328155518, + 0.00861291028559208, + 0.9906055927276611, + -0.27395390068612446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9897552132606506, + -0.030948858708143234, + 0.1393798440694809, + 0.13609547269780461 + ], + [ + 0.03205354884266853, + 0.9994699954986572, + -0.005687427707016468, + 0.05967478486141417 + ], + [ + -0.13912995159626007, + 0.010096780024468899, + 0.9902226328849792, + -0.28270238870527686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9892926216125488, + -0.03435209020972252, + 0.14184510707855225, + 0.14130798461960584 + ], + [ + 0.03562753275036812, + 0.9993442296981812, + -0.00646123755723238, + 0.06203989275594855 + ], + [ + -0.1415301263332367, + 0.011445646174252033, + 0.9898678064346313, + -0.29044235217862013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9884542226791382, + -0.039025381207466125, + 0.14640788733959198, + 0.14964278551136576 + ], + [ + 0.040500253438949585, + 0.999154269695282, + -0.0071053048595786095, + 0.06684493234880813 + ], + [ + -0.146006777882576, + 0.012952824123203754, + 0.9891988039016724, + -0.30044877747210064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9876331090927124, + -0.04257741570472717, + 0.1508907526731491, + 0.15302268966305546 + ], + [ + 0.0440995916724205, + 0.9990043044090271, + -0.006754503585398197, + 0.07045696781743772 + ], + [ + -0.15045292675495148, + 0.013325191102921963, + 0.9885273575782776, + -0.3078171652264711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9869638085365295, + -0.04618768393993378, + 0.15417228639125824, + 0.15906841482331113 + ], + [ + 0.047733381390571594, + 0.9988400340080261, + -0.006337171420454979, + 0.07389148267031442 + ], + [ + -0.15370075404644012, + 0.01361372321844101, + 0.9880236387252808, + -0.31375954296530745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9860396385192871, + -0.051382556557655334, + 0.15838442742824554, + 0.16633074790602778 + ], + [ + 0.052934788167476654, + 0.9985823035240173, + -0.005594548303633928, + 0.07783266514846374 + ], + [ + -0.15787242352962494, + 0.01390049234032631, + 0.9873616695404053, + -0.32116327271228884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9854005575180054, + -0.05510219186544418, + 0.16108831763267517, + 0.17271862131793325 + ], + [ + 0.05657951533794403, + 0.9983875155448914, + -0.004594651982188225, + 0.07991409510737513 + ], + [ + -0.16057538986206055, + 0.013641869649291039, + 0.9869292974472046, + -0.3273174598449614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9846968054771423, + -0.05902652442455292, + 0.16397599875926971, + 0.17825822214164386 + ], + [ + 0.06041676551103592, + 0.998167097568512, + -0.0034996368922293186, + 0.0803006107197711 + ], + [ + -0.1634688824415207, + 0.013352980837225914, + 0.9864581227302551, + -0.3317469543800121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9837770462036133, + -0.06378854811191559, + 0.16767163574695587, + 0.18234643707188164 + ], + [ + 0.06523473560810089, + 0.9978650808334351, + -0.003125539980828762, + 0.07925901048385152 + ], + [ + -0.16711430251598358, + 0.014012848027050495, + 0.9858379364013672, + -0.3382832317817502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9830908179283142, + -0.06719423085451126, + 0.17034488916397095, + 0.1836884609809736 + ], + [ + 0.06876689940690994, + 0.9976271390914917, + -0.0033421777188777924, + 0.07966627404548046 + ], + [ + -0.16971611976623535, + 0.01499975472688675, + 0.9853788614273071, + -0.34232309518790827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9825502038002014, + -0.07074777781963348, + 0.1720169484615326, + 0.18505575278910194 + ], + [ + 0.07238700985908508, + 0.997371256351471, + -0.0032675485126674175, + 0.0812019059048375 + ], + [ + -0.17133358120918274, + 0.01566232182085514, + 0.985088586807251, + -0.34395325707226265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9818049669265747, + -0.07504817098379135, + 0.17443257570266724, + 0.19053568403895307 + ], + [ + 0.07675089687108994, + 0.9970456957817078, + -0.0030266758985817432, + 0.08367196319045545 + ], + [ + -0.17369011044502258, + 0.016359461471438408, + 0.9846644401550293, + -0.3451994571743942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9812783598899841, + -0.07807797938585281, + 0.17605838179588318, + 0.19253826214046013 + ], + [ + 0.07971423119306564, + 0.9968152642250061, + -0.002229586709290743, + 0.08370960632725279 + ], + [ + -0.17532360553741455, + 0.016222205013036728, + 0.9843772053718567, + -0.34921758203971676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9807555079460144, + -0.08074788749217987, + 0.17775945365428925, + 0.19395030626073115 + ], + [ + 0.0824752002954483, + 0.9965903759002686, + -0.002337062731385231, + 0.0827935818923501 + ], + [ + -0.1769646555185318, + 0.01695283316075802, + 0.9840711951255798, + -0.35272095152517646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9801316261291504, + -0.08452222496271133, + 0.17943783104419708, + 0.195727756692142 + ], + [ + 0.08647406846284866, + 0.9962493777275085, + -0.0030693677254021168, + 0.08246728499851576 + ], + [ + -0.17850540578365326, + 0.018525104969739914, + 0.9837645292282104, + -0.35943790834124495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.979690670967102, + -0.08692537248134613, + 0.18069343268871307, + 0.1958103651862319 + ], + [ + 0.08912201225757599, + 0.9960124492645264, + -0.004058034159243107, + 0.08420351333121155 + ], + [ + -0.179620161652565, + 0.02007938176393509, + 0.98353111743927, + -0.3639794393283565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9792429804801941, + -0.08876779675483704, + 0.1822182983160019, + 0.19688645256001774 + ], + [ + 0.09107780456542969, + 0.9958343505859375, + -0.0043315039947628975, + 0.08656440945342184 + ], + [ + -0.18107475340366364, + 0.020837634801864624, + 0.9832485914230347, + -0.36651281728977114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9786661267280579, + -0.09137703478336334, + 0.18401861190795898, + 0.19934318341859958 + ], + [ + 0.0937684178352356, + 0.9955846667289734, + -0.00431694183498621, + 0.09134340226627523 + ], + [ + -0.1828116476535797, + 0.021479979157447815, + 0.9829132556915283, + -0.36793415866247037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9781771302223206, + -0.0932430773973465, + 0.18567511439323425, + 0.2027424280236407 + ], + [ + 0.09554176032543182, + 0.995419442653656, + -0.0034511564299464226, + 0.09265981532360722 + ], + [ + -0.18450281023979187, + 0.021115567535161972, + 0.9826051592826843, + -0.37020363487848423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9777345657348633, + -0.09445403516292572, + 0.18738608062267303, + 0.2044142248608717 + ], + [ + 0.09664447605609894, + 0.995315670967102, + -0.0025672148913145065, + 0.09252500890913169 + ], + [ + -0.18626581132411957, + 0.02061988227069378, + 0.9822829961776733, + -0.3725564231232899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9772388935089111, + -0.0959356352686882, + 0.18921023607254028, + 0.20613994809185587 + ], + [ + 0.09820462018251419, + 0.9951627850532532, + -0.002630910836160183, + 0.09149872407362591 + ], + [ + -0.18804258108139038, + 0.021152343600988388, + 0.981933057308197, + -0.3757334674276957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9768913984298706, + -0.09693301469087601, + 0.19049203395843506, + 0.20633847364565222 + ], + [ + 0.09932010620832443, + 0.9950510263442993, + -0.0030009960755705833, + 0.09190960181309138 + ], + [ + -0.1892583966255188, + 0.02185133472084999, + 0.981684148311615, + -0.37751879074224615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.976650059223175, + -0.09744089841842651, + 0.19146785140037537, + 0.20759953921887933 + ], + [ + 0.09990078210830688, + 0.994992196559906, + -0.003212873823940754, + 0.09272154679567349 + ], + [ + -0.1901959478855133, + 0.022265639156103134, + 0.9814936518669128, + -0.37943239037583515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9763465523719788, + -0.09789101779460907, + 0.19278158247470856, + 0.21172549352049827 + ], + [ + 0.1003807932138443, + 0.9949440360069275, + -0.003166074864566326, + 0.09398983544670045 + ], + [ + -0.19149695336818695, + 0.022442754358053207, + 0.9812365770339966, + -0.3828874170780182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9760685563087463, + -0.09823296219110489, + 0.19401155412197113, + 0.2160255063961192 + ], + [ + 0.10074426978826523, + 0.994907557964325, + -0.0030956678092479706, + 0.09569986443512324 + ], + [ + -0.1927194744348526, + 0.022567136213183403, + 0.9809943437576294, + -0.3871475674757143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9757054448127747, + -0.09856846183538437, + 0.19566085934638977, + 0.21985431462526323 + ], + [ + 0.10114889591932297, + 0.994866132736206, + -0.0032152850180864334, + 0.09758976823991028 + ], + [ + -0.19433942437171936, + 0.02292804792523384, + 0.9806663393974304, + -0.39027455180156523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9752634167671204, + -0.0985274687409401, + 0.1978725790977478, + 0.2247175436921236 + ], + [ + 0.10111289471387863, + 0.9948704838752747, + -0.0029798652976751328, + 0.10027623006665125 + ], + [ + -0.1965639889240265, + 0.022913621738553047, + 0.9802232384681702, + -0.39337560592628107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9748985171318054, + -0.09844354540109634, + 0.19970405101776123, + 0.22810523539054683 + ], + [ + 0.10106141120195389, + 0.9948758482933044, + -0.0029319319874048233, + 0.10131050988168615 + ], + [ + -0.1983921229839325, + 0.023040711879730225, + 0.9798518419265747, + -0.3967950016987033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9745818972587585, + -0.09863773733377457, + 0.20114852488040924, + 0.2316363974678807 + ], + [ + 0.10120037943124771, + 0.994862973690033, + -0.0024709468707442284, + 0.10210508457271428 + ], + [ + -0.1998714953660965, + 0.02276444435119629, + 0.9795576333999634, + -0.3990940059103617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9742196798324585, + -0.09839771687984467, + 0.20301219820976257, + 0.23698359571579025 + ], + [ + 0.1009846031665802, + 0.9948850870132446, + -0.0023977113887667656, + 0.10362521943000214 + ], + [ + -0.2017378807067871, + 0.022837001830339432, + 0.9791733026504517, + -0.40267181570936994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9738045334815979, + -0.09861363470554352, + 0.20489034056663513, + 0.24061278119319823 + ], + [ + 0.10123060643672943, + 0.9948602914810181, + -0.0023038331419229507, + 0.10587609115897155 + ], + [ + -0.20361009240150452, + 0.022984657436609268, + 0.9787822365760803, + -0.4058543369537447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9734880924224854, + -0.09851391613483429, + 0.2064361721277237, + 0.2454529573096008 + ], + [ + 0.10099157691001892, + 0.9948862195014954, + -0.0014724591746926308, + 0.10723198656015462 + ], + [ + -0.20523543655872345, + 0.022281736135482788, + 0.9784589409828186, + -0.4082618452426864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9729662537574768, + -0.09859662503004074, + 0.20884282886981964, + 0.2507336784790202 + ], + [ + 0.1008879616856575, + 0.994897723197937, + -0.00032094772905111313, + 0.10824452071427935 + ], + [ + -0.20774562656879425, + 0.021382000297307968, + 0.9779491424560547, + -0.41267990629847456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9725425839424133, + -0.0987159013748169, + 0.21075135469436646, + 0.2529381621901582 + ], + [ + 0.10096217691898346, + 0.9948902726173401, + 0.00010186992585659027, + 0.10800544635688022 + ], + [ + -0.20968452095985413, + 0.021178841590881348, + 0.9775397181510925, + -0.41667288941581077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9720366597175598, + -0.09878978133201599, + 0.21303828060626984, + 0.25482729651579045 + ], + [ + 0.10096468031406403, + 0.9948897957801819, + 0.000673951581120491, + 0.10733082704246044 + ], + [ + -0.21201618015766144, + 0.02085423469543457, + 0.977043628692627, + -0.4196188896167569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9713032841682434, + -0.0987928956747055, + 0.21635590493679047, + 0.25430126548176857 + ], + [ + 0.10101504623889923, + 0.9948846101760864, + 0.0007916316390037537, + 0.10757161347059215 + ], + [ + -0.21532736718654633, + 0.02108628675341606, + 0.9763142466545105, + -0.42162347748512174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9707441329956055, + -0.09886034578084946, + 0.21882066130638123, + 0.2537617653608322 + ], + [ + 0.10108328610658646, + 0.9948773980140686, + 0.0010415613651275635, + 0.10811624617838278 + ], + [ + -0.21780270338058472, + 0.021108020097017288, + 0.9757645130157471, + -0.4231845553328351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9702211022377014, + -0.0993766039609909, + 0.22089652717113495, + 0.25370260482517687 + ], + [ + 0.1015259325504303, + 0.9948315620422363, + 0.0016314219683408737, + 0.10773486847330521 + ], + [ + -0.2199169546365738, + 0.020843885838985443, + 0.975295901298523, + -0.4235029533141997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9694944620132446, + -0.09954085201025009, + 0.22399142384529114, + 0.25196068534036964 + ], + [ + 0.10166414827108383, + 0.9948166608810425, + 0.0020629018545150757, + 0.10643702193004329 + ], + [ + -0.2230357527732849, + 0.020771922543644905, + 0.974588930606842, + -0.42394316661648634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9690141677856445, + -0.09958639740943909, + 0.22604015469551086, + 0.25012115832509063 + ], + [ + 0.10171666741371155, + 0.9948108792304993, + 0.0022329790517687798, + 0.10590071098129379 + ], + [ + -0.22508957982063293, + 0.020828261971473694, + 0.9741154313087463, + -0.42431840191527115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9684953689575195, + -0.09984838962554932, + 0.22813814878463745, + 0.247742430175223 + ], + [ + 0.1019902229309082, + 0.9947824478149414, + 0.0024124272167682648, + 0.1064488570773747 + ], + [ + -0.22718870639801025, + 0.020931433886289597, + 0.9736257791519165, + -0.4225061143316874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9677824974060059, + -0.10010741651058197, + 0.23103152215480804, + 0.24676396503317646 + ], + [ + 0.10222476720809937, + 0.994757354259491, + 0.0028188657015562057, + 0.10823140926431955 + ], + [ + -0.23010249435901642, + 0.020889094099402428, + 0.9729421734809875, + -0.4187647423366221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.967292845249176, + -0.1001557782292366, + 0.23305225372314453, + 0.24591578724907664 + ], + [ + 0.10221942514181137, + 0.9947565793991089, + 0.003237471915781498, + 0.10991283808266972 + ], + [ + -0.23215451836585999, + 0.020690884441137314, + 0.9724588394165039, + -0.4151756232831536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9668145775794983, + -0.10058937966823578, + 0.23484334349632263, + 0.2462960265395118 + ], + [ + 0.10270975530147552, + 0.9947061538696289, + 0.0032174047082662582, + 0.11137834084333806 + ], + [ + -0.2339237630367279, + 0.02101006917655468, + 0.9720278978347778, + -0.4096460816336841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9661476612091064, + -0.10112108290195465, + 0.23734620213508606, + 0.24501102021554622 + ], + [ + 0.1032743901014328, + 0.9946471452713013, + 0.0033768750727176666, + 0.11419214232847458 + ], + [ + -0.23641720414161682, + 0.02124922350049019, + 0.9714192748069763, + -0.4012457402741037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9656456112861633, + -0.10174784809350967, + 0.23911498486995697, + 0.2434263690034064 + ], + [ + 0.10391844063997269, + 0.9945794939994812, + 0.0035461746156215668, + 0.1167636691024754 + ], + [ + -0.23817966878414154, + 0.021424105390906334, + 0.9709848165512085, + -0.3941705943607703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9651763439178467, + -0.1023307666182518, + 0.24075515568256378, + 0.2418235700304915 + ], + [ + 0.10438936203718185, + 0.9945275187492371, + 0.004222669638693333, + 0.11840136570901405 + ], + [ + -0.23986972868442535, + 0.021056652069091797, + 0.9705767035484314, + -0.38572503153870746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9644829034805298, + -0.10264375805854797, + 0.24338658154010773, + 0.23867713669087828 + ], + [ + 0.1046459972858429, + 0.9944983124732971, + 0.004724069498479366, + 0.12156039947166858 + ], + [ + -0.24253244698047638, + 0.02091314271092415, + 0.969917893409729, + -0.37573319891603985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9639757871627808, + -0.10310329496860504, + 0.2451947033405304, + 0.23716009048427023 + ], + [ + 0.1049892008304596, + 0.9944586753845215, + 0.005403568968176842, + 0.12310445187386217 + ], + [ + -0.24439314007759094, + 0.020533883944153786, + 0.969458818435669, + -0.369877526672875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9633874893188477, + -0.10376669466495514, + 0.24721850454807281, + 0.237987643861916 + ], + [ + 0.10561396181583405, + 0.9943901896476746, + 0.00581434927880764, + 0.12492825484993618 + ], + [ + -0.2464350014925003, + 0.02050825208425522, + 0.9689422845840454, + -0.3641547995369609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9625318050384521, + -0.10457653552293777, + 0.25019240379333496, + 0.2367743540100935 + ], + [ + 0.10621703416109085, + 0.9943184852600098, + 0.006975059863179922, + 0.1264000373756195 + ], + [ + -0.24950037896633148, + 0.019860973581671715, + 0.9681710004806519, + -0.35840977633871685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9619197249412537, + -0.10541258752346039, + 0.2521877884864807, + 0.2359238309831154 + ], + [ + 0.10691989958286285, + 0.9942373633384705, + 0.00775922741740942, + 0.12680208550925118 + ], + [ + -0.2515524625778198, + 0.019500140100717545, + 0.9676471948623657, + -0.3567767473255716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.961264967918396, + -0.10661543160676956, + 0.2541707754135132, + 0.23473487903432147 + ], + [ + 0.1079782024025917, + 0.9941158294677734, + 0.008625773712992668, + 0.12711630196015283 + ], + [ + -0.2535948157310486, + 0.01915324293076992, + 0.967120885848999, + -0.35381647072187283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9603771567344666, + -0.10798031836748123, + 0.25693580508232117, + 0.23454778059953596 + ], + [ + 0.10914424806833267, + 0.9939779043197632, + 0.009770577773451805, + 0.12811865859960275 + ], + [ + -0.2564435303211212, + 0.018659617751836777, + 0.9663791060447693, + -0.3502776092872387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9596894979476929, + -0.10926106572151184, + 0.25895583629608154, + 0.2342180380007116 + ], + [ + 0.11034035682678223, + 0.9938393235206604, + 0.010409003123641014, + 0.1287134006437732 + ], + [ + -0.25849777460098267, + 0.018583865836262703, + 0.9658330678939819, + -0.3492383280905282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9589948654174805, + -0.11077123135328293, + 0.2608804702758789, + 0.2339572176700685 + ], + [ + 0.11170326918363571, + 0.9936773777008057, + 0.01130018848925829, + 0.12905469527127358 + ], + [ + -0.2604827284812927, + 0.018304377794265747, + 0.965304970741272, + -0.34757176477734636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9579321146011353, + -0.1126784235239029, + 0.2639501094818115, + 0.23389611215126224 + ], + [ + 0.11357410252094269, + 0.993458092212677, + 0.011915149167180061, + 0.13024633946124373 + ], + [ + -0.26356595754623413, + 0.018563993275165558, + 0.9644627571105957, + -0.3460017791608485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9571306705474854, + -0.11452953517436981, + 0.2660523056983948, + 0.2326180546022043 + ], + [ + 0.11534841358661652, + 0.9932451844215393, + 0.012600511312484741, + 0.13113565724797366 + ], + [ + -0.26569831371307373, + 0.018628375604748726, + 0.9638762474060059, + -0.3446552462694122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9562839865684509, + -0.11634677648544312, + 0.2682991027832031, + 0.2312986093323405 + ], + [ + 0.11701501905918121, + 0.9930376410484314, + 0.013556277379393578, + 0.13149337535042588 + ], + [ + -0.26800835132598877, + 0.018431371077895164, + 0.9632402658462524, + -0.3423598117944671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9550940990447998, + -0.11901813745498657, + 0.27134841680526733, + 0.22913735327197285 + ], + [ + 0.11956745386123657, + 0.9927191734313965, + 0.014569535851478577, + 0.13007943868273641 + ], + [ + -0.2711068391799927, + 0.018529165536165237, + 0.9623709321022034, + -0.34082268832660306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9543424248695374, + -0.12091828137636185, + 0.27314698696136475, + 0.2284791332919423 + ], + [ + 0.12147814780473709, + 0.9924818277359009, + 0.014927688986063004, + 0.12848877471576375 + ], + [ + -0.27289843559265137, + 0.018935255706310272, + 0.961856484413147, + -0.34101603867077246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9534991383552551, + -0.12291793525218964, + 0.2751918137073517, + 0.22724756834710516 + ], + [ + 0.12353615462779999, + 0.9922243356704712, + 0.015155051834881306, + 0.12777790487743915 + ], + [ + -0.27491483092308044, + 0.01954580657184124, + 0.9612698554992676, + -0.3412266165018082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.952465295791626, + -0.12530910968780518, + 0.2776823341846466, + 0.22542560827441332 + ], + [ + 0.12599459290504456, + 0.9919106364250183, + 0.015449135564267635, + 0.1279223460431506 + ], + [ + -0.27737197279930115, + 0.020271703600883484, + 0.9605487585067749, + -0.3395368133376284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9516607522964478, + -0.12712424993515015, + 0.2796090841293335, + 0.22357199235660274 + ], + [ + 0.12765368819236755, + 0.991683304309845, + 0.01639433391392231, + 0.12835400106112768 + ], + [ + -0.2793678045272827, + 0.020091285929083824, + 0.959973931312561, + -0.3374559530397741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.950617790222168, + -0.12969712913036346, + 0.281965434551239, + 0.22077924013137817 + ], + [ + 0.1302037388086319, + 0.9913411140441895, + 0.017023786902427673, + 0.12857571691274644 + ], + [ + -0.28173184394836426, + 0.020529840141534805, + 0.9592735171318054, + -0.3342043548822403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/push_in/transforms.json b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..09136b59e8077b0970d94c8d6e1c6b7e6e918a5f --- /dev/null +++ b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/push_in/transforms.json @@ -0,0 +1,2918 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 83, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0296749763938351e-07, + 3.9372025639750063e-05, + -4.9055423005484045e-05 + ], + [ + -9.60969757102248e-08, + 1.0, + -0.0001745025219861418, + 0.0002419097872916609 + ], + [ + -3.937204019166529e-05, + 0.0001745025219861418, + 1.0, + 6.51580048725009e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999929070472717, + 0.0012096739374101162, + 0.00356945488601923, + 0.008369795970118991 + ], + [ + -0.0012147531379014254, + 0.9999982714653015, + 0.0014211328234523535, + 0.004076733151393965 + ], + [ + -0.0035677296109497547, + -0.0014254588168114424, + 0.9999926090240479, + -0.014409669143397634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999167323112488, + 0.0023722720798105, + 0.012683488428592682, + 0.02267789520868441 + ], + [ + -0.002417842159047723, + 0.999990701675415, + 0.0035787264350801706, + 0.011797623023413485 + ], + [ + -0.012674881145358086, + -0.003609095001593232, + 0.9999131560325623, + -0.036883694060691974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999755322933197, + 0.002711550099775195, + 0.021951865404844284, + 0.03641860749027351 + ], + [ + -0.00283634546212852, + 0.9999799728393555, + 0.005655826535075903, + 0.017581120056736215 + ], + [ + -0.021936088800430298, + -0.005716706160455942, + 0.9997430443763733, + -0.055384212786831505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9993681907653809, + 0.002701930236071348, + 0.03543974831700325, + 0.050582693026560106 + ], + [ + -0.0029578041285276413, + 0.9999698996543884, + 0.007169533520936966, + 0.025015494163806846 + ], + [ + -0.03541931137442589, + -0.007269827648997307, + 0.9993460774421692, + -0.07366231465485037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986662268638611, + 0.0022930724080652, + 0.0515805147588253, + 0.06745443890643556 + ], + [ + -0.0027777033392339945, + 0.9999526739120483, + 0.009325898252427578, + 0.03310789035565061 + ], + [ + -0.05155668780207634, + -0.009456734172999859, + 0.9986252784729004, + -0.10517568359287774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9976832866668701, + 0.0016717276303097606, + 0.06800967454910278, + 0.07480439547358489 + ], + [ + -0.0023511687759310007, + 0.9999481439590454, + 0.00991154182702303, + 0.0415311376473344 + ], + [ + -0.06798957288265228, + -0.01004848163574934, + 0.9976354241371155, + -0.12817100635389003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966046810150146, + 7.908229599706829e-05, + 0.08233556151390076, + 0.080827272556177 + ], + [ + -0.0009564862120896578, + 0.999943196773529, + 0.010617050342261791, + 0.05004547240735009 + ], + [ + -0.08233004808425903, + -0.01065975520759821, + 0.9965481162071228, + -0.1455646450926618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9951991438865662, + -0.002262552035972476, + 0.09784474968910217, + 0.08809111230983967 + ], + [ + 0.0011455458588898182, + 0.9999335408210754, + 0.011470778845250607, + 0.057266543142315815 + ], + [ + -0.09786419570446014, + -0.011303623206913471, + 0.9951356053352356, + -0.16641171567323731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9942072629928589, + -0.003861332079395652, + 0.10741052031517029, + 0.09467689496714894 + ], + [ + 0.0026839335914701223, + 0.999934732913971, + 0.011104069650173187, + 0.05861269788952862 + ], + [ + -0.10744638741016388, + -0.01075146347284317, + 0.9941527247428894, + -0.18111665801304141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9932758808135986, + -0.005405290983617306, + 0.1156451627612114, + 0.10093341159020983 + ], + [ + 0.004337716847658157, + 0.9999456405639648, + 0.009481137618422508, + 0.05840102390090867 + ], + [ + -0.11569011956453323, + -0.008915750309824944, + 0.9932453632354736, + -0.1940556648300915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9922252297401428, + -0.008599039167165756, + 0.12415761500597, + 0.1080529728222911 + ], + [ + 0.007936257869005203, + 0.9999514818191528, + 0.005831834394484758, + 0.05751619570854506 + ], + [ + -0.12420173734426498, + -0.004801146220415831, + 0.9922453761100769, + -0.208322393458064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9917566180229187, + -0.011310040950775146, + 0.12763579189777374, + 0.1126524385519144 + ], + [ + 0.01100001111626625, + 0.9999346137046814, + 0.0031336538959294558, + 0.057702418442860975 + ], + [ + -0.12766288220882416, + -0.0017038269434124231, + 0.9918161630630493, + -0.214900810326018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9913309812545776, + -0.013724153861403465, + 0.1306695193052292, + 0.11602637987674737 + ], + [ + 0.013746626675128937, + 0.9999052286148071, + 0.0007300525903701782, + 0.058435666833708926 + ], + [ + -0.13066716492176056, + 0.0010725412284955382, + 0.9914256930351257, + -0.2189610655714826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9910206198692322, + -0.017582911998033524, + 0.13254790008068085, + 0.11996812711401683 + ], + [ + 0.01791445165872574, + 0.999838650226593, + -0.0013090783031657338, + 0.06112364842016931 + ], + [ + -0.13250349462032318, + 0.003671846352517605, + 0.9911757111549377, + -0.22059351852754266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.990797758102417, + -0.020634612068533897, + 0.13376857340335846, + 0.12511058833177496 + ], + [ + 0.02109593339264393, + 0.9997754096984863, + -0.0020320583134889603, + 0.05992964569978961 + ], + [ + -0.13369660079479218, + 0.004835331346839666, + 0.9910104870796204, + -0.22401543506761876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9905630946159363, + -0.023563718423247337, + 0.13501667976379395, + 0.12864600732559112 + ], + [ + 0.024197401478886604, + 0.999702513217926, + -0.003054015338420868, + 0.05968357915195023 + ], + [ + -0.13490456342697144, + 0.006292247213423252, + 0.9908386468887329, + -0.2263466567527957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9902364015579224, + -0.027462756261229515, + 0.1366664469242096, + 0.1364868354143166 + ], + [ + 0.02838185615837574, + 0.999585747718811, + -0.0047807409428060055, + 0.05910759634372392 + ], + [ + -0.13647854328155518, + 0.00861291028559208, + 0.9906055927276611, + -0.23288001025595315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9897552132606506, + -0.030948858708143234, + 0.1393798440694809, + 0.14221458780329402 + ], + [ + 0.03205354884266853, + 0.9994699954986572, + -0.005687427707016468, + 0.05942509291330125 + ], + [ + -0.13912995159626007, + 0.010096780024468899, + 0.9902226328849792, + -0.2392291999444729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9892926216125488, + -0.03435209020972252, + 0.14184510707855225, + 0.14788129445983142 + ], + [ + 0.03562753275036812, + 0.9993442296981812, + -0.00646123755723238, + 0.06174046955207681 + ], + [ + -0.1415301263332367, + 0.011445646174252033, + 0.9898678064346313, + -0.2445704294414055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9884542226791382, + -0.039025381207466125, + 0.14640788733959198, + 0.15678463367427267 + ], + [ + 0.040500253438949585, + 0.999154269695282, + -0.0071053048595786095, + 0.06649833211175553 + ], + [ + -0.146006777882576, + 0.012952824123203754, + 0.9891988039016724, + -0.2521951772817751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9876331090927124, + -0.04257741570472717, + 0.1508907526731491, + 0.16075124040972896 + ], + [ + 0.0440995916724205, + 0.9990043044090271, + -0.006754503585398197, + 0.07011100543867342 + ], + [ + -0.15045292675495148, + 0.013325191102921963, + 0.9885273575782776, + -0.2571852761797789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9869638085365295, + -0.04618768393993378, + 0.15417228639125824, + 0.16734107409308596 + ], + [ + 0.047733381390571594, + 0.9988400340080261, + -0.006337171420454979, + 0.07355143932580221 + ], + [ + -0.15370075404644012, + 0.01361372321844101, + 0.9880236387252808, + -0.2607436403995607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9860396385192871, + -0.051382556557655334, + 0.15838442742824554, + 0.1752157279812708 + ], + [ + 0.052934788167476654, + 0.9985823035240173, + -0.005594548303633928, + 0.07751882463386964 + ], + [ + -0.15787242352962494, + 0.01390049234032631, + 0.9873616695404053, + -0.2657746912502661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9854005575180054, + -0.05510219186544418, + 0.16108831763267517, + 0.18214818137448008 + ], + [ + 0.05657951533794403, + 0.9983875155448914, + -0.004594651982188225, + 0.07964513986939337 + ], + [ + -0.16057538986206055, + 0.013641869649291039, + 0.9869292974472046, + -0.2695459887748811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9846968054771423, + -0.05902652442455292, + 0.16397599875926971, + 0.1882567586513554 + ], + [ + 0.06041676551103592, + 0.998167097568512, + -0.0034996368922293186, + 0.08008721822634249 + ], + [ + -0.1634688824415207, + 0.013352980837225914, + 0.9864581227302551, + -0.27159706884767953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9837770462036133, + -0.06378854811191559, + 0.16767163574695587, + 0.19297927250949348 + ], + [ + 0.06523473560810089, + 0.9978650808334351, + -0.003125539980828762, + 0.0790608055094575 + ], + [ + -0.16711430251598358, + 0.014012848027050495, + 0.9858379364013672, + -0.27576667971727326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9830908179283142, + -0.06719423085451126, + 0.17034488916397095, + 0.1949062951454302 + ], + [ + 0.06876689940690994, + 0.9976271390914917, + -0.0033421777188777924, + 0.0794461794152129 + ], + [ + -0.16971611976623535, + 0.01499975472688675, + 0.9853788614273071, + -0.2774322921183051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9825502038002014, + -0.07074777781963348, + 0.1720169484615326, + 0.19680325170842614 + ], + [ + 0.07238700985908508, + 0.997371256351471, + -0.0032675485126674175, + 0.08097875625031387 + ], + [ + -0.17133358120918274, + 0.01566232182085514, + 0.985088586807251, + -0.2766789145585967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9818049669265747, + -0.07504817098379135, + 0.17443257570266724, + 0.20287359793011736 + ], + [ + 0.07675089687108994, + 0.9970456957817078, + -0.0030266758985817432, + 0.08345788123665332 + ], + [ + -0.17369011044502258, + 0.016359461471438408, + 0.9846644401550293, + -0.2755524601878189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9812783598899841, + -0.07807797938585281, + 0.17605838179588318, + 0.2054205827596711 + ], + [ + 0.07971423119306564, + 0.9968152642250061, + -0.002229586709290743, + 0.08354646583632906 + ], + [ + -0.17532360553741455, + 0.016222205013036728, + 0.9843772053718567, + -0.2771899816466541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9807555079460144, + -0.08074788749217987, + 0.17775945365428925, + 0.20739065519556768 + ], + [ + 0.0824752002954483, + 0.9965903759002686, + -0.002337062731385231, + 0.08261687714924536 + ], + [ + -0.1769646555185318, + 0.01695283316075802, + 0.9840711951255798, + -0.278315568479096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9801316261291504, + -0.08452222496271133, + 0.17943783104419708, + 0.2097326605785184 + ], + [ + 0.08647406846284866, + 0.9962493777275085, + -0.0030693677254021168, + 0.0822277245906795 + ], + [ + -0.17850540578365326, + 0.018525104969739914, + 0.9837645292282104, + -0.28265628654782365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.979690670967102, + -0.08692537248134613, + 0.18069343268871307, + 0.21035398293922586 + ], + [ + 0.08912201225757599, + 0.9960124492645264, + -0.004058034159243107, + 0.08387689106961395 + ], + [ + -0.179620161652565, + 0.02007938176393509, + 0.98353111743927, + -0.2848171786564152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9792429804801941, + -0.08876779675483704, + 0.1822182983160019, + 0.21199723827402767 + ], + [ + 0.09107780456542969, + 0.9958343505859375, + -0.0043315039947628975, + 0.0862052115611732 + ], + [ + -0.18107475340366364, + 0.020837634801864624, + 0.9832485914230347, + -0.2849751292205438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9786661267280579, + -0.09137703478336334, + 0.18401861190795898, + 0.21505208931318143 + ], + [ + 0.0937684178352356, + 0.9955846667289734, + -0.00431694183498621, + 0.09097488284133738 + ], + [ + -0.1828116476535797, + 0.021479979157447815, + 0.9829132556915283, + -0.2840269295180716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9781771302223206, + -0.0932430773973465, + 0.18567511439323425, + 0.219045608799632 + ], + [ + 0.09554176032543182, + 0.995419442653656, + -0.0034511564299464226, + 0.09235678695414852 + ], + [ + -0.18450281023979187, + 0.021115567535161972, + 0.9826051592826843, + -0.28392610869756557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9777345657348633, + -0.09445403516292572, + 0.18738608062267303, + 0.22132467603901537 + ], + [ + 0.09664447605609894, + 0.995315670967102, + -0.0025672148913145065, + 0.0922933334189399 + ], + [ + -0.18626581132411957, + 0.02061988227069378, + 0.9822829961776733, + -0.2839113722487194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9772388935089111, + -0.0959356352686882, + 0.18921023607254028, + 0.22367650655711568 + ], + [ + 0.09820462018251419, + 0.9951627850532532, + -0.002630910836160183, + 0.09125488355710376 + ], + [ + -0.18804258108139038, + 0.021152343600988388, + 0.981933057308197, + -0.2847250377259603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9768913984298706, + -0.09693301469087601, + 0.19049203395843506, + 0.22445844760755213 + ], + [ + 0.09932010620832443, + 0.9950510263442993, + -0.0030009960755705833, + 0.091624141210781 + ], + [ + -0.1892583966255188, + 0.02185133472084999, + 0.981684148311615, + -0.28413907907358027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.976650059223175, + -0.09744089841842651, + 0.19146785140037537, + 0.22627932959940375 + ], + [ + 0.09990078210830688, + 0.994992196559906, + -0.003212873823940754, + 0.09240809569089878 + ], + [ + -0.1901959478855133, + 0.022265639156103134, + 0.9814936518669128, + -0.2836769121449168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9763465523719788, + -0.09789101779460907, + 0.19278158247470856, + 0.23100365176796914 + ], + [ + 0.1003807932138443, + 0.9949440360069275, + -0.003166074864566326, + 0.09367322796024383 + ], + [ + -0.19149695336818695, + 0.022442754358053207, + 0.9812365770339966, + -0.2847637593746185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9760685563087463, + -0.09823296219110489, + 0.19401155412197113, + 0.2358998607208089 + ], + [ + 0.10074426978826523, + 0.994907557964325, + -0.0030956678092479706, + 0.09538274724490758 + ], + [ + -0.1927194744348526, + 0.022567136213183403, + 0.9809943437576294, + -0.28665546396883523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9757054448127747, + -0.09856846183538437, + 0.19566085934638977, + 0.24037484377622603 + ], + [ + 0.10114889591932297, + 0.994866132736206, + -0.0032152850180864334, + 0.09725255542094025 + ], + [ + -0.19433942437171936, + 0.02292804792523384, + 0.9806663393974304, + -0.2874241796208591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9752634167671204, + -0.0985274687409401, + 0.1978725790977478, + 0.245952649741638 + ], + [ + 0.10111289471387863, + 0.9948704838752747, + -0.0029798652976751328, + 0.09995643964446173 + ], + [ + -0.1965639889240265, + 0.022913621738553047, + 0.9802232384681702, + -0.28818091691994085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9748985171318054, + -0.09844354540109634, + 0.19970405101776123, + 0.2500239726973743 + ], + [ + 0.10106141120195389, + 0.9948758482933044, + -0.0029319319874048233, + 0.1009887124684344 + ], + [ + -0.1983921229839325, + 0.023040711879730225, + 0.9798518419265747, + -0.2892502873409085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9745818972587585, + -0.09863773733377457, + 0.20114852488040924, + 0.2542042807471461 + ], + [ + 0.10120037943124771, + 0.994862973690033, + -0.0024709468707442284, + 0.10182785638721614 + ], + [ + -0.1998714953660965, + 0.02276444435119629, + 0.9795576333999634, + -0.2891924177728048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9742196798324585, + -0.09839771687984467, + 0.20301219820976257, + 0.26025572575447037 + ], + [ + 0.1009846031665802, + 0.9948850870132446, + -0.0023977113887667656, + 0.10335035983177765 + ], + [ + -0.2017378807067871, + 0.022837001830339432, + 0.9791733026504517, + -0.290425120039684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9738045334815979, + -0.09861363470554352, + 0.20489034056663513, + 0.26459994301563355 + ], + [ + 0.10123060643672943, + 0.9948602914810181, + -0.0023038331419229507, + 0.10560637410820985 + ], + [ + -0.20361009240150452, + 0.022984657436609268, + 0.9787822365760803, + -0.29126519706191084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9734880924224854, + -0.09851391613483429, + 0.2064361721277237, + 0.27012459739315803 + ], + [ + 0.10099157691001892, + 0.9948862195014954, + -0.0014724591746926308, + 0.10705600973195964 + ], + [ + -0.20523543655872345, + 0.022281736135482788, + 0.9784589409828186, + -0.29132406936913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9729662537574768, + -0.09859662503004074, + 0.20884282886981964, + 0.2762023161460714 + ], + [ + 0.1008879616856575, + 0.994897723197937, + -0.00032094772905111313, + 0.1082053807473219 + ], + [ + -0.20774562656879425, + 0.021382000297307968, + 0.9779491424560547, + -0.29341781575505327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9725425839424133, + -0.0987159013748169, + 0.21075135469436646, + 0.2791535746033599 + ], + [ + 0.10096217691898346, + 0.9948902726173401, + 0.00010186992585659027, + 0.10801811798180386 + ], + [ + -0.20968452095985413, + 0.021178841590881348, + 0.9775397181510925, + -0.29507648545067483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9720366597175598, + -0.09878978133201599, + 0.21303828060626984, + 0.2818467857634149 + ], + [ + 0.10096468031406403, + 0.9948897957801819, + 0.000673951581120491, + 0.10741630382835865 + ], + [ + -0.21201618015766144, + 0.02085423469543457, + 0.977043628692627, + -0.29570116109964323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9713032841682434, + -0.0987928956747055, + 0.21635590493679047, + 0.2822692239248171 + ], + [ + 0.10101504623889923, + 0.9948846101760864, + 0.0007916316390037537, + 0.10767394634099996 + ], + [ + -0.21532736718654633, + 0.02108628675341606, + 0.9763142466545105, + -0.2954170016980753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9707441329956055, + -0.09886034578084946, + 0.21882066130638123, + 0.28258204758167266 + ], + [ + 0.10108328610658646, + 0.9948773980140686, + 0.0010415613651275635, + 0.1082534274313508 + ], + [ + -0.21780270338058472, + 0.021108020097017288, + 0.9757645130157471, + -0.2946692292283221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9702211022377014, + -0.0993766039609909, + 0.22089652717113495, + 0.28333506578715834 + ], + [ + 0.1015259325504303, + 0.9948315620422363, + 0.0016314219683408737, + 0.10795371776174117 + ], + [ + -0.2199169546365738, + 0.020843885838985443, + 0.975295901298523, + -0.2926705763107393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9694944620132446, + -0.09954085201025009, + 0.22399142384529114, + 0.2825546359143606 + ], + [ + 0.10166414827108383, + 0.9948166608810425, + 0.0020629018545150757, + 0.10671878413456243 + ], + [ + -0.2230357527732849, + 0.020771922543644905, + 0.974588930606842, + -0.290828580972625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9690141677856445, + -0.09958639740943909, + 0.22604015469551086, + 0.28154625300227143 + ], + [ + 0.10171666741371155, + 0.9948108792304993, + 0.0022329790517687798, + 0.10621114953239334 + ], + [ + -0.22508957982063293, + 0.020828261971473694, + 0.9741154313087463, + -0.2888925980503966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9684953689575195, + -0.09984838962554932, + 0.22813814878463745, + 0.2800156317106107 + ], + [ + 0.1019902229309082, + 0.9947824478149414, + 0.0024124272167682648, + 0.10679012726901507 + ], + [ + -0.22718870639801025, + 0.020931433886289597, + 0.9736257791519165, + -0.284773687037026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9677824974060059, + -0.10010741651058197, + 0.23103152215480804, + 0.2800099645627708 + ], + [ + 0.10222476720809937, + 0.994757354259491, + 0.0028188657015562057, + 0.10863705091405569 + ], + [ + -0.23010249435901642, + 0.020889094099402428, + 0.9729421734809875, + -0.2787559905430166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.967292845249176, + -0.1001557782292366, + 0.23305225372314453, + 0.28002099511100026 + ], + [ + 0.10221942514181137, + 0.9947565793991089, + 0.003237471915781498, + 0.11038661446058895 + ], + [ + -0.23215451836585999, + 0.020690884441137314, + 0.9724588394165039, + -0.27286457361244576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9668145775794983, + -0.10058937966823578, + 0.23484334349632263, + 0.28123613374262324 + ], + [ + 0.10270975530147552, + 0.9947061538696289, + 0.0032174047082662582, + 0.11185702788529964 + ], + [ + -0.2339237630367279, + 0.02101006917655468, + 0.9720278978347778, + -0.2650272968338757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9661476612091064, + -0.10112108290195465, + 0.23734620213508606, + 0.28090239712377874 + ], + [ + 0.1032743901014328, + 0.9946471452713013, + 0.0033768750727176666, + 0.11470279172971481 + ], + [ + -0.23641720414161682, + 0.02124922350049019, + 0.9714192748069763, + -0.2543481914008536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9656456112861633, + -0.10174784809350967, + 0.23911498486995697, + 0.2801684276541559 + ], + [ + 0.10391844063997269, + 0.9945794939994812, + 0.0035461746156215668, + 0.117308569104388 + ], + [ + -0.23817966878414154, + 0.021424105390906334, + 0.9709848165512085, + -0.24497048840290161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9651763439178467, + -0.1023307666182518, + 0.24075515568256378, + 0.27940486262484293 + ], + [ + 0.10438936203718185, + 0.9945275187492371, + 0.004222669638693333, + 0.11906051414041985 + ], + [ + -0.23986972868442535, + 0.021056652069091797, + 0.9705767035484314, + -0.23422037537504986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9644829034805298, + -0.10264375805854797, + 0.24338658154010773, + 0.27726281425211485 + ], + [ + 0.1046459972858429, + 0.9944983124732971, + 0.004724069498479366, + 0.12230933731898846 + ], + [ + -0.24253244698047638, + 0.02091314271092415, + 0.969917893409729, + -0.22196572800961933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9639757871627808, + -0.10310329496860504, + 0.2451947033405304, + 0.2766304573634776 + ], + [ + 0.1049892008304596, + 0.9944586753845215, + 0.005403568968176842, + 0.12397429468337355 + ], + [ + -0.24439314007759094, + 0.020533883944153786, + 0.969458818435669, + -0.21381830224176732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9633874893188477, + -0.10376669466495514, + 0.24721850454807281, + 0.278386765336845 + ], + [ + 0.10561396181583405, + 0.9943901896476746, + 0.00581434927880764, + 0.12587840461013158 + ], + [ + -0.2464350014925003, + 0.02050825208425522, + 0.9689422845840454, + -0.2058154505927388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9625318050384521, + -0.10457653552293777, + 0.25019240379333496, + 0.27826967951728077 + ], + [ + 0.10621703416109085, + 0.9943184852600098, + 0.006975059863179922, + 0.12755687657243958 + ], + [ + -0.24950037896633148, + 0.019860973581671715, + 0.9681710004806519, + -0.19783507381997456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9619197249412537, + -0.10541258752346039, + 0.2521877884864807, + 0.27836519050888897 + ], + [ + 0.10691989958286285, + 0.9942373633384705, + 0.00775922741740942, + 0.1281079067087664 + ], + [ + -0.2515524625778198, + 0.019500140100717545, + 0.9676471948623657, + -0.19392880477556368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.961264967918396, + -0.10661543160676956, + 0.2541707754135132, + 0.27812988947077494 + ], + [ + 0.1079782024025917, + 0.9941158294677734, + 0.008625773712992668, + 0.12858899503310278 + ], + [ + -0.2535948157310486, + 0.01915324293076992, + 0.967120885848999, + -0.18869827069887302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9603771567344666, + -0.10798031836748123, + 0.25693580508232117, + 0.2790415419674501 + ], + [ + 0.10914424806833267, + 0.9939779043197632, + 0.009770577773451805, + 0.12981063670183463 + ], + [ + -0.2564435303211212, + 0.018659617751836777, + 0.9663791060447693, + -0.18292903238680303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9596894979476929, + -0.10926106572151184, + 0.25895583629608154, + 0.2796932092527064 + ], + [ + 0.11034035682678223, + 0.9938393235206604, + 0.010409003123641014, + 0.13054132314353453 + ], + [ + -0.25849777460098267, + 0.018583865836262703, + 0.9658330678939819, + -0.17962861860670692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9589948654174805, + -0.11077123135328293, + 0.2608804702758789, + 0.2804066672557738 + ], + [ + 0.11170326918363571, + 0.9936773777008057, + 0.01130018848925829, + 0.13106668005106833 + ], + [ + -0.2604827284812927, + 0.018304377794265747, + 0.965304970741272, + -0.1757003919380467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9579321146011353, + -0.1126784235239029, + 0.2639501094818115, + 0.28153588800895507 + ], + [ + 0.11357410252094269, + 0.993458092212677, + 0.011915149167180061, + 0.13239687857922258 + ], + [ + -0.26356595754623413, + 0.018563993275165558, + 0.9644627571105957, + -0.17192801324332632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9571306705474854, + -0.11452953517436981, + 0.2660523056983948, + 0.28128615930313017 + ], + [ + 0.11534841358661652, + 0.9932451844215393, + 0.012600511312484741, + 0.13344062882952573 + ], + [ + -0.26569831371307373, + 0.018628375604748726, + 0.9638762474060059, + -0.16833642052441106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9562839865684509, + -0.11634677648544312, + 0.2682991027832031, + 0.2810321015555684 + ], + [ + 0.11701501905918121, + 0.9930376410484314, + 0.013556277379393578, + 0.1340062462792891 + ], + [ + -0.26800835132598877, + 0.018431371077895164, + 0.9632402658462524, + -0.16380795763760075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9550940990447998, + -0.11901813745498657, + 0.27134841680526733, + 0.28009790959881575 + ], + [ + 0.11956745386123657, + 0.9927191734313965, + 0.014569535851478577, + 0.1328156685865507 + ], + [ + -0.2711068391799927, + 0.018529165536165237, + 0.9623709321022034, + -0.16008473278545748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9543424248695374, + -0.12091828137636185, + 0.27314698696136475, + 0.28044368203093367 + ], + [ + 0.12147814780473709, + 0.9924818277359009, + 0.014927688986063004, + 0.13132867652286845 + ], + [ + -0.27289843559265137, + 0.018935255706310272, + 0.961856484413147, + -0.15802870748973474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9534991383552551, + -0.12291793525218964, + 0.2751918137073517, + 0.2802723324516925 + ], + [ + 0.12353615462779999, + 0.9922243356704712, + 0.015155051834881306, + 0.13069802462123334 + ], + [ + -0.27491483092308044, + 0.01954580657184124, + 0.9612698554992676, + -0.15600632727146146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.952465295791626, + -0.12530910968780518, + 0.2776823341846466, + 0.2796075271397102 + ], + [ + 0.12599459290504456, + 0.9919106364250183, + 0.015449135564267635, + 0.13093681151910527 + ], + [ + -0.27737197279930115, + 0.020271703600883484, + 0.9605487585067749, + -0.15211266533630652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9516607522964478, + -0.12712424993515015, + 0.2796090841293335, + 0.27881183580654423 + ], + [ + 0.12765368819236755, + 0.991683304309845, + 0.01639433391392231, + 0.13159288166363428 + ], + [ + -0.2793678045272827, + 0.020091285929083824, + 0.959973931312561, + -0.1478025666097315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.950617790222168, + -0.12969712913036346, + 0.281965434551239, + 0.277172327041626 + ], + [ + 0.1302037388086319, + 0.9913411140441895, + 0.017023786902427673, + 0.13198047429323195 + ], + [ + -0.28173184394836426, + 0.020529840141534805, + 0.9592735171318054, + -0.1423496514558792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/tilt_down/transforms.json b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..aa4d3a26f1f58cd699e64acef2ff81b35867e375 --- /dev/null +++ b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/tilt_down/transforms.json @@ -0,0 +1,2918 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 83, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0296749763938351e-07, + 3.9372025639750063e-05, + -4.9055423005484045e-05 + ], + [ + -9.60969757102248e-08, + 1.0, + -0.0001745025219861418, + 0.0002419097872916609 + ], + [ + -3.937204019166529e-05, + 0.0001745025219861418, + 1.0, + 6.51580048725009e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999929070472717, + 0.0011982716805421202, + 0.0035732987837272454, + 0.008365442976355553 + ], + [ + -0.0012147531379014254, + 0.9999886376819568, + 0.00461379009893918, + 0.004075000062584877 + ], + [ + -0.0035677296109497547, + -0.004618097991943954, + 0.9999829614580928, + -0.015629172325134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999167323112488, + 0.0022912357438199444, + 0.012698377546172377, + 0.022646959871053696 + ], + [ + -0.002417842159047723, + 0.9999474643121863, + 0.009963901636164162, + 0.011788894422352314 + ], + [ + -0.012674881145358086, + -0.009993774430797726, + 0.9998697263375645, + -0.03932250663638115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999755322933197, + 0.0025011733925771767, + 0.021976829397259607, + 0.03633829578757286 + ], + [ + -0.00283634546212852, + 0.9998799339864468, + 0.015233255228340825, + 0.017560428008437157 + ], + [ + -0.021936088800430298, + -0.015291862788864444, + 0.9996424332933804, + -0.05904180929064751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9993681907653809, + 0.002249131751996412, + 0.03547136301490672, + 0.050409816205501556 + ], + [ + -0.0029578041285276413, + 0.9997968003181669, + 0.01993891921019551, + 0.024980520829558372 + ], + [ + -0.03541931137442589, + -0.020031238728911185, + 0.999171748183505, + -0.07853717356920242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986662268638611, + 0.0014694159950585084, + 0.05161054640756568, + 0.06713992357254028 + ], + [ + -0.0027777033392339945, + 0.9996764014304724, + 0.025286653892732328, + 0.0330510251224041 + ], + [ + -0.05155668780207634, + -0.02539628432895919, + 0.9983470866229737, + -0.11126486212015152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9976832866668703, + 0.000368703677945124, + 0.06802921845165275, + 0.07430676370859146 + ], + [ + -0.002351168775931001, + 0.9995748274985343, + 0.02906361126570972, + 0.0414586141705513 + ], + [ + -0.0679895728826523, + -0.02915622607638779, + 0.9972599089291664, + -0.13547077775001526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966046810150146, + -0.0017608793667405875, + 0.08231676771882301, + 0.08012440800666809 + ], + [ + -0.0009564862120896578, + 0.9994562307049708, + 0.03295999752195412, + 0.049954839050769806 + ], + [ + -0.08233004808425903, + -0.03292682230610381, + 0.9960610436463587, + -0.15407176315784454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9951991438865662, + -0.0047606346131838975, + 0.09775505379016626, + 0.08713652938604355 + ], + [ + 0.0011455458588898182, + 0.9993144506392576, + 0.03700396694746324, + 0.05715463310480118 + ], + [ + -0.09786419570446014, + -0.03671433314580445, + 0.9945223489923133, + -0.1761203557252884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9942072629928589, + -0.006945655844481997, + 0.10725524520830203, + 0.09349799901247025 + ], + [ + 0.0026839335914701223, + 0.9992029432946417, + 0.03982773608750039, + 0.058490823954343796 + ], + [ + -0.10744638741016388, + -0.03930915764522269, + 0.9934334523287115, + -0.19202809035778046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9932758808135986, + -0.00909408387875695, + 0.1154136841067418, + 0.09952310472726822 + ], + [ + 0.004337716847658157, + 0.9991334021950987, + 0.04139590162642622, + 0.05828540027141571 + ], + [ + -0.11569011956453323, + -0.04061692067780263, + 0.9924545873474555, + -0.20616841316223145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9922252297401428, + -0.012953185205248711, + 0.1237791251851767, + 0.10638744384050369 + ], + [ + 0.007936257869005203, + 0.9991301193321981, + 0.04093874604762302, + 0.057437963783741 + ], + [ + -0.12420173734426498, + -0.03963811500859983, + 0.9914649551322643, + -0.22163300216197968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9917566180229187, + -0.016190541174786553, + 0.12710892484852337, + 0.11078459769487381 + ], + [ + 0.01100001111626625, + 0.9990808152265415, + 0.0414315835774992, + 0.057656560093164444 + ], + [ + -0.12766288220882416, + -0.039691847006191855, + 0.9910230883388134, + -0.2294151932001114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9913309812545779, + -0.01913418743505582, + 0.12998753227087317, + 0.11395478993654251 + ], + [ + 0.01374662667512894, + 0.9990138184744581, + 0.04221835720509776, + 0.05842409282922745 + ], + [ + -0.1306671649217606, + -0.040065475548867885, + 0.9906163802521689, + -0.23467878997325897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9910206198692322, + -0.023487932248900487, + 0.13162986609732538, + 0.11770511418581009 + ], + [ + 0.01791445165872574, + 0.998898539359028, + 0.04336759434577809, + 0.061145998537540436 + ], + [ + -0.13250349462032318, + -0.04062010372419091, + 0.9903498270876656, + -0.23751603066921234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.990797758102417, + -0.02701470038988663, + 0.13262738935994045, + 0.12266360223293304 + ], + [ + 0.02109593339264393, + 0.9987264323226049, + 0.04583134821196957, + 0.05996681749820709 + ], + [ + -0.13369660079479218, + -0.04261169629760227, + 0.9901057566086873, + -0.2421436756849289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9905630946159365, + -0.03042701275401765, + 0.13363738075566964, + 0.12601153552532196 + ], + [ + 0.02419740147888661, + 0.9985543981986639, + 0.04799537250641487, + 0.05974316969513893 + ], + [ + -0.13490456342697146, + -0.04430877044093598, + 0.9898674403198151, + -0.2456800937652588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9902364015579224, + -0.034836311994888264, + 0.1349753757651606, + 0.13365350663661957 + ], + [ + 0.02838185615837574, + 0.9983731548982195, + 0.049452665298370856, + 0.05920670926570892 + ], + [ + -0.13647854328155518, + -0.045138976043234025, + 0.9896141143944325, + -0.2534169554710388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9897552132606509, + -0.038903261855392245, + 0.1373721551304347, + 0.13915503025054932 + ], + [ + 0.03205354884266854, + 0.9981466963737674, + 0.05172805094088629, + 0.05954993888735771 + ], + [ + -0.1391299515962601, + -0.04679484132789111, + 0.989167857580108, + -0.2609657943248749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9892926216125488, + -0.042888072680764194, + 0.1395016620891391, + 0.14459463953971863 + ], + [ + 0.03562753275036812, + 0.9978978353263005, + 0.05413452939580721, + 0.06189018115401268 + ], + [ + -0.1415301263332367, + -0.048584793369771964, + 0.9887410150718293, + -0.2675063908100128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9884542226791382, + -0.04828815555972006, + 0.14361930192794764, + 0.1532137095928192 + ], + [ + 0.040500253438949585, + 0.997571440907109, + 0.0566653359115964, + 0.06667163223028183 + ], + [ + -0.146006777882576, + -0.050194474023518086, + 0.9880093947279895, + -0.27632197737693787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9876331090927126, + -0.05259082633728585, + 0.14769922327325913, + 0.1568869650363922 + ], + [ + 0.04409959167242051, + 0.9972123123592732, + 0.06018992960222386, + 0.07028398662805557 + ], + [ + -0.1504529267549515, + -0.052932091636751784, + 0.9871991141981338, + -0.282501220703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9869638085365295, + -0.05689378117301928, + 0.1505506350125431, + 0.16320474445819855 + ], + [ + 0.047733381390571594, + 0.9968219092054893, + 0.06377816716314821, + 0.07372146099805832 + ], + [ + -0.15370075404644012, + -0.05576045067102669, + 0.9865428608432462, + -0.2872515916824341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9860396385192871, + -0.06286404883793954, + 0.15418788971211386, + 0.1707732379436493 + ], + [ + 0.052934788167476654, + 0.9963016872840676, + 0.06768207884642974, + 0.07767574489116669 + ], + [ + -0.15787242352962494, + -0.05857531026256308, + 0.9857206618472419, + -0.29346898198127747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9854005575180056, + -0.06727170143476868, + 0.15639762086481118, + 0.17743340134620667 + ], + [ + 0.056579515337944045, + 0.9958097652548917, + 0.07184464799646569, + 0.07977961748838425 + ], + [ + -0.16057538986206057, + -0.061946858630516584, + 0.9850777255998494, + -0.29843172430992126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9846968054771423, + -0.07191276439637445, + 0.15874763957808605, + 0.18325749039649963 + ], + [ + 0.06041676551103592, + 0.9952682896114586, + 0.07609752834755242, + 0.0801939144730568 + ], + [ + -0.1634688824415207, + -0.06534197235506704, + 0.9843822208098276, + -0.3016720116138458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9837770462036133, + -0.07747127427624158, + 0.16180530883225486, + 0.18766285479068756 + ], + [ + 0.06523473560810089, + 0.9946882680782263, + 0.07962247103945198, + 0.07915990799665451 + ], + [ + -0.16711430251598358, + -0.06777542960386726, + 0.9836052500367952, + -0.3070249557495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9830908179283142, + -0.08161066259544851, + 0.16392725726719998, + 0.1892973780632019 + ], + [ + 0.06876689940690994, + 0.994210583589252, + 0.0825614576112752, + 0.07955622673034668 + ], + [ + -0.16971611976623535, + -0.06989264468901082, + 0.9830114502934433, + -0.3098776936531067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9825502038002014, + -0.0858222443132952, + 0.1650140024527096, + 0.19092950224876404 + ], + [ + 0.07238700985908508, + 0.9936804014468309, + 0.08578671021702182, + 0.08109033107757568 + ], + [ + -0.17133358120918274, + -0.07234488373179362, + 0.982553331875965, + -0.3103160858154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9818049669265747, + -0.09085395371386548, + 0.16674684563384673, + 0.19670464098453522 + ], + [ + 0.07675089687108994, + 0.9930550123088117, + 0.0891685077377152, + 0.08356492221355438 + ], + [ + -0.17369011044502258, + -0.07474811528742431, + 0.9819594752057902, + -0.31037595868110657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9812783598899841, + -0.09455726198604708, + 0.16778453108455701, + 0.1989794224500656 + ], + [ + 0.07971423119306564, + 0.9924596613704155, + 0.09310994899248524, + 0.08362803608179092 + ], + [ + -0.17532360553741455, + -0.07799196489705289, + 0.9814167798660711, + -0.3132037818431854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9807555079460146, + -0.09791738810707497, + 0.16891071548072256, + 0.20067048072814941 + ], + [ + 0.08247520029544832, + 0.9919441659712983, + 0.09614889908238483, + 0.08270522952079773 + ], + [ + -0.17696465551853183, + -0.08036761745823587, + 0.980930457113118, + -0.31551826000213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9801316261291504, + -0.10238199624114612, + 0.16988192537221533, + 0.2027302086353302 + ], + [ + 0.08647406846284866, + 0.9913676049572994, + 0.09855209526899808, + 0.08234750479459763 + ], + [ + -0.17850540578365326, + -0.08190364549804181, + 0.9805241564264867, + -0.3210470974445343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.979690670967102, + -0.10544571675247039, + 0.17055010353678782, + 0.20308217406272888 + ], + [ + 0.08912201225757599, + 0.990916264966975, + 0.10070860218997268, + 0.08404020220041275 + ], + [ + -0.179620161652565, + -0.08346351352046215, + 0.9801890034346339, + -0.32439830899238586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9792429804801941, + -0.10798647029741873, + 0.17152886700084102, + 0.2044418454170227 + ], + [ + 0.09107780456542969, + 0.9904422620802811, + 0.10358060252319566, + 0.08638481050729752 + ], + [ + -0.18107475340366364, + -0.08580810986877932, + 0.9797188208053702, + -0.32574397325515747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9786661267280581, + -0.11132727486566907, + 0.1726813536121251, + 0.2071976363658905 + ], + [ + 0.09376841783523562, + 0.9898567650556184, + 0.10672885873218305, + 0.0911591425538063 + ], + [ + -0.18281164765357974, + -0.08825985959757568, + 0.9791782549171222, + -0.325980544090271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9781771302223208, + -0.11392172607200311, + 0.1737566111439898, + 0.21089401841163635 + ], + [ + 0.09554176032543185, + 0.989247544960525, + 0.11072972538209161, + 0.09250830113887787 + ], + [ + -0.1845028102397919, + -0.09171227656478767, + 0.9785436242542208, + -0.3270648717880249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9777345657348633, + -0.11588005641974036, + 0.1749483366421182, + 0.21286945044994354 + ], + [ + 0.09664447605609894, + 0.9886817547713158, + 0.11475305332452956, + 0.0924091711640358 + ], + [ + -0.18626581132411957, + -0.09529023847492148, + 0.9778674933629999, + -0.32823389768600464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9772388935089111, + -0.11812949488964454, + 0.17620891573967148, + 0.21490822732448578 + ], + [ + 0.09820462018251419, + 0.9881662938582123, + 0.11782727243427311, + 0.09137680381536484 + ], + [ + -0.18804258108139038, + -0.09784086247251637, + 0.9772753533703136, + -0.330229252576828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9768913984298708, + -0.11984031770188759, + 0.17697887611744464, + 0.21539846062660217 + ], + [ + 0.09932010620832446, + 0.9877201424403075, + 0.12060046112676333, + 0.09176687151193619 + ], + [ + -0.18925839662551885, + -0.10023598923901497, + 0.9767978267464869, + -0.3308289349079132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.976650059223175, + -0.12103277015099659, + 0.1774985502871569, + 0.21693943440914154 + ], + [ + 0.09990078210830688, + 0.9872987050430342, + 0.12353566607932694, + 0.09256482124328613 + ], + [ + -0.1901959478855133, + -0.10291887931010356, + 0.9763366487147918, + -0.331554651260376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.976346552371979, + -0.12221659245769696, + 0.17835496750678562, + 0.2213645726442337 + ], + [ + 0.10038079321384433, + 0.9868454075499433, + 0.1267272678368351, + 0.09383153170347214 + ], + [ + -0.191496953368187, + -0.10582632058391839, + 0.9757713293616698, + -0.33382558822631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9760685563087463, + -0.12328870891668497, + 0.17913707669636258, + 0.22596268355846405 + ], + [ + 0.10074426978826523, + 0.986390216294962, + 0.12994219195973167, + 0.09554130584001541 + ], + [ + -0.1927194744348526, + -0.10878544744744419, + 0.9752050576904252, + -0.3369015157222748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9757054448127747, + -0.12441806350402065, + 0.180330416243824, + 0.23011457920074463 + ], + [ + 0.10114889591932297, + 0.9859456611839731, + 0.1329665872155102, + 0.09742116183042526 + ], + [ + -0.19433942437171936, + -0.1114959962370267, + 0.9745772454925935, + -0.33884936571121216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9752634167671204, + -0.12526225210644332, + 0.18212794363444954, + 0.2353350967168808 + ], + [ + 0.10111289471387863, + 0.985487463505445, + 0.13634741859316407, + 0.10011633485555649 + ], + [ + -0.1965639889240265, + -0.11455917435234683, + 0.9737755526125685, + -0.34077826142311096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9748985171318056, + -0.12602225345135354, + 0.18355171276532706, + 0.23906460404396057 + ], + [ + 0.10106141120195392, + 0.9850455747862527, + 0.1395412675036403, + 0.10114961117506027 + ], + [ + -0.19839212298393255, + -0.1174885784580943, + 0.973055466282741, + -0.3430226445198059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9745818972587585, + -0.12701111076704102, + 0.1845489366797158, + 0.24292033910751343 + ], + [ + 0.10120037943124771, + 0.9845148506083108, + 0.14313962040437522, + 0.10196647047996521 + ], + [ + -0.1998714953660965, + -0.12082486499478823, + 0.9723439355895356, + -0.34414321184158325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9742196798324587, + -0.12764095061010675, + 0.18602110373953354, + 0.2486196607351303 + ], + [ + 0.10098460316658023, + 0.98406375198827, + 0.1463578402547132, + 0.10348778963088989 + ], + [ + -0.20173788070678716, + -0.12379942556333616, + 0.9715840609572495, + -0.346548467874527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9738045334815979, + -0.1287342885281733, + 0.1874358118516713, + 0.2526063621044159 + ], + [ + 0.10123060643672943, + 0.9835526289471757, + 0.14958787819853941, + 0.1057412326335907 + ], + [ + -0.20361009240150452, + -0.1266951208275894, + 0.9708199150578003, + -0.34855976700782776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9734880924224854, + -0.12947439868191404, + 0.18856634090135257, + 0.2577887773513794 + ], + [ + 0.10099157691001892, + 0.9829661116505367, + 0.15355253575445588, + 0.10714399814605713 + ], + [ + -0.20523543655872345, + -0.1304379493465465, + 0.9699816061785389, + -0.3497929573059082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9729662537574768, + -0.13053998029507616, + 0.19051492115376256, + 0.2634679973125458 + ], + [ + 0.1008879616856575, + 0.982299176336584, + 0.15782873882899923, + 0.10822495073080063 + ], + [ + -0.20774562656879425, + -0.13434137610906968, + 0.9689138815355927, + -0.3530488610267639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9725425839424133, + -0.13157465208779906, + 0.19196112527730158, + 0.26604586839675903 + ], + [ + 0.10096217691898346, + 0.9817143807609974, + 0.16138010885217105, + 0.10801178216934204 + ], + [ + -0.20968452095985413, + -0.1375682143586785, + 0.9680430931999948, + -0.3558746874332428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.97203665971756, + -0.1326376459036654, + 0.1937833449717421, + 0.26833704113960266 + ], + [ + 0.10096468031406405, + 0.9810991328520253, + 0.16507771344209368, + 0.10737356543540955 + ], + [ + -0.2120161801576615, + -0.14089631658791707, + 0.9670560373864309, + -0.3576600253582001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9713032841682434, + -0.13381743209224542, + 0.19662860601918544, + 0.26828524470329285 + ], + [ + 0.10101504623889923, + 0.9805421644220462, + 0.1683243239594457, + 0.10762277990579605 + ], + [ + -0.21532736718654633, + -0.14363151956996242, + 0.9659213872234299, + -0.3585202395915985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9707441329956057, + -0.13493380358113882, + 0.1986170144614952, + 0.26817190647125244 + ], + [ + 0.10108328610658648, + 0.9799497818760645, + 0.17169900095916346, + 0.10818483680486679 + ], + [ + -0.21780270338058477, + -0.14659893693689513, + 0.9649200407610191, + -0.3589268922805786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9702211022377016, + -0.13643819958224687, + 0.20013895879074264, + 0.2685188353061676 + ], + [ + 0.10152593255043033, + 0.9792484317312694, + 0.17539956477963248, + 0.1078442931175232 + ], + [ + -0.21991695463657385, + -0.14985706893459894, + 0.963939532106085, + -0.3580867648124695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9694944620132446, + -0.13778850451867672, + 0.2027186898084979, + 0.2672576606273651 + ], + [ + 0.10166414827108383, + 0.9785920504692904, + 0.17894703989973787, + 0.10657790303230286 + ], + [ + -0.2230357527732849, + -0.1528789353770294, + 0.9627476759491728, + -0.35738587379455566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9690141677856445, + -0.1388505881329674, + 0.20428440042962231, + 0.26583370566368103 + ], + [ + 0.10171666741371155, + 0.9779792774443173, + 0.18223667172195548, + 0.10605593025684357 + ], + [ + -0.22508957982063293, + -0.15581078903248724, + 0.9617991931955708, + -0.35660549998283386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9684953689575195, + -0.14014588633663086, + 0.2058539443018205, + 0.26387903094291687 + ], + [ + 0.1019902229309082, + 0.9773314864107847, + 0.1855292536390123, + 0.10661949217319489 + ], + [ + -0.22718870639801025, + -0.15868914017894015, + 0.960834553678718, + -0.3536399006843567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9677824974060059, + -0.14159864193662933, + 0.20819914426167307, + 0.26338696479797363 + ], + [ + 0.10222476720809937, + 0.976633413998537, + 0.18904315517560577, + 0.10843423008918762 + ], + [ + -0.23010249435901642, + -0.16166954076887524, + 0.9596435727799061, + -0.34876036643981934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9672928452491762, + -0.14269483786307668, + 0.20972056676771414, + 0.26296839118003845 + ], + [ + 0.1022194251418114, + 0.9759444244987824, + 0.1925710616161267, + 0.11014972627162933 + ], + [ + -0.23215451836586004, + -0.16483510364953635, + 0.9586102939480137, + -0.3440200984477997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9668145775794983, + -0.14413570317087962, + 0.2109372379595607, + 0.2637660801410675 + ], + [ + 0.10270975530147552, + 0.9752790458940598, + 0.1956565022664443, + 0.11161768436431885 + ], + [ + -0.2339237630367279, + -0.16749824150610124, + 0.9577181194215052, + -0.3373366892337799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9661476612091067, + -0.14582194353395958, + 0.21282540698702268, + 0.2629567086696625 + ], + [ + 0.10327439010143283, + 0.9745601915741914, + 0.19891400121781655, + 0.1144474670290947 + ], + [ + -0.23641720414161688, + -0.17020089230879143, + 0.9566287645806899, + -0.32779696583747864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9656456112861636, + -0.14746818745262485, + 0.21396666626009103, + 0.26179739832878113 + ], + [ + 0.10391844063997271, + 0.9738200469502162, + 0.20217680726667805, + 0.1170361191034317 + ], + [ + -0.2381796687841416, + -0.17299607036273437, + 0.9556897330744099, + -0.31957054138183594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9651763439178469, + -0.14905416375798125, + 0.2149825273151834, + 0.26061421632766724 + ], + [ + 0.10438936203718188, + 0.9729814367625509, + 0.20593673835397647, + 0.11873093992471695 + ], + [ + -0.2398697286844254, + -0.17632338863742428, + 0.9546583591456761, + -0.30997270345687866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.96448290348053, + -0.1505882208643974, + 0.2170160290832378, + 0.2579699754714966 + ], + [ + 0.10464599728584292, + 0.9721871029917951, + 0.20952672173563724, + 0.12193486839532852 + ], + [ + -0.24253244698047643, + -0.17937508972526242, + 0.9534163081678791, + -0.2988494634628296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9639757871627808, + -0.15210787448943408, + 0.21820615595793916, + 0.2568952739238739 + ], + [ + 0.1049892008304596, + 0.9713323135309145, + 0.21328570579345435, + 0.12353937327861786 + ], + [ + -0.24439314007759094, + -0.1826929688196931, + 0.9523105166784425, + -0.29184791445732117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9633874893188477, + -0.1538816552514292, + 0.21955626178671342, + 0.2581872045993805 + ], + [ + 0.10561396181583405, + 0.9704922861959354, + 0.2167726420913418, + 0.12540332973003387 + ], + [ + -0.2464350014925003, + -0.1856478479652784, + 0.9512121823254587, + -0.28498512506484985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9625318050384521, + -0.15601325152948578, + 0.22179349865373613, + 0.25752201676368713 + ], + [ + 0.10621703416109085, + 0.9694752176652308, + 0.2209880176000699, + 0.12697845697402954 + ], + [ + -0.24950037896633148, + -0.18914975760698471, + 0.9497220191406206, + -0.2781224250793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9619197249412537, + -0.15797244279614062, + 0.22305874021681646, + 0.2571445107460022 + ], + [ + 0.10691989958286285, + 0.96851421933838, + 0.22482959593371413, + 0.1274549961090088 + ], + [ + -0.2515524625778198, + -0.19241859538817505, + 0.9485232908778753, + -0.2753527760505676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.961264967918396, + -0.16029621297632946, + 0.22422033234399497, + 0.2564323842525482 + ], + [ + 0.1079782024025917, + 0.9674809111553886, + 0.22873865637553747, + 0.1278526484966278 + ], + [ + -0.2535948157310486, + -0.19566755994154666, + 0.9473140242531191, + -0.2712573707103729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9603771567344666, + -0.16296265055789685, + 0.22609496149005165, + 0.25679466128349304 + ], + [ + 0.10914424806833267, + 0.9663540090631145, + 0.23291085769792153, + 0.1289646476507187 + ], + [ + -0.2564435303211212, + -0.19900531071993294, + 0.9458507515669663, + -0.2666033208370209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9596894979476931, + -0.165390995652054, + 0.2272485955767951, + 0.256955623626709 + ], + [ + 0.11034035682678225, + 0.9653250734959494, + 0.23658497585872182, + 0.12962736189365387 + ], + [ + -0.2584977746009827, + -0.20197342841159852, + 0.9446616374779843, + -0.26443347334861755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9589948654174805, + -0.16802953324660885, + 0.22824320674187226, + 0.25718194246292114 + ], + [ + 0.11170326918363571, + 0.9642014194860806, + 0.24049542173453026, + 0.13006068766117096 + ], + [ + -0.2604827284812927, + -0.2051383536006628, + 0.9434336185796289, + -0.26163607835769653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9579321146011355, + -0.17133009255701392, + 0.23024353803678702, + 0.25771600008010864 + ], + [ + 0.11357410252094272, + 0.9630715474294765, + 0.2441191231639217, + 0.13132160902023315 + ], + [ + -0.2635659575462342, + -0.20769984305653255, + 0.9420158209361371, + -0.2589648962020874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9571306705474854, + -0.17436118325668895, + 0.231298555049565, + 0.25695210695266724 + ], + [ + 0.11534841358661652, + 0.9619178674001073, + 0.24780796120856038, + 0.1322881430387497 + ], + [ + -0.26569831371307373, + -0.21050468286614038, + 0.940793396651242, + -0.2564958333969116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9562839865684509, + -0.17740259859123045, + 0.2324850510589965, + 0.25616535544395447 + ], + [ + 0.11701501905918121, + 0.9606906908961954, + 0.2517556863723461, + 0.13274981081485748 + ], + [ + -0.26800835132598877, + -0.21354567954093917, + 0.9394518443947878, + -0.25308388471603394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9550940990448, + -0.1814770901568215, + 0.23422499032808622, + 0.2546176314353943 + ], + [ + 0.1195674538612366, + 0.9593265352202383, + 0.2557268611146981, + 0.13144755363464355 + ], + [ + -0.27110683917999273, + -0.2162375293590613, + 0.9379458789436733, + -0.2504537105560303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9543424248695374, + -0.18450877765061, + 0.2349191738172147, + 0.254461407661438 + ], + [ + 0.12147814780473709, + 0.9581868989275927, + 0.25907697892321935, + 0.1299087256193161 + ], + [ + -0.27289843559265137, + -0.21871062360052948, + 0.9368522314861342, + -0.2495223730802536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9534991383552551, + -0.1877045405079236, + 0.23581000532401614, + 0.2537599503993988 + ], + [ + 0.12353615462779999, + 0.9570487833213652, + 0.2622907437099533, + 0.12923796474933624 + ], + [ + -0.27491483092308044, + -0.2209629390953436, + 0.9357334840607523, + -0.24861647188663483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9524652957916262, + -0.1913992693237889, + 0.23701512903463337, + 0.25251656770706177 + ], + [ + 0.12599459290504458, + 0.9558286762978782, + 0.2655502363196356, + 0.12942957878112793 + ], + [ + -0.2773719727993012, + -0.22306477086082158, + 0.9345089445460638, + -0.24582473933696747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9516607522964478, + -0.1944025219121413, + 0.23780133372926787, + 0.2511919140815735 + ], + [ + 0.12765368819236755, + 0.9545144986550571, + 0.26945615986400956, + 0.12997344136238098 + ], + [ + -0.2793678045272827, + -0.2260746282152775, + 0.9331901580317389, + -0.2426292598247528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.950617790222168, + -0.19825583114503528, + 0.23878960823980272, + 0.24897578358650208 + ], + [ + 0.1302037388086319, + 0.953155904447344, + 0.27302167593808274, + 0.1302780956029892 + ], + [ + -0.28173184394836426, + -0.22844795289389597, + 0.9319005782942992, + -0.23827700316905975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/tilt_up/transforms.json b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..22e213a2ee5253630fb02e908464930582b9b2ac --- /dev/null +++ b/dynpose_eval/camera_controls/1756b49e-77a6-432b-b4bf-8024120c1bf9/tilt_up/transforms.json @@ -0,0 +1,2918 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 83, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.0296749763938351e-07, + 3.9372025639750063e-05, + -4.9055423005484045e-05 + ], + [ + -9.60969757102248e-08, + 1.0, + -0.0001745025219861418, + 0.0002419097872916609 + ], + [ + -3.937204019166529e-05, + 0.0001745025219861418, + 1.0, + 6.51580048725009e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999929070472717, + 0.0012210638638685148, + 0.0035655746042581047, + 0.008365442976355553 + ], + [ + -0.0012147531379014254, + 0.9999977120983249, + -0.001771538937880009, + 0.004075000062584877 + ], + [ + -0.0035677296109497547, + 0.0017671948882621816, + 0.9999920634973998, + -0.015629172325134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999167323112488, + 0.002453211692176695, + 0.01266808217262031, + 0.022646959871053696 + ], + [ + -0.002417842159047723, + 0.9999931668498986, + -0.002806594679870254, + 0.011788894422352314 + ], + [ + -0.012674881145358086, + 0.002775731579682133, + 0.9999158167005497, + -0.03932250663638115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999755322933197, + 0.002921678055093683, + 0.021924887594657678, + 0.03633829578757286 + ], + [ + -0.00283634546212852, + 0.9999882756414507, + -0.003922121011770597, + 0.017560428008437157 + ], + [ + -0.021936088800430298, + 0.0038589749065023977, + 0.9997519411438694, + -0.05904180929064751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9993681907653809, + 0.0031542880661023457, + 0.03540235379984183, + 0.050409816205501556 + ], + [ + -0.0029578041285276413, + 0.9999799152905878, + -0.005601021437571013, + 0.024980520829558372 + ], + [ + -0.03541931137442589, + 0.005492769056995849, + 0.9993574247391083, + -0.07853717356920242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9986662268638611, + 0.0031161444911805077, + 0.051537339156810476, + 0.06713992357254028 + ], + [ + -0.0027777033392339945, + 0.9999741344499278, + -0.006637233850606274, + 0.0330510251224041 + ], + [ + -0.05155668780207634, + 0.006485225785821659, + 0.9986489966313508, + -0.11126486212015152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9976832866668703, + 0.0029741381536945066, + 0.06796517496326747, + 0.07430676370859146 + ], + [ + -0.002351168775931001, + 0.9999545363113638, + -0.00924416458390834, + 0.0414586141705513 + ], + [ + -0.0679895728826523, + 0.0090629500262567, + 0.997644863873537, + -0.13547077775001526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966046810150146, + 0.0019190044614880862, + 0.0823132332355841, + 0.08012440800666809 + ], + [ + -0.0009564862120896578, + 0.999930746347296, + -0.011731199468704054, + 0.049954839050769806 + ], + [ + -0.08233004808425903, + 0.01161263585090661, + 0.9965374679286502, + -0.15407176315784454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9951991438865662, + 0.00023700646691758335, + 0.09787061873398566, + 0.08713652938604355 + ], + [ + 0.0011455458588898182, + 0.9999003465177788, + -0.01406989196532962, + 0.05715463310480118 + ], + [ + -0.09786419570446014, + 0.014114460400068881, + 0.995099707019927, + -0.1761203557252884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9942072629928589, + -0.000773820435233789, + 0.10747711831704922, + 0.09349799901247025 + ], + [ + 0.0026839335914701223, + 0.9998409859188893, + -0.01762876420154963, + 0.058490823954343796 + ], + [ + -0.10744638741016388, + 0.017815107005622315, + 0.9940512341136635, + -0.19202809035778046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9932758808135986, + -0.001710988847917171, + 0.11575877227168122, + 0.09952310472726822 + ], + [ + 0.004337716847658157, + 0.999738703258852, + -0.022443289859704334, + 0.05828540027141571 + ], + [ + -0.11569011956453323, + 0.022794507267959386, + 0.9930237925804024, + -0.20616841316223145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9922252297401428, + -0.004234288384615976, + 0.12438298774529025, + 0.10638744384050369 + ], + [ + 0.007936257869005203, + 0.9995396565350357, + -0.029282269354459108, + 0.057437963783741 + ], + [ + -0.12420173734426498, + 0.030041743569850565, + 0.991802112853235, + -0.22163300216197968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9917566180229187, + -0.006412941682032155, + 0.12797533582164522, + 0.11078459769487381 + ], + [ + 0.01100001111626625, + 0.9993208702478465, + -0.03516887485485836, + 0.057656560093164444 + ], + [ + -0.12766288220882416, + 0.036286693720361446, + 0.9911536107981482, + -0.2294151932001114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9913309812545779, + -0.008290481811086093, + 0.13112644121614525, + 0.11395478993654251 + ], + [ + 0.01374662667512894, + 0.9990744024225899, + -0.040759509466622774, + 0.05842409282922745 + ], + [ + -0.1306671649217606, + 0.04220871066131167, + 0.9905273746339252, + -0.23467878997325897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9910206198692322, + -0.011642769352711482, + 0.13320116565529114, + 0.11770511418581009 + ], + [ + 0.01791445165872574, + 0.9987815533808613, + -0.045983136028907905, + 0.061145998537540436 + ], + [ + -0.13250349462032318, + 0.047956461805929024, + 0.9900216919897208, + -0.23751603066921234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.990797758102417, + -0.014207208036199294, + 0.13460302257157802, + 0.12266360223293304 + ], + [ + 0.02109593339264393, + 0.9985318756292793, + -0.049890805275513976, + 0.05996681749820709 + ], + [ + -0.13369660079479218, + 0.052271271448673634, + 0.9896428043047447, + -0.2421436756849289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9905630946159365, + -0.016638949041579858, + 0.1360437356704111, + 0.12601153552532196 + ], + [ + 0.02419740147888661, + 0.9982425185246963, + -0.05409543560594144, + 0.05974316969513893 + ], + [ + -0.13490456342697146, + 0.05687684911324176, + 0.989224868560349, + -0.2456800937652588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9902364015579224, + -0.02000831982817718, + 0.13795502105398294, + 0.13365350663661957 + ], + [ + 0.02838185615837574, + 0.9978544556062834, + -0.05900006740016963, + 0.05920670926570892 + ], + [ + -0.13647854328155518, + 0.062339430689705946, + 0.9886796336266829, + -0.2534169554710388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9897552132606509, + -0.02289227232089581, + 0.1409273453101114, + 0.13915503025054932 + ], + [ + 0.03205354884266854, + 0.9974933641355003, + -0.06308412828636942, + 0.05954993888735771 + ], + [ + -0.1391299515962601, + 0.06695506503618445, + 0.9880080095376371, + -0.2609657943248749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9892926216125488, + -0.02568973984699777, + 0.1436667594487202, + 0.14459463953971863 + ], + [ + 0.03562753275036812, + 0.9971144278735092, + -0.06703323614675213, + 0.06189018115401268 + ], + [ + -0.1415301263332367, + 0.07143398166675659, + 0.9873532616522256, + -0.2675063908100128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9884542226791382, + -0.029603543870471104, + 0.14859973096859833, + 0.1532137095928192 + ], + [ + 0.040500253438949585, + 0.9966646601000955, + -0.07084698522182253, + 0.06667163223028183 + ], + [ + -0.146006777882576, + 0.07604732804211498, + 0.9863563520305026, + -0.27632197737693787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9876331090927126, + -0.032372683146550056, + 0.15340425338384747, + 0.1568869650363922 + ], + [ + 0.04409959167242051, + 0.9963072633867379, + -0.0736685853622743, + 0.07028398662805557 + ], + [ + -0.1504529267549515, + 0.07952259699993516, + 0.985413646122788, + -0.282501220703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9869638085365295, + -0.03525381355109814, + 0.15703364183813537, + 0.16320474445819855 + ], + [ + 0.047733381390571594, + 0.9959324096231508, + -0.0764212584363276, + 0.07372146099805832 + ], + [ + -0.15370075404644012, + 0.08292076144674401, + 0.9846320081436033, + -0.2872515916824341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9860396385192871, + -0.039624124224449594, + 0.1617273098447483, + 0.1707732379436493 + ], + [ + 0.052934788167476654, + 0.9954807929389978, + -0.07884102213694813, + 0.07767574489116669 + ], + [ + -0.15787242352962494, + 0.08630137451608504, + 0.9836810270212365, + -0.29346898198127747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9854005575180056, + -0.042609320723829926, + 0.16483368409871715, + 0.17743340134620667 + ], + [ + 0.056579515337944045, + 0.9951063309023312, + -0.08100698871602761, + 0.07977961748838425 + ], + [ + -0.16057538986206057, + 0.08915054201354564, + 0.9829891757419572, + -0.29843172430992126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9846968054771423, + -0.04576444168202917, + 0.16816026472468018, + 0.18325749039649963 + ], + [ + 0.06041676551103592, + 0.9947102223605595, + -0.08307451870538464, + 0.0801939144730568 + ], + [ + -0.1634688824415207, + 0.09196291087486216, + 0.9822528966723186, + -0.3016720116138458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9837770462036133, + -0.04966653371601211, + 0.17238326987536307, + 0.18766285479068756 + ], + [ + 0.06523473560810089, + 0.9941699643836841, + -0.0858520265586893, + 0.07915990799665451 + ], + [ + -0.16711430251598358, + 0.0957046243358443, + 0.9812815200739644, + -0.3070249557495117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9830908179283142, + -0.05227879960635134, + 0.17549750150966215, + 0.1892973780632019 + ], + [ + 0.06876689940690994, + 0.993635090544427, + -0.08922099328379854, + 0.07955622673034668 + ], + [ + -0.16971611976623535, + 0.0997807625824972, + 0.9804286269831671, + -0.3098776936531067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9825502038002014, + -0.05510831037996826, + 0.1776461447695921, + 0.19092950224876404 + ], + [ + 0.07238700985908508, + 0.9930969748133532, + -0.09229571217537834, + 0.08109033107757568 + ], + [ + -0.17133358120918274, + 0.10354444603642, + 0.97975679629066, + -0.3103160858154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9818049669265747, + -0.05859950015386894, + 0.18062405713524385, + 0.19670464098453522 + ], + [ + 0.07675089687108994, + 0.992495347482338, + -0.09519593200204493, + 0.08356492221355438 + ], + [ + -0.17369011044502258, + 0.1073268975318398, + 0.9789344353692145, + -0.31037595868110657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9812783598899841, + -0.060882967833962166, + 0.18271833212157818, + 0.1989794224500656 + ], + [ + 0.07971423119306564, + 0.992033213291543, + -0.09754868412909902, + 0.08362803608179092 + ], + [ + -0.17532360553741455, + 0.11028766843917898, + 0.9783139948817257, + -0.3132037818431854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9807555079460146, + -0.06278805488860954, + 0.18486834467054145, + 0.20067048072814941 + ], + [ + 0.08247520029544832, + 0.9914823089293491, + -0.1008001501952061, + 0.08270522952079773 + ], + [ + -0.17696465551853183, + 0.11410735539745313, + 0.9775801895866463, + -0.31551826000213623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9801316261291504, + -0.06578099362940694, + 0.18712242676820148, + 0.2027302086353302 + ], + [ + 0.08647406846284866, + 0.9907415277500567, + -0.10465882109103494, + 0.08234750479459763 + ], + [ + -0.17850540578365326, + 0.11876066198987759, + 0.9767454804837689, + -0.3210470974445343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.979690670967102, + -0.06744101670817496, + 0.18883285271164793, + 0.20308217406272888 + ], + [ + 0.08912201225757599, + 0.9900627509864354, + -0.1087796664838164, + 0.08404020220041275 + ], + [ + -0.179620161652565, + 0.12339959459760623, + 0.9759657681478934, + -0.32439830899238586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9792429804801941, + -0.06850417124211097, + 0.19076270207857468, + 0.2044418454170227 + ], + [ + 0.09107780456542969, + 0.9895037299039795, + -0.11219262114722535, + 0.08638481050729752 + ], + [ + -0.18107475340366364, + 0.1272380841251486, + 0.9752038092151195, + -0.32574397325515747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9786661267280581, + -0.07028698921093984, + 0.19306048576027476, + 0.2071976363658905 + ], + [ + 0.09376841783523562, + 0.9888939900176711, + -0.11530889436456374, + 0.0911591425538063 + ], + [ + -0.18281164765357974, + 0.13095188409048508, + 0.9743877368747395, + -0.325980544090271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9781771302223208, + -0.0713340098122912, + 0.19514348216522154, + 0.21089401841163635 + ], + [ + 0.09554176032543185, + 0.9884559640785812, + -0.11758649740128424, + 0.09250830113887787 + ], + [ + -0.1845028102397919, + 0.1336647743965706, + 0.9737004130258935, + -0.3270648717880249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9777345657348633, + -0.07171149098316598, + 0.1972119926136781, + 0.21286945044994354 + ], + [ + 0.09664447605609894, + 0.9880766393938023, + -0.11985170065226702, + 0.0924091711640358 + ], + [ + -0.18626581132411957, + 0.13624259816768639, + 0.9730072037601585, + -0.32823389768600464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9772388935089111, + -0.07233143528354645, + 0.1994299952836968, + 0.21490822732448578 + ], + [ + 0.09820462018251419, + 0.9875294857563155, + -0.12305041734444543, + 0.09137680381536484 + ], + [ + -0.18804258108139038, + 0.13983459114595428, + 0.9721554596840368, + -0.330229252576828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9768913984298708, + -0.07252482014592417, + 0.20105565100609463, + 0.21539846062660217 + ], + [ + 0.09932010620832446, + 0.986974737923759, + -0.12655598645112132, + 0.09176687151193619 + ], + [ + -0.18925839662551885, + 0.14360031695687187, + 0.9713702676349888, + -0.3308289349079132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.976650059223175, + -0.07226201368280552, + 0.20231872919473462, + 0.21693943440914154 + ], + [ + 0.09990078210830688, + 0.986480320725853, + -0.12990908587906136, + 0.09256482124328613 + ], + [ + -0.1901959478855133, + 0.14708751873622078, + 0.9706651375083482, + -0.331554651260376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.976346552371979, + -0.07189050067653786, + 0.2039096511173369, + 0.2213645726442337 + ], + [ + 0.10038079321384433, + 0.9860188961572325, + -0.13300524514723325, + 0.09383153170347214 + ], + [ + -0.191496953368187, + 0.1503278275506515, + 0.9699125948230966, + -0.33382558822631836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9760685563087463, + -0.07141355684069756, + 0.20540277966235518, + 0.22596268355846405 + ], + [ + 0.10074426978826523, + 0.9855624911674137, + -0.13607794846191473, + 0.09554130584001541 + ], + [ + -0.1927194744348526, + 0.15351455318095894, + 0.9691710169433343, + -0.3369015157222748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9757054448127747, + -0.07086403820425091, + 0.2073094345131157, + 0.23011457920074463 + ], + [ + 0.10114889591932297, + 0.9850656105914336, + -0.13933665330187817, + 0.09742116183042526 + ], + [ + -0.19433942437171936, + 0.15692064123539592, + 0.9683016456472074, + -0.33884936571121216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9752634167671204, + -0.06985154066590978, + 0.2097188163276966, + 0.2353350967168808 + ], + [ + 0.10111289471387863, + 0.9846530050024326, + -0.14224844119741703, + 0.10011633485555649 + ], + [ + -0.1965639889240265, + 0.15993498376560983, + 0.9673589986463654, + -0.34077826142311096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9748985171318056, + -0.06883633897428514, + 0.21174134707387604, + 0.23906460404396057 + ], + [ + 0.10106141120195392, + 0.9842060063797539, + -0.14534471696115084, + 0.10114961117506027 + ], + [ + -0.19839212298393255, + 0.16309523217090258, + 0.9664576823503167, + -0.3430226445198059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9745818972587585, + -0.06814069125339547, + 0.21341738093089033, + 0.24292033910751343 + ], + [ + 0.10120037943124771, + 0.9837916751390245, + -0.14802831460556898, + 0.10196647047996521 + ], + [ + -0.1998714953660965, + 0.16586363471126203, + 0.9656814338896264, + -0.34414321184158325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9742196798324587, + -0.06694304281969246, + 0.21544069329438864, + 0.2486196607351303 + ], + [ + 0.10098460316658023, + 0.9833468686380733, + -0.1510993756471255, + 0.10348778963088989 + ], + [ + -0.20173788070678716, + 0.16896017883098957, + 0.9647561055755969, + -0.346548467874527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9738045334815979, + -0.06618156086645675, + 0.21754241335571686, + 0.2526063621044159 + ], + [ + 0.10123060643672943, + 0.9828492719870272, + -0.15414154458617707, + 0.1057412326335907 + ], + [ + -0.20361009240150452, + 0.1721256948113861, + 0.9638027320463715, + -0.34855976700782776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9734880924224854, + -0.06514733524252539, + 0.21926401790026184, + 0.2577887773513794 + ], + [ + 0.10099157691001892, + 0.9825072823002049, + -0.15646149084379984, + 0.10714399814605713 + ], + [ + -0.20523543655872345, + 0.174457213747722, + 0.9630384496611815, + -0.3497929573059082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9729662537574768, + -0.06414606876626125, + 0.2218600989351112, + 0.2634679973125458 + ], + [ + 0.1008879616856575, + 0.9821971427870324, + -0.15846247294824656, + 0.10822495073080063 + ], + [ + -0.20774562656879425, + 0.1765616565460816, + 0.9621162594016123, + -0.3530488610267639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9725425839424133, + -0.06324572729152075, + 0.22396638289957674, + 0.26604586839675903 + ], + [ + 0.10096217691898346, + 0.981747408603276, + -0.16117906386016548, + 0.10801178216934204 + ], + [ + -0.20968452095985413, + 0.17936563398496183, + 0.9611765775544168, + -0.3558746874332428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.97203665971756, + -0.06222528661220621, + 0.22643485510259262, + 0.26833704113960266 + ], + [ + 0.10096468031406405, + 0.9813218839967486, + -0.16374834334227054, + 0.10737356543540955 + ], + [ + -0.2120161801576615, + 0.18203131327820368, + 0.9601633988336574, + -0.3576600253582001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9713032841682434, + -0.06094640151638193, + 0.2299031317294628, + 0.26828524470329285 + ], + [ + 0.10101504623889923, + 0.9808087945997042, + -0.1667636731478132, + 0.10762277990579605 + ], + [ + -0.21532736718654633, + 0.18520177638467009, + 0.958819295661896, + -0.3585202395915985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9707441329956057, + -0.05985570314932665, + 0.23253632959813147, + 0.26817190647125244 + ], + [ + 0.10108328610658648, + 0.9803071450624752, + -0.16964676026609066, + 0.10818483680486679 + ], + [ + -0.21780270338058477, + 0.18818912954930275, + 0.9576778084996802, + -0.3589268922805786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9702211022377016, + -0.05925865993715673, + 0.23486037629523637, + 0.2685188353061676 + ], + [ + 0.10152593255043033, + 0.9798184379604117, + -0.1721868955694772, + 0.1078442931175232 + ], + [ + -0.21991695463657385, + 0.1909037825098748, + 0.9566568394622962, + -0.3580867648124695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9694944620132446, + -0.058119763334864814, + 0.23812314521076416, + 0.2672576606273651 + ], + [ + 0.10166414827108383, + 0.9793257785340241, + -0.1748870030313746, + 0.10657790303230286 + ], + [ + -0.2230357527732849, + 0.19376055617222174, + 0.9553595675447955, + -0.35738587379455566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9690141677856445, + -0.057033233114531325, + 0.2403306314315026, + 0.26583370566368103 + ], + [ + 0.10171666741371155, + 0.9787875251650525, + -0.1778444607292459, + 0.10605593025684357 + ], + [ + -0.22508957982063293, + 0.196779431849659, + 0.9542602083349713, + -0.35660549998283386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9684953689575195, + -0.05613687925171835, + 0.24262185933995079, + 0.26387903094291687 + ], + [ + 0.1019902229309082, + 0.9782198324249212, + -0.18078688485706534, + 0.10661949217319489 + ], + [ + -0.22718870639801025, + 0.19983632088298756, + 0.9531268161213723, + -0.3536399006843567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9677824974060059, + -0.055074625465813085, + 0.24569054662194703, + 0.26338696479797363 + ], + [ + 0.10222476720809937, + 0.9776891122864401, + -0.18350514863005546, + 0.10843423008918762 + ], + [ + -0.23010249435901642, + 0.20270872180869642, + 0.951820361881845, + -0.34876036643981934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9672928452491762, + -0.05395268370372626, + 0.24785810618034396, + 0.26296839118003845 + ], + [ + 0.1022194251418114, + 0.9771771962366526, + -0.186214555385169, + 0.11014972627162933 + ], + [ + -0.23215451836586004, + 0.2054599304574523, + 0.9507315730713215, + -0.3440200984477997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9668145775794983, + -0.05323986439301291, + 0.24987023857591734, + 0.2637660801410675 + ], + [ + 0.10270975530147552, + 0.9765243385870174, + -0.18934333995774658, + 0.11161768436431885 + ], + [ + -0.2339237630367279, + 0.20872400850015527, + 0.9495861969571419, + -0.3373366892337799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9661476612091067, + -0.052470958769126184, + 0.25259748922161085, + 0.2629567086696625 + ], + [ + 0.10327439010143283, + 0.975888355288758, + -0.19229213424737107, + 0.1144474670290947 + ], + [ + -0.23641720414161688, + 0.21186945517104386, + 0.9482712011504995, + -0.32779696583747864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9656456112861636, + -0.05192498399207515, + 0.2546220662441542, + 0.26179739832878113 + ], + [ + 0.10391844063997271, + 0.9752369923708105, + -0.19522744159109498, + 0.1170361191034317 + ], + [ + -0.2381796687841416, + 0.21498045036979224, + 0.9471293006889747, + -0.31957054138183594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9651763439178469, + -0.0513497762162149, + 0.2565108794319635, + 0.26061421632766724 + ], + [ + 0.10438936203718188, + 0.9746951003793074, + -0.1976670882695548, + 0.11873093992471695 + ], + [ + -0.2398697286844254, + 0.21756060572047456, + 0.9461130497492565, + -0.30997270345687866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.96448290348053, + -0.050294663252377525, + 0.25931296919068897, + 0.2579699754714966 + ], + [ + 0.10464599728584292, + 0.9741337745519562, + -0.20028130122909926, + 0.12193486839532852 + ], + [ + -0.24253244698047643, + 0.22030395381965626, + 0.9447985221336033, + -0.2988494634628296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9639757871627808, + -0.04953769072605875, + 0.26133646736948757, + 0.2568952739238739 + ], + [ + 0.1049892008304596, + 0.9735927418945495, + -0.20271760785729526, + 0.12353937327861786 + ], + [ + -0.24439314007759094, + 0.2228523704687774, + 0.9437207542535886, + -0.29184791445732117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9633874893188477, + -0.04892174107904679, + 0.2636117963264737, + 0.2581872045993805 + ], + [ + 0.10561396181583405, + 0.9729608457497095, + -0.20540897877912798, + 0.12540332973003387 + ], + [ + -0.2464350014925003, + 0.2257295253177052, + 0.9425051303087661, + -0.28498512506484985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9625318050384521, + -0.04823011738619365, + 0.26684517322743806, + 0.25752201676368713 + ], + [ + 0.10621703416109085, + 0.9724800803288935, + -0.20736536584821555, + 0.12697845697402954 + ], + [ + -0.24950037896633148, + 0.22793926362744563, + 0.9411658921467013, + -0.2781224250793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9619197249412537, + -0.047757744500553465, + 0.26912765021512186, + 0.2571445107460022 + ], + [ + 0.10691989958286285, + 0.9719052673901079, + -0.20968617381151253, + 0.1274549961090088 + ], + [ + -0.2515524625778198, + 0.230476360304908, + 0.940001061983206, + -0.2753527760505676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.961264967918396, + -0.04763170284786678, + 0.2714790124757655, + 0.2564323842525482 + ], + [ + 0.1079782024025917, + 0.9713043978181342, + -0.21191614650540136, + 0.1278526484966278 + ], + [ + -0.2535948157310486, + 0.2330213822152131, + 0.938824099600468, + -0.2712573707103729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9603771567344666, + -0.04747326441561363, + 0.2746307452813111, + 0.25679466128349304 + ], + [ + 0.10914424806833267, + 0.9707457598700907, + -0.21386960550806527, + 0.1289646476507187 + ], + [ + -0.2564435303211212, + 0.23536984264602384, + 0.9374634900129808, + -0.2666033208370209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9596894979476931, + -0.0473830037500367, + 0.2770396299990807, + 0.256955623626709 + ], + [ + 0.11034035682678225, + 0.9700685292677601, + -0.2163145784414843, + 0.12962736189365387 + ], + [ + -0.2584977746009827, + 0.2381634786570537, + 0.936192839398429, + -0.26443347334861755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9589948654174805, + -0.04752308595924876, + 0.2794108834097128, + 0.25718194246292114 + ], + [ + 0.11170326918363571, + 0.9694212259632693, + -0.21850609114190506, + 0.13006068766117096 + ], + [ + -0.2604827284812927, + 0.24075731827483843, + 0.9349784224683216, + -0.26163607835769653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9579321146011355, + -0.04776648981703473, + 0.28299196079367955, + 0.25771600008010864 + ], + [ + 0.11357410252094272, + 0.968649415008965, + -0.22095081481026113, + 0.13132160902023315 + ], + [ + -0.2635659575462342, + 0.24379643861229824, + 0.9333254138935961, + -0.2589648962020874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9571306705474854, + -0.0481624671404082, + 0.2856242646443723, + 0.25695210695266724 + ], + [ + 0.11534841358661652, + 0.9678947686183471, + -0.2233259638804904, + 0.1322881430387497 + ], + [ + -0.26569831371307373, + 0.2466984396488412, + 0.9319572503961663, + -0.2564958333969116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9562839865684509, + -0.0484744886430658, + 0.2883941832000409, + 0.25616535544395447 + ], + [ + 0.11701501905918121, + 0.96720500720336, + -0.22543735989442504, + 0.13274981081485748 + ], + [ + -0.26800835132598877, + 0.24932857390699234, + 0.9305948567560836, + -0.25308388471603394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9550940990448, + -0.049402435228643994, + 0.29215523226438855, + 0.2546176314353943 + ], + [ + 0.1195674538612366, + 0.9664180319855527, + -0.22746387872894105, + 0.13144755363464355 + ], + [ + -0.27110683917999273, + 0.25218167229606975, + 0.9289270935270908, + -0.2504537105560303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9543424248695374, + -0.04986767648565341, + 0.29452287194546906, + 0.254461407661438 + ], + [ + 0.12147814780473709, + 0.9655451367221607, + -0.2301425715434734, + 0.1299087256193161 + ], + [ + -0.27289843559265137, + 0.2554129157609275, + 0.9275185620669718, + -0.2495223730802536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9534991383552551, + -0.05035319565414934, + 0.29715973621205516, + 0.2537599503993988 + ], + [ + 0.12353615462779999, + 0.9646128409973802, + -0.23293963783733457, + 0.12923796474933624 + ], + [ + -0.27491483092308044, + 0.258817711504331, + 0.9259779510645961, + -0.24861647188663483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9524652957916262, + -0.05108858771941962, + 0.30033282853164645, + 0.25251656770706177 + ], + [ + 0.12599459290504458, + 0.9636350019958583, + -0.2356543429924655, + 0.12942957878112793 + ], + [ + -0.2773719727993012, + 0.2622929002206115, + 0.9242658134593367, + -0.24582473933696747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9516607522964478, + -0.05139151035146023, + 0.30282127982196855, + 0.2511919140815735 + ], + [ + 0.12765368819236755, + 0.962899670704078, + -0.23775780615860315, + 0.12997344136238098 + ], + [ + -0.2793678045272827, + 0.2649210181400138, + 0.9229141144860861, + -0.2426292598247528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.950617790222168, + -0.05229978210009731, + 0.30592578246792074, + 0.24897578358650208 + ], + [ + 0.1302037388086319, + 0.9619680649875743, + -0.2401342450774898, + 0.1302780956029892 + ], + [ + -0.28173184394836426, + 0.2681085584984849, + 0.9212735510512203, + -0.23827700316905975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 954.406494140625, + "fy": 954.376220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/move_left/transforms.json b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..bd5333770e47864b6a35d1dcd908b485d8ef13d7 --- /dev/null +++ b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/move_left/transforms.json @@ -0,0 +1,4703 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 134, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -0.00019550712022464722, + -0.00019303611770737916, + 0.00022781761072110385 + ], + [ + 0.00019553802849259228, + 0.9999999403953552, + 0.00016009202226996422, + -8.102464198600501e-05 + ], + [ + 0.00019300480198580772, + -0.0001601297699380666, + 0.9999999403953552, + 0.0002764065284281969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999991059303284, + 0.0005697432206943631, + -0.0011956848902627826, + -0.0015068936235222378 + ], + [ + -0.0005690808175131679, + 0.9999997019767761, + 0.0005542550352402031, + -2.0606434754471477e-05 + ], + [ + 0.0011960003757849336, + -0.0005535741220228374, + 0.9999991059303284, + 0.0001850959105693728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999967217445374, + 0.0014475014759227633, + -0.0020999463740736246, + -0.003286026829076385 + ], + [ + -0.001444673747755587, + 0.9999980330467224, + 0.0013474837178364396, + -0.000964246674867949 + ], + [ + 0.002101892838254571, + -0.0013444455107674003, + 0.9999969005584717, + 0.0007888468029677756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999963045120239, + 0.0008357713813893497, + -0.0025771656073629856, + -0.004655861378388297 + ], + [ + -0.0008345278329215944, + 0.9999995231628418, + 0.0004835718427784741, + 0.0008271426355896896 + ], + [ + 0.002577568404376507, + -0.00048141932347789407, + 0.999996542930603, + 0.001033909801617825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999906420707703, + 0.0009545357315801084, + -0.004214436747133732, + -0.004791586891979092 + ], + [ + -0.0009540333994664252, + 0.9999995231628418, + 0.00012121418694732711, + 0.001437206853958393 + ], + [ + 0.004214550368487835, + -0.0001171923431684263, + 0.9999911189079285, + 0.0025513390618327417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999902844429016, + 0.0016591983148828149, + -0.0040837740525603294, + -0.0056730687436192554 + ], + [ + -0.0016533477464690804, + 0.999997615814209, + 0.0014356238534674048, + 0.00019316761318989854 + ], + [ + 0.004086146131157875, + -0.001428858027793467, + 0.9999906420707703, + 0.0019491983269502345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999989926815033, + 0.0010074727470055223, + -0.004378812853246927, + -0.006098424116345613 + ], + [ + -0.0010029951808974147, + 0.9999989867210388, + 0.0010246096644550562, + 0.0009067177484547229 + ], + [ + 0.004379841033369303, + -0.0010202073026448488, + 0.9999898672103882, + 0.002216749384481096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999879002571106, + 0.0009483072790317237, + -0.004832913633435965, + -0.006597411356817342 + ], + [ + -0.0009422097937203944, + 0.9999987483024597, + 0.0012637791223824024, + 0.0004809223146079794 + ], + [ + 0.004834105726331472, + -0.0012592102866619825, + 0.9999875426292419, + 0.0029714735224843024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999862909317017, + 0.00047503673704341054, + -0.005213440861552954, + -0.006679973293785567 + ], + [ + -0.00046765391016379, + 0.9999988675117493, + 0.0014172408264130354, + 0.00034392958120057793 + ], + [ + 0.005214108619838953, + -0.0014147832989692688, + 0.99998539686203, + 0.0032289192745728152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999834895133972, + -0.0009772215271368623, + -0.00566018046811223, + -0.0064460853728311686 + ], + [ + 0.0009828869951888919, + 0.9999990463256836, + 0.0009982376359403133, + 0.0011687925268363739 + ], + [ + 0.00565919978544116, + -0.0010037845931947231, + 0.9999834895133972, + 0.003348186095350219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999799728393555, + -0.0024443536531180143, + -0.0058343056589365005, + -0.006305942766165318 + ], + [ + 0.0024489269126206636, + 0.9999967217445374, + 0.0007768126670271158, + 0.0017970231907876361 + ], + [ + 0.005832387134432793, + -0.0007910849526524544, + 0.9999826550483704, + 0.003154543181181066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999722838401794, + -0.0041746641509234905, + -0.006169183179736137, + -0.0063032711309878 + ], + [ + 0.0041791112162172794, + 0.9999909996986389, + 0.0007081507355906069, + 0.002410960247866193 + ], + [ + 0.006166171282529831, + -0.0007339127478189766, + 0.9999807476997375, + 0.0033448626056201474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999617338180542, + -0.005312145221978426, + -0.006949519272893667, + -0.005907001614192487 + ], + [ + 0.005314807873219252, + 0.9999858140945435, + 0.00036467864993028343, + 0.0029182405613670894 + ], + [ + 0.006947483401745558, + -0.00040160006028600037, + 0.9999758005142212, + 0.003451462604343555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999518990516663, + -0.006246226839721203, + -0.007559148129075766, + -0.005869918508469163 + ], + [ + 0.006248942576348782, + 0.9999803900718689, + 0.00033566178171895444, + 0.002907454471727063 + ], + [ + 0.007556903641670942, + -0.0003828823391813785, + 0.9999713897705078, + 0.004044240924942874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999546408653259, + -0.005794829688966274, + -0.007560286670923233, + -0.005814462753110809 + ], + [ + 0.005798511207103729, + 0.9999830722808838, + 0.0004651761264540255, + 0.0026829548302645745 + ], + [ + 0.007557462900876999, + -0.0005089933983981609, + 0.999971330165863, + 0.004638666689003769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999573826789856, + -0.005544837098568678, + -0.007384273689240217, + -0.006234231037332822 + ], + [ + 0.0055545237846672535, + 0.9999837279319763, + 0.0012919801520183682, + 0.002178609546245937 + ], + [ + 0.0073769898153841496, + -0.001332941115833819, + 0.9999719262123108, + 0.005739703412076696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999563097953796, + -0.005092991050332785, + -0.007836870849132538, + -0.006366117410641865 + ], + [ + 0.0051034786738455296, + 0.9999861121177673, + 0.0013188262237235904, + 0.0029176311766994853 + ], + [ + 0.007830046117305756, + -0.0013587638968601823, + 0.999968409538269, + 0.007625034794603524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999551177024841, + -0.004231502301990986, + -0.00847935676574707, + -0.0063590687391509235 + ], + [ + 0.004245338030159473, + 0.9999896883964539, + 0.001614309730939567, + 0.0021196939285732528 + ], + [ + 0.008472438901662827, + -0.0016502350335940719, + 0.9999627470970154, + 0.009091855815254657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999567270278931, + -0.004520643036812544, + -0.008128635585308075, + -0.007340454867571816 + ], + [ + 0.004533473867923021, + 0.9999884963035583, + 0.0015607819659635425, + 0.0022993108852857485 + ], + [ + 0.008121486753225327, + -0.0015975654823705554, + 0.9999657273292542, + 0.00992646144661016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999541640281677, + -0.003187118796631694, + -0.009030781686306, + -0.006691953007663998 + ], + [ + 0.0031986089888960123, + 0.9999940991401672, + 0.0012581784976646304, + 0.00159219035080501 + ], + [ + 0.009026719257235527, + -0.001287006656639278, + 0.9999584555625916, + 0.011610932302262102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999616146087646, + -0.003408291609957814, + -0.008070661686360836, + -0.006538441222637218 + ], + [ + 0.0034173636231571436, + 0.9999935626983643, + 0.0011105391895398498, + 0.001670182389347233 + ], + [ + 0.00806682463735342, + -0.0011380770010873675, + 0.9999668002128601, + 0.011692972916801622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999701380729675, + -0.004348649177700281, + -0.0063917869701981544, + -0.006394203752279282 + ], + [ + 0.004358585458248854, + 0.9999893307685852, + 0.0015414654044434428, + 0.0014745937280454917 + ], + [ + 0.006385015323758125, + -0.0015692784218117595, + 0.9999783635139465, + 0.010898870984582525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999654293060303, + -0.00546421529725194, + -0.0062642949633300304, + -0.00571099383602465 + ], + [ + 0.005473083350807428, + 0.9999840259552002, + 0.0013993668835610151, + 0.001749716148907809 + ], + [ + 0.006256548222154379, + -0.0014336034655570984, + 0.9999793767929077, + 0.010749674916855599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999967634677887, + -0.006329468451440334, + -0.0049653733149170876, + -0.005891840587040984 + ], + [ + 0.006334203295409679, + 0.9999794960021973, + 0.0009384143049828708, + 0.0019639144196434127 + ], + [ + 0.004959331825375557, + -0.0009698356152512133, + 0.9999872446060181, + 0.009506447992770744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999672174453735, + -0.006758757401257753, + -0.004457461182028055, + -0.005135759827505828 + ], + [ + 0.006759663578122854, + 0.9999771118164062, + 0.00018833497597370297, + 0.0025775750748869173 + ], + [ + 0.004456086549907923, + -0.00021845973969902843, + 0.9999900460243225, + 0.00923861171349995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999965250492096, + -0.007188562303781509, + -0.0042161778546869755, + -0.0043360755211652655 + ], + [ + 0.007190368138253689, + 0.9999740719795227, + 0.0004133750044275075, + 0.0024336401453675855 + ], + [ + 0.0042130970396101475, + -0.00044367651571519673, + 0.9999909996986389, + 0.009523578518581457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999532699584961, + -0.008707553148269653, + -0.004202332813292742, + -0.0036704324073809427 + ], + [ + 0.008709672838449478, + 0.9999619722366333, + 0.0004865531518589705, + 0.0033220838478773386 + ], + [ + 0.004197936039417982, + -0.0005231313407421112, + 0.9999910593032837, + 0.010039363492672381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999426007270813, + -0.009937196038663387, + -0.0040034581907093525, + -0.0032864354326760867 + ], + [ + 0.009945291094481945, + 0.9999485015869141, + 0.0020071750041097403, + 0.002557320164908704 + ], + [ + 0.003983306232839823, + -0.002046875422820449, + 0.9999899864196777, + 0.010607162324179496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999224543571472, + -0.011865630745887756, + -0.0037844942416995764, + -0.003102436759754232 + ], + [ + 0.01187749020755291, + 0.9999246001243591, + 0.003126880619674921, + 0.003110315653152372 + ], + [ + 0.003747106296941638, + -0.0031715882942080498, + 0.9999879598617554, + 0.01096222486444994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999040365219116, + -0.012983828783035278, + -0.004833228886127472, + -0.0025297095761039196 + ], + [ + 0.013004258275032043, + 0.9999065399169922, + 0.004219676833599806, + 0.0033412043929548193 + ], + [ + 0.004777989350259304, + -0.0042821248061954975, + 0.9999794363975525, + 0.011726584031309625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999904215335846, + -0.012949010357260704, + -0.004886852111667395, + -0.0021456093632413013 + ], + [ + 0.012978160753846169, + 0.9998978972434998, + 0.00598126370459795, + 0.003639370031458767 + ], + [ + 0.004808901343494654, + -0.006044113077223301, + 0.9999701976776123, + 0.011215555163002327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999090433120728, + -0.012527868151664734, + -0.004993001464754343, + -0.002068816397087017 + ], + [ + 0.012563666328787804, + 0.9998950958251953, + 0.007204100955277681, + 0.0046603365850291754 + ], + [ + 0.004902225453406572, + -0.007266176398843527, + 0.9999615550041199, + 0.011451847557524653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999164342880249, + -0.011896323412656784, + -0.005061554256826639, + -0.0021882829081295158 + ], + [ + 0.011939546093344688, + 0.9998917579650879, + 0.00859647337347269, + 0.0053952952034603385 + ], + [ + 0.004958739969879389, + -0.008656187914311886, + 0.9999502301216125, + 0.011762005257371224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999217391014099, + -0.011366607621312141, + -0.00522675970569253, + -0.0026542110606691885 + ], + [ + 0.011418456211686134, + 0.9998847842216492, + 0.00999940000474453, + 0.005860695382930282 + ], + [ + 0.0051124985329806805, + -0.010058298707008362, + 0.9999363422393799, + 0.012653053993415228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999288320541382, + -0.01057520043104887, + -0.005522236227989197, + -0.002922918291804487 + ], + [ + 0.010635198093950748, + 0.9998834729194641, + 0.010950692929327488, + 0.006297909684087101 + ], + [ + 0.005405787378549576, + -0.011008643545210361, + 0.9999247789382935, + 0.013232156942437467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999315142631531, + -0.010144415311515331, + -0.005834328942000866, + -0.0033021612386954433 + ], + [ + 0.010212077759206295, + 0.9998795390129089, + 0.01168686430901289, + 0.006788405418199929 + ], + [ + 0.00571507029235363, + -0.011745643801987171, + 0.9999147057533264, + 0.013654285012499282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999286532402039, + -0.0101983193308115, + -0.006218298338353634, + -0.003711364110161486 + ], + [ + 0.010272618383169174, + 0.9998747706413269, + 0.012035973370075226, + 0.007418140135285326 + ], + [ + 0.0060947732999920845, + -0.012098992243409157, + 0.9999082088470459, + 0.014038926369993758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999285340309143, + -0.010145951993763447, + -0.006325222086161375, + -0.004037021089317208 + ], + [ + 0.010224546305835247, + 0.9998693466186523, + 0.012519472278654575, + 0.007769687513687781 + ], + [ + 0.006197373848408461, + -0.012583249248564243, + 0.9999015927314758, + 0.013982170414445655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999284148216248, + -0.009979579597711563, + -0.006602726876735687, + -0.0045409591070243276 + ], + [ + 0.010064005851745605, + 0.9998664259910583, + 0.012879308313131332, + 0.00815391263791493 + ], + [ + 0.0064733149483799934, + -0.012944836169481277, + 0.9998952746391296, + 0.014387073421052525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999336004257202, + -0.009473615325987339, + -0.006564789917320013, + -0.005153201402802218 + ], + [ + 0.009561163373291492, + 0.9998640418052673, + 0.013435469008982182, + 0.008090234768429868 + ], + [ + 0.006436614785343409, + -0.013497344218194485, + 0.9998881816864014, + 0.014517813845698658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999937891960144, + -0.009076249785721302, + -0.0064721014350652695, + -0.00596944385565313 + ], + [ + 0.009164846502244473, + 0.9998628497123718, + 0.013793256133794785, + 0.007985018872957033 + ], + [ + 0.0063460227102041245, + -0.013851715251803398, + 0.9998839497566223, + 0.014518920304183672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999397397041321, + -0.00889805518090725, + -0.006427685264497995, + -0.007084771276528675 + ], + [ + 0.00898708961904049, + 0.9998621940612793, + 0.013958252035081387, + 0.00839315963054734 + ], + [ + 0.006302598398178816, + -0.014015178196132183, + 0.9998819231987, + 0.014173829953599356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999403357505798, + -0.008292417973279953, + -0.0071133701130747795, + -0.008478544162292233 + ], + [ + 0.008392540737986565, + 0.9998644590377808, + 0.014162884093821049, + 0.008375200237098493 + ], + [ + 0.006994961760938168, + -0.0142217380926013, + 0.9998744130134583, + 0.01465117035335616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999370574951172, + -0.008099797181785107, + -0.0077624074183404446, + -0.010208467189642724 + ], + [ + 0.008211932145059109, + 0.9998607635498047, + 0.014524525962769985, + 0.008206063969046773 + ], + [ + 0.007643681485205889, + -0.014587356708943844, + 0.999864399433136, + 0.015018323337295114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999359846115112, + -0.007807694375514984, + -0.00818668119609356, + -0.011371042517791113 + ], + [ + 0.007928242906928062, + 0.999859094619751, + 0.01479736901819706, + 0.008300091781394374 + ], + [ + 0.008069993928074837, + -0.014861328527331352, + 0.9998570084571838, + 0.014582633383964238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999330639839172, + -0.007301025558263063, + -0.008974216878414154, + -0.012644286106403606 + ], + [ + 0.007434616331011057, + 0.9998607039451599, + 0.014943906106054783, + 0.008376036103660786 + ], + [ + 0.008863860741257668, + -0.015009625814855099, + 0.9998480677604675, + 0.01508429589772359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999266266822815, + -0.007276685908436775, + -0.009683288633823395, + -0.013831135263680516 + ], + [ + 0.007425765506923199, + 0.9998530745506287, + 0.015449726954102516, + 0.008254588420565864 + ], + [ + 0.009569443762302399, + -0.015520500019192696, + 0.9998337626457214, + 0.015632976020189156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999176859855652, + -0.006997761782258749, + -0.010752118192613125, + -0.014727483132391944 + ], + [ + 0.007166957948356867, + 0.999849796295166, + 0.015778928995132446, + 0.008109593842724772 + ], + [ + 0.01064008567482233, + -0.015854690223932266, + 0.9998176693916321, + 0.016206979587029918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.999909520149231, + -0.006773448549211025, + -0.011623382568359375, + -0.015286362159969216 + ], + [ + 0.006955853663384914, + 0.999852180480957, + 0.01572495698928833, + 0.008125448271744233 + ], + [ + 0.011515151709318161, + -0.015804383903741837, + 0.9998087882995605, + 0.016634473227020493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999064207077026, + -0.006481840740889311, + -0.012045623734593391, + -0.015838313298790076 + ], + [ + 0.006672994699329138, + 0.9998513460159302, + 0.015897279605269432, + 0.007876267291507439 + ], + [ + 0.011940790340304375, + -0.01597617380321026, + 0.9998010993003845, + 0.01753669358593853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999068379402161, + -0.00626297015696764, + -0.012129927054047585, + -0.016477891601117928 + ], + [ + 0.006465135142207146, + 0.9998396635055542, + 0.016699764877557755, + 0.007256107723438426 + ], + [ + 0.01202339120209217, + -0.01677662879228592, + 0.9997869729995728, + 0.01837083043292501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999025464057922, + -0.0063356803730130196, + -0.012441178783774376, + -0.01687904089073041 + ], + [ + 0.006545994430780411, + 0.9998351335525513, + 0.01693737879395485, + 0.007037915861500161 + ], + [ + 0.012331817299127579, + -0.017017167061567307, + 0.9997791647911072, + 0.018646176156580898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9998939633369446, + -0.006824738346040249, + -0.012864059768617153, + -0.017485890380646053 + ], + [ + 0.007046964019536972, + 0.9998253583908081, + 0.017309492453932762, + 0.006774524436857467 + ], + [ + 0.012743680737912655, + -0.01739831082522869, + 0.9997674226760864, + 0.018702735216881997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998802542686462, + -0.0077834161929786205, + -0.01337564829736948, + -0.018043948634338558 + ], + [ + 0.008015161380171776, + 0.9998171925544739, + 0.01736055500805378, + 0.006906804263143611 + ], + [ + 0.01323807891458273, + -0.017465682700276375, + 0.9997597932815552, + 0.018348703464087016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998651146888733, + -0.008587424643337727, + -0.013999021612107754, + -0.018653627770735808 + ], + [ + 0.008832565508782864, + 0.9998070597648621, + 0.017544519156217575, + 0.006805742719679847 + ], + [ + 0.013845658861100674, + -0.0176657997071743, + 0.9997480511665344, + 0.01793019950978066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998359680175781, + -0.009417357854545116, + -0.015469908714294434, + -0.018868435076192805 + ], + [ + 0.00969137717038393, + 0.9997957348823547, + 0.01773461513221264, + 0.0069528875515369095 + ], + [ + 0.015299735590815544, + -0.01788162998855114, + 0.9997230172157288, + 0.017311261987831807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.999812126159668, + -0.010035504586994648, + -0.016584495082497597, + -0.020476162668905756 + ], + [ + 0.010340188629925251, + 0.9997774362564087, + 0.018389202654361725, + 0.006125902002187151 + ], + [ + 0.016396259889006615, + -0.018557235598564148, + 0.9996933341026306, + 0.017168125235720685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997938275337219, + -0.010274035856127739, + -0.017514865845441818, + -0.022205208614468577 + ], + [ + 0.010603409260511398, + 0.9997667074203491, + 0.01881742663681507, + 0.005606839473226241 + ], + [ + 0.017317447811365128, + -0.018999265506863594, + 0.9996694922447205, + 0.016627526123608863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.999776303768158, + -0.010111220180988312, + -0.018577763810753822, + -0.023754590083109706 + ], + [ + 0.010455142706632614, + 0.9997740387916565, + 0.01850968785583973, + 0.005183420335187724 + ], + [ + 0.018386410549283028, + -0.018699781969189644, + 0.999656081199646, + 0.015639358596470122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997695088386536, + -0.009356911294162273, + -0.0193244107067585, + -0.025606031819505805 + ], + [ + 0.00970954168587923, + 0.9997865557670593, + 0.018235400319099426, + 0.004537942907527874 + ], + [ + 0.01914966106414795, + -0.018418826162815094, + 0.9996469616889954, + 0.01525115441054778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997720122337341, + -0.008611384779214859, + -0.019539114087820053, + -0.0276935018346946 + ], + [ + 0.008952302858233452, + 0.9998080134391785, + 0.017428159713745117, + 0.004162045752391555 + ], + [ + 0.019385281950235367, + -0.017599105834960938, + 0.999657154083252, + 0.014493078931717944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997593760490417, + -0.006942238658666611, + -0.02080780453979969, + -0.02977859182353306 + ], + [ + 0.007297759875655174, + 0.9998278617858887, + 0.017059026286005974, + 0.002667645122015611 + ], + [ + 0.020685793831944466, + -0.017206771299242973, + 0.9996379613876343, + 0.014107837095240452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997314810752869, + -0.005980873014777899, + -0.0223865807056427, + -0.03207230815677939 + ], + [ + 0.006357393693178892, + 0.9998388886451721, + 0.01678582653403282, + 0.0011186516505869147 + ], + [ + 0.02228258177638054, + -0.01692363992333412, + 0.9996084570884705, + 0.01366360928107025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996927380561829, + -0.005250043701380491, + -0.024225734174251556, + -0.03473076506664879 + ], + [ + 0.0056496658362448215, + 0.9998486042022705, + 0.016456907615065575, + -0.0008200609345773333 + ], + [ + 0.024135667830705643, + -0.016588719561696053, + 0.9995710253715515, + 0.013633929026362143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996464252471924, + -0.006082386709749699, + -0.025886058807373047, + -0.03648834184260297 + ], + [ + 0.0064832959324121475, + 0.9998599290847778, + 0.015431796200573444, + -0.0015090282428729578 + ], + [ + 0.025788571685552597, + -0.015594166703522205, + 0.9995457530021667, + 0.01176097521180273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9995866417884827, + -0.006490685511380434, + -0.028008442372083664, + -0.03829699917871477 + ], + [ + 0.006877530831843615, + 0.9998819828033447, + 0.013737576082348824, + -0.0026974233560600226 + ], + [ + 0.027915969491004944, + -0.013924526050686836, + 0.9995132684707642, + 0.011725183275241153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9995402097702026, + -0.007751576602458954, + -0.029313070699572563, + -0.04053796982406673 + ], + [ + 0.008127707988023758, + 0.9998858571052551, + 0.012734218500554562, + -0.005117193935789112 + ], + [ + 0.0292110163718462, + -0.012966611422598362, + 0.9994891881942749, + 0.010428126796351788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9994246959686279, + -0.010358584113419056, + -0.03229536861181259, + -0.04380783011324535 + ], + [ + 0.010760103352367878, + 0.9998666644096375, + 0.012283801101148129, + -0.008006940687537416 + ], + [ + 0.032163821160793304, + -0.012624234892427921, + 0.9994028806686401, + 0.00978952616145064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9992645978927612, + -0.010948557406663895, + -0.036747127771377563, + -0.04711388429360731 + ], + [ + 0.011286590248346329, + 0.9998957514762878, + 0.009004085324704647, + -0.010824564950806755 + ], + [ + 0.03664471209049225, + -0.00941221322864294, + 0.999284029006958, + 0.008238088087479872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9991561770439148, + -0.010442398488521576, + -0.03972209244966507, + -0.05163713848300163 + ], + [ + 0.01071244478225708, + 0.9999209046363831, + 0.006591645069420338, + -0.015956031207583453 + ], + [ + 0.039650119841098785, + -0.0070116035640239716, + 0.999189019203186, + 0.006706896330461018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9990233778953552, + -0.01023685373365879, + -0.04298217222094536, + -0.05643595661967993 + ], + [ + 0.010433508083224297, + 0.9999361038208008, + 0.004353398457169533, + -0.020522311329841614 + ], + [ + 0.04293486103415489, + -0.004797602072358131, + 0.9990663528442383, + 0.004257984827027509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.998961329460144, + -0.008669514209032059, + -0.04473366215825081, + -0.06276807990765437 + ], + [ + 0.008742734789848328, + 0.999960720539093, + 0.001441438216716051, + -0.025079116239247464 + ], + [ + 0.04471940919756889, + -0.0018310355953872204, + 0.9989979267120361, + 0.001051870992239145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9988241791725159, + -0.0077826958149671555, + -0.04785062372684479, + -0.06886078003597887 + ], + [ + 0.007686596363782883, + 0.9999680519104004, + -0.0021919971331954002, + -0.02947621204351124 + ], + [ + 0.047866158187389374, + 0.0018216114258393645, + 0.9988520741462708, + -0.0005949109043449836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9987280368804932, + -0.006601332686841488, + -0.04998694360256195, + -0.07620021966391041 + ], + [ + 0.0063983239233493805, + 0.9999706149101257, + -0.00422016391530633, + -0.03689242835275661 + ], + [ + 0.050013333559036255, + 0.0038949635345488787, + 0.9987409710884094, + -0.003796098302328553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.998509407043457, + -0.009723091498017311, + -0.05370666831731796, + -0.08288277243649153 + ], + [ + 0.009176595136523247, + 0.999903678894043, + -0.010412834584712982, + -0.03837201035392464 + ], + [ + 0.053802743554115295, + 0.009904468432068825, + 0.9985024333000183, + -0.008295757156145528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9980436563491821, + -0.0035933067556470633, + -0.06241709366440773, + -0.09558719362979545 + ], + [ + 0.0037300835829228163, + 0.9999908804893494, + 0.0020749534014612436, + -0.06792955672371909 + ], + [ + 0.06240906938910484, + -0.0023037150967866182, + 0.9980480074882507, + 0.0034038860848019446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9978737831115723, + -0.007171453442424536, + -0.06477995216846466, + -0.10463530389325959 + ], + [ + 0.007019499782472849, + 0.9999720454216003, + -0.0025729902554303408, + -0.07363718484661409 + ], + [ + 0.06479659676551819, + 0.002112796762958169, + 0.9978962540626526, + -0.004294374162730361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9975897669792175, + -0.01155201718211174, + -0.06841904670000076, + -0.111980865346758 + ], + [ + 0.010873645544052124, + 0.9998880624771118, + -0.010279089212417603, + -0.07756723957626444 + ], + [ + 0.0685301348567009, + 0.009510349482297897, + 0.997603714466095, + -0.013407555712681068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.997158408164978, + -0.014813873916864395, + -0.07386261224746704, + -0.1179648099593202 + ], + [ + 0.013192001730203629, + 0.9996621012687683, + -0.022397710010409355, + -0.07702360099979809 + ], + [ + 0.07416945695877075, + 0.021359669044613838, + 0.9970169067382812, + -0.021603862736794287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9969739317893982, + -0.014468475244939327, + -0.07637818902730942, + -0.12556627686310531 + ], + [ + 0.012338471598923206, + 0.9995236992835999, + -0.02828621119260788, + -0.08268409507153066 + ], + [ + 0.07675107568502426, + 0.02725822478532791, + 0.9966776371002197, + -0.02877937813282461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.996605396270752, + -0.012339566834270954, + -0.08139680325984955, + -0.13240479918799006 + ], + [ + 0.009842856787145138, + 0.9994708299636841, + -0.031003586947917938, + -0.09042984852217194 + ], + [ + 0.08173629641532898, + 0.03009716421365738, + 0.9961994290351868, + -0.0323202166202149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9963281154632568, + -0.009368699043989182, + -0.08510265499353409, + -0.1396253243200761 + ], + [ + 0.006497159134596586, + 0.9994021654129028, + -0.03395659849047661, + -0.09570865209242399 + ], + [ + 0.08536990731954575, + 0.03327899053692818, + 0.9957934021949768, + -0.03620397660853271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9960270524024963, + -0.003672161139547825, + -0.08897574245929718, + -0.1469492131157925 + ], + [ + 0.0003782600397244096, + 0.9993148446083069, + -0.03700883314013481, + -0.09951364346832402 + ], + [ + 0.08905068039894104, + 0.036828141659498215, + 0.9953460097312927, + -0.037359385366054404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9960377216339111, + 0.0007007308304309845, + -0.08892872184515, + -0.15398858140285748 + ], + [ + -0.0041343229822814465, + 0.9992526769638062, + -0.0384322889149189, + -0.10337870521365868 + ], + [ + 0.08883533626794815, + 0.038647670298814774, + 0.9952962398529053, + -0.03951532545506506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9960851669311523, + 0.004242745228111744, + -0.08829683810472488, + -0.15939644316309376 + ], + [ + -0.007690407335758209, + 0.9992195963859558, + -0.0387427993118763, + -0.10720595058641935 + ], + [ + 0.0880635604262352, + 0.03927016630768776, + 0.9953404664993286, + -0.04022860378026962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9960935115814209, + 0.003731392789632082, + -0.0882258489727974, + -0.16490996292883292 + ], + [ + -0.007158754859119654, + 0.9992305040359497, + -0.03856315836310387, + -0.1104549725025304 + ], + [ + 0.08801407366991043, + 0.0390441007912159, + 0.9953537583351135, + -0.04244138521695496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9958352446556091, + 0.00355648179538548, + -0.09110182523727417, + -0.16950020549216666 + ], + [ + -0.0071575092151761055, + 0.9992045164108276, + -0.03923134133219719, + -0.11399903771488513 + ], + [ + 0.0908898264169693, + 0.039720017462968826, + 0.9950685501098633, + -0.04426244050264359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9955253601074219, + 0.001749745337292552, + -0.09447864443063736, + -0.1745888895782313 + ], + [ + -0.0057290950790047646, + 0.9991068840026855, + -0.04186424985527992, + -0.1176634767400871 + ], + [ + 0.09432100504636765, + 0.042218197137117386, + 0.9946462512016296, + -0.0453739871656088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9952478408813477, + -0.0013014385476708412, + -0.09736576676368713, + -0.17930416455842496 + ], + [ + -0.002965718973428011, + 0.9990416765213013, + -0.04366850107908249, + -0.12316860050467172 + ], + [ + 0.0973292887210846, + 0.043749742209911346, + 0.9942901730537415, + -0.04636971060382693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9947736263275146, + -0.004259513691067696, + -0.10201621800661087, + -0.1815283332328151 + ], + [ + -0.0006870090728625655, + 0.9988276362419128, + -0.04840347170829773, + -0.12763978270367418 + ], + [ + 0.10210279375314713, + 0.04822058230638504, + 0.9936044216156006, + -0.0492112183649289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9937491416931152, + -0.008240500465035439, + -0.11133172363042831, + -0.18486986186047244 + ], + [ + 0.002348297508433461, + 0.9985942840576172, + -0.05295254662632942, + -0.13505984979499608 + ], + [ + 0.11161158233880997, + 0.05236010625958443, + 0.9923715591430664, + -0.052335264763437715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9923116564750671, + -0.012638184241950512, + -0.12311723828315735, + -0.19000326638158999 + ], + [ + 0.005235173739492893, + 0.9981684684753418, + -0.060268692672252655, + -0.1384567638221932 + ], + [ + 0.12365342676639557, + 0.059160783886909485, + 0.9905603528022766, + -0.06408824971631953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9902482628822327, + -0.012334069237112999, + -0.1387668401002884, + -0.19982682473229285 + ], + [ + 0.0032652816735208035, + 0.9978543519973755, + -0.06539146602153778, + -0.14539287715057905 + ], + [ + 0.13927562534809113, + 0.06430067121982574, + 0.9881638288497925, + -0.07442433737722555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9864107966423035, + -0.01634417101740837, + -0.16348285973072052, + -0.2171868435870436 + ], + [ + 0.005557125434279442, + 0.9977893233299255, + -0.06622364372015, + -0.16026342252227374 + ], + [ + 0.16420383751392365, + 0.06441522389650345, + 0.9843209981918335, + -0.08471312036639767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9785045385360718, + -0.01682628132402897, + -0.20553763210773468, + -0.22278691561598526 + ], + [ + 0.0003517400473356247, + 0.9968005418777466, + -0.07992827892303467, + -0.16359043589940198 + ], + [ + 0.2062249332666397, + 0.07813788950443268, + 0.9753798246383667, + -0.09194558202324057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9729257822036743, + -0.03532208874821663, + -0.2284025400876999, + -0.2512747240918023 + ], + [ + 0.020015520974993706, + 0.997416615486145, + -0.06898882985115051, + -0.18439215727682626 + ], + [ + 0.2302493304014206, + 0.0625494122505188, + 0.9711193442344666, + -0.11586659295218331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9643107652664185, + -0.032589301466941833, + -0.2627597451210022, + -0.26986544248753025 + ], + [ + 0.012742266990244389, + 0.9969584345817566, + -0.07688648998737335, + -0.20876128792314602 + ], + [ + 0.26446622610092163, + 0.07079431414604187, + 0.9617930054664612, + -0.11912272375329097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9526016712188721, + -0.03417128697037697, + -0.30229517817497253, + -0.27533561307236665 + ], + [ + 0.003698427230119705, + 0.9948989748954773, + -0.10080826282501221, + -0.20789034074466478 + ], + [ + 0.30419793725013733, + 0.0949120968580246, + 0.947868824005127, + -0.12162018820531387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9417403340339661, + -0.04824119061231613, + -0.3328632414340973, + -0.28211676415644193 + ], + [ + 0.006312299519777298, + 0.9920212030410767, + -0.12591280043125153, + -0.20930211932251327 + ], + [ + 0.33628156781196594, + 0.11647602915763855, + 0.9345309138298035, + -0.14119786776994403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9356018304824829, + -0.052838221192359924, + -0.3490807116031647, + -0.29321694221711697 + ], + [ + 0.0024871323257684708, + 0.9896994829177856, + -0.1431388258934021, + -0.21672415771290549 + ], + [ + 0.353048175573349, + 0.1330527365207672, + 0.9260960817337036, + -0.15400670657032414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9316322207450867, + -0.0551597997546196, + -0.3591918647289276, + -0.2976958532082407 + ], + [ + -0.002633657306432724, + 0.9873624444007874, + -0.15845660865306854, + -0.22085881451691003 + ], + [ + 0.36339297890663147, + 0.1485692709684372, + 0.9197133779525757, + -0.1624620519858554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9291946291923523, + -0.05422563478350639, + -0.3655911982059479, + -0.3024383200290508 + ], + [ + -0.008118171244859695, + 0.9859451651573181, + -0.1668718159198761, + -0.2255618553608656 + ], + [ + 0.36950162053108215, + 0.15802434086799622, + 0.9156947731971741, + -0.1733916974829552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9278186559677124, + -0.0520748496055603, + -0.3693788945674896, + -0.3073382896588261 + ], + [ + -0.012312449514865875, + 0.9853935241699219, + -0.16984713077545166, + -0.22997317581920695 + ], + [ + 0.37282833456993103, + 0.1621353030204773, + 0.9136252999305725, + -0.181577856289713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9272961616516113, + -0.05293095111846924, + -0.370567262172699, + -0.3141603571355791 + ], + [ + -0.009691460058093071, + 0.9862255454063416, + -0.16512176394462585, + -0.23591907326748274 + ], + [ + 0.3742029666900635, + 0.15670812129974365, + 0.914010226726532, + -0.18883894280831617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9253216981887817, + -0.05000840872526169, + -0.37587085366249084, + -0.3197086868205465 + ], + [ + -0.014005957171320915, + 0.9860809445381165, + -0.16567489504814148, + -0.2390963016932172 + ], + [ + 0.3789242208003998, + 0.15856701135635376, + 0.9117417335510254, + -0.1942243231642515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9221211671829224, + -0.04714431241154671, + -0.3840181231498718, + -0.3244274682120273 + ], + [ + -0.019014883786439896, + 0.9858267903327942, + -0.16668523848056793, + -0.2412144072157772 + ], + [ + 0.38643360137939453, + 0.16100604832172394, + 0.9081553220748901, + -0.19942446915726914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9170123338699341, + -0.045384008437395096, + -0.39626845717430115, + -0.33005315531465346 + ], + [ + -0.023695167154073715, + 0.9855520725250244, + -0.1677071899175644, + -0.24296886894599837 + ], + [ + 0.3981544077396393, + 0.1631792038679123, + 0.9026880264282227, + -0.20455846492957352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9108887910842896, + -0.04421266168355942, + -0.4102765917778015, + -0.3371426734709202 + ], + [ + -0.02824402041733265, + 0.9852321147918701, + -0.1688784956932068, + -0.24474187182556642 + ], + [ + 0.41168421506881714, + 0.1654173731803894, + 0.8961881399154663, + -0.20910739013575075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.904367208480835, + -0.04261692613363266, + -0.4246218800544739, + -0.34442171866732435 + ], + [ + -0.03325220197439194, + 0.9849390983581543, + -0.16967397928237915, + -0.24616067212327084 + ], + [ + 0.4254576563835144, + 0.1675671935081482, + 0.8893295526504517, + -0.21393665144766183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8997461795806885, + -0.039729706943035126, + -0.43460148572921753, + -0.3534609594291314 + ], + [ + -0.03829441964626312, + 0.9848188161849976, + -0.16930873692035675, + -0.24833364106882783 + ], + [ + 0.43473029136657715, + 0.16897769272327423, + 0.884565532207489, + -0.2163669744156357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8986935019493103, + -0.036830708384513855, + -0.43702802062034607, + -0.36125597245711133 + ], + [ + -0.04144220054149628, + 0.9848776459693909, + -0.16822166740894318, + -0.2501192239666344 + ], + [ + 0.43661484122276306, + 0.16929112374782562, + 0.8835768103599548, + -0.21746196323319486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8971197605133057, + -0.03406068682670593, + -0.4404725134372711, + -0.36685585648493657 + ], + [ + -0.044150032103061676, + 0.9851203560829163, + -0.16609832644462585, + -0.2508484101217044 + ], + [ + 0.4395758807659149, + 0.16845697164535522, + 0.8822671175003052, + -0.2189279522214617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8935099244117737, + -0.03158785402774811, + -0.44793108105659485, + -0.3731599196007377 + ], + [ + -0.0471041277050972, + 0.9854260087013245, + -0.163452610373497, + -0.251403923724827 + ], + [ + 0.44656607508659363, + 0.16714592278003693, + 0.8790000081062317, + -0.2199721290876991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8897270560264587, + -0.030799677595496178, + -0.45545268058776855, + -0.3795559992915706 + ], + [ + -0.04856215417385101, + 0.9856736063957214, + -0.16152173280715942, + -0.25149470093779097 + ], + [ + 0.4539024829864502, + 0.16582801938056946, + 0.8754847645759583, + -0.22081385037504642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8864835500717163, + -0.03289627283811569, + -0.46158933639526367, + -0.38480616126741685 + ], + [ + -0.046847835183143616, + 0.9859659671783447, + -0.16023865342140198, + -0.25144598526614054 + ], + [ + 0.4603826403617859, + 0.16367340087890625, + 0.8725014925003052, + -0.22190740193639483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8827188611030579, + -0.0366971418261528, + -0.4684663712978363, + -0.3882677434082318 + ], + [ + -0.044132716953754425, + 0.9860647916793823, + -0.1604011505842209, + -0.2509330132682073 + ], + [ + 0.4678244888782501, + 0.16226382553577423, + 0.8687984347343445, + -0.22313053849944495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8790568113327026, + -0.043868228793144226, + -0.4746944010257721, + -0.39098368399125294 + ], + [ + -0.038443438708782196, + 0.9859906435012817, + -0.16230997443199158, + -0.250811346737962 + ], + [ + 0.4751645028591156, + 0.16092857718467712, + 0.8650553226470947, + -0.2238487782783078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8751771450042725, + -0.05065571516752243, + -0.4811434745788574, + -0.3927803679068286 + ], + [ + -0.03324156254529953, + 0.9858571887016296, + -0.16425779461860657, + -0.2513806579088358 + ], + [ + 0.48265933990478516, + 0.1597486138343811, + 0.8611157536506653, + -0.22398060862731217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8717063665390015, + -0.056058965623378754, + -0.4868115484714508, + -0.3938093292085748 + ], + [ + -0.030262045562267303, + 0.985380232334137, + -0.1676604002714157, + -0.2507409034703011 + ], + [ + 0.4890933334827423, + 0.16088254749774933, + 0.8572657108306885, + -0.224532652663109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8698486685752869, + -0.05991801619529724, + -0.48966631293296814, + -0.3947952179532302 + ], + [ + -0.02823261171579361, + 0.9849231839179993, + -0.17067283391952515, + -0.2506713855815561 + ], + [ + 0.4925101101398468, + 0.16228410601615906, + 0.8550424575805664, + -0.224847432657292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.869328498840332, + -0.0610523521900177, + -0.4904494285583496, + -0.39469995556917403 + ], + [ + -0.028792565688490868, + 0.9843995571136475, + -0.17357571423053741, + -0.25035016065029275 + ], + [ + 0.4933953881263733, + 0.1650155931711197, + 0.854008674621582, + -0.22523450929867594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8699087500572205, + -0.06054358184337616, + -0.4894826114177704, + -0.3965773686430508 + ], + [ + -0.02948821149766445, + 0.9842773675918579, + -0.17415067553520203, + -0.2514976096626623 + ], + [ + 0.492330402135849, + 0.1659291684627533, + 0.8544461727142334, + -0.22479230965438643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8705851435661316, + -0.05922751873731613, + -0.4884399473667145, + -0.3983343862053147 + ], + [ + -0.03153715282678604, + 0.9839695692062378, + -0.17552587389945984, + -0.2516003846561998 + ], + [ + 0.4910059869289398, + 0.16821423172950745, + 0.8547614216804504, + -0.22495096236243284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8714024424552917, + -0.056749869138002396, + -0.4872753620147705, + -0.39996013587578794 + ], + [ + -0.035762060433626175, + 0.9832949042320251, + -0.17847199738025665, + -0.25015329750240745 + ], + [ + 0.489263653755188, + 0.17294691503047943, + 0.8548160791397095, + -0.22494016827497265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8723241090774536, + -0.056106824427843094, + -0.4856981337070465, + -0.40167406290993657 + ], + [ + -0.03661862388253212, + 0.9831064343452454, + -0.17933423817157745, + -0.25193020447080294 + ], + [ + 0.4875548183917999, + 0.1742231696844101, + 0.8555329442024231, + -0.22542504282822287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8723468780517578, + -0.05657963454723358, + -0.48560240864753723, + -0.40260164764590733 + ], + [ + -0.036887191236019135, + 0.9828317761421204, + -0.18077893555164337, + -0.25297117560989874 + ], + [ + 0.4874939024448395, + 0.17561443150043488, + 0.8552831411361694, + -0.22583993182594614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8718429803848267, + -0.05668378621339798, + -0.4864944517612457, + -0.40333715520407026 + ], + [ + -0.03768078237771988, + 0.9825741052627563, + -0.18201185762882233, + -0.25424041708833295 + ], + [ + 0.48833397030830383, + 0.17701725661754608, + 0.8545144200325012, + -0.22646178336519945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8714607954025269, + -0.05613735318183899, + -0.4872419834136963, + -0.4047413836744495 + ], + [ + -0.03920479863882065, + 0.9822763204574585, + -0.18329261243343353, + -0.25571376346891983 + ], + [ + 0.48889583349227905, + 0.17883454263210297, + 0.8538144826889038, + -0.22725204785067335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.871204137802124, + -0.054924771189689636, + -0.4878386855125427, + -0.4061728836898517 + ], + [ + -0.04135855287313461, + 0.9819771647453308, + -0.18441878259181976, + -0.25696682566986945 + ], + [ + 0.48917561769485474, + 0.18084271252155304, + 0.8532310128211975, + -0.22810280905630356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8710469603538513, + -0.053482845425605774, + -0.48827943205833435, + -0.4075244184275319 + ], + [ + -0.04375334084033966, + 0.9816553592681885, + -0.18557597696781158, + -0.25741528105690964 + ], + [ + 0.48924723267555237, + 0.18300925195217133, + 0.8527278304100037, + -0.22878924397597636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8711028695106506, + -0.05125760659575462, + -0.4884183406829834, + -0.4093467387041651 + ], + [ + -0.04592440649867058, + 0.9816780090332031, + -0.18493030965328217, + -0.2577869036423981 + ], + [ + 0.48894864320755005, + 0.18352364003658295, + 0.8527885675430298, + -0.22938783455612066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8713345527648926, + -0.04793888330459595, + -0.4883420467376709, + -0.4113383287773993 + ], + [ + -0.048893362283706665, + 0.9817811250686646, + -0.18361714482307434, + -0.2581200942733234 + ], + [ + 0.4882473945617676, + 0.1838686466217041, + 0.8531159162521362, + -0.22928813142435892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8719688057899475, + -0.044780053198337555, + -0.487509161233902, + -0.41254383294205915 + ], + [ + -0.05125589668750763, + 0.9819844365119934, + -0.18187735974788666, + -0.2584902906328216 + ], + [ + 0.4868709146976471, + 0.18357910215854645, + 0.8539645671844482, + -0.22890967083604713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8727818727493286, + -0.04188143461942673, + -0.4863103926181793, + -0.4129893481731415 + ], + [ + -0.05280978977680206, + 0.9823614954948425, + -0.17937955260276794, + -0.25889142602682114 + ], + [ + 0.4852452576160431, + 0.18224117159843445, + 0.8551755547523499, + -0.22911929786205293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/move_right/transforms.json b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cda22de58baf6616cf2c844144ea8f7ba9d9f225 --- /dev/null +++ b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/move_right/transforms.json @@ -0,0 +1,4703 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 134, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -0.00019550712022464722, + -0.00019303611770737916, + 0.00022781761072110385 + ], + [ + 0.00019553802849259228, + 0.9999999403953552, + 0.00016009202226996422, + -8.102464198600501e-05 + ], + [ + 0.00019300480198580772, + -0.0001601297699380666, + 0.9999999403953552, + 0.0002764065284281969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999991059303284, + 0.0005697432206943631, + -0.0011956848902627826, + -3.1355694916686966e-06 + ], + [ + -0.0005690808175131679, + 0.9999997019767761, + 0.0005542550352402031, + -2.1462195382310827e-05 + ], + [ + 0.0011960003757849336, + -0.0005535741220228374, + 0.9999991059303284, + 0.00018689440737506446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999967217445374, + 0.0014475014759227633, + -0.0020999463740736246, + -0.0002785178914988286 + ], + [ + -0.001444673747755587, + 0.9999980330467224, + 0.0013474837178364396, + -0.0009685915583198456 + ], + [ + 0.002101892838254571, + -0.0013444455107674003, + 0.9999969005584717, + 0.0007951682851880901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999963045120239, + 0.0008357713813893497, + -0.0025771656073629856, + -0.00014459985427390338 + ], + [ + -0.0008345278329215944, + 0.9999995231628418, + 0.0004835718427784741, + 0.0008233778483735019 + ], + [ + 0.002577568404376507, + -0.00048141932347789407, + 0.999996542930603, + 0.0010455379297578692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999906420707703, + 0.0009545357315801084, + -0.004214436747133732, + 0.0012233944137097527 + ], + [ + -0.0009540333994664252, + 0.9999995231628418, + 0.00012121418694732711, + 0.001431468307194685 + ], + [ + 0.004214550368487835, + -0.0001171923431684263, + 0.9999911189079285, + 0.002576689740740939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999902844429016, + 0.0016591983148828149, + -0.0040837740525603294, + 0.0018456551995604557 + ], + [ + -0.0016533477464690804, + 0.999997615814209, + 0.0014356238534674048, + 0.00018073642712622125 + ], + [ + 0.004086146131157875, + -0.001428858027793467, + 0.9999906420707703, + 0.001979921230192023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999989926815033, + 0.0010074727470055223, + -0.004378812853246927, + 0.002924041388752429 + ], + [ + -0.0010029951808974147, + 0.9999989867210388, + 0.0010246096644550562, + 0.0008976681678751974 + ], + [ + 0.004379841033369303, + -0.0010202073026448488, + 0.9999898672103882, + 0.002256266747188187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999879002571106, + 0.0009483072790317237, + -0.004832913633435965, + 0.003928777066941716 + ], + [ + -0.0009422097937203944, + 0.9999987483024597, + 0.0012637791223824024, + 0.0004710043167793437 + ], + [ + 0.004834105726331472, + -0.0012592102866619825, + 0.9999875426292419, + 0.0030223588459193707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999862909317017, + 0.00047503673704341054, + -0.005213440861552954, + 0.0053499369730619735 + ], + [ + -0.00046765391016379, + 0.9999988675117493, + 0.0014172408264130354, + 0.0003383036694993594 + ], + [ + 0.005214108619838953, + -0.0014147832989692688, + 0.99998539686203, + 0.00329164539330772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999834895133972, + -0.0009772215271368623, + -0.00566018046811223, + 0.007087525763440373 + ], + [ + 0.0009828869951888919, + 0.9999990463256836, + 0.0009982376359403133, + 0.0011820947568464493 + ], + [ + 0.00565919978544116, + -0.0010037845931947231, + 0.9999834895133972, + 0.0034247767691381443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999799728393555, + -0.0024443536531180143, + -0.0058343056589365005, + 0.008731350058486641 + ], + [ + 0.0024489269126206636, + 0.9999967217445374, + 0.0007768126670271158, + 0.0018338491593984734 + ], + [ + 0.005832387134432793, + -0.0007910849526524544, + 0.9999826550483704, + 0.003242248250871785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999722838401794, + -0.0041746641509234905, + -0.006169183179736137, + 0.010237623789676822 + ], + [ + 0.0041791112162172794, + 0.9999909996986389, + 0.0007081507355906069, + 0.002480088403322419 + ], + [ + 0.006166171282529831, + -0.0007339127478189766, + 0.9999807476997375, + 0.003446859423827408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999617338180542, + -0.005312145221978426, + -0.006949519272893667, + 0.012137420650193454 + ], + [ + 0.005314807873219252, + 0.9999858140945435, + 0.00036467864993028343, + 0.003014146868853753 + ], + [ + 0.006947483401745558, + -0.00040160006028600037, + 0.9999758005142212, + 0.0035768307258788132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999518990516663, + -0.006246226839721203, + -0.007559148129075766, + 0.013678013352691231 + ], + [ + 0.006248942576348782, + 0.9999803900718689, + 0.00033566178171895444, + 0.003029614251415084 + ], + [ + 0.007556903641670942, + -0.0003828823391813785, + 0.9999713897705078, + 0.0041919698683138855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999546408653259, + -0.005794829688966274, + -0.007560286670923233, + 0.015237213896685524 + ], + [ + 0.005798511207103729, + 0.9999830722808838, + 0.0004651761264540255, + 0.002805028750414127 + ], + [ + 0.007557462900876999, + -0.0005089933983981609, + 0.999971330165863, + 0.004797771171127495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999573826789856, + -0.005544837098568678, + -0.007384273689240217, + 0.016321198647155574 + ], + [ + 0.0055545237846672535, + 0.9999837279319763, + 0.0012919801520183682, + 0.0023038995564264014 + ], + [ + 0.0073769898153841496, + -0.001332941115833819, + 0.9999719262123108, + 0.005906101678589121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999563097953796, + -0.005092991050332785, + -0.007836870849132538, + 0.017692981772404866 + ], + [ + 0.0051034786738455296, + 0.9999861121177673, + 0.0013188262237235904, + 0.0030404216410326104 + ], + [ + 0.007830046117305756, + -0.0013587638968601823, + 0.999968409538269, + 0.007813426881636444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999551177024841, + -0.004231502301990986, + -0.00847935676574707, + 0.019203693668281 + ], + [ + 0.004245338030159473, + 0.9999896883964539, + 0.001614309730939567, + 0.0022282213669382314 + ], + [ + 0.008472438901662827, + -0.0016502350335940719, + 0.9999627470970154, + 0.009308444478906186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999567270278931, + -0.004520643036812544, + -0.008128635585308075, + 0.019726043006867394 + ], + [ + 0.004533473867923021, + 0.9999884963035583, + 0.0015607819659635425, + 0.002422021456146823 + ], + [ + 0.008121486753225327, + -0.0015975654823705554, + 0.9999657273292542, + 0.010146291163238817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999541640281677, + -0.003187118796631694, + -0.009030781686306, + 0.021878165964569363 + ], + [ + 0.0031986089888960123, + 0.9999940991401672, + 0.0012581784976646304, + 0.001683579179059182 + ], + [ + 0.009026719257235527, + -0.001287006656639278, + 0.9999584555625916, + 0.011868838566754546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999616146087646, + -0.003408291609957814, + -0.008070661686360836, + 0.02353559229943089 + ], + [ + 0.0034173636231571436, + 0.9999935626983643, + 0.0011105391895398498, + 0.001772960242675267 + ], + [ + 0.00806682463735342, + -0.0011380770010873675, + 0.9999668002128601, + 0.011935584184090445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999701380729675, + -0.004348649177700281, + -0.0063917869701981544, + 0.025183800607919693 + ], + [ + 0.004358585458248854, + 0.9999893307685852, + 0.0015414654044434428, + 0.0016122332688322978 + ], + [ + 0.006385015323758125, + -0.0015692784218117595, + 0.9999783635139465, + 0.011100503047438044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999654293060303, + -0.00546421529725194, + -0.0062642949633300304, + 0.027370569238761314 + ], + [ + 0.005473083350807428, + 0.9999840259552002, + 0.0013993668835610151, + 0.001930780560513468 + ], + [ + 0.006256548222154379, + -0.0014336034655570984, + 0.9999793767929077, + 0.01095665846706221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999967634677887, + -0.006329468451440334, + -0.0049653733149170876, + 0.028693506176254355 + ], + [ + 0.006334203295409679, + 0.9999794960021973, + 0.0009384143049828708, + 0.002182992127604951 + ], + [ + 0.004959331825375557, + -0.0009698356152512133, + 0.9999872446060181, + 0.009677973755152154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999672174453735, + -0.006758757401257753, + -0.004457461182028055, + 0.03095328260661292 + ], + [ + 0.006759663578122854, + 0.9999771118164062, + 0.00018833497597370297, + 0.0028215328581575163 + ], + [ + 0.004456086549907923, + -0.00021845973969902843, + 0.9999900460243225, + 0.009399432882218433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999965250492096, + -0.007188562303781509, + -0.0042161778546869755, + 0.03325660306876315 + ], + [ + 0.007190368138253689, + 0.9999740719795227, + 0.0004133750044275075, + 0.0027039547370312582 + ], + [ + 0.0042130970396101475, + -0.00044367651571519673, + 0.9999909996986389, + 0.00968196562533372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999532699584961, + -0.008707553148269653, + -0.004202332813292742, + 0.03542548491430462 + ], + [ + 0.008709672838449478, + 0.9999619722366333, + 0.0004865531518589705, + 0.00366261240998213 + ], + [ + 0.004197936039417982, + -0.0005231313407421112, + 0.9999910593032837, + 0.010203493322784963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999426007270813, + -0.009937196038663387, + -0.0040034581907093525, + 0.037312737829927216 + ], + [ + 0.009945291094481945, + 0.9999485015869141, + 0.0020071750041097403, + 0.002961113938669625 + ], + [ + 0.003983306232839823, + -0.002046875422820449, + 0.9999899864196777, + 0.010768890547166978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999224543571472, + -0.011865630745887756, + -0.0037844942416995764, + 0.03899956131844144 + ], + [ + 0.01187749020755291, + 0.9999246001243591, + 0.003126880619674921, + 0.0036104205039967046 + ], + [ + 0.003747106296941638, + -0.0031715882942080498, + 0.9999879598617554, + 0.011119997761163273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999040365219116, + -0.012983828783035278, + -0.004833228886127472, + 0.04107512810680651 + ], + [ + 0.013004258275032043, + 0.9999065399169922, + 0.004219676833599806, + 0.0039083073853998255 + ], + [ + 0.004777989350259304, + -0.0042821248061954975, + 0.9999794363975525, + 0.011934947476659278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999904215335846, + -0.012949010357260704, + -0.004886852111667395, + 0.04296285147897731 + ], + [ + 0.012978160753846169, + 0.9998978972434998, + 0.00598126370459795, + 0.004224850967722503 + ], + [ + 0.004808901343494654, + -0.006044113077223301, + 0.9999701976776123, + 0.011432498080753967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999090433120728, + -0.012527868151664734, + -0.004993001464754343, + 0.04454348487009231 + ], + [ + 0.012563666328787804, + 0.9998950958251953, + 0.007204100955277681, + 0.005246011255995223 + ], + [ + 0.004902225453406572, + -0.007266176398843527, + 0.9999615550041199, + 0.01168037235309699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999164342880249, + -0.011896323412656784, + -0.005061554256826639, + 0.0459279966365574 + ], + [ + 0.011939546093344688, + 0.9998917579650879, + 0.00859647337347269, + 0.005969829752313015 + ], + [ + 0.004958739969879389, + -0.008656187914311886, + 0.9999502301216125, + 0.012000621316072189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999217391014099, + -0.011366607621312141, + -0.00522675970569253, + 0.04696596546616769 + ], + [ + 0.011418456211686134, + 0.9998847842216492, + 0.00999940000474453, + 0.006427325540803429 + ], + [ + 0.0051124985329806805, + -0.010058298707008362, + 0.9999363422393799, + 0.01290675692813457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999288320541382, + -0.01057520043104887, + -0.005522236227989197, + 0.04820126259517401 + ], + [ + 0.010635198093950748, + 0.9998834729194641, + 0.010950692929327488, + 0.006841664173101124 + ], + [ + 0.005405787378549576, + -0.011008643545210361, + 0.9999247789382935, + 0.013508543064047519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999315142631531, + -0.010144415311515331, + -0.005834328942000866, + 0.049325813196207345 + ], + [ + 0.010212077759206295, + 0.9998795390129089, + 0.01168686430901289, + 0.007325883195000259 + ], + [ + 0.00571507029235363, + -0.011745643801987171, + 0.9999147057533264, + 0.013955078185781053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999286532402039, + -0.0101983193308115, + -0.006218298338353634, + 0.05042011185472173 + ], + [ + 0.010272618383169174, + 0.9998747706413269, + 0.012035973370075226, + 0.007974251807156139 + ], + [ + 0.0060947732999920845, + -0.012098992243409157, + 0.9999082088470459, + 0.014368868984730172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999285340309143, + -0.010145951993763447, + -0.006325222086161375, + 0.05159810035300434 + ], + [ + 0.010224546305835247, + 0.9998693466186523, + 0.012519472278654575, + 0.008338572044989893 + ], + [ + 0.006197373848408461, + -0.012583249248564243, + 0.9999015927314758, + 0.0143269867037556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999284148216248, + -0.009979579597711563, + -0.006602726876735687, + 0.05259780745421137 + ], + [ + 0.010064005851745605, + 0.9998664259910583, + 0.012879308313131332, + 0.008728998686586107 + ], + [ + 0.0064733149483799934, + -0.012944836169481277, + 0.9998952746391296, + 0.014756977132388523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999336004257202, + -0.009473615325987339, + -0.006564789917320013, + 0.05348952102817987 + ], + [ + 0.009561163373291492, + 0.9998640418052673, + 0.013435469008982182, + 0.008650964650472529 + ], + [ + 0.006436614785343409, + -0.013497344218194485, + 0.9998881816864014, + 0.0148952995248391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999937891960144, + -0.009076249785721302, + -0.0064721014350652695, + 0.05417719626225027 + ], + [ + 0.009164846502244473, + 0.9998628497123718, + 0.013793256133794785, + 0.008536287835498053 + ], + [ + 0.0063460227102041245, + -0.013851715251803398, + 0.9998839497566223, + 0.014900635955925275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999397397041321, + -0.00889805518090725, + -0.006427685264497995, + 0.054565648765380226 + ], + [ + 0.00898708961904049, + 0.9998621940612793, + 0.013958252035081387, + 0.008947250870217506 + ], + [ + 0.006302598398178816, + -0.014015178196132183, + 0.9998819231987, + 0.014562411208223916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999403357505798, + -0.008292417973279953, + -0.0071133701130747795, + 0.05467558230616545 + ], + [ + 0.008392540737986565, + 0.9998644590377808, + 0.014162884093821049, + 0.008905255441602908 + ], + [ + 0.006994961760938168, + -0.0142217380926013, + 0.9998744130134583, + 0.01509295741194173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999370574951172, + -0.008099797181785107, + -0.0077624074183404446, + 0.054449116979214486 + ], + [ + 0.008211932145059109, + 0.9998607635498047, + 0.014524525962769985, + 0.008737061085193454 + ], + [ + 0.007643681485205889, + -0.014587356708943844, + 0.999864399433136, + 0.015512576425812186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999359846115112, + -0.007807694375514984, + -0.00818668119609356, + 0.05479013541139158 + ], + [ + 0.007928242906928062, + 0.999859094619751, + 0.01479736901819706, + 0.00882466725192796 + ], + [ + 0.008069993928074837, + -0.014861328527331352, + 0.9998570084571838, + 0.015116587869430842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999330639839172, + -0.007301025558263063, + -0.008974216878414154, + 0.05502035732107951 + ], + [ + 0.007434616331011057, + 0.9998607039451599, + 0.014943906106054783, + 0.008879130441849506 + ], + [ + 0.008863860741257668, + -0.015009625814855099, + 0.9998480677604675, + 0.015684106023071853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999266266822815, + -0.007276685908436775, + -0.009683288633823395, + 0.05533672161960512 + ], + [ + 0.007425765506923199, + 0.9998530745506287, + 0.015449726954102516, + 0.008768250395480851 + ], + [ + 0.009569443762302399, + -0.015520500019192696, + 0.9998337626457214, + 0.016294922506002556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999176859855652, + -0.006997761782258749, + -0.010752118192613125, + 0.05594339091470815 + ], + [ + 0.007166957948356867, + 0.999849796295166, + 0.015778928995132446, + 0.008616130720277814 + ], + [ + 0.01064008567482233, + -0.015854690223932266, + 0.9998176693916321, + 0.016958985642242925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.999909520149231, + -0.006773448549211025, + -0.011623382568359375, + 0.05688755809140385 + ], + [ + 0.006955853663384914, + 0.999852180480957, + 0.01572495698928833, + 0.008627524927146453 + ], + [ + 0.011515151709318161, + -0.015804383903741837, + 0.9998087882995605, + 0.01746564207220436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999064207077026, + -0.006481840740889311, + -0.012045623734593391, + 0.057839001911251166 + ], + [ + 0.006672994699329138, + 0.9998513460159302, + 0.015897279605269432, + 0.008367961637773796 + ], + [ + 0.011940790340304375, + -0.01597617380321026, + 0.9998010993003845, + 0.018416541295224114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999068379402161, + -0.00626297015696764, + -0.012129927054047585, + 0.05870307365754493 + ], + [ + 0.006465135142207146, + 0.9998396635055542, + 0.016699764877557755, + 0.0077422081100705425 + ], + [ + 0.01202339120209217, + -0.01677662879228592, + 0.9997869729995728, + 0.019274844809022165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999025464057922, + -0.0063356803730130196, + -0.012441178783774376, + 0.05980521454790929 + ], + [ + 0.006545994430780411, + 0.9998351335525513, + 0.01693737879395485, + 0.007539939494537456 + ], + [ + 0.012331817299127579, + -0.017017167061567307, + 0.9997791647911072, + 0.019591924550950077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9998939633369446, + -0.006824738346040249, + -0.012864059768617153, + 0.06070130675246841 + ], + [ + 0.007046964019536972, + 0.9998253583908081, + 0.017309492453932762, + 0.007325565232370133 + ], + [ + 0.012743680737912655, + -0.01739831082522869, + 0.9997674226760864, + 0.01969923356029772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998802542686462, + -0.0077834161929786205, + -0.01337564829736948, + 0.06164575584120768 + ], + [ + 0.008015161380171776, + 0.9998171925544739, + 0.01736055500805378, + 0.007545606598706174 + ], + [ + 0.01323807891458273, + -0.017465682700276375, + 0.9997597932815552, + 0.019403768400136464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998651146888733, + -0.008587424643337727, + -0.013999021612107754, + 0.0625384266551276 + ], + [ + 0.008832565508782864, + 0.9998070597648621, + 0.017544519156217575, + 0.0075229736030998084 + ], + [ + 0.013845658861100674, + -0.0176657997071743, + 0.9997480511665344, + 0.019054508650381313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998359680175781, + -0.009417357854545116, + -0.015469908714294434, + 0.06382476528616328 + ], + [ + 0.00969137717038393, + 0.9997957348823547, + 0.01773461513221264, + 0.00775443002427543 + ], + [ + 0.015299735590815544, + -0.01788162998855114, + 0.9997230172157288, + 0.018576653653237605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.999812126159668, + -0.010035504586994648, + -0.016584495082497597, + 0.06371854269190838 + ], + [ + 0.010340188629925251, + 0.9997774362564087, + 0.018389202654361725, + 0.006996654728917699 + ], + [ + 0.016396259889006615, + -0.018557235598564148, + 0.9996933341026306, + 0.0185488629105844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997938275337219, + -0.010274035856127739, + -0.017514865845441818, + 0.06349140517413616 + ], + [ + 0.010603409260511398, + 0.9997667074203491, + 0.01881742663681507, + 0.0065157031241272175 + ], + [ + 0.017317447811365128, + -0.018999265506863594, + 0.9996694922447205, + 0.018111878793154443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.999776303768158, + -0.010111220180988312, + -0.018577763810753822, + 0.06344394468163189 + ], + [ + 0.010455142706632614, + 0.9997740387916565, + 0.01850968785583973, + 0.00609529744343538 + ], + [ + 0.018386410549283028, + -0.018699781969189644, + 0.999656081199646, + 0.01724298538121962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997695088386536, + -0.009356911294162273, + -0.0193244107067585, + 0.06309532310001384 + ], + [ + 0.00970954168587923, + 0.9997865557670593, + 0.018235400319099426, + 0.005399390966876557 + ], + [ + 0.01914966106414795, + -0.018418826162815094, + 0.9996469616889954, + 0.01695014689593835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997720122337341, + -0.008611384779214859, + -0.019539114087820053, + 0.06251149175030396 + ], + [ + 0.008952302858233452, + 0.9998080134391785, + 0.017428159713745117, + 0.004969772326066754 + ], + [ + 0.019385281950235367, + -0.017599105834960938, + 0.999657154083252, + 0.0162421269272279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997593760490417, + -0.006942238658666611, + -0.02080780453979969, + 0.061928659212544444 + ], + [ + 0.007297759875655174, + 0.9998278617858887, + 0.017059026286005974, + 0.003337063697075709 + ], + [ + 0.020685793831944466, + -0.017206771299242973, + 0.9996379613876343, + 0.01600533096553912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997314810752869, + -0.005980873014777899, + -0.0223865807056427, + 0.06113573970287142 + ], + [ + 0.006357393693178892, + 0.9998388886451721, + 0.01678582653403282, + 0.0017113710625825409 + ], + [ + 0.02228258177638054, + -0.01692363992333412, + 0.9996084570884705, + 0.015741083070747834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996927380561829, + -0.005250043701380491, + -0.024225734174251556, + 0.059976968012358016 + ], + [ + 0.0056496658362448215, + 0.9998486042022705, + 0.016456907615065575, + -0.00028482943430150807 + ], + [ + 0.024135667830705643, + -0.016588719561696053, + 0.9995710253715515, + 0.01592046597874478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996464252471924, + -0.006082386709749699, + -0.025886058807373047, + 0.059718231414269685 + ], + [ + 0.0064832959324121475, + 0.9998599290847778, + 0.015431796200573444, + -0.0008850719426107362 + ], + [ + 0.025788571685552597, + -0.015594166703522205, + 0.9995457530021667, + 0.01424288286274313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9995866417884827, + -0.006490685511380434, + -0.028008442372083664, + 0.05940695828933241 + ], + [ + 0.006877530831843615, + 0.9998819828033447, + 0.013737576082348824, + -0.00202518350031591 + ], + [ + 0.027915969491004944, + -0.013924526050686836, + 0.9995132684707642, + 0.014453811872106297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9995402097702026, + -0.007751576602458954, + -0.029313070699572563, + 0.0586645171606451 + ], + [ + 0.008127707988023758, + 0.9998858571052551, + 0.012734218500554562, + -0.004310534195624348 + ], + [ + 0.0292110163718462, + -0.012966611422598362, + 0.9994891881942749, + 0.013327265263332012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9994246959686279, + -0.010358584113419056, + -0.03229536861181259, + 0.056886086623443466 + ], + [ + 0.010760103352367878, + 0.9998666644096375, + 0.012283801101148129, + -0.0069228400490281726 + ], + [ + 0.032163821160793304, + -0.012624234892427921, + 0.9994028806686401, + 0.013030091601711018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9992645978927612, + -0.010948557406663895, + -0.036747127771377563, + 0.05506655579166753 + ], + [ + 0.011286590248346329, + 0.9998957514762878, + 0.009004085324704647, + -0.00967044745172773 + ], + [ + 0.03664471209049225, + -0.00941221322864294, + 0.999284029006958, + 0.011985216541845995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9991561770439148, + -0.010442398488521576, + -0.03972209244966507, + 0.05203470545087826 + ], + [ + 0.01071244478225708, + 0.9999209046363831, + 0.006591645069420338, + -0.014844514380552266 + ], + [ + 0.039650119841098785, + -0.0070116035640239716, + 0.999189019203186, + 0.010820968915477283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9990233778953552, + -0.01023685373365879, + -0.04298217222094536, + 0.0487243989482522 + ], + [ + 0.010433508083224297, + 0.9999361038208008, + 0.004353398457169533, + -0.01942404732108116 + ], + [ + 0.04293486103415489, + -0.004797602072358131, + 0.9990663528442383, + 0.00877744388325434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.998961329460144, + -0.008669514209032059, + -0.04473366215825081, + 0.04388794173395499 + ], + [ + 0.008742734789848328, + 0.999960720539093, + 0.001441438216716051, + -0.02414568139702306 + ], + [ + 0.04471940919756889, + -0.0018310355953872204, + 0.9989979267120361, + 0.005826424455438229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9988241791725159, + -0.0077826958149671555, + -0.04785062372684479, + 0.03928258973909052 + ], + [ + 0.007686596363782883, + 0.9999680519104004, + -0.0021919971331954002, + -0.02864397905374828 + ], + [ + 0.047866158187389374, + 0.0018216114258393645, + 0.9988520741462708, + 0.004587590433237023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9987280368804932, + -0.006601332686841488, + -0.04998694360256195, + 0.03343458739214374 + ], + [ + 0.0063983239233493805, + 0.9999706149101257, + -0.00422016391530633, + -0.03619005595214833 + ], + [ + 0.050013333559036255, + 0.0038949635345488787, + 0.9987409710884094, + 0.001694087186107006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.998509407043457, + -0.009723091498017311, + -0.05370666831731796, + 0.028229552557817977 + ], + [ + 0.009176595136523247, + 0.999903678894043, + -0.010412834584712982, + -0.03735085540640175 + ], + [ + 0.053802743554115295, + 0.009904468432068825, + 0.9985024333000183, + -0.002308684941101119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9980436563491821, + -0.0035933067556470633, + -0.06241709366440773, + 0.01697412099605216 + ], + [ + 0.0037300835829228163, + 0.9999908804893494, + 0.0020749534014612436, + -0.06750887060534433 + ], + [ + 0.06240906938910484, + -0.0023037150967866182, + 0.9980480074882507, + 0.010442502933197227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9978737831115723, + -0.007171453442424536, + -0.06477995216846466, + 0.009407414176634377 + ], + [ + 0.007019499782472849, + 0.9999720454216003, + -0.0025729902554303408, + -0.07283495630004576 + ], + [ + 0.06479659676551819, + 0.002112796762958169, + 0.9978962540626526, + 0.003110951181900288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9975897669792175, + -0.01155201718211174, + -0.06841904670000076, + 0.003529528724519837 + ], + [ + 0.010873645544052124, + 0.9998880624771118, + -0.010279089212417603, + -0.07630818588168997 + ], + [ + 0.0685301348567009, + 0.009510349482297897, + 0.997603714466095, + -0.0054724874661157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.997158408164978, + -0.014813873916864395, + -0.07386261224746704, + -0.00100487637004458 + ], + [ + 0.013192001730203629, + 0.9996621012687683, + -0.022397710010409355, + -0.07547626846602985 + ], + [ + 0.07416945695877075, + 0.021359669044613838, + 0.9970169067382812, + -0.0129042873341114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9969739317893982, + -0.014468475244939327, + -0.07637818902730942, + -0.007128772184364786 + ], + [ + 0.012338471598923206, + 0.9995236992835999, + -0.02828621119260788, + -0.08121832175376384 + ], + [ + 0.07675107568502426, + 0.02725822478532791, + 0.9966776371002197, + -0.01966158117174654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.996605396270752, + -0.012339566834270954, + -0.08139680325984955, + -0.012512420689252984 + ], + [ + 0.009842856787145138, + 0.9994708299636841, + -0.031003586947917938, + -0.08924574545003418 + ], + [ + 0.08173629641532898, + 0.03009716421365738, + 0.9961994290351868, + -0.022487278705588858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9963281154632568, + -0.009368699043989182, + -0.08510265499353409, + -0.018268065143348576 + ], + [ + 0.006497159134596586, + 0.9994021654129028, + -0.03395659849047661, + -0.09491726879933779 + ], + [ + 0.08536990731954575, + 0.03327899053692818, + 0.9957934021949768, + -0.025805536769610598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9960270524024963, + -0.003672161139547825, + -0.08897574245929718, + -0.02413083973683809 + ], + [ + 0.0003782600397244096, + 0.9993148446083069, + -0.03700883314013481, + -0.09946700087695949 + ], + [ + 0.08905068039894104, + 0.036828141659498215, + 0.9953460097312927, + -0.02637869996347822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9960377216339111, + 0.0007007308304309845, + -0.08892872184515, + -0.029671091334264085 + ], + [ + -0.0041343229822814465, + 0.9992526769638062, + -0.0384322889149189, + -0.10389471845806374 + ], + [ + 0.08883533626794815, + 0.038647670298814774, + 0.9952962398529053, + -0.02842760679305048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9960851669311523, + 0.004242745228111744, + -0.08829683810472488, + -0.03357515891915873 + ], + [ + -0.007690407335758209, + 0.9992195963859558, + -0.0387427993118763, + -0.10817737046040987 + ], + [ + 0.0880635604262352, + 0.03927016630768776, + 0.9953404664993286, + -0.02910478562116623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9960935115814209, + 0.003731392789632082, + -0.0882258489727974, + -0.037589739643989636 + ], + [ + -0.007158754859119654, + 0.9992305040359497, + -0.03856315836310387, + -0.11137000131910961 + ], + [ + 0.08801407366991043, + 0.0390441007912159, + 0.9953537583351135, + -0.03119146602606415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9958352446556091, + 0.00355648179538548, + -0.09110182523727417, + -0.04071549716076456 + ], + [ + -0.0071575092151761055, + 0.9992045164108276, + -0.03923134133219719, + -0.11492467048556958 + ], + [ + 0.0908898264169693, + 0.039720017462968826, + 0.9950685501098633, + -0.03250826746225357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9955253601074219, + 0.001749745337292552, + -0.09447864443063736, + -0.044347225925079864 + ], + [ + -0.0057290950790047646, + 0.9991068840026855, + -0.04186424985527992, + -0.1184129974496712 + ], + [ + 0.09432100504636765, + 0.042218197137117386, + 0.9946462512016296, + -0.03303424665578326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9952478408813477, + -0.0013014385476708412, + -0.09736576676368713, + -0.047602194637284254 + ], + [ + -0.002965718973428011, + 0.9990416765213013, + -0.04366850107908249, + -0.12356105654927572 + ], + [ + 0.0973292887210846, + 0.043749742209911346, + 0.9942901730537415, + -0.03349004532945783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9947736263275146, + -0.004259513691067696, + -0.10201621800661087, + -0.048393216325824426 + ], + [ + -0.0006870090728625655, + 0.9988276362419128, + -0.04840347170829773, + -0.12773172827883925 + ], + [ + 0.10210279375314713, + 0.04822058230638504, + 0.9936044216156006, + -0.03554633318593627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9937491416931152, + -0.008240500465035439, + -0.11133172363042831, + -0.05037749681929897 + ], + [ + 0.002348297508433461, + 0.9985942840576172, + -0.05295254662632942, + -0.13474203509460658 + ], + [ + 0.11161158233880997, + 0.05236010625958443, + 0.9923715591430664, + -0.03722993783036569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9923116564750671, + -0.012638184241950512, + -0.12311723828315735, + -0.05421325023237028 + ], + [ + 0.005235173739492893, + 0.9981684684753418, + -0.060268692672252655, + -0.1377403716262626 + ], + [ + 0.12365342676639557, + 0.059160783886909485, + 0.9905603528022766, + -0.04716725447460225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9902482628822327, + -0.012334069237112999, + -0.1387668401002884, + -0.0628300725741494 + ], + [ + 0.0032652816735208035, + 0.9978543519973755, + -0.06539146602153778, + -0.14494113893409197 + ], + [ + 0.13927562534809113, + 0.06430067121982574, + 0.9881638288497925, + -0.05515613056215128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9864107966423035, + -0.01634417101740837, + -0.16348285973072052, + -0.079237664507744 + ], + [ + 0.005557125434279442, + 0.9977893233299255, + -0.06622364372015, + -0.15948626061943463 + ], + [ + 0.16420383751392365, + 0.06441522389650345, + 0.9843209981918335, + -0.06174927542084142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9785045385360718, + -0.01682628132402897, + -0.20553763210773468, + -0.08447198836426986 + ], + [ + 0.0003517400473356247, + 0.9968005418777466, + -0.07992827892303467, + -0.16354071625361316 + ], + [ + 0.2062249332666397, + 0.07813788950443268, + 0.9753798246383667, + -0.06279498995246743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9729257822036743, + -0.03532208874821663, + -0.2284025400876999, + -0.11228532663413457 + ], + [ + 0.020015520974993706, + 0.997416615486145, + -0.06898882985115051, + -0.18153279713754142 + ], + [ + 0.2302493304014206, + 0.0625494122505188, + 0.9711193442344666, + -0.0829738314662661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9643107652664185, + -0.032589301466941833, + -0.2627597451210022, + -0.13065667035884426 + ], + [ + 0.012742266990244389, + 0.9969584345817566, + -0.07688648998737335, + -0.20692180276365207 + ], + [ + 0.26446622610092163, + 0.07079431414604187, + 0.9617930054664612, + -0.08094414073721806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9526016712188721, + -0.03417128697037697, + -0.30229517817497253, + -0.136384692608862 + ], + [ + 0.003698427230119705, + 0.9948989748954773, + -0.10080826282501221, + -0.20735087090809096 + ], + [ + 0.30419793725013733, + 0.0949120968580246, + 0.947868824005127, + -0.07724845901243668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9417403340339661, + -0.04824119061231613, + -0.3328632414340973, + -0.14333397808827852 + ], + [ + 0.006312299519777298, + 0.9920212030410767, + -0.12591280043125153, + -0.20837188570907242 + ], + [ + 0.33628156781196594, + 0.11647602915763855, + 0.9345309138298035, + -0.09164058409239118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9356018304824829, + -0.052838221192359924, + -0.3490807116031647, + -0.15393185767912326 + ], + [ + 0.0024871323257684708, + 0.9896994829177856, + -0.1431388258934021, + -0.21635389290049784 + ], + [ + 0.353048175573349, + 0.1330527365207672, + 0.9260960817337036, + -0.10144765486842708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9316322207450867, + -0.0551597997546196, + -0.3591918647289276, + -0.15760078241950587 + ], + [ + -0.002633657306432724, + 0.9873624444007874, + -0.15845660865306854, + -0.2212548532096067 + ], + [ + 0.36339297890663147, + 0.1485692709684372, + 0.9197133779525757, + -0.10781649124801607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9291946291923523, + -0.05422563478350639, + -0.3655911982059479, + -0.16131251920434764 + ], + [ + -0.008118171244859695, + 0.9859451651573181, + -0.1668718159198761, + -0.22679484076797962 + ], + [ + 0.36950162053108215, + 0.15802434086799622, + 0.9156947731971741, + -0.11727190248500136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9278186559677124, + -0.0520748496055603, + -0.3693788945674896, + -0.16502625520964315 + ], + [ + -0.012312449514865875, + 0.9853935241699219, + -0.16984713077545166, + -0.23186170191020894 + ], + [ + 0.37282833456993103, + 0.1621353030204773, + 0.9136252999305725, + -0.12439215685191907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9272961616516113, + -0.05293095111846924, + -0.370567262172699, + -0.17053403435344983 + ], + [ + -0.009691460058093071, + 0.9862255454063416, + -0.16512176394462585, + -0.23742015655467608 + ], + [ + 0.3742029666900635, + 0.15670812129974365, + 0.914010226726532, + -0.13087968631346422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9253216981887817, + -0.05000840872526169, + -0.37587085366249084, + -0.17499672199102273 + ], + [ + -0.014005957171320915, + 0.9860809445381165, + -0.16567489504814148, + -0.2412867070252734 + ], + [ + 0.3789242208003998, + 0.15856701135635376, + 0.9117417335510254, + -0.13496399389621908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9221211671829224, + -0.04714431241154671, + -0.3840181231498718, + -0.1788293891831448 + ], + [ + -0.019014883786439896, + 0.9858267903327942, + -0.16668523848056793, + -0.24421675728732034 + ], + [ + 0.38643360137939453, + 0.16100604832172394, + 0.9081553220748901, + -0.1384086373605226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9170123338699341, + -0.045384008437395096, + -0.39626845717430115, + -0.18388276826170152 + ], + [ + -0.023695167154073715, + 0.9855520725250244, + -0.1677071899175644, + -0.2467458429585274 + ], + [ + 0.3981544077396393, + 0.1631792038679123, + 0.9026880264282227, + -0.1410932510643077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9108887910842896, + -0.04421266168355942, + -0.4102765917778015, + -0.19057861234908713 + ], + [ + -0.02824402041733265, + 0.9852321147918701, + -0.1688784956932068, + -0.24928639841903197 + ], + [ + 0.41168421506881714, + 0.1654173731803894, + 0.8961881399154663, + -0.1428664713201666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.904367208480835, + -0.04261692613363266, + -0.4246218800544739, + -0.19754704420727892 + ], + [ + -0.03325220197439194, + 0.9849390983581543, + -0.16967397928237915, + -0.25156102973715705 + ], + [ + 0.4254576563835144, + 0.1675671935081482, + 0.8893295526504517, + -0.1448397689071813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8997461795806885, + -0.039729706943035126, + -0.43460148572921753, + -0.20598376608432684 + ], + [ + -0.03829441964626312, + 0.9848188161849976, + -0.16930873692035675, + -0.2546104707552078 + ], + [ + 0.43473029136657715, + 0.16897769272327423, + 0.884565532207489, + -0.14511043041720426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8986935019493103, + -0.036830708384513855, + -0.43702802062034607, + -0.2125999044654961 + ], + [ + -0.04144220054149628, + 0.9848776459693909, + -0.16822166740894318, + -0.25697432480808485 + ], + [ + 0.43661484122276306, + 0.16929112374782562, + 0.8835768103599548, + -0.14523995942191073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8971197605133057, + -0.03406068682670593, + -0.4404725134372711, + -0.21711105435414424 + ], + [ + -0.044150032103061676, + 0.9851203560829163, + -0.16609832644462585, + -0.2582178139765012 + ], + [ + 0.4395758807659149, + 0.16845697164535522, + 0.8822671175003052, + -0.1455551360334669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8935099244117737, + -0.03158785402774811, + -0.44793108105659485, + -0.22267403759454427 + ], + [ + -0.0471041277050972, + 0.9854260087013245, + -0.163452610373497, + -0.2593372504962118 + ], + [ + 0.44656607508659363, + 0.16714592278003693, + 0.8790000081062317, + -0.14476100065206227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8897270560264587, + -0.030799677595496178, + -0.45545268058776855, + -0.22836929653820237 + ], + [ + -0.04856215417385101, + 0.9856736063957214, + -0.16152173280715942, + -0.25974661585755815 + ], + [ + 0.4539024829864502, + 0.16582801938056946, + 0.8754847645759583, + -0.14368455627358945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8864835500717163, + -0.03289627283811569, + -0.46158933639526367, + -0.23283755268369402 + ], + [ + -0.046847835183143616, + 0.9859659671783447, + -0.16023865342140198, + -0.259477042726108 + ], + [ + 0.4603826403617859, + 0.16367340087890625, + 0.8725014925003052, + -0.1429846635886601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8827188611030579, + -0.0366971418261528, + -0.4684663712978363, + -0.2356171132926654 + ], + [ + -0.044132716953754425, + 0.9860647916793823, + -0.1604011505842209, + -0.2585649868767512 + ], + [ + 0.4678244888782501, + 0.16226382553577423, + 0.8687984347343445, + -0.14222855921974756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8790568113327026, + -0.043868228793144226, + -0.4746944010257721, + -0.2376444507362251 + ], + [ + -0.038443438708782196, + 0.9859906435012817, + -0.16230997443199158, + -0.2575172698811481 + ], + [ + 0.4751645028591156, + 0.16092857718467712, + 0.8650553226470947, + -0.1409629401855899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8751771450042725, + -0.05065571516752243, + -0.4811434745788574, + -0.2388018326203626 + ], + [ + -0.03324156254529953, + 0.9858571887016296, + -0.16425779461860657, + -0.2572291734243246 + ], + [ + 0.48265933990478516, + 0.1597486138343811, + 0.8611157536506653, + -0.13906159694481612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8717063665390015, + -0.056058965623378754, + -0.4868115484714508, + -0.23913060552195498 + ], + [ + -0.030262045562267303, + 0.985380232334137, + -0.1676604002714157, + -0.25611071005127484 + ], + [ + 0.4890933334827423, + 0.16088254749774933, + 0.8572657108306885, + -0.13774616642105847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8698486685752869, + -0.05991801619529724, + -0.48966631293296814, + -0.23913808778712625 + ], + [ + -0.02823261171579361, + 0.9849231839179993, + -0.17067283391952515, + -0.2557235371517508 + ], + [ + 0.4925101101398468, + 0.16228410601615906, + 0.8550424575805664, + -0.13671404452700364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.869328498840332, + -0.0610523521900177, + -0.4904494285583496, + -0.23782864750776078 + ], + [ + -0.028792565688490868, + 0.9843995571136475, + -0.17357571423053741, + -0.25554581160159934 + ], + [ + 0.4933953881263733, + 0.1650155931711197, + 0.854008674621582, + -0.13620075505030782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8699087500572205, + -0.06054358184337616, + -0.4894826114177704, + -0.23829322013639864 + ], + [ + -0.02948821149766445, + 0.9842773675918579, + -0.17415067553520203, + -0.2568631338599817 + ], + [ + 0.492330402135849, + 0.1659291684627533, + 0.8544461727142334, + -0.1352103868597432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8705851435661316, + -0.05922751873731613, + -0.4884399473667145, + -0.23861801400220484 + ], + [ + -0.03153715282678604, + 0.9839695692062378, + -0.17552587389945984, + -0.25738614803194104 + ], + [ + 0.4910059869289398, + 0.16821423172950745, + 0.8547614216804504, + -0.13487166851983035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8714024424552917, + -0.056749869138002396, + -0.4872753620147705, + -0.23878344351187686 + ], + [ + -0.035762060433626175, + 0.9832949042320251, + -0.17847199738025665, + -0.25676793424426614 + ], + [ + 0.489263653755188, + 0.17294691503047943, + 0.8548160791397095, + -0.13444478570070484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8723241090774536, + -0.056106824427843094, + -0.4856981337070465, + -0.23901513129248655 + ], + [ + -0.03661862388253212, + 0.9831064343452454, + -0.17933423817157745, + -0.2587583388488992 + ], + [ + 0.4875548183917999, + 0.1742231696844101, + 0.8555329442024231, + -0.13451256541381204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8723468780517578, + -0.05657963454723358, + -0.48560240864753723, + -0.2386266705685092 + ], + [ + -0.036887191236019135, + 0.9828317761421204, + -0.18077893555164337, + -0.25990485817306025 + ], + [ + 0.4874939024448395, + 0.17561443150043488, + 0.8552831411361694, + -0.13420573963706656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8718429803848267, + -0.05668378621339798, + -0.4864944517612457, + -0.23814585365747148 + ], + [ + -0.03768078237771988, + 0.9825741052627563, + -0.18201185762882233, + -0.26137993374937457 + ], + [ + 0.48833397030830383, + 0.17701725661754608, + 0.8545144200325012, + -0.13393534688573133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8714607954025269, + -0.05613735318183899, + -0.4872419834136963, + -0.23831202876298946 + ], + [ + -0.03920479863882065, + 0.9822763204574585, + -0.18329261243343353, + -0.2632009956901683 + ], + [ + 0.48889583349227905, + 0.17883454263210297, + 0.8538144826889038, + -0.13388397137921557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.871204137802124, + -0.054924771189689636, + -0.4878386855125427, + -0.23848246318057068 + ], + [ + -0.04135855287313461, + 0.9819771647453308, + -0.18441878259181976, + -0.26492756968154046 + ], + [ + 0.48917561769485474, + 0.18084271252155304, + 0.8532310128211975, + -0.1339456976804518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8710469603538513, + -0.053482845425605774, + -0.48827943205833435, + -0.23855440656941634 + ], + [ + -0.04375334084033966, + 0.9816553592681885, + -0.18557597696781158, + -0.2659027712349605 + ], + [ + 0.48924723267555237, + 0.18300925195217133, + 0.8527278304100037, + -0.13388263793816244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8711028695106506, + -0.05125760659575462, + -0.4884183406829834, + -0.23905595218328607 + ], + [ + -0.04592440649867058, + 0.9816780090332031, + -0.18493030965328217, + -0.26676460716845396 + ], + [ + 0.48894864320755005, + 0.18352364003658295, + 0.8527885675430298, + -0.1338038892674267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8713345527648926, + -0.04793888330459595, + -0.4883420467376709, + -0.2396919732703302 + ], + [ + -0.048893362283706665, + 0.9817811250686646, + -0.18361714482307434, + -0.26775171902394834 + ], + [ + 0.4882473945617676, + 0.1838686466217041, + 0.8531159162521362, + -0.13310706572873252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8719688057899475, + -0.044780053198337555, + -0.487509161233902, + -0.23946130307097185 + ], + [ + -0.05125589668750763, + 0.9819844365119934, + -0.18187735974788666, + -0.2686643934339509 + ], + [ + 0.4868709146976471, + 0.18357910215854645, + 0.8539645671844482, + -0.13226762461034874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8727818727493286, + -0.04188143461942673, + -0.4863103926181793, + -0.23843297362327576 + ], + [ + -0.05280978977680206, + 0.9823614954948425, + -0.17937955260276794, + -0.26945338398218155 + ], + [ + 0.4852452576160431, + 0.18224117159843445, + 0.8551755547523499, + -0.1320702463388443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/orbit_left/transforms.json b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c058caf47b22993b51a0c4c2feeaef4edde4cb93 --- /dev/null +++ b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/orbit_left/transforms.json @@ -0,0 +1,4703 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 134, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -0.00019550712022464722, + -0.00019303611770737916, + 0.00022781761072110385 + ], + [ + 0.00019553802849259228, + 0.9999999403953552, + 0.00016009202226996422, + -8.102464198600501e-05 + ], + [ + 0.00019300480198580772, + -0.0001601297699380666, + 0.9999999403953552, + 0.0002764065284281969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999995222053131, + 0.0005697432206943631, + 0.0007727308447337585, + -0.0027013270451905352 + ], + [ + -0.0005701707190393435, + 0.9999997019767761, + 0.0005531337741457596, + -1.978488096218173e-05 + ], + [ + -0.0007724153598228074, + -0.0005535741220228374, + 0.9999995228263195, + 0.00043986429860412443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999972395699294, + 0.0014475014759227636, + 0.0018368797231403048, + -0.005675351316153864 + ], + [ + -0.0014499673570499395, + 0.9999980330467226, + 0.0013417858513108945, + -0.0009601059816442283 + ], + [ + -0.0018349339780018867, + -0.0013444455107674005, + 0.9999974260453625, + 0.001296218945622561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999940873592643, + 0.0008357713813893497, + 0.0033280725329092827, + -0.008240213400431221 + ], + [ + -0.0008373688778620712, + 0.9999995231628418, + 0.00047863534495166314, + 0.0008305039038116888 + ], + [ + -0.00332767115083188, + -0.00048141932347789407, + 0.9999943281522894, + 0.0017932636879669757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999928279380397, + 0.0009545357315801084, + 0.003659204652511841, + -0.009572373729120502 + ], + [ + -0.0009549582172902682, + 0.9999995231628418, + 0.00011369876711977942, + 0.0014418880252895642 + ], + [ + -0.0036590947890973074, + -0.0001171923431684263, + 0.9999933056550246, + 0.003555986286795087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999820442041485, + 0.0016591983148828153, + 0.005758251470738934, + -0.011648882777960716 + ], + [ + -0.0016673969699732055, + 0.9999976158142092, + 0.0014192822002417848, + 0.000204878169839644 + ], + [ + -0.005755883026774107, + -0.0014288580277934673, + 0.999982425160512, + 0.0032057734029098464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999718991497408, + 0.0010074727470055223, + 0.007431597701675238, + -0.013269851923204814 + ], + [ + -0.0010150260986574295, + 0.9999989867210388, + 0.0010126926070839163, + 0.0009154789874576596 + ], + [ + -0.007430568889317148, + -0.0010202073026448488, + 0.9999718516922907, + 0.0037225340284154293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999595638560146, + 0.0009483072790317237, + 0.008945857572219568, + -0.014964874565848114 + ], + [ + -0.0009595333061457033, + 0.9999987483024597, + 0.001250676936682435, + 0.0004910645824539385 + ], + [ + -0.008944660664918627, + -0.0012592102866619825, + 0.9999592226873218, + 0.004724420953059876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999444003564012, + 0.00047503673704341054, + 0.010533670435123014, + -0.016243552934743916 + ], + [ + -0.0004899127661859266, + 0.9999988675117493, + 0.0014097011106158066, + 0.00035130183127938066 + ], + [ + -0.010532988681000431, + -0.0014147832989692688, + 0.9999435169125589, + 0.005228653191505635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999268414299428, + -0.0009772215271368623, + 0.012055236632281214, + -0.01720611244093485 + ], + [ + 0.0009650491593752034, + 0.9999990463256836, + 0.0010154926602927114, + 0.0011605309970418635 + ], + [ + -0.012056217161063794, + -0.0010037845931947231, + 0.9999268240573245, + 0.005593098890944014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999010858246695, + -0.0024443536531180143, + 0.013849323772907688, + -0.018261932506954515 + ], + [ + 0.0024331625686879834, + 0.9999967217445374, + 0.0008248641447821876, + 0.0017697700340935654 + ], + [ + -0.013851294719375589, + -0.0007910849526524544, + 0.9999037297519552, + 0.00564682051506663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998714506653819, + -0.0041746641509234905, + 0.015482551919971036, + -0.019455702587723556 + ], + [ + 0.004162799506207133, + 0.9999909996986389, + 0.0007984662127806264, + 0.002358061595105689 + ], + [ + -0.015485746361249051, + -0.0007339127478189766, + 0.9998798473306915, + 0.006081977906119852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998469210169434, + -0.005312145221978426, + 0.016670316477843238, + -0.020257356516233668 + ], + [ + 0.005304711967174112, + 0.9999858140945435, + 0.0004901063071090543, + 0.0028432029745103994 + ], + [ + -0.016672684019555073, + -0.00040160006028600037, + 0.9998609357041903, + 0.0064261955174610315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998179366745338, + -0.006246226839721203, + 0.018028717129876644, + -0.021418014051851345 + ], + [ + 0.006238308276774753, + 0.9999803900718689, + 0.0004954412156198722, + 0.002811565915071189 + ], + [ + -0.018031459584096018, + -0.0003828823391813785, + 0.9998373635834368, + 0.007257393120951156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997832838401544, + -0.005794829688966275, + 0.019995676443850727, + -0.022558615566731294 + ], + [ + 0.005783491930882842, + 0.999983072280884, + 0.0006247736653728111, + 0.0025876849859709423 + ], + [ + -0.019998959004432198, + -0.000508993398398161, + 0.9997998889967546, + 0.008098974875183561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.99973953150691, + -0.005544837098568678, + 0.022139643503655913, + -0.024173767467939058 + ], + [ + 0.005513960963540041, + 0.9999837279319763, + 0.0014553974303262386, + 0.0020840823649659586 + ], + [ + -0.0221473535562669, + -0.001332941115833819, + 0.999753853666966, + 0.009450411379174769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997071943573338, + -0.005092991050332785, + 0.023655096585880015, + -0.025503457701120787 + ], + [ + 0.005059418656190101, + 0.9999861121177673, + 0.0014788779679786657, + 0.002825529920057135 + ], + [ + -0.023662298947544545, + -0.0013587638968601823, + 0.9997190731926703, + 0.011574452760870213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9996789986620435, + -0.004231502301990986, + 0.024980723460380466, + -0.026695266846239386 + ], + [ + 0.004188951640556618, + 0.9999896883964539, + 0.0017554415543681653, + 0.0020405436845720116 + ], + [ + -0.024987892706983553, + -0.0016502350335940719, + 0.9996863923355246, + 0.0132750470542086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9996170738567527, + -0.004520643036812544, + 0.027299016445257188, + -0.028871317147908762 + ], + [ + 0.004475339254495266, + 0.9999884963035583, + 0.0017203965280108264, + 0.002209064618912685 + ], + [ + -0.027306479617943826, + -0.0015975654823705554, + 0.9996258152684343, + 0.014363279975081081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995925725819417, + -0.003187118796631694, + 0.028365013910682243, + -0.029423307564973668 + ], + [ + 0.0031493274203058187, + 0.9999940991401672, + 0.001376898469583686, + 0.0015257434032930073 + ], + [ + -0.028369233964512904, + -0.001287006656639278, + 0.9995967092162414, + 0.016273667043078106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9995044581668857, + -0.003408291609957814, + 0.0312922414592395, + -0.03046144120753979 + ], + [ + 0.003371006958799446, + 0.9999935626983643, + 0.0012441798536012608, + 0.001594257318348627 + ], + [ + -0.03129627963101467, + -0.0011380770010873675, + 0.9995094887338154, + 0.01662408225059163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9993800624015168, + -0.004348649177700282, + 0.034937413365658865, + -0.03150453490796302 + ], + [ + 0.004291161155033852, + 0.9999893307685854, + 0.0017202670523738172, + 0.0013735881142797415 + ], + [ + -0.034944519143613365, + -0.00156927842181176, + 0.9993880009778671, + 0.0161187722101925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9992991312478603, + -0.005464215297251941, + 0.03703170919432607, + -0.032016212756617174 + ], + [ + 0.005407371344414017, + 0.9999840259552004, + 0.0016349936340251886, + 0.001613821056969079 + ], + [ + -0.03704005248217303, + -0.0014336034655570986, + 0.9993127302896259, + 0.016221523514705426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991677178645453, + -0.006329468451440336, + 0.04029636351832794, + -0.03338515791722391 + ], + [ + 0.006285241944384517, + 0.9999794960021975, + 0.0012241268299996023, + 0.0017954754886893368 + ], + [ + -0.0403032863256736, + -0.0009698356152512135, + 0.9991870342724837, + 0.015262691323154805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9990620595472733, + -0.006758757401257753, + 0.04277038810664049, + -0.03382130381219005 + ], + [ + 0.006743227841002338, + 0.9999771118164062, + 0.0005073460721308735, + 0.0023850073835778186 + ], + [ + -0.0427728392715872, + -0.00021845973969902843, + 0.9990847977402688, + 0.01525956626267615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9989621007200846, + -0.007188562303781509, + 0.04497776864561036, + -0.03421524638497624 + ], + [ + 0.00716132942063176, + 0.9999740719795227, + 0.0007665727539465779, + 0.00222163225252089 + ], + [ + -0.04498211234876766, + -0.00044367651571519673, + 0.9989876672079546, + 0.015802666297593585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.998858957366722, + -0.008707553148269653, + 0.04695726770189848, + -0.03474430591870269 + ], + [ + 0.008673378474273092, + 0.9999619722366333, + 0.0009314723637471322, + 0.0030549127298676506 + ], + [ + -0.046963591889046634, + -0.0005231313407421112, + 0.9988964723085039, + 0.016570085888486803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9987433720181969, + -0.009937196038663387, + 0.04912137290473125, + -0.03555373825549792 + ], + [ + 0.009824622911648434, + 0.9999485015869141, + 0.0025326569240656143, + 0.0022505537157461726 + ], + [ + -0.049144013641931966, + -0.002046875422820449, + 0.9987896202861409, + 0.017395978907514504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9986125678541027, + -0.011865630745887756, + 0.05130474099068997, + -0.03656258052644279 + ], + [ + 0.011687201583621243, + 0.9999246001243591, + 0.003776436837021776, + 0.0027356154890323834 + ], + [ + -0.051345680714008045, + -0.0031715882942080498, + 0.9986759142715376, + 0.018010362045332406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9985510898861742, + -0.012983828783035278, + 0.0522222485288736, + -0.03719201246408348 + ], + [ + 0.012742330683772946, + 0.9999065399169922, + 0.004954736583223849, + 0.0029222215769986013 + ], + [ + -0.052281699882750464, + -0.0042821248061954975, + 0.9986232153608126, + 0.018990677882396056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984497035428269, + -0.012949010357260708, + 0.05413419127683083, + -0.03800358262370226 + ], + [ + 0.012602535340301008, + 0.9998978972435, + 0.0067367852164870136, + 0.0032204138330456473 + ], + [ + -0.054215900327257774, + -0.006044113077223303, + 0.998510970358984, + 0.01872895661459382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9983525029529384, + -0.012527868151664737, + 0.0559937925889564, + -0.03912307720363491 + ], + [ + 0.012100954823281837, + 0.9998950958251955, + 0.007956863361893387, + 0.004252470819914513 + ], + [ + -0.05608760197119645, + -0.007266176398843529, + 0.9983993811124757, + 0.01921217241381315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9982520413401066, + -0.011896323412656784, + 0.05789090473539895, + -0.04043868689127199 + ], + [ + 0.01137473985603449, + 0.9998917579650879, + 0.009330991832783256, + 0.005009536506925379 + ], + [ + -0.05799564249331691, + -0.008656187914311886, + 0.9982792982297801, + 0.019770410790368998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9981521715131406, + -0.011366607621312141, + 0.05969125436955744, + -0.04210154593949121 + ], + [ + 0.010745292783939422, + 0.9998847842216492, + 0.010719506784386022, + 0.005495276949565621 + ], + [ + -0.059806222483961426, + -0.010058298707008362, + 0.9981593269235723, + 0.020905545739114427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9980595780140543, + -0.01057520043104887, + 0.0613615759292264, + -0.043568488735939534 + ], + [ + 0.009879048040133313, + 0.9998834729194641, + 0.011637419127570115, + 0.005961504943114419 + ], + [ + -0.06147749302532395, + -0.011008643545210361, + 0.9980477463144226, + 0.021722715839289163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9979610197206751, + -0.010144415311515331, + 0.06301488497867862, + -0.04514610023897124 + ], + [ + 0.009383326956870844, + 0.9998795390129089, + 0.012362139974851284, + 0.006466391683034549 + ], + [ + -0.06313270361260727, + -0.011745643801987171, + 0.9979360413096475, + 0.022381549584454177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978593794951214, + -0.0101983193308115, + 0.06459595620937825, + -0.046754262615552045 + ], + [ + 0.009394645424364164, + 0.9998747706413269, + 0.012733105699783486, + 0.007087543312598741 + ], + [ + -0.06471772369440239, + -0.012098992243409157, + 0.9978302403821507, + 0.02299915853085323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9977379562816364, + -0.010145951993763447, + 0.06645338365046446, + -0.04827656395760338 + ], + [ + 0.00928643576539985, + 0.9998693466186523, + 0.013230292667634832, + 0.0074366146243256305 + ], + [ + -0.06657893251952703, + -0.012583249248564243, + 0.9977017832669837, + 0.023186702023538997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9976258345669067, + -0.009979579597711565, + 0.06814047970611381, + -0.04997886152857044 + ], + [ + 0.009073392934645621, + 0.9998664259910586, + 0.013595379254076978, + 0.007822625777760035 + ], + [ + -0.06826705320353131, + -0.012944836169481281, + 0.997583116085566, + 0.023827793301636487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974920339182574, + -0.009473615325987339, + 0.07014231245561174, + -0.051786700543589595 + ], + [ + 0.00850259896187388, + 0.9998640418052673, + 0.01412917136408334, + 0.007779204686080225 + ], + [ + -0.07026662678874553, + -0.013497344218194485, + 0.9974369188303409, + 0.02420861201588793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9973490200491166, + -0.009076249785721302, + 0.07219839390006678, + -0.05379792886964134 + ], + [ + 0.008051539520100643, + 0.9998628497123718, + 0.014471386856083547, + 0.00768861034229377 + ], + [ + -0.07231983917493087, + -0.013851715251803398, + 0.9972853282019414, + 0.024462484252377993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9972032324489452, + -0.00889805518090725, + 0.07420587153859193, + -0.05610859232953272 + ], + [ + 0.007832558363484145, + 0.9998621940612793, + 0.014637336136679158, + 0.008099776859366132 + ], + [ + -0.07432589023951448, + -0.014015178196132183, + 0.9971355199400949, + 0.024368087735339286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997112449988951, + -0.008292417973279953, + 0.07548534408995965, + -0.05870547621249354 + ], + [ + 0.007194314257935916, + 0.9998644590377808, + 0.014807561185145694, + 0.00810668232137311 + ], + [ + -0.07559790416105823, + -0.0142217380926013, + 0.9970369743271812, + 0.025059263392535818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9970135354189904, + -0.008099797181785108, + 0.07680093822504798, + -0.06163826033903984 + ], + [ + 0.006954617354715781, + 0.9998607635498049, + 0.015166772281791556, + 0.007944410585264619 + ], + [ + -0.07691309654442985, + -0.014587356708943847, + 0.9969311002774367, + 0.025640807658211296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9968960594442441, + -0.007807694375514984, + 0.07834054974620233, + -0.0640016036908813 + ], + [ + 0.0066185220069674335, + 0.999859094619751, + 0.015427713112941955, + 0.008050334599448155 + ], + [ + -0.07844996803004414, + -0.014861328527331352, + 0.9968072856269827, + 0.025429669753553666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9968066799529319, + -0.007301025558263063, + 0.07951799681869827, + -0.06647991884019247 + ], + [ + 0.006083486639717291, + 0.9998607039451599, + 0.015543006144253399, + 0.008148817429812856 + ], + [ + -0.07962040128428936, + -0.015009625814855099, + 0.996712254530318, + 0.026135093702951098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9967059301801031, + -0.007276685908436777, + 0.08077322310511222, + -0.0688711182391562 + ], + [ + 0.0059983271186391796, + 0.9998530745506289, + 0.016057899242987235, + 0.008028767742976131 + ], + [ + -0.08087820451128909, + -0.015520500019192699, + 0.9966031523205469, + 0.026890420921977624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9966348439109614, + -0.006997761782258749, + 0.08166991303368029, + -0.07097635573226446 + ], + [ + 0.0056785932333952875, + 0.999849796295166, + 0.01637355994756743, + 0.007897353345322653 + ], + [ + -0.08177222654441432, + -0.015854690223932266, + 0.9965249050660255, + 0.027648869037202678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9965462214951426, + -0.006773448549211025, + 0.08276339729101267, + -0.07274226555934249 + ], + [ + 0.005441281476481057, + 0.999852180480957, + 0.016311058469489263, + 0.007920128408655492 + ], + [ + -0.08286164201629101, + -0.015804383903741837, + 0.996435728063927, + 0.028269540751189197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9964189561516121, + -0.006481840740889311, + 0.08430427655449117, + -0.07449633399509852 + ], + [ + 0.005111024572007485, + 0.9998513460159302, + 0.01646601909781857, + 0.007685383930705173 + ], + [ + -0.08439847993108404, + -0.01597617380321026, + 0.996304028508131, + 0.029389156738584662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9962597789671813, + -0.006262970156967642, + 0.08618162508447764, + -0.07633411958408282 + ], + [ + 0.004792895259552611, + 0.9998396635055544, + 0.017254224827666746, + 0.007084019039087122 + ], + [ + -0.08627586719526832, + -0.016776628792285923, + 0.9961300256770457, + 0.030460067832287295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9961151316030318, + -0.006335680373013021, + 0.08783239624302908, + -0.07793619890307996 + ], + [ + 0.004815560842959931, + 0.9998351335525515, + 0.017508147168260574, + 0.006860565701552758 + ], + [ + -0.08792884172563271, + -0.01701716706156731, + 0.9959814109013742, + 0.030958312966939135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9959749825930911, + -0.006824738346040251, + 0.08937144958030961, + -0.07974534832608116 + ], + [ + 0.005241413531760038, + 0.9998253583908083, + 0.01793894687807751, + 0.006567546669383569 + ], + [ + -0.08947826875050731, + -0.017398310825228695, + 0.9958368040319391, + 0.0312305555213576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9958367736683521, + -0.007783416192978622, + 0.09082153408479247, + -0.08150678278666806 + ], + [ + 0.006163707826503426, + 0.9998171925544741, + 0.018100839427146985, + 0.0066352634615422556 + ], + [ + -0.0909458110614336, + -0.01746568270027638, + 0.9957026415783504, + 0.031086049931031198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.995707152226284, + -0.008587424643337727, + 0.09216011709689785, + -0.0833215217811251 + ], + [ + 0.0069213390921158925, + 0.9998070597648621, + 0.018382584994003824, + 0.00647891497658693 + ], + [ + -0.092300194488615, + -0.0176657997071743, + 0.9955744784685602, + 0.03086853229134342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9956537694285109, + -0.009417357854545116, + 0.0926544787912252, + -0.08475269442287788 + ], + [ + 0.007718384532450744, + 0.9997957348823547, + 0.01867795239193979, + 0.006566281836371896 + ], + [ + -0.09281145109298505, + -0.01788162998855114, + 0.9955230924524471, + 0.03039334130739129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9955683745446887, + -0.01003550458699465, + 0.09350371489681, + -0.08757271430046304 + ], + [ + 0.00825446721903103, + 0.9997774362564089, + 0.01941509840550807, + 0.005698271686930553 + ], + [ + -0.09367773952730866, + -0.01855723559856415, + 0.9954295960562132, + 0.030414308808372773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9954683765745629, + -0.010274035856127739, + 0.09453665606587644, + -0.09051225385860054 + ], + [ + 0.008429853933661824, + 0.9997667074203491, + 0.019886311770535594, + 0.0051599101576962 + ], + [ + -0.09471891164129737, + -0.018999265506863594, + 0.9953227192730028, + 0.030047199583859603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9953840366024037, + -0.010111220180988312, + 0.09543799328167504, + -0.09327458489699256 + ], + [ + 0.008278449455132649, + 0.9997740387916565, + 0.01958024075836372, + 0.004734346193976504 + ], + [ + -0.09561440502202231, + -0.018699781969189644, + 0.9952427976753234, + 0.029220229890829397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9952740156772069, + -0.009356911294162273, + 0.09665473278848345, + -0.09633545453060069 + ], + [ + 0.007531096180772048, + 0.9997865557670593, + 0.019237661366798168, + 0.004129510332297708 + ], + [ + -0.0968141050354825, + -0.018418826162815094, + 0.9951320448056581, + 0.02901226709430048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9951096154445482, + -0.00861138477921486, + 0.09840074529712842, + -0.09962520806211118 + ], + [ + 0.006836367855551938, + 0.9998080134391787, + 0.018361605376897724, + 0.00378853625621177 + ], + [ + -0.09853997198959652, + -0.01759910583496094, + 0.994977431295005, + 0.028470705796933955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950534190554637, + -0.0069422386586666125, + 0.09909827422194532, + -0.10292806647881737 + ], + [ + 0.005201798008495982, + 0.9998278617858889, + 0.017810361436764073, + 0.002402661566980648 + ], + [ + -0.09920486276866518, + -0.017206771299242977, + 0.9949182635356202, + 0.028223392815300584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9950209360438071, + -0.0059808730147779005, + 0.09948633113741398, + -0.10644396689535043 + ], + [ + 0.004266616968595601, + 0.9998388886451723, + 0.017434919175149718, + 0.0009146054427498167 + ], + [ + -0.09957457970821587, + -0.016923639923334125, + 0.994886166357411, + 0.027891879195923876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9950122221912703, + -0.005250043701380491, + 0.09961493065067907, + -0.11032873671700777 + ], + [ + 0.0035706814724790143, + 0.9998486042022705, + 0.017029350138338523, + -0.0009794646735227092 + ], + [ + -0.09968925037470044, + -0.016588719561696053, + 0.9948803036464736, + 0.02795167520184954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9949768778284849, + -0.006082386709749699, + 0.09992034896230945, + -0.11330996554781861 + ], + [ + 0.0044929782818700584, + 0.9998599290847778, + 0.016124100169681063, + -0.0017514800514468977 + ], + [ + -0.10000441448238005, + -0.015594166703522205, + 0.9948647545562591, + 0.026179250960452344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9949897831687666, + -0.006490685511380436, + 0.0997660196452576, + -0.11634966407341163 + ], + [ + 0.0050684225954422575, + 0.999881982803345, + 0.014502845215863418, + -0.0030024768234484774 + ], + [ + -0.0998483743390125, + -0.01392452605068684, + 0.9949052102303965, + 0.026203078558758384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9949144489129684, + -0.007751576602458954, + 0.10042473004944143, + -0.11980984547173187 + ], + [ + 0.006409492193317193, + 0.9998858571052551, + 0.013679852622826652, + -0.005542435830418944 + ], + [ + -0.1005193144870851, + -0.012966611422598362, + 0.9948506361307577, + 0.025026285928751946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949925110939786, + -0.010358584113419056, + 0.09941135052224108, + -0.12432274461704523 + ], + [ + 0.009051318320499099, + 0.9998666644096375, + 0.013592101761949981, + -0.008656966107042093 + ], + [ + -0.09953888685041004, + -0.012624234892427921, + 0.9949535864978932, + 0.02437114420631322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9952303351729327, + -0.010948557406663895, + 0.09693641190388533, + -0.1288950696581613 + ], + [ + 0.009984011288527791, + 0.9998957514762878, + 0.010429774233375221, + -0.011584180536074235 + ], + [ + -0.09704050463155753, + -0.00941221322864294, + 0.99523592480046, + 0.022671420115974852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9953329943550316, + -0.010442398488521576, + 0.09593300319408953, + -0.13466464519205198 + ], + [ + 0.009721256860807288, + 0.9999209046363831, + 0.007981442412266572, + -0.01672215708758929 + ], + [ + -0.09600875991779712, + -0.0070116035640239716, + 0.9953557887100899, + 0.021103173598825298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.995458473151818, + -0.010236853733658792, + 0.09464462446715217, + -0.14071412552239818 + ], + [ + 0.009736665409984168, + 0.999936103820801, + 0.005745216770811235, + -0.021316364664359835 + ], + [ + -0.09469739000464468, + -0.004797602072358132, + 0.9954945424279426, + 0.018586135787294688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9954527891445575, + -0.00866951420903206, + 0.09486086058637846, + -0.14827682154687305 + ], + [ + 0.008456694608888102, + 0.9999607205390932, + 0.002645273526544417, + -0.025794132669360263 + ], + [ + -0.09488007268662384, + -0.0018310355953872208, + 0.995487044084908, + 0.015432165629826527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9955686369569844, + -0.0077826958149671555, + 0.09371505854616147, + -0.15561957434808696 + ], + [ + 0.007919152014911003, + 0.9999680519104004, + -0.0010842723165275837, + -0.030177518237260042 + ], + [ + -0.09370362006013544, + 0.0018216114258393645, + 0.9955984465202591, + 0.013714683919681095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9955930085250296, + -0.006601332686841488, + 0.093546499442627, + -0.16419557061268417 + ], + [ + 0.006936710150142193, + 0.9999706149101257, + -0.003260427087525945, + -0.03752910597282747 + ], + [ + -0.09352223365251473, + 0.0038949635345488787, + 0.9956095884818259, + 0.01052299081637918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9957305384218776, + -0.009723091498017313, + 0.09179399234209427, + -0.17213474045504207 + ], + [ + 0.010590819043981006, + 0.9999036788940432, + -0.008970594983940932, + -0.03938031700083437 + ], + [ + -0.09169792232335985, + 0.009904468432068827, + 0.9957375836843695, + 0.0058801084873434835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9963685010704342, + -0.0035933067556470633, + 0.08506963991349718, + -0.18617092560200854 + ], + [ + 0.0033842923991492862, + 0.9999908804893494, + 0.0026010613431609545, + -0.06822375183094591 + ], + [ + -0.08507821693622598, + -0.0023037150967866182, + 0.9963716245438917, + 0.016991806595829752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9963833082965831, + -0.0071714534424245375, + 0.0846689563671739, + -0.19645740944171325 + ], + [ + 0.00732458206810829, + 0.9999720454216006, + -0.0014980499251434718, + -0.0743243292863111 + ], + [ + -0.08465584679798943, + 0.0021127967629581694, + 0.9964080090141704, + 0.00925508679854173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.99648341536089, + -0.01155201718211174, + 0.08298983096550144, + -0.20505683079196085 + ], + [ + 0.012301008304688542, + 0.9998880624771118, + -0.008519450518813294, + -0.0787698252714508 + ], + [ + -0.08288212228408112, + 0.009510349482297897, + 0.9965139759710921, + -2.8874212170423505e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9967243479648353, + -0.014813873916864399, + 0.07950566417687917, + -0.21231815723098663 + ], + [ + 0.01646218698809, + 0.9996621012687685, + -0.02011672744084503, + -0.07869991165538812 + ], + [ + -0.07918078868686843, + 0.02135966904461384, + 0.996631438080525, + -0.008588416228886194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9967732762702477, + -0.014468475244939327, + 0.07895368351241941, + -0.22116279378072726 + ], + [ + 0.016570526932242292, + 0.9995236992835999, + -0.026033925217263772, + -0.08442055875981758 + ], + [ + -0.07853940650378889, + 0.02725822478532791, + 0.9965383091183792, + -0.015847473495472053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9970389916429527, + -0.012339566834270954, + 0.0759012819424637, + -0.22927905253748224 + ], + [ + 0.014583152440239657, + 0.9994708299636841, + -0.02907638041906332, + -0.09200558068658733 + ], + [ + -0.07550232432773978, + 0.03009716421365738, + 0.9966912880038812, + -0.019710657613431874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9972022581436433, + -0.009368699043989182, + 0.07416085155074918, + -0.2377605896362457 + ], + [ + 0.011805938428878017, + 0.9994021654129028, + -0.03249436067500408, + -0.09704175109440775 + ], + [ + -0.07381209418863781, + 0.03327899053692818, + 0.996716758002133, + -0.023796682723912874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9973796417562217, + -0.0036721611395478257, + 0.07225248835866777, + -0.2463479116240912 + ], + [ + 0.006321039706832091, + 0.9993148446083071, + -0.03646698874429647, + -0.1003281687707327 + ], + [ + -0.07206907399556982, + 0.03682814165949822, + 0.9967194948133313, + -0.025168729707912077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.997238365730288, + 0.0007007308304309845, + 0.07426373544516277, + -0.2545995167548768 + ], + [ + 0.0021718478820426743, + 0.9992526769638062, + -0.03859295964990098, + -0.10378617858669295 + ], + [ + -0.07423527342660695, + 0.038647670298814774, + 0.9964915685616453, + -0.027155718263100412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9970330454452612, + 0.004242745228111744, + 0.07685764561643384, + -0.261210719069934 + ], + [ + -0.0012086650243293472, + 0.9992195963859558, + -0.03948019747125347, + -0.1072683163070211 + ], + [ + -0.07696516802898576, + 0.03927016630768776, + 0.9962601055127702, + -0.027641719539135877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9968762319918564, + 0.003731392789632083, + 0.07889145917839162, + -0.2679356146273222 + ], + [ + -0.0006366377555614707, + 0.9992305040359499, + -0.0392168286127141, + -0.11056813188159013 + ], + [ + -0.07897708169606586, + 0.039044100791215904, + 0.9961115409242989, + -0.02969934471313834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9969489686463281, + 0.003556481795385481, + 0.0779751946126641, + -0.27377476712117027 + ], + [ + -0.00044564059234958705, + 0.9992045164108279, + -0.0398764276904432, + -0.11412837832700204 + ], + [ + -0.07805499308300691, + 0.03972001746296883, + 0.9961575166702625, + -0.031672103101816305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9970636634264135, + 0.001749745337292552, + 0.07655722007206492, + -0.2801190187997492 + ], + [ + 0.001489063910550316, + 0.9991068840026855, + -0.04222819715592744, + -0.11800140326003063 + ], + [ + -0.07656273895787864, + 0.042218197137117386, + 0.9961705496679171, + -0.03300312539483922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9971352812544593, + -0.0013014385476708412, + 0.07562795907636077, + -0.28608321223196337 + ], + [ + 0.004605178182921676, + 0.9990416765213013, + -0.04352615086849194, + -0.12384147327439722 + ], + [ + -0.07549883172035232, + 0.043749742209911346, + 0.996185657938847, + -0.034180803224237846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.997328073407277, + -0.004259513691067696, + 0.07292866629039205, + -0.2895764182152027 + ], + [ + 0.007759956303662944, + 0.9988276362419128, + -0.047782330761981635, + -0.128670441634999 + ], + [ + -0.07263962997705248, + 0.04822058230638504, + 0.9961918546660914, + -0.03740675257864638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9978158299304596, + -0.008240500465035439, + 0.06554142844425655, + -0.29423666157558803 + ], + [ + 0.011643490306121395, + 0.9985942840576172, + -0.05170992002404339, + -0.13653318947625848 + ], + [ + -0.06502317542821079, + 0.05236010625958443, + 0.9965091285911263, + -0.04144851561581515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9983702184505956, + -0.012638184241950515, + 0.055652357090007216, + -0.30070381388496026 + ], + [ + 0.015889454256055285, + 0.998168468475342, + -0.05837163355560511, + -0.14043074622061757 + ], + [ + -0.05481271878352426, + 0.0591607838869095, + 0.9967424684212074, + -0.05443129798957792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9990476747637411, + -0.012334069237112999, + 0.04185213975247293, + -0.3118860405406071 + ], + [ + 0.014989287014140604, + 0.9978543519973755, + -0.06373403460994037, + -0.14729288403977073 + ], + [ + -0.04097625529065562, + 0.06430067121982574, + 0.9970889624128525, + -0.06643400308818255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9996893648582775, + -0.016344171017408374, + 0.018816985611206125, + -0.3306268200316886 + ], + [ + 0.017519753082497543, + 0.9977893233299258, + -0.06410546686979197, + -0.16245842760816617 + ], + [ + -0.017727623778472656, + 0.06441522389650346, + 0.9977657335721827, + -0.07949587070976225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9996162031815994, + -0.01682628132402897, + -0.02200673726268248, + -0.33757199872440097 + ], + [ + 0.01505071284720949, + 0.9968005418777466, + -0.07849923270612377, + -0.16555479070703247 + ], + [ + 0.02325718250076143, + 0.07813788950443268, + 0.9966712742296365, + -0.09160434463597787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9984269378453988, + -0.03532208874821663, + -0.04354248247177513, + -0.3672045608862144 + ], + [ + 0.032492404088242714, + 0.997416615486145, + -0.06406499356667225, + -0.1883418596346405 + ], + [ + 0.04569291450322461, + 0.0625494122505188, + 0.9969953322161964, + -0.11835079978100983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9965028965701351, + -0.03258930146694184, + -0.07694096952918164, + -0.3868730114171086 + ], + [ + 0.02695820632891431, + 0.9969584345817568, + -0.0731242286944404, + -0.2121130292464679 + ], + [ + 0.07909002225020453, + 0.07079431414604188, + 0.9943505108827241, + -0.1257849588563231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9926590831056037, + -0.034171286970376975, + -0.11601837563407358, + -0.3931882399995719 + ], + [ + 0.022762441997241145, + 0.9948989748954775, + -0.09827438858672928, + -0.21082392628741933 + ], + [ + 0.11878474775439228, + 0.09491209685802462, + 0.9883733486132791, + -0.13329999390707267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9880858794531816, + -0.04824119061231613, + -0.14614749080861075, + -0.40068080452221966 + ], + [ + 0.030334038327504746, + 0.9920212030410767, + -0.12236717107301709, + -0.2132021420714812 + ], + [ + 0.15088453483973788, + 0.11647602915763855, + 0.9816655127383449, + -0.1570875352989775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9854897148277768, + -0.05283822119235994, + -0.1613014270991174, + -0.4126764654189991 + ], + [ + 0.030157768521260845, + 0.9896994829177859, + -0.13994791282175528, + -0.22064868236501062 + ], + [ + 0.16703450957010302, + 0.13305273652076724, + 0.9769321570563968, + -0.1722545766486411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9838898285715857, + -0.0551597997546196, + -0.17005350820033718, + -0.41814706048628764 + ], + [ + 0.028407026737832384, + 0.9873624444007874, + -0.15591175006571995, + -0.2246039296074024 + ], + [ + 0.17650449852921912, + 0.1485692709684372, + 0.9730227729619291, + -0.1822930689048688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9830969691576186, + -0.05422563478350639, + -0.1748711879032058, + -0.4239656372732261 + ], + [ + 0.02499941763565502, + 0.9859451651573181, + -0.16518818592936962, + -0.22890070199876436 + ], + [ + 0.18137084552866156, + 0.15802434086799622, + 0.9706353494634009, + -0.19426175408908483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.982846340255013, + -0.0520748496055603, + -0.17692172721562585, + -0.4300002330118303 + ], + [ + 0.021807879795174435, + 0.9853935241699219, + -0.16889067654713427, + -0.23291196389950208 + ], + [ + 0.18313248621559491, + 0.1621353030204773, + 0.969626035244471, + -0.2031138240830691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9829201899755754, + -0.05293095111846924, + -0.17625597109420027, + -0.4379919632326516 + ], + [ + 0.02375608540542756, + 0.9862255454063416, + -0.1636910801859783, + -0.239084347863806 + ], + [ + 0.1824924714331736, + 0.15670812129974365, + 0.9706384768339565, + -0.21074496314166524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9824101549252924, + -0.0500084087252617, + -0.17991506682766653, + -0.4446386455955385 + ], + [ + 0.019966290878991558, + 0.9860809445381167, + -0.16506266965620384, + -0.24177123049479865 + ], + [ + 0.18566532589843454, + 0.1585670113563538, + 0.9697344691031908, + -0.21698979547509445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9813019303063739, + -0.04714431241154671, + -0.18661159516849296, + -0.4503765499045286 + ], + [ + 0.015596181180019939, + 0.9858267903327942, + -0.1670397966513837, + -0.24331419886209601 + ], + [ + 0.1918416700841444, + 0.16100604832172394, + 0.9681290156313478, + -0.2234468691828349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9792068826130084, + -0.0453840084373951, + -0.19772251177900502, + -0.4568877688980215 + ], + [ + 0.011557870451972624, + 0.9855520725250246, + -0.1689780403695135, + -0.2445239926354125 + ], + [ + 0.20253471600186418, + 0.16317920386791232, + 0.9655839136364209, + -0.2304417156623197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9765346004010476, + -0.04421266168355942, + -0.21077344639060572, + -0.4647754302543995 + ], + [ + 0.007687018321599233, + 0.9852321147918701, + -0.1710513979663965, + -0.24576256079169956 + ], + [ + 0.21522338102899513, + 0.1654173731803894, + 0.96245310084202, + -0.23714173089764828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9735995608247796, + -0.04261692613363266, + -0.22424915598104342, + -0.4728031669902031 + ], + [ + 0.0032961066398064544, + 0.9849390983581543, + -0.17287019367919387, + -0.24656702632890753 + ], + [ + 0.22823893177798873, + 0.1675671935081482, + 0.9590767751403678, + -0.24419907083075826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9716488256637, + -0.039729706943035126, + -0.23306694028634903, + -0.4827083368719882 + ], + [ + -0.0013679882960953866, + 0.9848188161849976, + -0.17358006677505464, + -0.24807726335850788 + ], + [ + 0.23642497990048805, + 0.16897769272327423, + 0.9568436841408534, + -0.24824956468799303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9715989299984106, + -0.036830708384513855, + -0.23374991011591062, + -0.49161921588692437 + ], + [ + -0.004334131054415481, + 0.9848776459693909, + -0.17319699962634988, + -0.24941638483905243 + ], + [ + 0.23659401622821988, + 0.16929112374782562, + 0.956746450668541, + -0.24991246148971746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9712674668119557, + -0.03406068682670593, + -0.23554067103131976, + -0.49829357762481336 + ], + [ + -0.007096906943273684, + 0.9851203560829163, + -0.17171928631998618, + -0.24971988003918713 + ], + [ + 0.2378848131909395, + 0.16845697164535522, + 0.956573592164523, + -0.2521031803865257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9698378096734299, + -0.03158785402774811, + -0.24169580328732893, + -0.5055129928227597 + ], + [ + -0.01022004222444771, + 0.9854260087013245, + -0.16979724798034518, + -0.24979422272007842 + ], + [ + 0.24353687973054597, + 0.16714592278003693, + 0.9553805848352321, + -0.25447486479490855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9682812903719092, + -0.030799677595496178, + -0.24795709547380104, + -0.512798101525304 + ], + [ + -0.011733851898804621, + 0.9856736063957214, + -0.1682553705135417, + -0.2496179872756533 + ], + [ + 0.2495869584855209, + 0.16582801938056946, + 0.9540478956634372, + -0.25671636243068063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.966970846893899, + -0.03289627283811569, + -0.2527551805183604, + -0.5189650865413555 + ], + [ + -0.010016807330107848, + 0.9859659671783447, + -0.16664575986973887, + -0.24974856063440865 + ], + [ + 0.2546900393832252, + 0.16367340087890625, + 0.9530708335694261, + -0.25909691385542355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9653413351515497, + -0.0366971418261528, + -0.2583978239689049, + -0.5232891319772996 + ], + [ + -0.007006438928585139, + 0.9860647916793823, + -0.16621412583773412, + -0.249598339440895 + ], + [ + 0.26089661169667716, + 0.16226382553577423, + 0.95163198275186, + -0.26177732593285785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9636908605109581, + -0.043868228793144226, + -0.2633924396851287, + -0.52685699835395 + ], + [ + -0.0007055614550385585, + 0.9859906435012817, + -0.16679906463437622, + -0.2503098674324332 + ], + [ + 0.26701967927721126, + 0.16092857718467712, + 0.9501592008164289, + -0.26395959605395924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9619023853585446, + -0.05065571516752243, + -0.26865941135420335, + -0.5294762752853532 + ], + [ + 0.005131937242714875, + 0.9858571887016296, + -0.16750906779502484, + -0.2516600111607734 + ], + [ + 0.27334510615086377, + 0.1597486138343811, + 0.9485582915804642, + -0.2656024241213743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9603565172565018, + -0.05605896562337877, + -0.2730802683328882, + -0.5313558730676176 + ], + [ + 0.0091444052198843, + 0.9853802323341372, + -0.17012401674648597, + -0.25154534444820204 + ], + [ + 0.2786248751251594, + 0.16088254749774936, + 0.946828900480333, + -0.26753319719101265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9597478326411875, + -0.059918016195297255, + -0.2743973432526458, + -0.5333304636837366 + ], + [ + 0.012152475430838841, + 0.9849231839179995, + -0.17256481084890815, + -0.25186287026962934 + ], + [ + 0.28060007861021824, + 0.16228410601615909, + 0.946006029969851, + -0.26876569806890965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9599636399318875, + -0.0610523521900177, + -0.2733907293196282, + -0.5343489009147564 + ], + [ + 0.012627056659378069, + 0.9843995571136475, + -0.1754938684105177, + -0.2515606640337448 + ], + [ + 0.2798400232656522, + 0.1650155931711197, + 0.9457586302709402, + -0.2696804742344833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9608356930736482, + -0.06054358184337616, + -0.27042416907916667, + -0.5374439242624622 + ], + [ + 0.012432121955360469, + 0.9842773675918579, + -0.17619152859994502, + -0.25263551074660895 + ], + [ + 0.27683969455571084, + 0.1659291684627533, + 0.9464815214527693, + -0.2694412159716831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9617751290825954, + -0.059227518737316145, + -0.2673587018591654, + -0.5404310781831837 + ], + [ + 0.011115857311817173, + 0.983969569206238, + -0.17798978097860693, + -0.25249217587228195 + ], + [ + 0.2736147006181794, + 0.16821423172950747, + 0.9470158197194339, + -0.2697660688589122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9628137823426912, + -0.056749869138002396, + -0.2641384403577686, + -0.5433048992168072 + ], + [ + 0.008070866615856685, + 0.9832949042320251, + -0.18184069931515803, + -0.2505246923515313 + ], + [ + 0.27004543117440954, + 0.17294691503047943, + 0.9471878995972709, + -0.2698649793329849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9638450344499518, + -0.056106824427843094, + -0.2604894967756906, + -0.546270597727396 + ], + [ + 0.0078059901026921955, + 0.9831064343452454, + -0.1828681468002208, + -0.2522051778325864 + ], + [ + 0.26634902208294337, + 0.1742231696844101, + 0.9480002732004814, + -0.2704392921098515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9643546854451998, + -0.05657963454723358, + -0.2584933569568622, + -0.5483646166280955 + ], + [ + 0.008257351687022475, + 0.9828317761421204, + -0.18431902929319233, + -0.25325454437366324 + ], + [ + 0.26448421293218377, + 0.17561443150043488, + 0.9482656049558554, + -0.27121610640910937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9645921445242949, + -0.05668378621339798, + -0.257583052165305, + -0.550219207282485 + ], + [ + 0.008153509077649541, + 0.9825741052627563, + -0.18569242840733294, + -0.25444644866782096 + ], + [ + 0.26362019201356285, + 0.17701725661754608, + 0.948245408617034, + -0.27235217900932956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.964911935595225, + -0.056137353181839, + -0.2565026800452465, + -0.5527555287701684 + ], + [ + 0.007359220622214181, + 0.9822763204574587, + -0.187293993178684, + -0.25573197854679286 + ], + [ + 0.26247069813633256, + 0.178834542632103, + 0.9482233067559862, + -0.2736146357949125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9653151738329263, + -0.05492477118968965, + -0.25524468255784577, + -0.5553328325554543 + ], + [ + 0.005922880569646318, + 0.981977164745331, + -0.18890668795510251, + -0.2566929169872434 + ], + [ + 0.2610201018841233, + 0.18084271252155307, + 0.948242823647736, + -0.27489235515512717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.965774311908296, + -0.05348284542560579, + -0.2538101443420871, + -0.5578400337844226 + ], + [ + 0.0042674137146530315, + 0.9816553592681887, + -0.1906163351930696, + -0.2568085778237331 + ], + [ + 0.2593487814912981, + 0.18300925195217135, + 0.9482857253884069, + -0.2759719950266898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9663612924677154, + -0.05125760659575462, + -0.2520288420108603, + -0.5608408969729768 + ], + [ + 0.002378822293646342, + 0.9816780090332031, + -0.19053244276293005, + -0.2568169639740375 + ], + [ + 0.2571774192147785, + 0.18352364003658295, + 0.9487775775557846, + -0.27688796844936125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9670600848247001, + -0.04793888330459596, + -0.24999329949576082, + -0.564031508558794 + ], + [ + -0.00045180524108115054, + 0.9817811250686648, + -0.1900147694796586, + -0.25663418528597487 + ], + [ + 0.25454779072242156, + 0.18386864662170413, + 0.949419668585716, + -0.27703296767873975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9679492826214315, + -0.044780053198337555, + -0.24712136053037975, + -0.5664744170933338 + ], + [ + -0.002807989320354064, + 0.9819844365119934, + -0.18894087998651699, + -0.2565618085280879 + ], + [ + 0.2511301363305624, + 0.18357910215854645, + 0.9503854082484846, + -0.2767733043074207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9689089430463848, + -0.04188143461942673, + -0.24384719693490503, + -0.5681743565814829 + ], + [ + -0.0045834953107437345, + 0.9823614954948425, + -0.18693552192928878, + -0.2566164356779805 + ], + [ + 0.24737520593960655, + 0.18224117159843445, + 0.9516268685630868, + -0.2770460859111856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/orbit_right/transforms.json b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ddcf9df67e340f0a2abf5b480b9ad41438b96258 --- /dev/null +++ b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/orbit_right/transforms.json @@ -0,0 +1,4703 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 134, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -0.00019550712022464722, + -0.00019303611770737916, + 0.00022781761072110385 + ], + [ + 0.00019553802849259228, + 0.9999999403953552, + 0.00016009202226996422, + -8.102464198600501e-05 + ], + [ + 0.00019300480198580772, + -0.0001601297699380666, + 0.9999999403953552, + 0.0002764065284281969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999948149967397, + 0.0005697432206943631, + -0.003164095992384434, + 0.001190685190903631 + ], + [ + -0.0005679887109911348, + 0.9999997019767761, + 0.0005553741487836856, + -2.199975244751887e-05 + ], + [ + 0.0031644114772953853, + -0.0005535741220228374, + 0.9999948143757333, + 0.00044451915086281485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999980705336695, + 0.0014475014759227636, + -0.006036739924988839, + 0.0021086545974573325 + ], + [ + -0.0014393577479926397, + 0.9999980330467226, + 0.0013531607002060199, + -0.0009713513675052443 + ], + [ + 0.006038687078044779, + -0.0013444455107674005, + 0.9999808764863592, + 0.0013125801455415045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999636499251177, + 0.0008357713813893497, + -0.008482313877055003, + 0.003435790598359075 + ], + [ + -0.0008316576864362396, + 0.9999995231628418, + 0.0004884914775515568, + 0.0008207599174886102 + ], + [ + 0.008482718074958357, + -0.00048141932347789407, + 0.9999638859609368, + 0.0018233594981823362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.99992646249081, + 0.0009545357315801084, + -0.012087816875753494, + 0.0059955434493584965 + ], + [ + -0.0009530494370166468, + 0.9999995231628418, + 0.00012872209218707414, + 0.001427035573352974 + ], + [ + 0.01208793424800329, + -0.0001171923431684263, + 0.9999269384185803, + 0.0036215986718722898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999016598217074, + 0.0016591983148828153, + -0.013925403997814674, + 0.007811006735671606 + ], + [ + -0.0016391383701110753, + 0.9999976158142092, + 0.0014518264438384487, + 0.0001727038927747168 + ], + [ + 0.013927779481271645, + -0.0014288580277934673, + 0.9999019940864394, + 0.003285290127708015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998684696273059, + 0.0010074727470055223, + -0.016188612623949317, + 0.01008200714179426 + ], + [ + -0.0009908243590927342, + 0.9999989867210388, + 0.0010363838028580982, + 0.0008920569494159485 + ], + [ + 0.016189640028418977, + -0.0010202073026448488, + 0.9998683978837805, + 0.003824812489223623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998263834566075, + 0.0009483072790317237, + -0.018610767283862954, + 0.012278905798217159 + ], + [ + -0.0009247073975847227, + 0.9999987483024597, + 0.0012766413726667146, + 0.0004653949151805748 + ], + [ + 0.018611954336027636, + -0.0012592102866619825, + 0.9998260094374606, + 0.004856121861271849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997802115784616, + 0.00047503673704341054, + -0.020959259363948025, + 0.014892145944600987 + ], + [ + -0.0004452790884451868, + 0.9999988675117493, + 0.0014244291042859272, + 0.0003367409003359759 + ], + [ + 0.0209599129608112, + -0.0014147832989692688, + 0.9997793071046661, + 0.005391000333045189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997263032579263, + -0.0009772215271368623, + -0.02337382118018123, + 0.017821450669851555 + ], + [ + 0.0010004163622192373, + 0.9999990463256836, + 0.0009806693251668385, + 0.0011949597017312812 + ], + [ + 0.023372840651398653, + -0.0010037845931947231, + 0.9997263206305447, + 0.0057913301414795094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996714137924136, + -0.0024443536531180143, + -0.025515674566758923, + 0.02065744519107956 + ], + [ + 0.002463742410463142, + 0.9999967217445374, + 0.0007284602102358264, + 0.0018650826544018878 + ], + [ + 0.02551380920755906, + -0.0007910849526524544, + 0.9996741332439257, + 0.005873817938946649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9996043140639848, + -0.0041746641509234905, + -0.027818026068002443, + 0.02335528369735198 + ], + [ + 0.004193463692254296, + 0.9999909996986389, + 0.000617503266044442, + 0.0025369784269544783 + ], + [ + 0.027815198126893283, + -0.0007339127478189766, + 0.9996128411497991, + 0.0063459650970388365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9995186423929012, + -0.005312145221978426, + -0.030565477709087702, + 0.026445044882716668 + ], + [ + 0.005321938512020686, + 0.9999858140945435, + 0.00023904752920571524, + 0.0030914267637404684 + ], + [ + 0.0305637746443679, + -0.00040160006028600037, + 0.9995327532498188, + 0.006750672092481555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9994311105549684, + -0.006246226839721203, + -0.033142063791104945, + 0.029175756528495394 + ], + [ + 0.006255485178495903, + 0.9999803900718689, + 0.00017566256240125774, + 0.0031277386903590687 + ], + [ + 0.03314031874016545, + -0.0003828823391813785, + 0.9994506523215694, + 0.007639743761524051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9993666463854902, + -0.005794829688966275, + -0.03511050861022059, + 0.0319271329163419 + ], + [ + 0.005809127175382462, + 0.999983072280884, + 0.0003052253393204902, + 0.002903635540421227 + ], + [ + 0.03510814577504089, + -0.000508993398398161, + 0.9993834071563438, + 0.0085107675765315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993035350896273, + -0.005544837098568678, + -0.036901753745573834, + 0.03420398026022431 + ], + [ + 0.0055902445279346295, + 0.9999837279319763, + 0.001127436608213768, + 0.0024083567729238876 + ], + [ + 0.0368949024000871, + -0.001332941115833819, + 0.9993182873181015, + 0.009881081783629373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9992136367454375, + -0.005092991050332785, + -0.03932106542625732, + 0.036766073064709116 + ], + [ + 0.005142476898952795, + 0.9999861121177673, + 0.0011574664256530304, + 0.0031433350273210817 + ], + [ + 0.03931462509325448, + -0.0013587638968601823, + 0.9992259453949699, + 0.012062047361577528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9991116137851451, + -0.004231502301990986, + -0.041929942883255064, + 0.03946603071850207 + ], + [ + 0.004296971028497106, + 0.9999896883964539, + 0.0014713704081505176, + 0.002321433364222477 + ], + [ + 0.04192328414743676, + -0.0016502350335940719, + 0.9991194703582977, + 0.013835619765271801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9990411749308168, + -0.004520643036812544, + -0.04354608406812541, + 0.04118193419340886 + ], + [ + 0.004585917794815518, + 0.9999884963035583, + 0.0013992082173902199, + 0.00252666294665517 + ], + [ + 0.04353925855028656, + -0.0015975654823705554, + 0.9990504228241428, + 0.014932241148510945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9989172291569421, + -0.003187118796631694, + -0.04641394691851374, + 0.044521601543614835 + ], + [ + 0.003243417013586766, + 0.9999940991401672, + 0.0011376988493480614, + 0.0017622750959108372 + ], + [ + 0.04641004779587785, + -0.001287006656639278, + 0.9989216695893912, + 0.01694117757409703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9988691653707003, + -0.003408291609957814, + -0.04742105800869178, + 0.047375885178088877 + ], + [ + 0.0034584245181537867, + 0.9999935626983643, + 0.0009751775615826556, + 0.0018602659769091146 + ], + [ + 0.0474174280285933, + -0.0011380770010873675, + 0.9988744979760115, + 0.01725200641589969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9988517815376221, + -0.004348649177700282, + -0.04771006704523628, + 0.05022535443953633 + ], + [ + 0.004418563191321976, + 0.9999893307685854, + 0.001360030188727046, + 0.0017298254594276471 + ], + [ + 0.04770364109955507, + -0.00156927842181176, + 0.998860279790202, + 0.016640634389895673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987567481950825, + -0.005464215297251941, + -0.049548553292359236, + 0.053605172898531964 + ], + [ + 0.005528533085153365, + 0.9999840259552004, + 0.0011611162586310504, + 0.002082450238107344 + ], + [ + 0.04954141762333538, + -0.0014336034655570986, + 0.9987710179749205, + 0.016757236362869472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9987182710040423, + -0.006329468451440336, + -0.050216934376174124, + 0.056128306320932644 + ], + [ + 0.00637018366708611, + 0.9999794960021975, + 0.0006507786435991135, + 0.002362490320467878 + ], + [ + 0.05021178658554407, + -0.0009698356152512135, + 0.9987381342648224, + 0.01570663266345519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9986410574713395, + -0.006758757401257753, + -0.0516753641318304, + 0.059584011202439585 + ], + [ + 0.00676101586261778, + 0.9999771118164062, + -0.00013109636915814064, + 0.0030164165886920604 + ], + [ + 0.051675069099878616, + -0.00021845973969902843, + 0.9986639254967558, + 0.015675802075876037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9985473084898202, + -0.007188562303781509, + -0.05339991624673465, + 0.06308176536993623 + ], + [ + 0.007201997709762735, + 0.9999740719795227, + 5.917640130635169e-05, + 0.002921257897437585 + ], + [ + 0.053398105778933544, + -0.00044367651571519673, + 0.9985731780716774, + 0.0162126022948553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9984290041842824, + -0.008707553148269653, + -0.05535092867644455, + 0.06644337396735489 + ], + [ + 0.008723159175936235, + 0.9999619722366333, + 4.0359802872968356e-05, + 0.003936265502608617 + ], + [ + 0.05534847082967818, + -0.0005231313407421112, + 0.9984669689730907, + 0.01699488514751258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9983180267849276, + -0.009937196038663387, + -0.057116983661363065, + 0.06952465430228985 + ], + [ + 0.010037874125890243, + 0.9999485015869141, + 0.0014760248927060962, + 0.0032956489051776216 + ], + [ + 0.05709937739124328, + -0.002046875422820449, + 0.9983664160866512, + 0.017814562349911977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.998195609230393, + -0.011865630745887756, + -0.058862236089460666, + 0.07240540886862487 + ], + [ + 0.012031707284097345, + 0.9999246001243591, + 0.00246782816865615, + 0.0040299820884990714 + ], + [ + 0.05882851346922228, + -0.0031715882942080498, + 0.9982630748841098, + 0.01841870835003644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9979995886994621, + -0.012983828783035278, + -0.06187296105717134, + 0.07566561204532943 + ], + [ + 0.013223821802050272, + 0.9999065399169922, + 0.003470870612883478, + 0.004389992126792587 + ], + [ + 0.06182211329353892, + -0.0042821248061954975, + 0.998078017345397, + 0.019529962161992744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9978728773253712, + -0.012949010357260708, + -0.06389085903586045, + 0.07874570498857245 + ], + [ + 0.013308541914572262, + 0.9998978972435, + 0.005204890408518423, + 0.004735750001540749 + ], + [ + 0.06381693830064138, + -0.006044113077223303, + 0.9979433451661808, + 0.019290446202736157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9977435260579092, + -0.012527868151664737, + -0.06596120958883539, + 0.0815184358363888 + ], + [ + 0.01297961089061747, + 0.9998950958251955, + 0.006424522030712763, + 0.005768308410716169 + ], + [ + 0.06587380485265869, + -0.007266176398843529, + 0.9978014758131437, + 0.019803638107535958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9976148151313355, + -0.011896323412656784, + -0.06799393738594774, + 0.08409540836514617 + ], + [ + 0.012456995988958748, + 0.9998917579650879, + 0.007827858347402118, + 0.0064965413400499515 + ], + [ + 0.06789345436675558, + -0.008656187914311886, + 0.9976550158629506, + 0.0203879945949601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9974736119204662, + -0.011366607621312141, + -0.07012272717848494, + 0.08632492112545313 + ], + [ + 0.012043456307090661, + 0.9998847842216492, + 0.009237115507141649, + 0.006961823713435804 + ], + [ + 0.07000965490393406, + -0.010058298707008362, + 0.9974956011895753, + 0.0215621772521521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9973209655673264, + -0.01057520043104887, + -0.0723813229083727, + 0.08875062805222363 + ], + [ + 0.0113437296951667, + 0.9998834729194641, + 0.010214935669547304, + 0.007368845119282605 + ], + [ + 0.07226486369823161, + -0.011008643545210361, + 0.9973247091828483, + 0.022438055760036196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971577482880308, + -0.010144415311515331, + -0.0746558613904481, + 0.0910651206502429 + ], + [ + 0.01099237648594998, + 0.9998795390129089, + 0.010956139316770717, + 0.007857486532587424 + ], + [ + 0.07453572855793666, + -0.011745643801987171, + 0.9971491894288163, + 0.023160059603275624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9969788224361953, + -0.0101983193308115, + -0.07700134036969597, + 0.09334830657665921 + ], + [ + 0.01109902831746142, + 0.9998747706413269, + 0.011278426921320844, + 0.00852686623143844 + ], + [ + 0.07687667780731607, + -0.012098992243409157, + 0.9969671753827183, + 0.023853112855700305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9968174209333855, + -0.010145951993763447, + -0.07907029105401131, + 0.09571772610104101 + ], + [ + 0.01110844558844817, + 0.9998693466186523, + 0.011742272774239915, + 0.008908996135977705 + ], + [ + 0.07894082130784386, + -0.012583249248564243, + 0.9967998541938106, + 0.02407915225088894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9966389897720587, + -0.009979579597711565, + -0.08130900833257593, + 0.09790714846857822 + ], + [ + 0.010998336765783052, + 0.9998664259910586, + 0.012091211055766438, + 0.009311057997448594 + ], + [ + 0.08117748169727977, + -0.012944836169481281, + 0.9966156132217524, + 0.024785174555115103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9964850888914549, + -0.009473615325987339, + -0.08323322259766007, + 0.0999918336744 + ], + [ + 0.010563408046664075, + 0.9998640418052673, + 0.012662625437947854, + 0.009230480412387526 + ], + [ + 0.08310194167850346, + -0.013497344218194485, + 0.9964496340384172, + 0.025185616846037984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9963308895130192, + -0.009076249785721302, + -0.08510249395216503, + 0.10187303074476588 + ], + [ + 0.010221365719971908, + 0.9998628497123718, + 0.013029658821348827, + 0.009115399407089013 + ], + [ + 0.08497256299376511, + -0.013851715251803398, + 0.9962870311930254, + 0.02545043705722247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9961668646995759, + -0.00889805518090725, + -0.08701939928569757, + 0.10345443612462893 + ], + [ + 0.010083116947399967, + 0.9998621940612793, + 0.013188302859753205, + 0.009533870514877174 + ], + [ + 0.08689005854127951, + -0.014015178196132183, + 0.996119320569977, + 0.025373810028005962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9959376150928707, + -0.008292417973279953, + -0.08966349278537451, + 0.10474943085600692 + ], + [ + 0.009533437654872412, + 0.9998644590377808, + 0.013421460143160063, + 0.009478566140187649 + ], + [ + 0.08954004500130944, + -0.0142217380926013, + 0.9958816955995367, + 0.0262026924389535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.995701053949184, + -0.008099797181785108, + -0.09227017440866876, + 0.10570788159315499 + ], + [ + 0.009410449695957737, + 0.9998607635498049, + 0.013778284382247432, + 0.009318732250797376 + ], + [ + 0.09214573093664763, + -0.014587356708943847, + 0.9956386931967762, + 0.0269200287823009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9954797295075987, + -0.007807694375514984, + -0.09465253937151935, + 0.10723612525400907 + ], + [ + 0.009178528464048095, + 0.999859094619751, + 0.014056094076471326, + 0.009408035823125238 + ], + [ + 0.09452945788411853, + -0.014861328527331352, + 0.9954111430735959, + 0.026811645654120413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9952189085307163, + -0.007301025558263063, + -0.09739606316363751, + 0.10864906515084491 + ], + [ + 0.008727450717356283, + 0.9998607039451599, + 0.014227629938680405, + 0.009450921391877743 + ], + [ + 0.0972786206644867, + -0.015009625814855099, + 0.9951440079672869, + 0.027687516541805707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9949547369083476, + -0.007276685908436777, + -0.10006046337397108, + 0.11014846846404183 + ], + [ + 0.008792363206542392, + 0.9998530745506289, + 0.0147149721564253, + 0.009358222761505853 + ], + [ + 0.09993868778947713, + -0.015520500019192699, + 0.9948725475472415, + 0.028603664495649557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.994648203974825, + -0.006997761782258749, + -0.10308218624966176, + 0.11193332564204517 + ], + [ + 0.008594023470455419, + 0.999849796295166, + 0.0150493404193077, + 0.00920836725489756 + ], + [ + 0.10296139294208914, + -0.015854690223932266, + 0.9945589650766349, + 0.029595203928418117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9943530409510848, + -0.006773448549211025, + -0.10590647505571218, + 0.11405758564831608 + ], + [ + 0.008408375566538312, + 0.999852180480957, + 0.014998579693872176, + 0.00921959841385019 + ], + [ + 0.10578922354548422, + -0.015804383903741837, + 0.9942629692699853, + 0.03042076401948373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9940988985521504, + -0.006481840740889311, + -0.1082835496326472, + 0.11619458968870451 + ], + [ + 0.00817293362475769, + 0.9998513460159302, + 0.015180761280999556, + 0.008957982542534841 + ], + [ + 0.10816906073686343, + -0.01597617380321026, + 0.9940041624336958, + 0.031666370178114016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9938759570710142, + -0.006262970156967642, + -0.11032407555068792, + 0.11824853679724626 + ], + [ + 0.008074800006265846, + 0.9998396635055544, + 0.01598367054939267, + 0.008342139418008026 + ], + [ + 0.1102062771011975, + -0.016776628792285923, + 0.9937671406336303, + 0.03279982920809146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9936214042245789, + -0.006335680373013021, + -0.11258947688435886, + 0.12053725876718513 + ], + [ + 0.00821051287699034, + 0.9998351335525515, + 0.016196058835238142, + 0.008159898474768867 + ], + [ + 0.11246830061732672, + -0.01701716706156731, + 0.9935096040927606, + 0.03340608993031788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9933461087084204, + -0.006824738346040251, + -0.11496490884279918, + 0.12261800868627118 + ], + [ + 0.008778747273014977, + 0.9998253583908083, + 0.016498843208599085, + 0.007993745194454784 + ], + [ + 0.1148322300727036, + -0.017398310825228695, + 0.9932325305685796, + 0.03380968301824862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9930509758068921, + -0.007783416192978622, + -0.11742738306156404, + 0.12474534938196144 + ], + [ + 0.009779457578588838, + 0.9998171925544741, + 0.016431490851606854, + 0.00828860556653788 + ], + [ + 0.11727801721051721, + -0.01746568270027638, + 0.9929454958228556, + 0.033816758923725904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9927367155198686, + -0.008587424643337727, + -0.12000014098622346, + 0.12681897818301346 + ], + [ + 0.010644090948785713, + 0.9998070597648621, + 0.01650841281782729, + 0.00833524510023485 + ], + [ + 0.11983522401690061, + -0.0176657997071743, + 0.9926365836323991, + 0.03377845847304639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9923106745191662, + -0.009417357854545116, + -0.12341315267261228, + 0.12927305711968634 + ], + [ + 0.011550889472373597, + 0.9997957348823547, + 0.016583615942952643, + 0.008640826410404867 + ], + [ + 0.12323177135476561, + -0.01788162998855114, + 0.9922167724790968, + 0.03366841593260146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9919195129444675, + -0.01003550458699465, + -0.1264713917574561, + 0.13033921814127694 + ], + [ + 0.012300394158042901, + 0.9997774362564089, + 0.0171400868936655, + 0.007951945579458717 + ], + [ + 0.1262712309212316, + -0.01855723559856415, + 0.9918221492935207, + 0.03398792087382579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9915462910177537, + -0.010274035856127739, + -0.12934612815639177, + 0.13128690363426135 + ], + [ + 0.012643620563668684, + 0.9997667074203491, + 0.01751190144501135, + 0.007512222380242016 + ], + [ + 0.12913603030998244, + -0.018999265506863594, + 0.991444841329711, + 0.03388898698913126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9911512678461524, + -0.010111220180988312, + -0.13235163441186865, + 0.1324118301245012 + ], + [ + 0.012495707745326308, + 0.9997740387916565, + 0.017198134825616006, + 0.007094457818051568 + ], + [ + 0.1321478310900061, + -0.018699781969189644, + 0.9910536269599781, + 0.0333707214221263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9907955573202247, + -0.009356911294162273, + -0.13504320511285067, + 0.13324054526509782 + ], + [ + 0.011757174905305874, + 0.9997865557670593, + 0.016987461929131257, + 0.006359101973558166 + ], + [ + 0.13485543239792327, + -0.018418826162815094, + 0.9906940849150563, + 0.033409583221351936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9905050040522867, + -0.00861138477921486, + -0.1372067431746943, + 0.13384249496937217 + ], + [ + 0.010943509172367784, + 0.9998080134391787, + 0.016251894796227465, + 0.005879086461237228 + ], + [ + 0.1370404488707763, + -0.01759910583496094, + 0.9904090721713998, + 0.0329975751172976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9900684898876501, + -0.0069422386586666125, + -0.14041424450291434, + 0.13442776494253 + ], + [ + 0.009288631751332972, + 0.9998278617858889, + 0.016062035898898198, + 0.0041352443306900966 + ], + [ + 0.14027856862572227, + -0.017206771299242977, + 0.9899625644932246, + 0.03313446833128645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9895702919942841, + -0.0059808730147779005, + -0.14392647585147197, + 0.1347962125336983 + ], + [ + 0.008353599555042487, + 0.9998388886451723, + 0.01588703249429248, + 0.002448676165014172 + ], + [ + 0.14380827362358836, + -0.016923639923334125, + 0.9894608437784778, + 0.033268777020622545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9890191325823805, + -0.005250043701380491, + -0.14769431981137676, + 0.13479291367632176 + ], + [ + 0.007641877883407064, + 0.9998486042022705, + 0.015631706072183203, + 0.00040581638457907717 + ], + [ + 0.1475898901629136, + -0.016588719561696053, + 0.9889094951236277, + 0.03386966830792257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.988471934360744, + -0.006082386709749699, + -0.15128218180340458, + 0.13569096868147623 + ], + [ + 0.00837085566125067, + 0.9998599290847778, + 0.014494903781045683, + -0.00013656231325119865 + ], + [ + 0.15117281821584774, + -0.015594166703522205, + 0.9883843087619955, + 0.03260290064294269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9878421259795565, + -0.006490685511380436, + -0.15532501867463952, + 0.13652678567276105 + ], + [ + 0.008574204285936755, + 0.999881982803345, + 0.012747723240810721, + -0.001262592048013002 + ], + [ + 0.15522393936510911, + -0.01392452605068684, + 0.9877811517991776, + 0.03326528903755906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9873194123048099, + -0.007751576602458954, + -0.1585568199333712, + 0.1369450840600517 + ], + [ + 0.009708936890846303, + 0.9998858571052551, + 0.011573957940480646, + -0.003454646793698027 + ], + [ + 0.15844901577061077, + -0.012966611422598362, + 0.9872820418685087, + 0.032529808425190015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9864987053266006, + -0.010358584113419056, + -0.1634411763745535, + 0.13629228915718006 + ], + [ + 0.012282005106965865, + 0.9998666644096375, + 0.010762153325365271, + -0.005851107186502134 + ], + [ + 0.1633079025388465, + -0.012624234892427921, + 0.9864943782144945, + 0.03275834473471743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9854223074958742, + -0.010948557406663895, + -0.1697732720151631, + 0.13556736965210034 + ], + [ + 0.012387255390236515, + 0.9998957514762878, + 0.007417315947543589, + -0.008597104645596813 + ], + [ + 0.16967436556781798, + -0.00941221322864294, + 0.9854552324797573, + 0.0323697022003301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9845759710423164, + -0.010442398488521576, + -0.174645549613124, + 0.1336578313177915 + ], + [ + 0.011506320922343053, + 0.9999209046363831, + 0.005080436670815894, + -0.013845339849713341 + ], + [ + 0.17457868677821065, + -0.0070116035640239716, + 0.9846182560883349, + 0.03175117697818898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9836509645971973, + -0.010236853733658792, + -0.17979420612823016, + 0.13146090258493923 + ], + [ + 0.010932574943370977, + 0.999936103820801, + 0.002879057859295279, + -0.018473848244181367 + ], + [ + 0.17975324611498994, + -0.004797602072358132, + 0.9837000305929824, + 0.030283356560420367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9829897179538973, + -0.00866951420903206, + -0.18345586031463976, + 0.12776927521027814 + ], + [ + 0.008858288090063822, + 0.9999607205390932, + 0.00020949427597742167, + -0.023378225524060832 + ], + [ + 0.18344684443204584, + -0.0018310355953872208, + 0.983027943856049, + 0.027789619311187733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9820506440377995, + -0.0077826958149671555, + -0.18845677391816218, + 0.12427606264543564 + ], + [ + 0.0072999040424172774, + 0.9999680519104004, + -0.0032557665860987305, + -0.028023540760127395 + ], + [ + 0.18847609284603684, + 0.0018216114258393645, + 0.9820760650537307, + 0.02712798439403621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.981276707004911, + -0.006601332686841488, + -0.1924900269403258, + 0.11956019010978616 + ], + [ + 0.005728051754137489, + 0.9999706149101257, + -0.005092912290829392, + -0.035711232432509475 + ], + [ + 0.19251799709816106, + 0.0038949635345488787, + 0.9812857288565949, + 0.024732636471905257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9801396795592995, + -0.009723091498017313, + -0.19806981276665178, + 0.11544511808643926 + ], + [ + 0.007568009410539573, + 0.9999036788940432, + -0.011634528608853967, + -0.036737373516638486 + ], + [ + 0.19816385833194117, + 0.009904468432068827, + 0.9801188345149817, + 0.021375791623919758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9780059478980512, + -0.0035933067556470633, + -0.2085459168537953, + 0.10515919406745416 + ], + [ + 0.003994725213746605, + 0.9999908804893494, + 0.0015037039670370764, + -0.06713493603648951 + ], + [ + 0.2085386198974364, + -0.0023037150967866182, + 0.978011432041852, + 0.03520908751127156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9770734065486387, + -0.0071714534424245375, + -0.21278178361830838, + 0.09870686447574617 + ], + [ + 0.006557613471071187, + 0.9999720454216006, + -0.003590454235149306, + -0.07224800902254312 + ], + [ + 0.21280159143043714, + 0.0021127967629581694, + 0.9770931457692972, + 0.02842147914224973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9758224496161375, + -0.01155201718211174, + -0.21825914862416973, + 0.09390606813747915 + ], + [ + 0.009196961692694265, + 0.9998880624771118, + -0.011803039357624747, + -0.07551115452182518 + ], + [ + 0.21837106912324172, + 0.009510349482297897, + 0.9758194641786974, + 0.0205085936518234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9741321439664852, + -0.014813873916864399, + -0.22549310976921635, + 0.09039642603731896 + ], + [ + 0.009611445885734654, + 0.9996621012687685, + -0.024151737646506546, + -0.0746951203669285 + ], + [ + 0.22577470451135317, + 0.02135966904461384, + 0.9739453801268021, + 0.01392774175631142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9731145324761385, + -0.014468475244939327, + -0.22986682037747277, + 0.0853760248720423 + ], + [ + 0.007808650904091197, + 0.9995236992835999, + -0.029855863680159807, + -0.08062685825540596 + ], + [ + 0.23018931777954152, + 0.02725822478532791, + 0.9727640607540323, + 0.007751121533576863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9715091627910493, + -0.012339566834270954, + -0.23668059081796278, + 0.08102525664364893 + ], + [ + 0.0048589834695169, + 0.9994708299636841, + -0.03216355877405854, + -0.08894089642225077 + ], + [ + 0.23695221819822562, + 0.03009716421365738, + 0.9710549782853014, + 0.005738858402726962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9701792640628355, + -0.009368699043989182, + -0.24220728959304333, + 0.07633510972755175 + ], + [ + 0.0010235608393394688, + 0.9994021654129028, + -0.03455743018616808, + -0.09499350041214118 + ], + [ + 0.24238625726428362, + 0.03327899053692818, + 0.9696089021972764, + 0.003116459972745435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9687810256608425, + -0.0036721611395478257, + -0.24789089572494355, + 0.07152942956576719 + ], + [ + -0.00557435314810074, + 0.9993148446083071, + -0.03658856922636157, + -0.10020744886115199 + ], + [ + 0.2478554091004242, + 0.03682814165949822, + 0.9680967921376368, + 0.0032513753967474968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.968309371792876, + 0.0007007308304309845, + -0.2497527196744226, + 0.06715782393607775 + ], + [ + -0.010330383455055908, + 0.9992526769638062, + -0.0372480420348926, + -0.10512171913846464 + ], + [ + 0.2495399736613959, + 0.038647670298814774, + 0.9675929534573107, + 0.0015414093015797131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9679666816633983, + 0.004242745228111744, + -0.251042814255065, + 0.06443872734594705 + ], + [ + -0.013962375382463301, + 0.9992195963859558, + -0.03694859858221133, + -0.10978253594881945 + ], + [ + 0.25069014451759725, + 0.03927016630768776, + 0.9672705342187327, + 0.001148840399196327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9674907002607794, + 0.003731392789632083, + -0.25287908009656296, + 0.06159337150090641 + ], + [ + -0.013480933695166787, + 0.9992305040359499, + -0.036832450105542994, + -0.11293640072707332 + ], + [ + 0.2525470667224036, + 0.039044100791215904, + 0.9667965455491233, + -0.0005824112884695309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9662519454605288, + 0.003556481795385481, + -0.2575743678117128, + 0.05954458522023104 + ], + [ + -0.013664754384503711, + 0.9992045164108279, + -0.03746468428400113, + -0.11652409222524347 + ], + [ + 0.25723622939937774, + 0.03972001746296883, + 0.9655319270993805, + -0.001250064678980943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9648622432585131, + 0.001749745337292552, + -0.26275046794366086, + 0.05697121139297412 + ], + [ + -0.012779645253598893, + 0.9991068840026855, + -0.040275533684381505, + -0.11994130560342178 + ], + [ + 0.2624453199149931, + 0.042218197137117386, + 0.9640228581714902, + -0.001065526839179834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.963572193947876, + -0.0013014385476708412, + -0.26744529228786584, + 0.05478656869914217 + ], + [ + -0.010447850853681022, + 0.9990416765213013, + -0.0425038338042866, + -0.12485722426148843 + ], + [ + 0.2672443006505461, + 0.043749742209911346, + 0.9626351450284744, + -0.0008457765487148092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9617663805844069, + -0.004259513691067696, + -0.2738381009843886, + 0.05500262005959522 + ], + [ + -0.009112943183156166, + 0.9988276362419128, + -0.04754284721619796, + -0.12890841429465524 + ], + [ + 0.2737195658387524, + 0.04822058230638504, + 0.9605999825230661, + -0.0020394272440217923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9585753476219001, + -0.008240500465035439, + -0.28471988380490537, + 0.05385519335977362 + ], + [ + -0.007020403517900383, + 0.9985942840576172, + -0.052537611573496165, + -0.13571062450351498 + ], + [ + 0.28475258785143, + 0.05236010625958443, + 0.9571700060178062, + -0.00235305268802425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9544987388860964, + -0.012638184241950515, + -0.2979470345608686, + 0.05074660925700883 + ], + [ + -0.005586634355262559, + 0.998168468475342, + -0.060237130385549724, + -0.138576586779921 + ], + [ + 0.2981626149826599, + 0.0591607838869095, + 0.9526799239626841, + -0.010636539683122267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9490621661937328, + -0.012334069237112999, + -0.3148473642137694, + 0.04268764521656673 + ], + [ + -0.008565516733373673, + 0.9978543519973755, + -0.06491022890071839, + -0.14612369950149567 + ], + [ + 0.31497241010985405, + 0.06430067121982574, + 0.9469201831901006, + -0.016564214201028535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9401678790562941, + -0.016344171017408374, + -0.34031935641251465, + 0.02641192798812092 + ], + [ + -0.006591212898505632, + 0.9977893233299258, + -0.06612872706465966, + -0.16044698459233747 + ], + [ + 0.34064785616463894, + 0.06441522389650346, + 0.9379817513289384, + -0.020061066502850104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9239877483630021, + -0.01682628132402897, + -0.38205168632426534, + 0.020413375222735064 + ], + [ + -0.014359240791307166, + 0.9968005418777466, + -0.07862865696777854, + -0.16542610679457354 + ], + [ + 0.38215237965847026, + 0.07813788950443268, + 0.920789923996657, + -0.016157060596671727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9135015712298061, + -0.03532208874821663, + -0.40529887411121684, + -0.007473529592531503 + ], + [ + 0.006840755620410224, + 0.997416615486145, + -0.07150722891200045, + -0.18094129102610146 + ], + [ + 0.4067776305704753, + 0.0625494122505188, + 0.9113832860899703, + -0.033218068595309166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8977865062270801, + -0.03258930146694184, + -0.4392235477536841, + -0.026574196694699598 + ], + [ + -0.0019273322615030379, + 0.9969584345817568, + -0.07791137979129176, + -0.20735209132186316 + ], + [ + 0.4404267015544284, + 0.07079431414604188, + 0.8949930115202904, + -0.026971514860450088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8779209189214341, + -0.034171286970376975, + -0.4775847347612479, + -0.03355679449476606 + ], + [ + -0.015500010883969849, + 0.9948989748954775, + -0.09967815146946721, + -0.20942767560778275 + ], + [ + 0.47855472294998114, + 0.09491209685802462, + 0.872912979448907, + -0.018457508114591528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.8604590347341522, + -0.04824119061231613, + -0.5072307599000591, + -0.0414845228539249 + ], + [ + -0.017943606748420847, + 0.9920212030410767, + -0.12478744093267392, + -0.2107945203159509 + ], + [ + 0.5092035589248987, + 0.11647602915763855, + 0.8527280089992699, + -0.02882384690598777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8502962256446485, + -0.05283822119235994, + -0.5236453542904872, + -0.0521801396475251 + ], + [ + -0.02527765562816649, + 0.9896994829177859, + -0.140911140195839, + -0.21969036651318652 + ], + [ + 0.5256970092350315, + 0.13305273652076724, + 0.8402021312514819, + -0.03622174091885097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8433934056364752, + -0.0551597997546196, + -0.5344576257728709, + -0.05555433603518367 + ], + [ + -0.033572625064654166, + 0.9873624444007874, + -0.15488160582492552, + -0.2256289531700764 + ], + [ + 0.536246609685941, + 0.1485692709684372, + 0.8308831014672925, + -0.040859950412275095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8386862732479994, + -0.05422563478350639, + -0.541908588408558, + -0.05870518718544407 + ], + [ + -0.04091594133071715, + 0.9859451651573181, + -0.16198146004336175, + -0.2320919030557103 + ], + [ + 0.5430757226896058, + 0.15802434086799622, + 0.8246800134966789, + -0.04901303656188852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8355142264565855, + -0.0520748496055603, + -0.546995615615232, + -0.061669584384484694 + ], + [ + -0.0459381045254676, + 0.9853935241699219, + -0.16397967800406463, + -0.23779982909474537 + ], + [ + 0.547545149305363, + 0.1621353030204773, + 0.8209180624176721, + -0.05510634286297332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8336848106160958, + -0.05293095111846924, + -0.5496980114171648, + -0.0662596860920805 + ], + [ + -0.04274198821905399, + 0.9862255454063416, + -0.1597881214900676, + -0.24296943729391338 + ], + [ + 0.5505839809859225, + 0.15670812129974365, + 0.8199389213362324, + -0.06073536893316876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8295897683400728, + -0.0500084087252617, + -0.5561294453968474, + -0.07009652007466949 + ], + [ + -0.04739328558728357, + 0.9860809445381167, + -0.15936817174937962, + -0.24744041665910121 + ], + [ + 0.5563584052619605, + 0.1585670113563538, + 0.8156726541341125, + -0.06361277713896325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8236891092033216, + -0.04714431241154671, + -0.5650784169070552, + -0.07354099207436149 + ], + [ + -0.05281655532748137, + 0.9858267903327942, + -0.15923550488529473, + -0.2510848526478988 + ], + [ + 0.5645764804569144, + 0.16100604832172394, + 0.8095248081454203, + -0.06552627596513538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8150396245381563, + -0.0453840084373951, + -0.5776250696200659, + -0.0785709689049128 + ], + [ + -0.057920355810419225, + 0.9855520725250246, + -0.15916153705999433, + -0.25429952070841055 + ], + [ + 0.576502957765144, + 0.16317920386791232, + 0.8006353384328121, + -0.06618165516396612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8049841830479665, + -0.04421266168355942, + -0.5916466314671326, + -0.08543972679539638 + ], + [ + -0.06292675053270672, + 0.9852321147918701, + -0.1592416247855116, + -0.25752466112533723 + ], + [ + 0.5899497303027631, + 0.1654173731803894, + 0.7903141089324348, + -0.06569761735201751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.7944165179879561, + -0.04261692613363266, + -0.6058763774437037, + -0.09266353705527777 + ], + [ + -0.06830335944081223, + 0.9849390983581543, + -0.15883834320075926, + -0.2605441803372891 + ], + [ + 0.60352052421071, + 0.1675671935081482, + 0.7795410492393808, + -0.06536317924387618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.7865824829621834, + -0.039729706943035126, + -0.6162058394442026, + -0.10100927331296677 + ], + [ + -0.07346472463534065, + 0.9848188161849976, + -0.15727315475905052, + -0.26432289401550807 + ], + [ + 0.6130995042656842, + 0.16897769272327423, + 0.7717224921371411, + -0.06382405793819523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.7838186012788285, + -0.036830708384513855, + -0.6198966861845234, + -0.10686900022407184 + ], + [ + -0.076614896848262, + 0.9848776459693909, + -0.1553902923367379, + -0.26715869137770953 + ], + [ + 0.6162455169783935, + 0.16929112374782562, + 0.7691436551034422, + -0.06298816087144579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.7803139151642332, + -0.03406068682670593, + -0.6244598414616139, + -0.11072551065923741 + ], + [ + -0.07910381858876293, + 0.9851203560829163, + -0.15257937366198276, + -0.26879330072592045 + ], + [ + 0.6203650689371916, + 0.16845697164535522, + 0.7660087485244413, + -0.062200358163929714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.7739296944920144, + -0.03158785402774811, + -0.6324832538355148, + -0.11602687000022383 + ], + [ + -0.08170803261846152, + 0.9854260087013245, + -0.1491956838865949, + -0.2703271833146392 + ], + [ + 0.6279782416167138, + 0.16714592278003693, + 0.7600694716438628, + -0.05981414036696292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.767334256029884, + -0.030799677595496178, + -0.6405072349342805, + -0.12149812113705011 + ], + [ + -0.08299770558278564, + 0.9856736063957214, + -0.14682960823698166, + -0.2709755146736671 + ], + [ + 0.6358533579413977, + 0.16582801938056946, + 0.7537848129675568, + -0.05709105994297489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.761544266416, + -0.03289627283811569, + -0.6472774755160954, + -0.12564138494937682 + ], + [ + -0.08132971696057292, + 0.9859659671783447, + -0.14579651179216965, + -0.27053446686393123 + ], + [ + 0.6429897333621174, + 0.16367340087890625, + 0.7481812833482689, + -0.054829836095055595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.7550565572571958, + -0.0366971418261528, + -0.6546318997168966, + -0.12820022876920983 + ], + [ + -0.07900716809758945, + 0.9860647916793823, + -0.14640387017992848, + -0.26935134065700495 + ], + [ + 0.6508820985458971, + 0.16226382553577423, + 0.7416353324805476, + -0.05238759569210588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7487897481063007, + -0.043868228793144226, + -0.661354341519384, + -0.12998585907576002 + ], + [ + -0.07418566567457993, + 0.9859906435012817, + -0.14939515650880086, + -0.26766607367693634 + ], + [ + 0.6586429019794684, + 0.16092857718467712, + 0.7350452664220646, + -0.04943526137716542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7422370893076135, + -0.05065571516752243, + -0.6682201594712679, + -0.13095050059407407 + ], + [ + -0.06985970036631933, + 0.9858571887016296, + -0.1523326847336102, + -0.2667970831706343 + ], + [ + 0.6664861481765556, + 0.1597486138343811, + 0.7282009296007899, + -0.04581584897424004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7362380085213132, + -0.05605896562337877, + -0.6743968179035033, + -0.13101787744514165 + ], + [ + -0.06804316151052611, + 0.9853802323341372, + -0.15619196327736118, + -0.2654434265649306 + ], + [ + 0.6732932294492412, + 0.16088254749774936, + 0.7216599025864735, + -0.04291324222130696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7324395177684637, + -0.059918016195297255, + -0.6781903545868723, + -0.13046016575383867 + ], + [ + -0.06707567085601902, + 0.9849231839179995, + -0.15945893195939698, + -0.2649388007207391 + ], + [ + 0.6775198891912603, + 0.16228410601615909, + 0.7173775941619877, + -0.04065970449359896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7304141486433767, + -0.0610523521900177, + -0.6802704258828014, + -0.12833607935037283 + ], + [ + -0.06861315809381224, + 0.9843995571136475, + -0.16201782292686437, + -0.2650079982127766 + ], + [ + 0.6795494436468743, + 0.1650155931711197, + 0.7148303148247906, + -0.039244161669932026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7298656532222262, + -0.06054358184337616, + -0.6809042433066258, + -0.12777440254888922 + ], + [ + -0.06974360304539363, + 0.9842773675918579, + -0.16227705395694353, + -0.26652250923885573 + ], + [ + 0.6800235093823079, + 0.1659291684627533, + 0.7141677069292748, + -0.037586138810110165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.7294289127373027, + -0.059227518737316145, + -0.6814877369729683, + -0.1270546887747069 + ], + [ + -0.07238012390574955, + 0.983969569206238, + -0.16298785868885293, + -0.2674668333932667 + ], + [ + 0.6802165424128047, + 0.16821423172950747, + 0.7134489628706573, + -0.03662370070039467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.7291587266547783, + -0.056749869138002396, + -0.6819875706249022, + -0.12614892311270504 + ], + [ + -0.07750884403110367, + 0.9832949042320251, + -0.16469231285132502, + -0.26764463200381045 + ], + [ + 0.6799411783110313, + 0.17294691503047943, + 0.7125794314170658, + -0.03564569429239195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.7290903914139297, + -0.056106824427843094, + -0.6821137951340407, + -0.12527830414114963 + ], + [ + -0.07887242627248453, + 0.9831064343452454, + -0.16516910416152872, + -0.26987769002829193 + ], + [ + 0.6798575719077109, + 0.1742231696844101, + 0.7123482304831531, + -0.03514048618682861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.7277916953925426, + -0.05657963454723358, + -0.683460330266934, + -0.12396614674929657 + ], + [ + -0.0798097681852633, + 0.9828317761421204, + -0.16634929912290705, + -0.2712002353740778 + ], + [ + 0.6811385243725048, + 0.17561443150043488, + 0.7107811667794088, + -0.03404936519844254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.725737489560484, + -0.05668378621339798, + -0.6856326496654158, + -0.12267265802715249 + ], + [ + -0.08120902999317692, + 0.9825741052627563, + -0.1671922579716509, + -0.2729248775148644 + ], + [ + 0.683161969354595, + 0.17701725661754608, + 0.7084876034399649, + -0.032876139645779845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.7238312347820447, + -0.056137353181839, + -0.68768961885317, + -0.12200466161804252 + ], + [ + -0.08333146893975735, + 0.9822763204574587, + -0.16789599248738968, + -0.2751103614864364 + ], + [ + 0.6849264816239299, + 0.178834542632103, + 0.706324303436952, + -0.03196027184089409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.7220788620233075, + -0.05492477118968965, + -0.689626964253337, + -0.12131808746493158 + ], + [ + -0.08602830296333908, + 0.981977164745331, + -0.16828531830690613, + -0.27729683862130644 + ], + [ + 0.6864409855562889, + 0.18084271252155307, + 0.7043399176076424, + -0.031195818596030794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.7204571355264782, + -0.05348284542560579, + -0.6914341087781795, + -0.12051346258363194 + ], + [ + -0.08896808154700678, + 0.9816553592681887, + -0.1686341558762454, + -0.2787758188557346 + ], + [ + 0.6877690053302248, + 0.18300925195217135, + 0.70248231489733, + -0.03033562354040853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.7191136397393352, + -0.05125760659575462, + -0.6929994645929058, + -0.12009590940206549 + ], + [ + -0.09123679606369996, + 0.9816780090332031, + -0.1672845407822994, + -0.28005297051231076 + ], + [ + 0.6888769563447072, + 0.18352364003658295, + 0.7012614745184916, + -0.02949851398184758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.7179916151374538, + -0.04793888330459596, + -0.6943989473251265, + -0.11977805028211988 + ], + [ + -0.09410182283621103, + 0.9817811250686648, + -0.16507775043077735, + -0.28156266449340034 + ], + [ + 0.6896614106661402, + 0.18386864662170413, + 0.7003994742267202, + -0.0280980518758914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.7174503046533411, + -0.044780053198337555, + -0.6951689297649585, + -0.11850386604170032 + ], + [ + -0.0962628335679292, + 0.9819844365119934, + -0.1626038370013937, + -0.28289432424571964 + ], + [ + 0.689926508401264, + 0.18357910215854645, + 0.7002143833072028, + -0.026645283098531564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.7171761601646466, + -0.04188143461942673, + -0.695632338710447, + -0.11638921480594083 + ], + [ + -0.09743718434187532, + 0.9823614954948425, + -0.15959916320509523, + -0.283952794402174 + ], + [ + 0.6900466468916499, + 0.18224117159843445, + 0.7004454401296649, + -0.02586465747776373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/push_in/transforms.json b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f742fba45f77b7ceb53b65fbdbc147f3edbd90d7 --- /dev/null +++ b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/push_in/transforms.json @@ -0,0 +1,4703 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 134, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -0.00019550712022464722, + -0.00019303611770737916, + 0.00022781761072110385 + ], + [ + 0.00019553802849259228, + 0.9999999403953552, + 0.00016009202226996422, + -8.102464198600501e-05 + ], + [ + 0.00019300480198580772, + -0.0001601297699380666, + 0.9999999403953552, + 0.0002764065284281969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999991059303284, + 0.0005697432206943631, + -0.0011956848902627826, + -0.0007559136077026395 + ], + [ + -0.0005690808175131679, + 0.9999997019767761, + 0.0005542550352402031, + -2.0617581959187992e-05 + ], + [ + 0.0011960003757849336, + -0.0005535741220228374, + 0.9999991059303284, + 0.0009378741859875032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999967217445374, + 0.0014475014759227633, + -0.0020999463740736246, + -0.001785430174383958 + ], + [ + -0.001444673747755587, + 0.9999980330467224, + 0.0013474837178364396, + -0.0009643928252888801 + ], + [ + 0.002101892838254571, + -0.0013444455107674003, + 0.9999969005584717, + 0.0022957622817598453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999963045120239, + 0.0008357713813893497, + -0.0025771656073629856, + -0.0024060437718364303 + ], + [ + -0.0008345278329215944, + 0.9999995231628418, + 0.0004835718427784741, + 0.0008263510055367351 + ], + [ + 0.002577568404376507, + -0.00048141932347789407, + 0.999996542930603, + 0.003295355165531313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999906420707703, + 0.0009545357315801084, + -0.004214436747133732, + -0.0017967712368704097 + ], + [ + -0.0009540333994664252, + 0.9999995231628418, + 0.00012121418694732711, + 0.0014347021345222453 + ], + [ + 0.004214550368487835, + -0.0001171923431684263, + 0.9999911189079285, + 0.005571506488227979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999902844429016, + 0.0016591983148828149, + -0.0040837740525603294, + -0.0019290593060615816 + ], + [ + -0.0016533477464690804, + 0.999997615814209, + 0.0014356238534674048, + 0.0001923491023139524 + ], + [ + 0.004086146131157875, + -0.001428858027793467, + 0.9999906420707703, + 0.005723923094626656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999989926815033, + 0.0010074727470055223, + -0.004378812853246927, + -0.0016069454067435703 + ], + [ + -0.0010029951808974147, + 0.9999989867210388, + 0.0010246096644550562, + 0.0009068152574031032 + ], + [ + 0.004379841033369303, + -0.0010202073026448488, + 0.9999898672103882, + 0.006747740549490528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999879002571106, + 0.0009483072790317237, + -0.004832913633435965, + -0.001359753532482213 + ], + [ + -0.0009422097937203944, + 0.9999987483024597, + 0.0012637791223824024, + 0.0004826147847588321 + ], + [ + 0.004834105726331472, + -0.0012592102866619825, + 0.9999875426292419, + 0.008260008513829426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999862909317017, + 0.00047503673704341054, + -0.005213440861552954, + -0.000696377203138055 + ], + [ + -0.00046765391016379, + 0.9999988675117493, + 0.0014172408264130354, + 0.0003496413822005734 + ], + [ + 0.005214108619838953, + -0.0014147832989692688, + 0.99998539686203, + 0.009275232089501352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999834895133972, + -0.0009772215271368623, + -0.00566018046811223, + 0.0002824182222121136 + ], + [ + 0.0009828869951888919, + 0.9999990463256836, + 0.0009982376359403133, + 0.0011821986333628123 + ], + [ + 0.00565919978544116, + -0.0010037845931947231, + 0.9999834895133972, + 0.010153287000379953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999799728393555, + -0.0024443536531180143, + -0.0058343056589365005, + 0.0011688366863190343 + ], + [ + 0.0024489269126206636, + 0.9999967217445374, + 0.0007768126670271158, + 0.0018212768718376196 + ], + [ + 0.005832387134432793, + -0.0007910849526524544, + 0.9999826550483704, + 0.01071706229533748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999722838401794, + -0.0041746641509234905, + -0.006169183179736137, + 0.0019161530098128587 + ], + [ + 0.0041791112162172794, + 0.9999909996986389, + 0.0007081507355906069, + 0.0024513812113773864 + ], + [ + 0.006166171282529831, + -0.0007339127478189766, + 0.9999807476997375, + 0.011666378476902058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999617338180542, + -0.005312145221978426, + -0.006949519272893667, + 0.0030525070884706157 + ], + [ + 0.005314807873219252, + 0.9999858140945435, + 0.00036467864993028343, + 0.002969484048794003 + ], + [ + 0.006947483401745558, + -0.00040160006028600037, + 0.9999758005142212, + 0.012536484714863556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999518990516663, + -0.006246226839721203, + -0.007559148129075766, + 0.003830161011826835 + ], + [ + 0.006248942576348782, + 0.9999803900718689, + 0.00033566178171895444, + 0.0029718152662044166 + ], + [ + 0.007556903641670942, + -0.0003828823391813785, + 0.9999713897705078, + 0.013892261837994246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999546408653259, + -0.005794829688966274, + -0.007560286670923233, + 0.00463179360683027 + ], + [ + 0.005798511207103729, + 0.9999830722808838, + 0.0004651761264540255, + 0.00274888838114413 + ], + [ + 0.007557462900876999, + -0.0005089933983981609, + 0.999971330165863, + 0.015244232931811558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999573826789856, + -0.005544837098568678, + -0.007384273689240217, + 0.004960202522701899 + ], + [ + 0.0055545237846672535, + 0.9999837279319763, + 0.0012919801520183682, + 0.002255825756058181 + ], + [ + 0.0073769898153841496, + -0.001332941115833819, + 0.9999719262123108, + 0.017100781412389045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999563097953796, + -0.005092991050332785, + -0.007836870849132538, + 0.005569154035328026 + ], + [ + 0.0051034786738455296, + 0.9999861121177673, + 0.0013188262237235904, + 0.002994891987497309 + ], + [ + 0.007830046117305756, + -0.0013587638968601823, + 0.999968409538269, + 0.01974892599046006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999551177024841, + -0.004231502301990986, + -0.00847935676574707, + 0.006313929708912633 + ], + [ + 0.004245338030159473, + 0.9999896883964539, + 0.001614309730939567, + 0.002194591681910609 + ], + [ + 0.008472438901662827, + -0.0016502350335940719, + 0.9999627470970154, + 0.021981628869373097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999567270278931, + -0.004520643036812544, + -0.008128635585308075, + 0.006082782460222567 + ], + [ + 0.004533473867923021, + 0.9999884963035583, + 0.0015607819659635425, + 0.0023817895356691757 + ], + [ + 0.008121486753225327, + -0.0015975654823705554, + 0.9999657273292542, + 0.023569747050733943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999541640281677, + -0.003187118796631694, + -0.009030781686306, + 0.007464095311505454 + ], + [ + 0.0031986089888960123, + 0.9999940991401672, + 0.0012581784976646304, + 0.0016558587434701622 + ], + [ + 0.009026719257235527, + -0.001287006656639278, + 0.9999584555625916, + 0.02602500622825963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999616146087646, + -0.003408291609957814, + -0.008070661686360836, + 0.008377212204767349 + ], + [ + 0.0034173636231571436, + 0.9999935626983643, + 0.0011105391895398498, + 0.0017382711534479395 + ], + [ + 0.00806682463735342, + -0.0011380770010873675, + 0.9999668002128601, + 0.02685137329048904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999701380729675, + -0.004348649177700281, + -0.0063917869701981544, + 0.009293875475659182 + ], + [ + 0.004358585458248854, + 0.9999893307685852, + 0.0015414654044434428, + 0.0015677524258774754 + ], + [ + 0.006385015323758125, + -0.0015692784218117595, + 0.9999783635139465, + 0.02678881907149365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999654293060303, + -0.00546421529725194, + -0.0062642949633300304, + 0.01072616778468167 + ], + [ + 0.005473083350807428, + 0.9999840259552002, + 0.0013993668835610151, + 0.0018633957768447306 + ], + [ + 0.006256548222154379, + -0.0014336034655570984, + 0.9999793767929077, + 0.027394178939661135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999967634677887, + -0.006329468451440334, + -0.0049653733149170876, + 0.011314965436529172 + ], + [ + 0.006334203295409679, + 0.9999794960021973, + 0.0009384143049828708, + 0.002089681490928397 + ], + [ + 0.004959331825375557, + -0.0009698356152512133, + 0.9999872446060181, + 0.026885223374667023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999672174453735, + -0.006758757401257753, + -0.004457461182028055, + 0.012828325999802664 + ], + [ + 0.006759663578122854, + 0.9999771118164062, + 0.00018833497597370297, + 0.002702952492404449 + ], + [ + 0.004456086549907923, + -0.00021845973969902843, + 0.9999900460243225, + 0.02736395545920035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999965250492096, + -0.007188562303781509, + -0.0042161778546869755, + 0.014381012310364977 + ], + [ + 0.007190368138253689, + 0.9999740719795227, + 0.0004133750044275075, + 0.002576567648049563 + ], + [ + 0.0042130970396101475, + -0.00044367651571519673, + 0.9999909996986389, + 0.02839959537456358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999532699584961, + -0.008707553148269653, + -0.004202332813292742, + 0.01579537538643506 + ], + [ + 0.008709672838449478, + 0.9999619722366333, + 0.0004865531518589705, + 0.0035018596943044208 + ], + [ + 0.004197936039417982, + -0.0005231313407421112, + 0.9999910593032837, + 0.02967012580764249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999426007270813, + -0.009937196038663387, + -0.0040034581907093525, + 0.016931877987235226 + ], + [ + 0.009945291094481945, + 0.9999485015869141, + 0.0020071750041097403, + 0.002799964213526731 + ], + [ + 0.003983306232839823, + -0.002046875422820449, + 0.9999899864196777, + 0.030988575032162936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999224543571472, + -0.011865630745887756, + -0.0037844942416995764, + 0.017868888716360457 + ], + [ + 0.01187749020755291, + 0.9999246001243591, + 0.003126880619674921, + 0.003426197144251905 + ], + [ + 0.003747106296941638, + -0.0031715882942080498, + 0.9999879598617554, + 0.032093489415159354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999040365219116, + -0.012983828783035278, + -0.004833228886127472, + 0.01916732307159363 + ], + [ + 0.013004258275032043, + 0.9999065399169922, + 0.004219676833599806, + 0.0037167638802858894 + ], + [ + 0.004777989350259304, + -0.0042821248061954975, + 0.9999794363975525, + 0.03363482865287845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999904215335846, + -0.012949010357260704, + -0.004886852111667395, + 0.02029839131098829 + ], + [ + 0.012978160753846169, + 0.9998978972434998, + 0.00598126370459795, + 0.004067026222250739 + ], + [ + 0.004808901343494654, + -0.006044113077223301, + 0.9999701976776123, + 0.03387974536648594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999090433120728, + -0.012527868151664734, + -0.004993001464754343, + 0.021120956006873037 + ], + [ + 0.012563666328787804, + 0.9998950958251953, + 0.007204100955277681, + 0.005121089055560025 + ], + [ + 0.004902225453406572, + -0.007266176398843527, + 0.9999615550041199, + 0.03487348454563241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999164342880249, + -0.011896323412656784, + -0.005061554256826639, + 0.021748075107658717 + ], + [ + 0.011939546093344688, + 0.9998917579650879, + 0.00859647337347269, + 0.005889394919955193 + ], + [ + 0.004958739969879389, + -0.008656187914311886, + 0.9999502301216125, + 0.03594026619190337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999217391014099, + -0.011366607621312141, + -0.00522675970569253, + 0.02202619068373583 + ], + [ + 0.011418456211686134, + 0.9998847842216492, + 0.00999940000474453, + 0.0063921158755184115 + ], + [ + 0.0051124985329806805, + -0.010058298707008362, + 0.9999363422393799, + 0.03759035605769184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999288320541382, + -0.01057520043104887, + -0.005522236227989197, + 0.022498002202999322 + ], + [ + 0.010635198093950748, + 0.9998834729194641, + 0.010950692929327488, + 0.006849729454606996 + ], + [ + 0.005405787378549576, + -0.011008643545210361, + 0.9999247789382935, + 0.03893233683324398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999315142631531, + -0.010144415311515331, + -0.005834328942000866, + 0.022858291006598034 + ], + [ + 0.010212077759206295, + 0.9998795390129089, + 0.01168686430901289, + 0.007364693367363591 + ], + [ + 0.00571507029235363, + -0.011745643801987171, + 0.9999147057533264, + 0.0401182264873856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999286532402039, + -0.0101983193308115, + -0.006218298338353634, + 0.02318605903003897 + ], + [ + 0.010272618383169174, + 0.9998747706413269, + 0.012035973370075226, + 0.008021981716576152 + ], + [ + 0.0060947732999920845, + -0.012098992243409157, + 0.9999082088470459, + 0.041269082277733134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999285340309143, + -0.010145951993763447, + -0.006325222086161375, + 0.023604574806890204 + ], + [ + 0.010224546305835247, + 0.9998693466186523, + 0.012519472278654575, + 0.008402415850248776 + ], + [ + 0.006197373848408461, + -0.012583249248564243, + 0.9999015927314758, + 0.041971389785464996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999284148216248, + -0.009979579597711563, + -0.006602726876735687, + 0.023839774834258216 + ], + [ + 0.010064005851745605, + 0.9998664259910583, + 0.012879308313131332, + 0.008809435899768557 + ], + [ + 0.0064733149483799934, + -0.012944836169481277, + 0.9998952746391296, + 0.04314046169498137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999336004257202, + -0.009473615325987339, + -0.006564789917320013, + 0.023975658454211023 + ], + [ + 0.009561163373291492, + 0.9998640418052673, + 0.013435469008982182, + 0.008764572108962707 + ], + [ + 0.006436614785343409, + -0.013497344218194485, + 0.9998881816864014, + 0.044026586073065616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999937891960144, + -0.009076249785721302, + -0.0064721014350652695, + 0.023909226536078562 + ], + [ + 0.009164846502244473, + 0.9998628497123718, + 0.013793256133794785, + 0.008675488125168739 + ], + [ + 0.0063460227102041245, + -0.013851715251803398, + 0.9998839497566223, + 0.044781475867095744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999397397041321, + -0.00889805518090725, + -0.006427685264497995, + 0.023542292055820948 + ], + [ + 0.00898708961904049, + 0.9998621940612793, + 0.013958252035081387, + 0.009100497230411248 + ], + [ + 0.006302598398178816, + -0.014015178196132183, + 0.9998819231987, + 0.04519154828854073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999403357505798, + -0.008292417973279953, + -0.0071133701130747795, + 0.02287388633152372 + ], + [ + 0.008392540737986565, + 0.9998644590377808, + 0.014162884093821049, + 0.009087476810734523 + ], + [ + 0.006994961760938168, + -0.0142217380926013, + 0.9998744130134583, + 0.04644704534623184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999370574951172, + -0.008099797181785107, + -0.0077624074183404446, + 0.021869359842914722 + ], + [ + 0.008211932145059109, + 0.9998607635498047, + 0.014524525962769985, + 0.008941152464262301 + ], + [ + 0.007643681485205889, + -0.014587356708943844, + 0.999864399433136, + 0.047591892870745264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999359846115112, + -0.007807694375514984, + -0.00818668119609356, + 0.021438708873395634 + ], + [ + 0.007928242906928062, + 0.999859094619751, + 0.01479736901819706, + 0.009051916536812048 + ], + [ + 0.008069993928074837, + -0.014861328527331352, + 0.9998570084571838, + 0.04792758684633369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999330639839172, + -0.007301025558263063, + -0.008974216878414154, + 0.020884396690399126 + ], + [ + 0.007434616331011057, + 0.9998607039451599, + 0.014943906106054783, + 0.009133204156042714 + ], + [ + 0.008863860741257668, + -0.015009625814855099, + 0.9998480677604675, + 0.049213646862067674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999266266822815, + -0.007276685908436775, + -0.009683288633823395, + 0.020417882443258636 + ], + [ + 0.007425765506923199, + 0.9998530745506287, + 0.015449726954102516, + 0.0090457708665863 + ], + [ + 0.009569443762302399, + -0.015520500019192696, + 0.9998337626457214, + 0.0505446658658802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999176859855652, + -0.006997761782258749, + -0.010752118192613125, + 0.02022799181968982 + ], + [ + 0.007166957948356867, + 0.999849796295166, + 0.015778928995132446, + 0.008920463531705222 + ], + [ + 0.01064008567482233, + -0.015854690223932266, + 0.9998176693916321, + 0.05191488521719786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.999909520149231, + -0.006773448549211025, + -0.011623382568359375, + 0.02038110746700961 + ], + [ + 0.006955853663384914, + 0.999852180480957, + 0.01572495698928833, + 0.008944003844171539 + ], + [ + 0.011515151709318161, + -0.015804383903741837, + 0.9998087882995605, + 0.05313338234012289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999064207077026, + -0.006481840740889311, + -0.012045623734593391, + 0.02055655816864026 + ], + [ + 0.006672994699329138, + 0.9998513460159302, + 0.015897279605269432, + 0.008707803713255807 + ], + [ + 0.011940790340304375, + -0.01597617380321026, + 0.9998010993003845, + 0.054811394783227066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999068379402161, + -0.00626297015696764, + -0.012129927054047585, + 0.020656578732948554 + ], + [ + 0.006465135142207146, + 0.9998396635055542, + 0.016699764877557755, + 0.008126968626437107 + ], + [ + 0.01202339120209217, + -0.01677662879228592, + 0.9997869729995728, + 0.05640881404952895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999025464057922, + -0.0063356803730130196, + -0.012441178783774376, + 0.020986019070715383 + ], + [ + 0.006545994430780411, + 0.9998351335525513, + 0.01693737879395485, + 0.007938406112974972 + ], + [ + 0.012331817299127579, + -0.017017167061567307, + 0.9997791647911072, + 0.05745644689838689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9998939633369446, + -0.006824738346040249, + -0.012864059768617153, + 0.021104752465634417 + ], + [ + 0.007046964019536972, + 0.9998253583908081, + 0.017309492453932762, + 0.00772680694559463 + ], + [ + 0.012743680737912655, + -0.01739831082522869, + 0.9997674226760864, + 0.0582896355007376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998802542686462, + -0.0077834161929786205, + -0.01337564829736948, + 0.021267889047223598 + ], + [ + 0.008015161380171776, + 0.9998171925544739, + 0.01736055500805378, + 0.007918017021471397 + ], + [ + 0.01323807891458273, + -0.017465682700276375, + 0.9997597932815552, + 0.05871628784483537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998651146888733, + -0.008587424643337727, + -0.013999021612107754, + 0.021374018113583998 + ], + [ + 0.008832565508782864, + 0.9998070597648621, + 0.017544519156217575, + 0.007876692021867835 + ], + [ + 0.013845658861100674, + -0.0176657997071743, + 0.9997480511665344, + 0.05908362833797036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998359680175781, + -0.009417357854545116, + -0.015469908714294434, + 0.02183843203785276 + ], + [ + 0.00969137717038393, + 0.9997957348823547, + 0.01773461513221264, + 0.008087045127960076 + ], + [ + 0.015299735590815544, + -0.01788162998855114, + 0.9997230172157288, + 0.05928588710389191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.999812126159668, + -0.010035504586994648, + -0.016584495082497597, + 0.020922895481711938 + ], + [ + 0.010340188629925251, + 0.9997774362564087, + 0.018389202654361725, + 0.007335560582578182 + ], + [ + 0.016396259889006615, + -0.018557235598564148, + 0.9996933341026306, + 0.059950844982736985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997938275337219, + -0.010274035856127739, + -0.017514865845441818, + 0.019892461172172003 + ], + [ + 0.010603409260511398, + 0.9997667074203491, + 0.01881742663681507, + 0.006867732440254518 + ], + [ + 0.017317447811365128, + -0.018999265506863594, + 0.9996694922447205, + 0.0602126806974411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.999776303768158, + -0.010111220180988312, + -0.018577763810753822, + 0.019034519178190625 + ], + [ + 0.010455142706632614, + 0.9997740387916565, + 0.01850968785583973, + 0.006446548284528623 + ], + [ + 0.018386410549283028, + -0.018699781969189644, + 0.999656081199646, + 0.06003519658251365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997695088386536, + -0.009356911294162273, + -0.0193244107067585, + 0.01788739734574368 + ], + [ + 0.00970954168587923, + 0.9997865557670593, + 0.018235400319099426, + 0.005777605748350235 + ], + [ + 0.01914966106414795, + -0.018418826162815094, + 0.9996469616889954, + 0.060445891810875195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997720122337341, + -0.008611384779214859, + -0.019539114087820053, + 0.01652753116436919 + ], + [ + 0.008952302858233452, + 0.9998080134391785, + 0.017428159713745117, + 0.005352141808270288 + ], + [ + 0.019385281950235367, + -0.017599105834960938, + 0.999657154083252, + 0.060464918151273764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997593760490417, + -0.006942238658666611, + -0.02080780453979969, + 0.015120690779522397 + ], + [ + 0.007297759875655174, + 0.9998278617858887, + 0.017059026286005974, + 0.003784760878302325 + ], + [ + 0.020685793831944466, + -0.017206771299242973, + 0.9996379613876343, + 0.060904640906063234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997314810752869, + -0.005980873014777899, + -0.0223865807056427, + 0.013488130807820568 + ], + [ + 0.006357393693178892, + 0.9998388886451721, + 0.01678582653403282, + 0.00219750853335919 + ], + [ + 0.02228258177638054, + -0.01692363992333412, + 0.9996084570884705, + 0.06130063515296556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996927380561829, + -0.005250043701380491, + -0.024225734174251556, + 0.01147556669617954 + ], + [ + 0.0056496658362448215, + 0.9998486042022705, + 0.016456907615065575, + 0.0002270925446952644 + ], + [ + 0.024135667830705643, + -0.016588719561696053, + 0.9995710253715515, + 0.0621252987043638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996464252471924, + -0.006082386709749699, + -0.025886058807373047, + 0.010369299850741724 + ], + [ + 0.0064832959324121475, + 0.9998599290847778, + 0.015431796200573444, + -0.0004544674184285384 + ], + [ + 0.025788571685552597, + -0.015594166703522205, + 0.9995457530021667, + 0.06110037128700126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9995866417884827, + -0.006490685511380434, + -0.028008442372083664, + 0.009186145905545331 + ], + [ + 0.006877530831843615, + 0.9998819828033447, + 0.013737576082348824, + -0.0016899181309303173 + ], + [ + 0.027915969491004944, + -0.013924526050686836, + 0.9995132684707642, + 0.06193789039367347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9995402097702026, + -0.007751576602458954, + -0.029313070699572563, + 0.007608640084701373 + ], + [ + 0.008127707988023758, + 0.9998858571052551, + 0.012734218500554562, + -0.0040819404408671805 + ], + [ + 0.0292110163718462, + -0.012966611422598362, + 0.9994891881942749, + 0.06147640762444501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9994246959686279, + -0.010358584113419056, + -0.03229536861181259, + 0.00491221870848895 + ], + [ + 0.010760103352367878, + 0.9998666644096375, + 0.012283801101148129, + -0.006846082342886611 + ], + [ + 0.032163821160793304, + -0.012624234892427921, + 0.9994028806686401, + 0.06175566828368525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9992645978927612, + -0.010948557406663895, + -0.036747127771377563, + 0.0020975352313957717 + ], + [ + 0.011286590248346329, + 0.9998957514762878, + 0.009004085324704647, + -0.009787146951583095 + ], + [ + 0.03664471209049225, + -0.00941221322864294, + 0.999284029006958, + 0.061202865827800636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9991561770439148, + -0.010442398488521576, + -0.03972209244966507, + -0.0018619867258563402 + ], + [ + 0.01071244478225708, + 0.9999209046363831, + 0.006591645069420338, + -0.015058300230315978 + ], + [ + 0.039650119841098785, + -0.0070116035640239716, + 0.999189019203186, + 0.06060155843125475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9990233778953552, + -0.01023685373365879, + -0.04298217222094536, + -0.006117998426289935 + ], + [ + 0.010433508083224297, + 0.9999361038208008, + 0.004353398457169533, + -0.019744053090873518 + ], + [ + 0.04293486103415489, + -0.004797602072358131, + 0.9990663528442383, + 0.059100153978521884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.998961329460144, + -0.008669514209032059, + -0.04473366215825081, + -0.011828106690786386 + ], + [ + 0.008742734789848328, + 0.999960720539093, + 0.001441438216716051, + -0.02453544986070155 + ], + [ + 0.04471940919756889, + -0.0018310355953872204, + 0.9989979267120361, + 0.05676911223252632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9988241791725159, + -0.0077826958149671555, + -0.04785062372684479, + -0.01737950485395758 + ], + [ + 0.007686596363782883, + 0.9999680519104004, + -0.0021919971331954002, + -0.02917876005508846 + ], + [ + 0.047866158187389374, + 0.0018216114258393645, + 0.9988520741462708, + 0.05606953475582308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9987280368804932, + -0.006601332686841488, + -0.04998694360256195, + -0.024126460408805905 + ], + [ + 0.0063983239233493805, + 0.9999706149101257, + -0.00422016391530633, + -0.036772875209458 + ], + [ + 0.050013333559036255, + 0.0038949635345488787, + 0.9987409710884094, + 0.05376710789260644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.998509407043457, + -0.009723091498017311, + -0.05370666831731796, + -0.030314800507368 + ], + [ + 0.009176595136523247, + 0.999903678894043, + -0.010412834584712982, + -0.0384407936014179 + ], + [ + 0.053802743554115295, + 0.009904468432068825, + 0.9985024333000183, + 0.0502535534357386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9980436563491821, + -0.0035933067556470633, + -0.06241709366440773, + -0.04282629723779689 + ], + [ + 0.0037300835829228163, + 0.9999908804893494, + 0.0020749534014612436, + -0.06760220501407337 + ], + [ + 0.06240906938910484, + -0.0023037150967866182, + 0.9980480074882507, + 0.06320409718690846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9978737831115723, + -0.007171453442424536, + -0.06477995216846466, + -0.0513156564107963 + ], + [ + 0.007019499782472849, + 0.9999720454216003, + -0.0025729902554303408, + -0.07338309858792595 + ], + [ + 0.06479659676551819, + 0.002112796762958169, + 0.9978962540626526, + 0.056430931598879394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9975897669792175, + -0.01155201718211174, + -0.06841904670000076, + -0.05818677101480334 + ], + [ + 0.010873645544052124, + 0.9998880624771118, + -0.010279089212417603, + -0.07753281789390665 + ], + [ + 0.0685301348567009, + 0.009510349482297897, + 0.997603714466095, + 0.04831598293232291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.997158408164978, + -0.014813873916864395, + -0.07386261224746704, + -0.06381663546190226 + ], + [ + 0.013192001730203629, + 0.9996621012687683, + -0.022397710010409355, + -0.07756348464329887 + ], + [ + 0.07416945695877075, + 0.021359669044613838, + 0.9970169067382812, + 0.041217593179273426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9969739317893982, + -0.014468475244939327, + -0.07637818902730942, + -0.07088427409753764 + ], + [ + 0.012338471598923206, + 0.9995236992835999, + -0.02828621119260788, + -0.08363136682183223 + ], + [ + 0.07675107568502426, + 0.02725822478532791, + 0.9966776371002197, + 0.03498067322810341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.996605396270752, + -0.012339566834270954, + -0.08139680325984955, + -0.07735465825500346 + ], + [ + 0.009842856787145138, + 0.9994708299636841, + -0.031003586947917938, + -0.09170267439650413 + ], + [ + 0.08173629641532898, + 0.03009716421365738, + 0.9961994290351868, + 0.03251802250462815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9963281154632568, + -0.009368699043989182, + -0.08510265499353409, + -0.08412963838169449 + ], + [ + 0.006497159134596586, + 0.9994021654129028, + -0.03395659849047661, + -0.0973809938877821 + ], + [ + 0.08536990731954575, + 0.03327899053692818, + 0.9957934021949768, + 0.029641307655133703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9960270524024963, + -0.003672161139547825, + -0.08897574245929718, + -0.09102574889373062 + ], + [ + 0.0003782600397244096, + 0.9993148446083069, + -0.03700883314013481, + -0.10177206977977789 + ], + [ + 0.08905068039894104, + 0.036828141659498215, + 0.9953460097312927, + 0.029498154927689327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9960377216339111, + 0.0007007308304309845, + -0.08892872184515, + -0.09737952352130323 + ], + [ + -0.0041343229822814465, + 0.9992526769638062, + -0.0384322889149189, + -0.10603511783581479 + ], + [ + 0.08883533626794815, + 0.038647670298814774, + 0.9952962398529053, + 0.02814100598706338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9960851669311523, + 0.004242745228111744, + -0.08829683810472488, + -0.10206244344774046 + ], + [ + -0.007690407335758209, + 0.9992195963859558, + -0.0387427993118763, + -0.1101385741641647 + ], + [ + 0.0880635604262352, + 0.03927016630768776, + 0.9953404664993286, + 0.028196913709765986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9960935115814209, + 0.003731392789632082, + -0.0882258489727974, + -0.10688834539369534 + ], + [ + -0.007158754859119654, + 0.9992305040359497, + -0.03856315836310387, + -0.1133770496633492 + ], + [ + 0.08801407366991043, + 0.0390441007912159, + 0.9953537583351135, + 0.02679640855780223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9958352446556091, + 0.00355648179538548, + -0.09110182523727417, + -0.11099864604105626 + ], + [ + -0.0071575092151761055, + 0.9992045164108276, + -0.03923134133219719, + -0.1169986175247153 + ], + [ + 0.0908898264169693, + 0.039720017462968826, + 0.9950685501098633, + 0.025957424445708005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9955253601074219, + 0.001749745337292552, + -0.09447864443063736, + -0.11564823975576494 + ], + [ + -0.0057290950790047646, + 0.9991068840026855, + -0.04186424985527992, + -0.12077672561924709 + ], + [ + 0.09432100504636765, + 0.042218197137117386, + 0.9946462512016296, + 0.025859209295726354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9952478408813477, + -0.0013014385476708412, + -0.09736576676368713, + -0.11989542581981286 + ], + [ + -0.002965718973428011, + 0.9990416765213013, + -0.04366850107908249, + -0.1262541729592739 + ], + [ + 0.0973292887210846, + 0.043749742209911346, + 0.9942901730537415, + 0.02585774250608637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9947736263275146, + -0.004259513691067696, + -0.10201621800661087, + -0.12178742395419824 + ], + [ + -0.0006870090728625655, + 0.9988276362419128, + -0.04840347170829773, + -0.1309247848010601 + ], + [ + 0.10210279375314713, + 0.04822058230638504, + 0.9936044216156006, + 0.024110542663506096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9937491416931152, + -0.008240500465035439, + -0.11133172363042831, + -0.12515740499908762 + ], + [ + 0.002348297508433461, + 0.9985942840576172, + -0.05295254662632942, + -0.13848419747966573 + ], + [ + 0.11161158233880997, + 0.05236010625958443, + 0.9923715591430664, + 0.022370361351877227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9923116564750671, + -0.012638184241950512, + -0.12311723828315735, + -0.1305320693474067 + ], + [ + 0.005235173739492893, + 0.9981684684753418, + -0.060268692672252655, + -0.14222221511759256 + ], + [ + 0.12365342676639557, + 0.059160783886909485, + 0.9905603528022766, + 0.012147429938379084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9902482628822327, + -0.012334069237112999, + -0.1387668401002884, + -0.14092735789324107 + ], + [ + 0.0032652816735208035, + 0.9978543519973755, + -0.06539146602153778, + -0.14969032749645692 + ], + [ + 0.13927562534809113, + 0.06430067121982574, + 0.9881638288497925, + 0.0035639556951092555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9864107966423035, + -0.01634417101740837, + -0.16348285973072052, + -0.15964376228420357 + ], + [ + 0.005557125434279442, + 0.9977893233299255, + -0.06622364372015, + -0.16450551740993236 + ], + [ + 0.16420383751392365, + 0.06441522389650345, + 0.9843209981918335, + -0.004402737117799593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9785045385360718, + -0.01682628132402897, + -0.20553763210773468, + -0.168156171853381 + ], + [ + 0.0003517400473356247, + 0.9968005418777466, + -0.07992827892303467, + -0.16921464240640627 + ], + [ + 0.2062249332666397, + 0.07813788950443268, + 0.9753798246383667, + -0.008433666802886736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9729257822036743, + -0.03532208874821663, + -0.2284025400876999, + -0.19809449251208985 + ], + [ + 0.020015520974993706, + 0.997416615486145, + -0.06898882985115051, + -0.1878902507679803 + ], + [ + 0.2302493304014206, + 0.0625494122505188, + 0.9711193442344666, + -0.030054544763905663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9643107652664185, + -0.032589301466941833, + -0.2627597451210022, + -0.21922717336425207 + ], + [ + 0.012742266990244389, + 0.9969584345817566, + -0.07688648998737335, + -0.21339124687632224 + ], + [ + 0.26446622610092163, + 0.07079431414604187, + 0.9617930054664612, + -0.030610779219103934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9526016712188721, + -0.03417128697037697, + -0.30229517817497253, + -0.22790724478269878 + ], + [ + 0.003698427230119705, + 0.9948989748954773, + -0.10080826282501221, + -0.21497278740083364 + ], + [ + 0.30419793725013733, + 0.0949120968580246, + 0.947868824005127, + -0.030304040955869777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9417403340339661, + -0.04824119061231613, + -0.3328632414340973, + -0.23725213628066213 + ], + [ + 0.006312299519777298, + 0.9920212030410767, + -0.12591280043125153, + -0.21811478781072716 + ], + [ + 0.33628156781196594, + 0.11647602915763855, + 0.9345309138298035, + -0.0475590533331821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9356018304824829, + -0.052838221192359924, + -0.3490807116031647, + -0.24955860329301732 + ], + [ + 0.0024871323257684708, + 0.9896994829177856, + -0.1431388258934021, + -0.2271937198656842 + ], + [ + 0.353048175573349, + 0.1330527365207672, + 0.9260960817337036, + -0.05879220922190445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9316322207450867, + -0.0551597997546196, + -0.3591918647289276, + -0.25465522493634907 + ], + [ + -0.002633657306432724, + 0.9873624444007874, + -0.15845660865306854, + -0.232970864589053 + ], + [ + 0.36339297890663147, + 0.1485692709684372, + 0.9197133779525757, + -0.0659878898159902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9291946291923523, + -0.05422563478350639, + -0.3655911982059479, + -0.2596383602323389 + ], + [ + -0.008118171244859695, + 0.9859451651573181, + -0.1668718159198761, + -0.23885056867187185 + ], + [ + 0.36950162053108215, + 0.15802434086799622, + 0.9156947731971741, + -0.075794076605847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9278186559677124, + -0.0520748496055603, + -0.3693788945674896, + -0.26451057863414734 + ], + [ + -0.012312449514865875, + 0.9853935241699219, + -0.16984713077545166, + -0.24394330904447942 + ], + [ + 0.37282833456993103, + 0.1621353030204773, + 0.9136252999305725, + -0.08291750236561424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9272961616516113, + -0.05293095111846924, + -0.370567262172699, + -0.2710452619127761 + ], + [ + -0.009691460058093071, + 0.9862255454063416, + -0.16512176394462585, + -0.24945724023912186 + ], + [ + 0.3742029666900635, + 0.15670812129974365, + 0.914010226726532, + -0.08907506391966254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9253216981887817, + -0.05000840872526169, + -0.37587085366249084, + -0.2767441095042049 + ], + [ + -0.014005957171320915, + 0.9860809445381165, + -0.16567489504814148, + -0.2531465337464684 + ], + [ + 0.3789242208003998, + 0.15856701135635376, + 0.9117417335510254, + -0.0933000680871476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9221211671829224, + -0.04714431241154671, + -0.3840181231498718, + -0.2819456489462602 + ], + [ + -0.019014883786439896, + 0.9858267903327942, + -0.16668523848056793, + -0.2558749431842252 + ], + [ + 0.38643360137939453, + 0.16100604832172394, + 0.9081553220748901, + -0.0972200804635098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9170123338699341, + -0.045384008437395096, + -0.39626845717430115, + -0.2885502598787609 + ], + [ + -0.023695167154073715, + 0.9855520725250244, + -0.1677071899175644, + -0.25822349289306123 + ], + [ + 0.3981544077396393, + 0.1631792038679123, + 0.9026880264282227, + -0.10088230100341308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9108887910842896, + -0.04421266168355942, + -0.4102765917778015, + -0.29686785743648847 + ], + [ + -0.02824402041733265, + 0.9852321147918701, + -0.1688784956932068, + -0.2606006005652865 + ], + [ + 0.41168421506881714, + 0.1654173731803894, + 0.8961881399154663, + -0.10388758413325576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.904367208480835, + -0.04261692613363266, + -0.4246218800544739, + -0.3054649551560108 + ], + [ + -0.03325220197439194, + 0.9849390983581543, + -0.16967397928237915, + -0.26263888834562515 + ], + [ + 0.4254576563835144, + 0.1675671935081482, + 0.8893295526504517, + -0.10717197582685857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8997461795806885, + -0.039729706943035126, + -0.43460148572921753, + -0.315340078504462 + ], + [ + -0.03829441964626312, + 0.9848188161849976, + -0.16930873692035675, + -0.26534773435135534 + ], + [ + 0.43473029136657715, + 0.16897769272327423, + 0.884565532207489, + -0.10824423398738517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8986935019493103, + -0.036830708384513855, + -0.43702802062034607, + -0.3230731130990767 + ], + [ + -0.04144220054149628, + 0.9848776459693909, + -0.16822166740894318, + -0.2674598446241895 + ], + [ + 0.43661484122276306, + 0.16929112374782562, + 0.8835768103599548, + -0.1082731800195866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8971197605133057, + -0.03406068682670593, + -0.4404725134372711, + -0.32874469526280137 + ], + [ + -0.044150032103061676, + 0.9851203560829163, + -0.16609832644462585, + -0.2683954535794437 + ], + [ + 0.4395758807659149, + 0.16845697164535522, + 0.8822671175003052, + -0.10860872454661176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8935099244117737, + -0.03158785402774811, + -0.44793108105659485, + -0.3356374906866174 + ], + [ + -0.0471041277050972, + 0.9854260087013245, + -0.163452610373497, + -0.26913501745776125 + ], + [ + 0.44656607508659363, + 0.16714592278003693, + 0.8790000081062317, + -0.1083455115556717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8897270560264587, + -0.030799677595496178, + -0.45545268058776855, + -0.3426590034836217 + ], + [ + -0.04856215417385101, + 0.9856736063957214, + -0.16152173280715942, + -0.26934393344068885 + ], + [ + 0.4539024829864502, + 0.16582801938056946, + 0.8754847645759583, + -0.10786591129643576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8864835500717163, + -0.03289627283811569, + -0.46158933639526367, + -0.3483866572380066 + ], + [ + -0.046847835183143616, + 0.9859659671783447, + -0.16023865342140198, + -0.26919625571795874 + ], + [ + 0.4603826403617859, + 0.16367340087890625, + 0.8725014925003052, + -0.10766019054821559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8827188611030579, + -0.0366971418261528, + -0.4684663712978363, + -0.3524489191017653 + ], + [ + -0.044132716953754425, + 0.9860647916793823, + -0.1604011505842209, + -0.2686182724914156 + ], + [ + 0.4678244888782501, + 0.16226382553577423, + 0.8687984347343445, + -0.10755787969083715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8790568113327026, + -0.043868228793144226, + -0.4746944010257721, + -0.3557159850471898 + ], + [ + -0.038443438708782196, + 0.9859906435012817, + -0.16230997443199158, + -0.268320666981819 + ], + [ + 0.4751645028591156, + 0.16092857718467712, + 0.8650553226470947, + -0.1069574250762624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8751771450042725, + -0.05065571516752243, + -0.4811434745788574, + -0.3581172555460966 + ], + [ + -0.03324156254529953, + 0.9858571887016296, + -0.16425779461860657, + -0.2687546615089689 + ], + [ + 0.48265933990478516, + 0.1597486138343811, + 0.8611157536506653, + -0.1057688146829605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8717063665390015, + -0.056058965623378754, + -0.4868115484714508, + -0.3596607664025816 + ], + [ + -0.030262045562267303, + 0.985380232334137, + -0.1676604002714157, + -0.2683009400179512 + ], + [ + 0.4890933334827423, + 0.16088254749774933, + 0.8572657108306885, + -0.10508124873154145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8698486685752869, + -0.05991801619529724, + -0.48966631293296814, + -0.3607789019220754 + ], + [ + -0.02823261171579361, + 0.9849231839179993, + -0.17067283391952515, + -0.26846818861208466 + ], + [ + 0.4925101101398468, + 0.16228410601615906, + 0.8550424575805664, + -0.10427693975599188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.869328498840332, + -0.0610523521900177, + -0.4904494285583496, + -0.36051537779937115 + ], + [ + -0.028792565688490868, + 0.9843995571136475, + -0.17357571423053741, + -0.26860895282343816 + ], + [ + 0.4933953881263733, + 0.1650155931711197, + 0.854008674621582, + -0.10366421792292058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8699087500572205, + -0.06054358184337616, + -0.4894826114177704, + -0.361967171067582 + ], + [ + -0.02948821149766445, + 0.9842773675918579, + -0.17415067553520203, + -0.27002415502429905 + ], + [ + 0.492330402135849, + 0.1659291684627533, + 0.8544461727142334, + -0.1022660197620105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8705851435661316, + -0.05922751873731613, + -0.4884399473667145, + -0.36328046595243585 + ], + [ + -0.03153715282678604, + 0.9839695692062378, + -0.17552587389945984, + -0.27059413597996074 + ], + [ + 0.4910059869289398, + 0.16821423172950745, + 0.8547614216804504, + -0.10150462864036847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8714024424552917, + -0.056749869138002396, + -0.4872753620147705, + -0.3644356013688826 + ], + [ + -0.035762060433626175, + 0.9832949042320251, + -0.17847199738025665, + -0.26996592089421767 + ], + [ + 0.489263653755188, + 0.17294691503047943, + 0.8548160791397095, + -0.10063805763882802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8723241090774536, + -0.056106824427843094, + -0.4856981337070465, + -0.36562773137164295 + ], + [ + -0.03661862388253212, + 0.9831064343452454, + -0.17933423817157745, + -0.2720641555194568 + ], + [ + 0.4875548183917999, + 0.1742231696844101, + 0.8555329442024231, + -0.10020483037582914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8723468780517578, + -0.05657963454723358, + -0.48560240864753723, + -0.3662534832282174 + ], + [ + -0.036887191236019135, + 0.9828317761421204, + -0.18077893555164337, + -0.2734285183531001 + ], + [ + 0.4874939024448395, + 0.17561443150043488, + 0.8552831411361694, + -0.099639081865325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8718429803848267, + -0.05668378621339798, + -0.4864944517612457, + -0.36683045249236257 + ], + [ + -0.03768078237771988, + 0.9825741052627563, + -0.18201185762882233, + -0.2750534040363211 + ], + [ + 0.48833397030830383, + 0.17701725661754608, + 0.8545144200325012, + -0.09924456743817581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8714607954025269, + -0.05613735318183899, + -0.4872419834136963, + -0.36805282042438825 + ], + [ + -0.03920479863882065, + 0.9822763204574585, + -0.18329261243343353, + -0.2769597568570223 + ], + [ + 0.48889583349227905, + 0.17883454263210297, + 0.8538144826889038, + -0.09903835600480101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.871204137802124, + -0.054924771189689636, + -0.4878386855125427, + -0.36927756196574163 + ], + [ + -0.04135855287313461, + 0.9819771647453308, + -0.18441878259181976, + -0.2786957722409327 + ], + [ + 0.48917561769485474, + 0.18084271252155304, + 0.8532310128211975, + -0.09890878747280378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8710469603538513, + -0.053482845425605774, + -0.48827943205833435, + -0.3703988461342073 + ], + [ + -0.04375334084033966, + 0.9816553592681885, + -0.18557597696781158, + -0.2796585006037153 + ], + [ + 0.48924723267555237, + 0.18300925195217133, + 0.8527278304100037, + -0.09862775289474573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8711028695106506, + -0.05125760659575462, + -0.4884183406829834, + -0.37194148400672394 + ], + [ + -0.04592440649867058, + 0.9816780090332031, + -0.18493030965328217, + -0.2803516503339423 + ], + [ + 0.48894864320755005, + 0.18352364003658295, + 0.8527885675430298, + -0.09824058839253018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8713345527648926, + -0.04793888330459595, + -0.4883420467376709, + -0.3736150067551692 + ], + [ + -0.048893362283706665, + 0.9817811250686646, + -0.18361714482307434, + -0.28102150512369056 + ], + [ + 0.4882473945617676, + 0.1838686466217041, + 0.8531159162521362, + -0.09716888802840298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8719688057899475, + -0.044780053198337555, + -0.487509161233902, + -0.37438693588837646 + ], + [ + -0.05125589668750763, + 0.9819844365119934, + -0.18187735974788666, + -0.2816283281136276 + ], + [ + 0.4868709146976471, + 0.18357910215854645, + 0.8539645671844482, + -0.0958342696266963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8727818727493286, + -0.04188143461942673, + -0.4863103926181793, + -0.37434220016002656 + ], + [ + -0.05280978977680206, + 0.9823614954948425, + -0.17937955260276794, + -0.28211036026477815 + ], + [ + 0.4852452576160431, + 0.18224117159843445, + 0.8551755547523499, + -0.09507721662521362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/tilt_down/transforms.json b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..58c4f52057fdb1b43541e4d7312e0b2502ff30e9 --- /dev/null +++ b/dynpose_eval/camera_controls/29dc298d-427c-400f-b198-24f34c17e4db/tilt_down/transforms.json @@ -0,0 +1,4703 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 134, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -0.00019550712022464722, + -0.00019303611770737916, + 0.00022781761072110385 + ], + [ + 0.00019553802849259228, + 0.9999999403953552, + 0.00016009202226996422, + -8.102464198600501e-05 + ], + [ + 0.00019300480198580772, + -0.0001601297699380666, + 0.9999999403953552, + 0.0002764065284281969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999991059303284, + 0.000572095721199788, + -0.0011945610826218987, + -0.0007550145965069532 + ], + [ + -0.0005690808175131679, + 0.9999966736422953, + 0.0025226685532906937, + -2.1034315068391152e-05 + ], + [ + 0.0011960003757849336, + -0.0025219864681256077, + 0.9999960789373222, + 0.00018599515897221863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999967217445376, + 0.001455757375392687, + -0.0020942315442121816, + -0.0017822723602876067 + ], + [ + -0.0014446737477555873, + 0.999984978940807, + 0.005284288262187277, + -0.0009664191165938973 + ], + [ + 0.0021018928382545714, + -0.0052812456202567795, + 0.9999838584222148, + 0.0007920075440779328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999963045120239, + 0.0008509755260077809, + -0.0025721852623518137, + -0.0024002306163311005 + ], + [ + -0.0008345278329215944, + 0.9999792316411759, + 0.006388775623058931, + 0.0008252602419815958 + ], + [ + 0.002577568404376507, + -0.006386605542377334, + 0.9999762641719895, + 0.0010397238656878471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999906420707703, + 0.0009876888673111717, + -0.004206790493932863, + -0.0017840962391346693 + ], + [ + -0.0009540333994664252, + 0.9999675716410711, + 0.00799479111981448, + 0.001434337580576539 + ], + [ + 0.004214550368487835, + -0.007990703229090505, + 0.9999591993129923, + 0.0025640144012868404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999902844429018, + 0.0016993101463164137, + -0.004067246560893633, + -0.0019137067720293999 + ], + [ + -0.0016533477464690809, + 0.9999350537292248, + 0.011277454211111409, + 0.0001869520201580599 + ], + [ + 0.004086146131157876, + -0.011270620078077618, + 0.9999281469122823, + 0.001964559778571129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999989926815033, + 0.001059117243921194, + -0.004366608982190657, + -0.0015871913637965918 + ], + [ + -0.0010029951808974147, + 0.9999171427928807, + 0.012834750367303804, + 0.0009021929581649601 + ], + [ + 0.004379841033369303, + -0.012830240609063352, + 0.999908075911133, + 0.0022365080658346415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999879002571106, + 0.0010148074580595009, + -0.004819388623755361, + -0.0013343171449378133 + ], + [ + -0.0009422097937203944, + 0.9998864077175992, + 0.015042121052282434, + 0.00047596331569366157 + ], + [ + 0.004834105726331472, + -0.01503739825313658, + 0.9998752660597184, + 0.0029969161842018366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999862909317017, + 0.0005570722277929345, + -0.005205314212559379, + -0.0006650181603617966 + ], + [ + -0.00046765391016379, + 0.9998525641492805, + 0.0171637280463776, + 0.00034111662534996867 + ], + [ + 0.005214108619838953, + -0.017161058705613543, + 0.9998391338676422, + 0.0032602823339402676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999834895133972, + -0.0008767990957608187, + -0.005676603578758333, + 0.0003207201953046024 + ], + [ + 0.0009828869951888919, + 0.9998244431136276, + 0.018712885485111994, + 0.0011754436418414116 + ], + [ + 0.00565919978544116, + -0.018718155985788205, + 0.9998087904791556, + 0.0033864814322441816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999799728393555, + -0.002329044099908434, + -0.00588128734921969, + 0.0012127036461606622 + ], + [ + 0.0024489269126206636, + 0.9997877055481222, + 0.020459491014256946, + 0.0018154361750930548 + ], + [ + 0.005832387134432793, + -0.020473483661675868, + 0.9997733606571768, + 0.0031983957160264254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999722838401794, + -0.004040117275665986, + -0.006258122264466418, + 0.001967176329344511 + ], + [ + 0.0041791112162172794, + 0.9997412617429727, + 0.022358678948374695, + 0.002445524325594306 + ], + [ + 0.006166171282529831, + -0.02238421295689102, + 0.9997304543767527, + 0.0033958610147237778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999617338180542, + -0.005146524019116152, + -0.007073047115944391, + 0.0031152095180004835 + ], + [ + 0.005314807873219252, + 0.9996982419914873, + 0.023983042758878748, + 0.002966193715110421 + ], + [ + 0.006947483401745558, + -0.02401971736077502, + 0.9996873591651413, + 0.003514146665111184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999518990516663, + -0.006050768820333294, + -0.007716493170699085, + 0.0039040474221110344 + ], + [ + 0.006248942576348782, + 0.9996444168563842, + 0.025921671338442923, + 0.0029685343615710735 + ], + [ + 0.007556903641670942, + -0.02596864614900947, + 0.9996342112871258, + 0.00411810539662838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999546408653261, + -0.005584310705509701, + -0.007717088804399897, + 0.004711375571787357 + ], + [ + 0.00579851120710373, + 0.9995905681109215, + 0.028018875438340606, + 0.0027439917903393507 + ], + [ + 0.007557462900877001, + -0.028062352526916988, + 0.9995776230981865, + 0.004718218930065632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999573826789856, + -0.00532442207311346, + -0.007544749562086936, + 0.005043483804911375 + ], + [ + 0.0055545237846672535, + 0.9995097252860106, + 0.030812893407304795, + 0.0022412545513361692 + ], + [ + 0.0073769898153841496, + -0.030853488107690872, + 0.9994967194625334, + 0.005822902545332909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999563097953796, + -0.004843686549089956, + -0.00799335994178407, + 0.0056634321808815 + ], + [ + 0.0051034786738455296, + 0.9994486739729462, + 0.03280719166182749, + 0.002979026408866048 + ], + [ + 0.007830046117305756, + -0.03284655208462441, + 0.9994297225568063, + 0.007719230838119984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999551177024841, + -0.003945440913656268, + -0.00861618238487457, + 0.006422312464565039 + ], + [ + 0.004245338030159473, + 0.9993758478696537, + 0.03506989577907388, + 0.002173957647755742 + ], + [ + 0.008472438901662827, + -0.035104899598824506, + 0.9993477197060252, + 0.009200150147080421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999567270278931, + -0.004229856283588812, + -0.008283673446316118, + 0.006192794069647789 + ], + [ + 0.004533473867923021, + 0.9993055844599461, + 0.036983478026854984, + 0.0023606661707162857 + ], + [ + 0.008121486753225327, + -0.03701943188679192, + 0.9992815267537842, + 0.010036376304924488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999541640281677, + -0.0028472183472186535, + -0.009143636682022333, + 0.0075931064784526825 + ], + [ + 0.0031986089888960123, + 0.9992477632583684, + 0.03864827229559509, + 0.001637884764932096 + ], + [ + 0.009026719257235527, + -0.03867574753924237, + 0.999211066686883, + 0.011739885434508324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999616146087646, + -0.003088004356475995, + -0.008198552362983775, + 0.008498575538396835 + ], + [ + 0.0034173636231571436, + 0.9991750263242947, + 0.040467585859596124, + 0.00172157131601125 + ], + [ + 0.00806682463735342, + -0.04049404901174983, + 0.9991472007376293, + 0.011814278550446033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999701380729678, + -0.004080793948666323, + -0.006566034655074293, + 0.009394798427820206 + ], + [ + 0.0043585854582488546, + 0.9990713972518439, + 0.04286468196365017, + 0.0015434134984388947 + ], + [ + 0.006385015323758127, + -0.04289201800046616, + 0.9990592899936639, + 0.010999687016010284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999654293060305, + -0.005187900948834634, + -0.006494976824239239, + 0.010829787701368332 + ], + [ + 0.005473083350807429, + 0.9989859380655041, + 0.044688991268886175, + 0.0018402483547106385 + ], + [ + 0.006256548222154381, + -0.04472299448352974, + 0.9989798111045364, + 0.010853166691958904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999676346778872, + -0.006098259383183215, + -0.005246745232016427, + 0.011400832794606686 + ], + [ + 0.006334203295409681, + 0.9989123727432697, + 0.04619463850521514, + 0.0020734532736241817 + ], + [ + 0.004959331825375558, + -0.046226378306095474, + 0.9989186913380682, + 0.009592210873961449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999672174453735, + -0.006540715647995431, + -0.004771666439558732, + 0.012908761389553547 + ], + [ + 0.006759663578122854, + 0.998852547830426, + 0.047411468226697215, + 0.002699553966522217 + ], + [ + 0.004456086549907923, + -0.04744217019088093, + 0.9988640449830818, + 0.009319022297859192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999965250492096, + -0.006972463801714347, + -0.0045646831468881275, + 0.014460263773798943 + ], + [ + 0.007190368138253689, + 0.9987431812686273, + 0.04960215095763313, + 0.002568797441199422 + ], + [ + 0.0042130970396101475, + -0.049633248470120184, + 0.9987585979471901, + 0.009602772071957588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999532699584961, + -0.008481175319122175, + -0.004642278331803312, + 0.015877526253461838 + ], + [ + 0.008709672838449478, + 0.9986277813084768, + 0.051640459450475046, + 0.0034923481289297342 + ], + [ + 0.004197936039417982, + -0.051678477737890485, + 0.9986549590782582, + 0.010121428407728672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999426007270813, + -0.009710492276392318, + -0.00452569136659917, + 0.017013151198625565 + ], + [ + 0.009945291094481945, + 0.998429966322364, + 0.05512383265825126, + 0.0027592170517891645 + ], + [ + 0.003983306232839823, + -0.0551656807873928, + 0.9984692836046022, + 0.010688026435673237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999224543571472, + -0.01163913366873689, + -0.004432398572386, + 0.017948562279343605 + ], + [ + 0.01187749020755291, + 0.9982339782009094, + 0.05820573924842423, + 0.0033603680785745382 + ], + [ + 0.003747106296941638, + -0.05825386938111817, + 0.998294778881925, + 0.011041111312806606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999040365219116, + -0.01268692943420915, + -0.005566123683881794, + 0.019272709265351295 + ], + [ + 0.013004258275032043, + 0.9980370930510962, + 0.061260551217475444, + 0.0036247558891773224 + ], + [ + 0.004777989350259304, + -0.061327056440192845, + 0.9981063079448019, + 0.011830765753984451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999042153358462, + -0.012638025933942398, + -0.005642560880199035, + 0.020408621057868004 + ], + [ + 0.012978160753846172, + 0.9978019800676325, + 0.06498299008654843, + 0.003932110499590635 + ], + [ + 0.004808901343494655, + -0.06504999694684761, + 0.9978704452199738, + 0.011324026621878147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999909043312073, + -0.012200062859811038, + -0.0057476960835794, + 0.021237334236502647 + ], + [ + 0.012563666328787807, + 0.9975947649439145, + 0.06816734322493856, + 0.004953173920512199 + ], + [ + 0.004902225453406573, + -0.06823335601709918, + 0.9976573148793932, + 0.011566109955310822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999164342880249, + -0.011554117855423663, + -0.005800362300434854, + 0.021869856864213943 + ], + [ + 0.011939546093344688, + 0.9973676727837091, + 0.07152029283345343, + 0.005682562477886677 + ], + [ + 0.004958739969879389, + -0.07158356963677603, + 0.9974222700880158, + 0.011881313286721706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999217391014099, + -0.011003355508125886, + -0.005953566443714058, + 0.022155877202749252 + ], + [ + 0.011418456211686134, + 0.9971269330137681, + 0.0748829031020117, + 0.006144010461866856 + ], + [ + 0.0051124985329806805, + -0.07494502432387977, + 0.9971745590582638, + 0.012779905460774899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999288320541382, + -0.01018221929932738, + -0.006217102802349145, + 0.02263917215168476 + ], + [ + 0.010635198093950748, + 0.9969126733748829, + 0.07779459337039404, + 0.006569786928594112 + ], + [ + 0.005405787378549576, + -0.07785517664104043, + 0.9969500114036274, + 0.013370350003242493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999315142631531, + -0.009718714072529893, + -0.006518830646088686, + 0.02301182597875595 + ], + [ + 0.010212077759206295, + 0.9967030072900774, + 0.08049093484958679, + 0.007057144306600094 + ], + [ + 0.00571507029235363, + -0.08055199578189357, + 0.9967340442192382, + 0.013804681599140167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999286532402039, + -0.00973244575975204, + -0.0069247708215838906, + 0.02335437387228012 + ], + [ + 0.010272618383169174, + 0.9965131621510797, + 0.08280059951272833, + 0.007696195971220732 + ], + [ + 0.0060947732999920845, + -0.08286582777430418, + 0.99654205446649, + 0.014203897677361965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999285340309143, + -0.009658787046989626, + -0.007046744573199848, + 0.023780539631843567 + ], + [ + 0.010224546305835247, + 0.9963076531916194, + 0.0852438131805147, + 0.008054129779338837 + ], + [ + 0.006197373848408461, + -0.08530976752956057, + 0.9963351729576979, + 0.014154578559100628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.999928414821625, + -0.00945825227168575, + -0.0073300392305212176, + 0.02402842417359352 + ], + [ + 0.010064005851745607, + 0.9961081247566903, + 0.08756340674315703, + 0.008441455662250519 + ], + [ + 0.006473314948379995, + -0.08763090723250055, + 0.996131995835253, + 0.014572025276720524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999336004257202, + -0.008942240793100242, + -0.007272013723965505, + 0.024168159812688828 + ], + [ + 0.009561163373291492, + 0.9958888031084627, + 0.09007833127811829, + 0.008370599709451199 + ], + [ + 0.006436614785343409, + -0.09014187560684639, + 0.9959081265052326, + 0.014706556685268879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999937891960144, + -0.008539065119574144, + -0.007165945439525206, + 0.02410387620329857 + ], + [ + 0.009164846502244473, + 0.9956802319239689, + 0.09239506429214059, + 0.008260653354227543 + ], + [ + 0.0063460227102041245, + -0.09245500192714902, + 0.9956966684763846, + 0.014709778130054474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999397397041321, + -0.008350909139683524, + -0.007124102778783108, + 0.023740438744425774 + ], + [ + 0.00898708961904049, + 0.9954824760417755, + 0.09451920337500648, + 0.008670205250382423 + ], + [ + 0.006302598398178816, + -0.09457753476142702, + 0.9954975517186626, + 0.014368120580911636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999403357505798, + -0.007676677713660433, + -0.00777385679632389, + 0.023098519071936607 + ], + [ + 0.008392540737986565, + 0.9952798532870867, + 0.09668266325254042, + 0.0086402278393507 + ], + [ + 0.006994961760938168, + -0.09674213822787255, + 0.995284913140193, + 0.014872063882648945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999370574951174, + -0.007414559268998677, + -0.008419382053385306, + 0.02212032489478588 + ], + [ + 0.00821193214505911, + 0.9950533576995734, + 0.0990016346917908, + 0.008471562527120113 + ], + [ + 0.0076436814852058905, + -0.09906454788540568, + 0.995051668800068, + 0.01526544988155365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999359846115112, + -0.007070263591459196, + -0.008831376631941744, + 0.021709546446800232 + ], + [ + 0.007928242906928062, + 0.9948312894646902, + 0.10123179700919348, + 0.008562379516661167 + ], + [ + 0.008069993928074837, + -0.10129533631956987, + 0.9948236784910437, + 0.01484961062669754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999330639839172, + -0.006478515941602701, + -0.009584903441225874, + 0.02118803560733795 + ], + [ + 0.007434616331011057, + 0.9946187358541068, + 0.10333594685004661, + 0.008627583272755146 + ], + [ + 0.008863860741257668, + -0.1034002910684229, + 0.9946003354505807, + 0.01538420096039772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999266266822817, + -0.006371279646773309, + -0.010301603381929819, + 0.020752793177962303 + ], + [ + 0.0074257655069232004, + 0.9943600646818214, + 0.10579662809969616, + 0.008511419408023357 + ], + [ + 0.0095694437623024, + -0.10586536498668565, + 0.9943344323432548, + 0.015963949263095856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999176859855652, + -0.00597451578754227, + -0.01135261541203486, + 0.020607953891158104 + ], + [ + 0.007166957948356867, + 0.9941162094651794, + 0.10808122792743304, + 0.008362862281501293 + ], + [ + 0.01064008567482233, + -0.10815369716152896, + 0.9940772208536437, + 0.01658298261463642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.999909520149231, + -0.005646646715468255, + -0.012210569538311516, + 0.020800597965717316 + ], + [ + 0.006955853663384914, + 0.9939090002615031, + 0.10998434563163441, + 0.008376486599445343 + ], + [ + 0.011515151709318161, + -0.11005932450975159, + 0.9938583082110194, + 0.017050057649612427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999064207077026, + -0.005291684810106039, + -0.012613856762154275, + 0.021000344306230545 + ], + [ + 0.006672994699329138, + 0.9936731541169526, + 0.11211199942906416, + 0.008122114464640617 + ], + [ + 0.011940790340304375, + -0.11218568802674786, + 0.9936155432025069, + 0.01797661744058132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999068379402163, + -0.005040750061015028, + -0.012686637235530929, + 0.0211125910282135 + ], + [ + 0.006465135142207147, + 0.9933600662964337, + 0.11486519731150419, + 0.007499157916754484 + ], + [ + 0.012023391202092174, + -0.11493651177466527, + 0.9933000779796382, + 0.018822837620973587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999025464057925, + -0.005056917995710862, + -0.013013506664365133, + 0.02146308682858944 + ], + [ + 0.0065459944307804125, + 0.9931037184517029, + 0.11705628340187119, + 0.007288927678018808 + ], + [ + 0.012331817299127582, + -0.11713006072533336, + 0.9930400350437464, + 0.019119050353765488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9998939633369448, + -0.0054745809096590934, + -0.013494074665795462, + 0.02160770818591118 + ], + [ + 0.007046964019536974, + 0.9928236329104055, + 0.11938006426914553, + 0.0070500448346138 + ], + [ + 0.012743680737912658, + -0.11946249795331092, + 0.9927569250560337, + 0.01920098438858986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998802542686465, + -0.006348198590295334, + -0.014113465544160913, + 0.021800903603434563 + ], + [ + 0.008015161380171778, + 0.9925732810158762, + 0.1213840566593337, + 0.007226205430924892 + ], + [ + 0.013238078914582733, + -0.12148263538509622, + 0.9925052461495892, + 0.01887623593211174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998651146888733, + -0.007053739362649098, + -0.01483108995000296, + 0.021942399442195892 + ], + [ + 0.008832565508782864, + 0.99230283067936, + 0.12351946864284588, + 0.007164358161389828 + ], + [ + 0.013845658861100674, + -0.12363380420922254, + 0.9922312879300538, + 0.018492354080080986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9998359680175781, + -0.007690674534543909, + -0.01639689695621959, + 0.022478165104985237 + ], + [ + 0.00969137717038393, + 0.9920259719218482, + 0.12566025264715952, + 0.00735365878790617 + ], + [ + 0.015299735590815544, + -0.12579854951883931, + 0.9919377948142332, + 0.017943957820534706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9998121261596682, + -0.008150165071268364, + -0.017587826436716244, + 0.021621190011501312 + ], + [ + 0.010340188629925253, + 0.9916865009160295, + 0.12826132980217583, + 0.006561278365552425 + ], + [ + 0.016396259889006618, + -0.12841909097189977, + 0.9915844242001008, + 0.017858494073152542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997938275337219, + -0.008248392096710496, + -0.01855506308735561, + 0.020643098279833794 + ], + [ + 0.010603409260511398, + 0.9913735008933626, + 0.13063746222962191, + 0.006061271298676729 + ], + [ + 0.017317447811365128, + -0.1308072730888138, + 0.9912565374925333, + 0.017369702458381653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.999776303768158, + -0.007929010669186831, + -0.01960869377507082, + 0.019844677299261093 + ], + [ + 0.010455142706632614, + 0.991156772847921, + 0.13228374361196507, + 0.005639358889311552 + ], + [ + 0.018386410549283028, + -0.13245916242817815, + 0.9910179275946294, + 0.01644117198884487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997695088386536, + -0.007054651388119995, + -0.02027847459555084, + 0.01874464564025402 + ], + [ + 0.00970954168587923, + 0.9909386792320571, + 0.13396350592300615, + 0.004968666937202215 + ], + [ + 0.01914966106414795, + -0.1341295206014594, + 0.9907787709042208, + 0.016100650653243065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997720122337344, + -0.00624908967325873, + -0.020417683644530116, + 0.01740899495780468 + ], + [ + 0.008952302858233454, + 0.9907894895005906, + 0.13511473636640642, + 0.004565909039229155 + ], + [ + 0.01938528195023537, + -0.13526671577758795, + 0.9906195383893668, + 0.015367602929472923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.999759376049042, + -0.004399788886569744, + -0.021489561771102065, + 0.01607503369450569 + ], + [ + 0.007297759875655176, + 0.9905855302291259, + 0.13670066159990077, + 0.00300235440954566 + ], + [ + 0.02068579383194447, + -0.136824595591398, + 0.9903792994944011, + 0.015056584030389786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997314810752871, + -0.0032110660683549704, + -0.022948178411669455, + 0.014531715773046017 + ], + [ + 0.006357393693178894, + 0.9903587314127817, + 0.13838045502927582, + 0.0014150113565847278 + ], + [ + 0.022282581776380542, + -0.1384891908526412, + 0.9901132364977393, + 0.014702346175909042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996927380561829, + -0.002213181604953781, + -0.02468908630005167, + 0.012623101472854614 + ], + [ + 0.0056496658362448215, + 0.9901347483658084, + 0.14000443283002417, + -0.0005524451844394207 + ], + [ + 0.024135667830705643, + -0.1401008980813645, + 0.9898429970130752, + 0.014777197502553463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996464252471924, + -0.0027817131489222017, + -0.026445142098745256, + 0.011614944785833359 + ], + [ + 0.0064832959324121475, + 0.9899972792627777, + 0.14093759319532395, + -0.001197050092741847 + ], + [ + 0.025788571685552597, + -0.14105920207022699, + 0.9896651918154727, + 0.01300192903727293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9995866417884829, + -0.002863801624814774, + -0.028607699711295977, + 0.010554979555308819 + ], + [ + 0.006877530831843616, + 0.989955990606819, + 0.14120848838875982, + -0.0023613034281879663 + ], + [ + 0.02791596949100495, + -0.14134686290735007, + 0.9895664356783213, + 0.013089497573673725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9995402097702026, + -0.003888734569504597, + -0.03007026433388753, + 0.009063273668289185 + ], + [ + 0.008127707988023758, + 0.9898099427718949, + 0.14216245900317223, + -0.00471386406570673 + ], + [ + 0.0292110163718462, + -0.1423415049216297, + 0.9893865100685784, + 0.0118776960298419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9994246959686279, + -0.006021726417791599, + -0.033377086594801805, + 0.006539128255099058 + ], + [ + 0.010760103352367878, + 0.9895683951671106, + 0.14366151068931504, + -0.007464890368282795 + ], + [ + 0.032163821160793304, + -0.143937999674012, + 0.989063871266785, + 0.01140980888158083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9992645978927612, + -0.0059466103137971885, + -0.037879547707289275, + 0.003976335749030113 + ], + [ + 0.011286590248346329, + 0.9897502072900262, + 0.14236261637879288, + -0.010247506201267242 + ], + [ + 0.03664471209049225, + -0.14268545744931702, + 0.9890894907027976, + 0.010111652314662933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9991561770439148, + -0.004967717923508645, + -0.0407702108579937, + 0.00019878348393831402 + ], + [ + 0.01071244478225708, + 0.9898196355279919, + 0.14192376276296081, + -0.01540027279406786 + ], + [ + 0.039650119841098785, + -0.14224075379087972, + 0.9890376265045564, + 0.00876393262296915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9990233778953554, + -0.0042360754230825175, + -0.043980859111723676, + -0.0038557788357138634 + ], + [ + 0.010433508083224298, + 0.9898608392941892, + 0.14165691876591746, + -0.019973179325461388 + ], + [ + 0.0429348610341549, + -0.1419774488657907, + 0.9889383187968271, + 0.0065177143551409245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9989613294601443, + -0.002353449088868026, + -0.045505189639152545, + -0.00944006908684969 + ], + [ + 0.00874273478984833, + 0.9900101036215329, + 0.14072496257763525, + -0.02461239881813526 + ], + [ + 0.0447194091975689, + -0.1409766411856744, + 0.9890024251266041, + 0.003439147723838687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9988241791725159, + -0.0009456674956531752, + -0.04847017906077977, + -0.014789095148444176 + ], + [ + 0.007686596363782883, + 0.9902516683784459, + 0.13907747109657173, + -0.02906009554862976 + ], + [ + 0.047866158187389374, + -0.13928650910059973, + 0.9890945620500916, + 0.00199633976444602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9987280368804932, + 0.0006248533112783236, + -0.05041707728842931, + -0.02138281613588333 + ], + [ + 0.0063983239233493805, + 0.9902689586251542, + 0.13901953118414553, + -0.03654124215245247 + ], + [ + 0.050013333559036255, + -0.1391652944580272, + 0.9890054190397366, + -0.0010510055581107736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9985094070434573, + -0.0018246937153335611, + -0.05454920002044434, + -0.027326609939336777 + ], + [ + 0.009176595136523248, + 0.9908260202024967, + 0.13483171689039658, + -0.03786143288016319 + ], + [ + 0.05380274355411531, + -0.13513131104386325, + 0.9893658254541372, + -0.0053022210486233234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9980436563491821, + 0.005627056788028007, + -0.062266697895873156, + -0.03930653631687164 + ], + [ + 0.0037300835829228163, + 0.9888080508729196, + 0.14914658904038064, + -0.06771921366453171 + ], + [ + 0.06240906938910484, + -0.14908707436332375, + 0.986852662058678, + 0.006923194508999586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9978737831115725, + 0.0025635966412644634, + -0.06512526329840311, + -0.04761394485831261 + ], + [ + 0.007019499782472851, + 0.9891866681747916, + 0.1464938476823134, + -0.07323607057332993 + ], + [ + 0.0647965967655182, + -0.1466395205454516, + 0.9870654734092548, + -0.0005917114904150367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9975897669792175, + -0.0010890965954376897, + -0.06937887950175109, + -0.05422566831111908 + ], + [ + 0.010873645544052124, + 0.9899769025606016, + 0.14081026083274908, + -0.0769377127289772 + ], + [ + 0.0685301348567009, + -0.14122527730465856, + 0.9876026725936133, + -0.009440021589398384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9971584081649782, + -0.0033435075857414505, + -0.07525926723977928, + -0.05948484316468239 + ], + [ + 0.013192001730203632, + 0.991327857202673, + 0.13074805413755303, + -0.07624993473291397 + ], + [ + 0.07416945695877077, + -0.13136934393340474, + 0.9885550279363173, + -0.017254075035452843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9969739317893982, + -0.002464518889537927, + -0.0776974303413436, + -0.06634752452373505 + ], + [ + 0.012338471598923206, + 0.9918438430059462, + 0.1268602627476425, + -0.08195120841264725 + ], + [ + 0.07675107568502426, + -0.12743504985949172, + 0.9888729095194354, + -0.024220479652285576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.996605396270752, + 0.0005780290202460675, + -0.08232478589727306, + -0.07245860993862152 + ], + [ + 0.009842856787145138, + 0.9919661404627534, + 0.12612033352065732, + -0.08983779698610306 + ], + [ + 0.08173629641532898, + -0.12650250894070633, + 0.988593069435267, + -0.02740374766290188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9963281154632568, + 0.004261629903166787, + -0.08551065968225115, + -0.07894669473171234 + ], + [ + 0.006497159134596586, + 0.9921170088185638, + 0.1251462329674714, + -0.09531296044588089 + ], + [ + 0.08536990731954575, + -0.1252422935187382, + 0.9884464370821366, + -0.031004756689071655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9960270524024966, + 0.010674878982444397, + -0.08840935737990721, + -0.08554002642631531 + ], + [ + 0.0003782600397244097, + 0.9922730864334719, + 0.12407229475072534, + -0.09949032217264175 + ], + [ + 0.08905068039894105, + -0.12361280535030016, + 0.9883268009416358, + -0.03186904266476631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9960377216339111, + 0.015155896435036974, + -0.08763051635109317, + -0.09182983636856079 + ], + [ + -0.0041343229822814465, + 0.992197127431175, + 0.12461064789133075, + -0.1036367118358612 + ], + [ + 0.08883533626794815, + -0.12375460946911045, + 0.9883284090422605, + -0.03397146612405777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9960851669311523, + 0.018718061604137463, + -0.086394251406829, + -0.09648580104112625 + ], + [ + -0.007690407335758209, + 0.9919683986558604, + 0.12625174204089426, + -0.10769166052341461 + ], + [ + 0.0880635604262352, + -0.12509308384919893, + 0.9882289767994216, + -0.034666694700717926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9960935115814211, + 0.018372051254900244, + -0.08637239982661529, + -0.10124985128641129 + ], + [ + -0.0071587548591196554, + 0.9916987997121072, + 0.12838305195173572, + -0.11091248691082001 + ], + [ + 0.08801407366991044, + -0.1272632085896617, + 0.9879562853577555, + -0.03681642562150955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9958352446556094, + 0.018854155899614183, + -0.08920040319212016, + -0.1051078513264656 + ], + [ + -0.007157509215176107, + 0.9915311242562646, + 0.1296718681504501, + -0.11446185410022736 + ], + [ + 0.09088982641696931, + -0.12849336441616252, + 0.9875366091978665, + -0.03838535398244858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9955253601074219, + 0.017824860389355244, + -0.0927984386414781, + -0.10946805775165558 + ], + [ + -0.0057290950790047646, + 0.9916264417854627, + 0.1290123289821694, + -0.11803823709487915 + ], + [ + 0.09432100504636765, + -0.12790339422614633, + 0.9872913769219271, + -0.03920411691069603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9952478408813477, + 0.01549958142030902, + -0.09613297694115842, + -0.11345317959785461 + ], + [ + -0.002965718973428011, + 0.991617312172952, + 0.12917552249507788, + -0.12336482852697372 + ], + [ + 0.0973292887210846, + -0.12827654850965858, + 0.9869509183729057, + -0.03992987796664238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9947736263275146, + 0.013586530524875299, + -0.10119712635027431, + -0.11496077477931976 + ], + [ + -0.0006870090728625655, + 0.9919756343713841, + 0.126427385512448, + -0.1276857554912567 + ], + [ + 0.10210279375314713, + -0.12569709894306458, + 0.9868004917557229, + -0.04237877577543259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9937491416931152, + 0.01150871595540311, + -0.11104146969260706, + -0.11762367933988571 + ], + [ + 0.002348297508433461, + 0.9922968448519435, + 0.12386076070990686, + -0.13490094244480133 + ], + [ + 0.11161158233880997, + -0.12334728369403161, + 0.98606710711232, + -0.0447826012969017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9923116564750674, + 0.009499768924626735, + -0.1233990780102669, + -0.12210825830698013 + ], + [ + 0.005235173739492894, + 0.9929356248531678, + 0.11853881926306423, + -0.1380985677242279 + ], + [ + 0.1236534267663956, + -0.11827346694370379, + 0.9852518449163145, + -0.05562775209546089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9902482628822327, + 0.01286038174746797, + -0.13871905332965007, + -0.13132844865322113 + ], + [ + 0.0032652816735208035, + 0.9933140305320577, + 0.11539752326937738, + -0.1451670080423355 + ], + [ + 0.13927562534809113, + -0.11472515818571648, + 0.9835855158783422, + -0.06479023396968842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9864107966423037, + 0.013689670558808415, + -0.16372651059609142, + -0.1482122540473938 + ], + [ + 0.005557125434279443, + 0.9931725051027702, + 0.11652244353193232, + -0.1598748415708542 + ], + [ + 0.16420383751392367, + -0.11584884550722269, + 0.9796000171221151, + -0.07323119789361954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9785045385360718, + 0.02127516194255729, + -0.20512486304679844, + -0.15362945199012756 + ], + [ + 0.0003517400473356247, + 0.9944906526866922, + 0.10482457621266335, + -0.16356557607650757 + ], + [ + 0.2062249332666397, + -0.10264348214575458, + 0.9731061851929481, + -0.077370285987854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9729257822036743, + 0.007756383139227879, + -0.23098746457902805, + -0.18178002536296844 + ], + [ + 0.020015520974993706, + 0.9928539504564204, + 0.11764521475668764, + -0.18296247720718384 + ], + [ + 0.2302493304014206, + -0.11908340263581806, + 0.965817970911673, + -0.0994202122092247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9643107652664187, + 0.017349028294532186, + -0.2642040072432528, + -0.20026105642318726 + ], + [ + 0.012742266990244392, + 0.9936539663908682, + 0.11175619759986782, + -0.20784154534339905 + ], + [ + 0.2644662261009217, + -0.11113426210394013, + 0.9579701436194291, + -0.10003343224525452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9526016712188723, + 0.023818791355912125, + -0.30328652587840726, + -0.20586015284061432 + ], + [ + 0.003698427230119706, + 0.9959498604534168, + 0.08983402231163937, + -0.20762060582637787 + ], + [ + 0.3041979372501374, + -0.08669773226477188, + 0.9486554257848292, + -0.09943432360887527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9417403340339661, + 0.01646703379678251, + -0.33593747449137557, + -0.21272537112236023 + ], + [ + 0.006312299519777298, + 0.9977595136006877, + 0.06660370571390652, + -0.20883700251579285 + ], + [ + 0.33628156781196594, + -0.06484393929770385, + 0.939526454022586, + -0.1164192259311676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9356018304824831, + 0.01575863332232667, + -0.3527050982165654, + -0.22357439994812012 + ], + [ + 0.002487132325768471, + 0.998684386592842, + 0.05121802360061487, + -0.21653902530670166 + ], + [ + 0.35304817557334905, + -0.04879690547347273, + 0.9343317640508625, + -0.1277271807193756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9316322207450867, + 0.01615359395138557, + -0.3630433315719595, + -0.2276483178138733 + ], + [ + -0.002633657306432724, + 0.9992854690560706, + 0.03770470490958448, + -0.22105683386325836 + ], + [ + 0.36339297890663147, + -0.03417078249097185, + 0.9310090673484255, + -0.13513927161693573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9291946291923523, + 0.0190478340961338, + -0.36909961215040726, + -0.23187541961669922 + ], + [ + -0.008118171244859695, + 0.9994819809503952, + 0.031142276746606353, + -0.2261783480644226 + ], + [ + 0.36950162053108215, + -0.025940815632469937, + 0.9288679583512993, + -0.14533179998397827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9278186559677124, + 0.022637306598097203, + -0.372344074833112, + -0.23618227243423462 + ], + [ + -0.012312449514865875, + 0.9994715579569502, + 0.030084051319241693, + -0.23091743886470795 + ], + [ + 0.37282833456993103, + -0.023328063907133795, + 0.9276070539798171, + -0.15298500657081604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9272961616516113, + 0.022770914903586837, + -0.37363520553466206, + -0.24234719574451447 + ], + [ + -0.009691460058093071, + 0.9992738795687411, + 0.03684748230011671, + -0.2366696149110794 + ], + [ + 0.3742029666900635, + -0.030547461264945782, + 0.9268435587801471, + -0.1598593145608902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.925321698188782, + 0.027446015239632734, + -0.37818838668535065, + -0.2473527044057846 + ], + [ + -0.014005957171320919, + 0.9991702762082568, + 0.03824341998713684, + -0.2401915043592453 + ], + [ + 0.3789242208003999, + -0.03009058222797356, + 0.9249383993814382, + -0.1645941585302353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9221211671829224, + 0.032665477832969934, + -0.3855197422418875, + -0.25162842869758606 + ], + [ + -0.019014883786439896, + 0.9990516545274544, + 0.03916913135542898, + -0.24271558225154877 + ], + [ + 0.38643360137939453, + -0.028788073494323784, + 0.9218678231902935, + -0.16891655325889587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9170123338699343, + 0.037683954348391335, + -0.39707470072747636, + -0.2569679617881775 + ], + [ + -0.023695167154073722, + 0.9989155469862445, + 0.04007891213081243, + -0.24485735595226288 + ], + [ + 0.3981544077396394, + -0.02734411072816857, + 0.9169108054987308, + -0.1728258579969406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9108887910842896, + 0.04253958648726218, + -0.4104534380358464, + -0.26386064291000366 + ], + [ + -0.02824402041733265, + 0.9987667138480273, + 0.040832800957980545, + -0.2470141351222992 + ], + [ + 0.41168421506881714, + -0.025601299688974333, + 0.9109668835524587, + -0.17598693072795868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.904367208480835, + 0.0479339900930519, + -0.42405456725265284, + -0.27098438143730164 + ], + [ + -0.03325220197439194, + 0.9985658230855999, + 0.0419593098783741, + -0.24886085093021393 + ], + [ + 0.4254576563835144, + -0.023845885462357254, + 0.9046641317661299, + -0.17938821017742157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8997461795806885, + 0.05371443768170856, + -0.4330954400549151, + -0.2797223627567291 + ], + [ + -0.03829441964626312, + 0.9982860054259967, + 0.0442560784547595, + -0.2514720559120178 + ], + [ + 0.43473029136657715, + -0.023234105010047364, + 0.9002609720364322, + -0.18073870241641998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8986935019493103, + 0.057919462976450065, + -0.4347359286923067, + -0.2869279384613037 + ], + [ + -0.04144220054149628, + 0.998020869485354, + 0.04729535905088355, + -0.2535467743873596 + ], + [ + 0.43661484122276306, + -0.02448762014939414, + 0.8993151954932666, + -0.1813509613275528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8971197605133057, + 0.06222588361921073, + -0.43738324715135396, + -0.2919834554195404 + ], + [ + -0.044150032103061676, + 0.9977025235889583, + 0.05138525509191835, + -0.2545331120491028 + ], + [ + 0.4395758807659149, + -0.02678822959520446, + 0.8978058858536048, + -0.1822415441274643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8935099244117737, + 0.06713074389546764, + -0.4439971949490776, + -0.297916978597641 + ], + [ + -0.0471041277050972, + 0.9973191298347512, + 0.055997568952479135, + -0.2553705871105194 + ], + [ + 0.44656607508659363, + -0.02912029412339917, + 0.8942766810237825, + -0.18236656486988068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8897270560264587, + 0.07043261929293543, + -0.45102661843189135, + -0.3039626479148865 + ], + [ + -0.04856215417385101, + 0.9970225147480088, + 0.05989852752557077, + -0.25562065839767456 + ], + [ + 0.4539024829864502, + -0.031390513295923725, + 0.8904982541764594, + -0.18224920332431793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8864835500717163, + 0.07064179564232168, + -0.4573364373728471, + -0.3088218569755554 + ], + [ + -0.046847835183143616, + 0.9969021966787486, + 0.06317693203471181, + -0.25546151399612427 + ], + [ + 0.4603826403617859, + -0.034580079990875395, + 0.8870468164862281, + -0.18244603276252747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8827188611030579, + 0.06938146424220054, + -0.46475115241899, + -0.3119424283504486 + ], + [ + -0.044132716953754425, + 0.9969086810012393, + 0.065002955646762, + -0.25474900007247925 + ], + [ + 0.4678244888782501, + -0.03686859100926097, + 0.8830520801579843, + -0.18267954885959625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8790568113327026, + 0.06472095660525998, + -0.4723032856531534, + -0.314314067363739 + ], + [ + -0.038443438708782196, + 0.9971386495076716, + 0.06508909686116515, + -0.25416430830955505 + ], + [ + 0.4751645028591156, + -0.03906004293809339, + 0.8790295963392973, + -0.18240585923194885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8751771450042725, + 0.06051440181258093, + -0.48000317892927985, + -0.3157911002635956 + ], + [ + -0.03324156254529953, + 0.9973233012975893, + 0.06512489766999051, + -0.2543049156665802 + ], + [ + 0.48265933990478516, + -0.04103976908887963, + 0.8748460997001077, + -0.18152110278606415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8717063665390017, + 0.05750571555669265, + -0.48664276839407333, + -0.3164699673652649 + ], + [ + -0.03026204556226731, + 0.997512274820877, + 0.06366689623131225, + -0.25342580676078796 + ], + [ + 0.4890933334827424, + -0.040772025125918016, + 0.871277989520304, + -0.18113940954208374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8698486685752871, + 0.05537246274032242, + -0.4902011393869042, + -0.3169666528701782 + ], + [ + -0.028232611715793617, + 0.997639654582244, + 0.06259404174769419, + -0.25319746136665344 + ], + [ + 0.4925101101398469, + -0.040607671164054275, + 0.8693588168147321, + -0.18078073859214783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.869328498840332, + 0.05541770154645508, + -0.49111802047619235, + -0.3162643015384674 + ], + [ + -0.028792565688490868, + 0.9976847547728277, + 0.06161287779408824, + -0.25294798612594604 + ], + [ + 0.4933953881263733, + -0.039421287245699106, + 0.8689113444019589, + -0.18071763217449188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8699087500572205, + 0.05665062187796321, + -0.4899484250649507, + -0.31743529438972473 + ], + [ + -0.02948821149766445, + 0.9975784544197317, + 0.06298905794234358, + -0.254180371761322 + ], + [ + 0.492330402135849, + -0.04034702483723586, + 0.8694727532243467, + -0.18000134825706482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8705851435661318, + 0.058645237512455185, + -0.48851020181413385, + -0.31847620010375977 + ], + [ + -0.03153715282678605, + 0.9974806520075503, + 0.06354364171709695, + -0.25449326634407043 + ], + [ + 0.49100598692893993, + -0.039913921535450765, + 0.8702413427418829, + -0.1799113154411316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8714024424552917, + 0.061732881677853735, + -0.4866691662654972, + -0.3193717896938324 + ], + [ + -0.035762060433626175, + 0.9974050050757398, + 0.06248502530550383, + -0.2534606158733368 + ], + [ + 0.489263653755188, + -0.03704529980285707, + 0.8713488453752966, + -0.17969247698783875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8723241090774536, + 0.0629335490037592, + -0.4848608266747029, + -0.32034459710121155 + ], + [ + -0.03661862388253212, + 0.9973055681555288, + 0.06356598113441136, + -0.2553442716598511 + ], + [ + 0.4875548183917999, + -0.03769522169135003, + 0.8722782822770433, + -0.17996880412101746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8723468780517578, + 0.06340594824725079, + -0.4847583316010723, + -0.32061415910720825 + ], + [ + -0.036887191236019135, + 0.997264020670677, + 0.06406088361563138, + -0.2564380168914795 + ], + [ + 0.4874939024448395, + -0.03800194899161234, + 0.872298992281782, + -0.18002283573150635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8718429803848267, + 0.06447805005218926, + -0.4855228977869413, + -0.3207415044307709 + ], + [ + -0.03768078237771988, + 0.9971888684822289, + 0.06476533969287068, + -0.25781017541885376 + ], + [ + 0.48833397030830383, + -0.03817031302961613, + 0.8718216735015856, + -0.1801985651254654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8714607954025271, + 0.06614801727524229, + -0.48598414854162636, + -0.3215267062187195 + ], + [ + -0.039204798638820655, + 0.9970877733257165, + 0.06541348323152756, + -0.25945737957954407 + ], + [ + 0.48889583349227916, + -0.03795239037255771, + 0.871516253751336, + -0.18056800961494446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8712041378021242, + 0.06842756181508014, + -0.48612856566641793, + -0.3223276734352112 + ], + [ + -0.04135855287313462, + 0.9969481246326273, + 0.06621084688640735, + -0.26094719767570496 + ], + [ + 0.48917561769485485, + -0.03757759908652204, + 0.8713754483338009, + -0.18102425336837769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8710469603538515, + 0.07089073871795204, + -0.4860573234609802, + -0.3230394124984741 + ], + [ + -0.04375334084033967, + 0.9967950702567293, + 0.0669721996010006, + -0.26165902614593506 + ], + [ + 0.4892472326755525, + -0.03706928607472239, + 0.8713569917581174, + -0.1813359409570694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8711028695106506, + 0.07403530242177245, + -0.4854879934094773, + -0.3242013454437256 + ], + [ + -0.04592440649867058, + 0.9965197970716027, + 0.0695645519803319, + -0.262275755405426 + ], + [ + 0.48894864320755005, + -0.03830214154198348, + 0.871471292319872, + -0.18159586191177368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8713345527648928, + 0.07818034209922918, + -0.48442122708824065, + -0.32551515102386475 + ], + [ + -0.04889336228370668, + 0.9961457654106072, + 0.07282202598518264, + -0.26293590664863586 + ], + [ + 0.4882473945617677, + -0.03976736355514969, + 0.8717987167741714, + -0.18119759857654572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8719688057899475, + 0.08197254909956876, + -0.48264991105929705, + -0.3260025680065155 + ], + [ + -0.05125589668750763, + 0.9957499978271741, + 0.0765163339936139, + -0.26357734203338623 + ], + [ + 0.4868709146976471, + -0.04198120680638208, + 0.8724645247979655, + -0.18058864772319794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8727818727493286, + 0.08541203209992777, + -0.48057948073839973, + -0.3257111608982086 + ], + [ + -0.05280978977680206, + 0.9953151837659863, + 0.08098652164226738, + -0.26417240500450134 + ], + [ + 0.4852452576160431, + -0.04530426621591597, + 0.8732036403578473, + -0.1805947721004486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 411.3648681640625, + "fy": 411.13334147135413, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/boom_up/transforms.json b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d4c92fbaadd6e9bc7549102beb49f11b778b066c --- /dev/null +++ b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/boom_up/transforms.json @@ -0,0 +1,7643 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 218, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.994916424853727e-05, + 7.358914444921538e-06, + -1.139659889304312e-05 + ], + [ + 8.994904783321545e-05, + 1.0, + 1.6600621165707707e-05, + -0.0004049866693094373 + ], + [ + -7.360407835221849e-06, + -1.6599959053564817e-05, + 1.0, + -0.0004114329640287906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999658465385437, + 0.003363250056281686, + -0.007550157140940428, + 0.012915434151746265 + ], + [ + -0.0033828888554126024, + 0.9999909400939941, + -0.0025898267049342394, + -0.0050501873879800745 + ], + [ + 0.007541378494352102, + 0.0026152797508984804, + 0.9999681711196899, + 0.08979438424897959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998723268508911, + 0.007244768552482128, + -0.014240838587284088, + 0.025467096273422515 + ], + [ + -0.007357275113463402, + 0.9999420046806335, + -0.007863815873861313, + -0.009732902429414235 + ], + [ + 0.014183040708303452, + 0.007967585697770119, + 0.9998676776885986, + 0.18263478864688204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997193217277527, + 0.01079605147242546, + -0.02108888141810894, + 0.04002953875415061 + ], + [ + -0.01100737601518631, + 0.9998900890350342, + -0.009930421598255634, + -0.01656967359187279 + ], + [ + 0.02097935415804386, + 0.010159767232835293, + 0.999728262424469, + 0.2754661948222684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9995409846305847, + 0.011955601163208485, + -0.02783702127635479, + 0.054103222587210245 + ], + [ + -0.01226752158254385, + 0.9998635649681091, + -0.011061569675803185, + -0.025084005261895845 + ], + [ + 0.02770097739994526, + 0.011397983878850937, + 0.9995512962341309, + 0.36098599486774013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993007183074951, + 0.014591444283723831, + -0.034426990896463394, + 0.06700777625536314 + ], + [ + -0.014982907101511955, + 0.9998257160186768, + -0.01114033441990614, + -0.03576607658841094 + ], + [ + 0.034258436411619186, + 0.011648359708487988, + 0.9993451237678528, + 0.43420283241660984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9990386366844177, + 0.013050142675638199, + -0.04185061529278755, + 0.08381956797522334 + ], + [ + -0.013514121994376183, + 0.9998500943183899, + -0.010822886601090431, + -0.04877590979642582 + ], + [ + 0.04170310124754906, + 0.011378055438399315, + 0.9990652799606323, + 0.5149970762586127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9983908534049988, + 0.012378714047372341, + -0.055339500308036804, + 0.10425991197567314 + ], + [ + -0.012933428399264812, + 0.9998695254325867, + -0.009676956571638584, + -0.0623344773246396 + ], + [ + 0.055212490260601044, + 0.010377113707363605, + 0.9984207153320312, + 0.5825333827776054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997922956943512, + 0.01698937825858593, + -0.062137968838214874, + 0.12335511634838746 + ], + [ + -0.017566194757819176, + 0.9998074173927307, + -0.00874832272529602, + -0.07602381414394774 + ], + [ + 0.06197737157344818, + 0.009821679443120956, + 0.9980292320251465, + 0.657061547906168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9974725842475891, + 0.021894611418247223, + -0.067594975233078, + 0.14228592866233417 + ], + [ + -0.02250828593969345, + 0.9997119307518005, + -0.008330384269356728, + -0.08732354663621446 + ], + [ + 0.06739310920238495, + 0.0098307766020298, + 0.9976780414581299, + 0.7231165138377984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9970553517341614, + 0.02504757232964039, + -0.07247894257307053, + 0.16581660288510508 + ], + [ + -0.025702403858304024, + 0.999636709690094, + -0.008116116747260094, + -0.09693507235583072 + ], + [ + 0.07224931567907333, + 0.00995510071516037, + 0.9973369240760803, + 0.7852010326245413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967605471611023, + 0.026912711560726166, + -0.07578989118337631, + 0.18512309712405028 + ], + [ + -0.02758157253265381, + 0.999589204788208, + -0.00779217854142189, + -0.1040641283384666 + ], + [ + 0.07554904371500015, + 0.009857339784502983, + 0.9970933794975281, + 0.834711413067435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971497058868408, + 0.025438865646719933, + -0.07103043794631958, + 0.20980409398537628 + ], + [ + -0.025940576568245888, + 0.9996445775032043, + -0.006149694789201021, + -0.10385148264296044 + ], + [ + 0.070848748087883, + 0.007974736392498016, + 0.9974551796913147, + 0.9167164639256516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9973959922790527, + 0.02463543228805065, + -0.06778138130903244, + 0.23336359414653982 + ], + [ + -0.024717463180422783, + 0.9996944069862366, + -0.00037168897688388824, + -0.10468730047551168 + ], + [ + 0.06775150448083878, + 0.002046104520559311, + 0.9977001547813416, + 0.9968045561767531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.997651994228363, + 0.024281147867441177, + -0.06403878331184387, + 0.262462306383156 + ], + [ + -0.024293623864650726, + 0.9997047185897827, + 0.0005839275545440614, + -0.10291893136116766 + ], + [ + 0.06403404474258423, + 0.0009731774334795773, + 0.9979472160339355, + 1.0765622057422486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981375336647034, + 0.023658227175474167, + -0.05622901767492294, + 0.2924364101279029 + ], + [ + -0.02364048734307289, + 0.99972003698349, + 0.0009807436726987362, + -0.09734202602079936 + ], + [ + 0.056236475706100464, + 0.0003503641637507826, + 0.9984174370765686, + 1.1721808533506786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988082051277161, + 0.027929777279496193, + -0.04002678766846657, + 0.32005831619836217 + ], + [ + -0.027882063761353493, + 0.9996097087860107, + 0.0017498767701908946, + -0.08950294971054051 + ], + [ + 0.04006003960967064, + -0.0006317618535831571, + 0.9991970658302307, + 1.265331038881591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992982745170593, + 0.028215009719133377, + -0.024635205045342445, + 0.349642668772609 + ], + [ + -0.028162077069282532, + 0.9996002316474915, + 0.0024930823128670454, + -0.08406984017741295 + ], + [ + 0.02469570003449917, + -0.0017975543159991503, + 0.9996933937072754, + 1.356314555435948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995205998420715, + 0.02838749997317791, + -0.012358332984149456, + 0.37795581993591126 + ], + [ + -0.02835298515856266, + 0.9995936155319214, + 0.0029591575730592012, + -0.08007934940850131 + ], + [ + 0.012437312863767147, + -0.0026073434855788946, + 0.9999192357063293, + 1.4441012652614476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995735287666321, + 0.02919137477874756, + -0.000791402708273381, + 0.40745880403276963 + ], + [ + -0.029188483953475952, + 0.999567985534668, + 0.0034472201950848103, + -0.07958836532820204 + ], + [ + 0.0008916898514144123, + -0.0034226500429213047, + 0.9999937415122986, + 1.5315039621586675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994945526123047, + 0.030876172706484795, + 0.007569460663944483, + 0.4373672102075843 + ], + [ + -0.030907241627573967, + 0.9995141625404358, + 0.004022208973765373, + -0.08145025935590541 + ], + [ + -0.0074415928684175014, + -0.00425412692129612, + 0.9999632835388184, + 1.62300204099392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994866847991943, + 0.028547799214720726, + 0.014537607319653034, + 0.46578296869392355 + ], + [ + -0.028619123622775078, + 0.9995792508125305, + 0.004722024779766798, + -0.08750263404461646 + ], + [ + -0.014396687038242817, + -0.00513565493747592, + 0.9998831748962402, + 1.7110841170388964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990425705909729, + 0.03297661989927292, + 0.028747761622071266, + 0.4948455664076014 + ], + [ + -0.03315407782793045, + 0.9994338750839233, + 0.005718108732253313, + -0.09796744869326666 + ], + [ + -0.02854292280972004, + -0.006665739696472883, + 0.999570369720459, + 1.7991796604555084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9987449049949646, + 0.03424002230167389, + 0.03655426576733589, + 0.5216946801900314 + ], + [ + -0.03451560437679291, + 0.9993801116943359, + 0.006934499833732843, + -0.11148733921726728 + ], + [ + -0.03629416599869728, + -0.008187488652765751, + 0.9993076324462891, + 1.8821163132198773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9987197518348694, + 0.032315321266651154, + 0.0389174222946167, + 0.5483677833036343 + ], + [ + -0.03272813558578491, + 0.9994140863418579, + 0.010017371736466885, + -0.1252332698570968 + ], + [ + -0.03857090324163437, + -0.011278240941464901, + 0.9991922378540039, + 1.9604151682816617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9985103011131287, + 0.032844312489032745, + 0.04357100650668144, + 0.5758869443861295 + ], + [ + -0.03336172550916672, + 0.9993805885314941, + 0.01120152696967125, + -0.14103792161436124 + ], + [ + -0.043176110833883286, + -0.01263844408094883, + 0.9989875555038452, + 2.0465285082472153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9983169436454773, + 0.033406902104616165, + 0.047405634075403214, + 0.599745728587088 + ], + [ + -0.0340389721095562, + 0.9993411898612976, + 0.01258897501975298, + -0.15707823051834985 + ], + [ + -0.046953845769166946, + -0.014181426726281643, + 0.9987964034080505, + 2.1278011031508925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981305003166199, + 0.03452364727854729, + 0.0504341647028923, + 0.6217410106108897 + ], + [ + -0.035260844975709915, + 0.9992828369140625, + 0.013800849206745625, + -0.17019738635983886 + ], + [ + -0.04992154240608215, + -0.015553398989140987, + 0.99863201379776, + 2.2038647385189645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.998140811920166, + 0.031876422464847565, + 0.051950082182884216, + 0.6452800265242976 + ], + [ + -0.0326935276389122, + 0.9993535280227661, + 0.014955290593206882, + -0.18247111189749932 + ], + [ + -0.05143977701663971, + -0.016625916585326195, + 0.9985377192497253, + 2.283376168123176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981024861335754, + 0.030853405594825745, + 0.0532866008579731, + 0.6681344692264833 + ], + [ + -0.031740106642246246, + 0.9993700981140137, + 0.015874719247221947, + -0.19020807212948249 + ], + [ + -0.05276324227452278, + -0.017535919323563576, + 0.9984530806541443, + 2.370583042935876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9980063438415527, + 0.03226960450410843, + 0.05424082651734352, + 0.6907146149035972 + ], + [ + -0.03320642560720444, + 0.9993129968643188, + 0.016459718346595764, + -0.19466525213234986 + ], + [ + -0.053672414273023605, + -0.018228046596050262, + 0.9983922243118286, + 2.472674362018086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9979289174079895, + 0.03378099948167801, + 0.054742682725191116, + 0.7125451895807471 + ], + [ + -0.03476226329803467, + 0.9992497563362122, + 0.017072824761271477, + -0.19673072993755342 + ], + [ + -0.054124873131513596, + -0.01894044317305088, + 0.9983545541763306, + 2.5716392720650347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9979005455970764, + 0.033801376819610596, + 0.05524470657110214, + 0.7323993050008325 + ], + [ + -0.03480616211891174, + 0.9992438554763794, + 0.0173278097063303, + -0.20310068878984672 + ], + [ + -0.054617226123809814, + -0.019214285537600517, + 0.9983224868774414, + 2.657628400836672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9978584051132202, + 0.03320891782641411, + 0.056354351341724396, + 0.7506277658646145 + ], + [ + -0.0342295877635479, + 0.999265193939209, + 0.017243841663002968, + -0.2060783451603305 + ], + [ + -0.055740296840667725, + -0.01913589797914028, + 0.9982619285583496, + 2.745744602858574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9978620409965515, + 0.03211105614900589, + 0.0569227933883667, + 0.7713915708358936 + ], + [ + -0.03307916224002838, + 0.9993222951889038, + 0.016147231683135033, + -0.20996951607789863 + ], + [ + -0.056365713477134705, + -0.017995668575167656, + 0.9982479810714722, + 2.84633460642109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9979039430618286, + 0.03027130477130413, + 0.05719580501317978, + 0.7921044574449619 + ], + [ + -0.031125182285904884, + 0.9994160532951355, + 0.014097439125180244, + -0.21322958123299385 + ], + [ + -0.05673565715551376, + -0.01584812067449093, + 0.998263418674469, + 2.945146352383158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978674650192261, + 0.030807090923190117, + 0.05754464864730835, + 0.8111958152172477 + ], + [ + -0.03161534667015076, + 0.9994130730628967, + 0.013188336975872517, + -0.2187072386527391 + ], + [ + -0.057104580104351044, + -0.014979506842792034, + 0.9982558488845825, + 3.0376404089638576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9978460073471069, + 0.03109060414135456, + 0.05776454880833626, + 0.8305943086425761 + ], + [ + -0.03186741843819618, + 0.999413013458252, + 0.012575604021549225, + -0.22825255779901407 + ], + [ + -0.057339657098054886, + -0.014389323070645332, + 0.9982510209083557, + 3.125374093937606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9977990984916687, + 0.0313444547355175, + 0.05843402445316315, + 0.8495293956713468 + ], + [ + -0.03204444423317909, + 0.9994249939918518, + 0.01108058262616396, + -0.23780798210251716 + ], + [ + -0.058053113520145416, + -0.012928680516779423, + 0.9982298016548157, + 3.2165175900507013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9977279901504517, + 0.03169609606266022, + 0.059449292719364166, + 0.8662856699752918 + ], + [ + -0.032397396862506866, + 0.999415934085846, + 0.010869849473237991, + -0.2512240940799362 + ], + [ + -0.05907004326581955, + -0.012771155685186386, + 0.9981721639633179, + 3.299160172671835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9977307319641113, + 0.029204601421952248, + 0.06066732481122017, + 0.8824220454569236 + ], + [ + -0.029947428032755852, + 0.9994868040084839, + 0.01137114129960537, + -0.266119732148087 + ], + [ + -0.060304101556539536, + -0.013162167742848396, + 0.9980932474136353, + 3.382222562925332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977548122406006, + 0.02707119844853878, + 0.06125741824507713, + 0.9002519089754345 + ], + [ + -0.02789047174155712, + 0.9995321035385132, + 0.012558816000819206, + -0.2784834835386496 + ], + [ + -0.06088877096772194, + -0.014239117503166199, + 0.9980430006980896, + 3.465112784017341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9977996349334717, + 0.02478756196796894, + 0.06149400398135185, + 0.920757232618428 + ], + [ + -0.026203198358416557, + 0.9994074106216431, + 0.022321991622447968, + -0.2947133114261012 + ], + [ + -0.06090425327420235, + -0.023884214460849762, + 0.9978578090667725, + 3.5431039148280696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9979092478752136, + 0.01910555362701416, + 0.06174256652593613, + 0.9422123030034079 + ], + [ + -0.020901694893836975, + 0.9993730187416077, + 0.028577057644724846, + -0.3079409780864891 + ], + [ + -0.06115787476301193, + -0.029807833954691887, + 0.9976829290390015, + 3.618763784553495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979327321052551, + 0.016033479943871498, + 0.0622347891330719, + 0.9621019172537986 + ], + [ + -0.018080955371260643, + 0.9993089437484741, + 0.03247665613889694, + -0.31904018496588077 + ], + [ + -0.06167106330394745, + -0.03353478014469147, + 0.9975330233573914, + 3.6924002151610114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9979033470153809, + 0.015876278281211853, + 0.0627439096570015, + 0.9828183299728802 + ], + [ + -0.018030952662229538, + 0.999261736869812, + 0.03392505273222923, + -0.3282012799368476 + ], + [ + -0.0621589832007885, + -0.0349852554500103, + 0.9974529147148132, + 3.7680432726006767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9978854656219482, + 0.012762999162077904, + 0.06373148411512375, + 1.0027939611505117 + ], + [ + -0.015022799372673035, + 0.9992706775665283, + 0.03510575741529465, + -0.3353595538622773 + ], + [ + -0.06323694437742233, + -0.035988949239254, + 0.9973494410514832, + 3.8464588718274224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9978473782539368, + 0.009629045613110065, + 0.06486820429563522, + 1.0240867746817934 + ], + [ + -0.011970999650657177, + 0.9992868304252625, + 0.0358118899166584, + -0.3384677076119981 + ], + [ + -0.0644771084189415, + -0.03651133552193642, + 0.997251033782959, + 3.9327110885045906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9978204965591431, + 0.006022755987942219, + 0.0657111257314682, + 1.0467786134182033 + ], + [ + -0.008421852253377438, + 0.9993056654930115, + 0.03629404678940773, + -0.33980716774540565 + ], + [ + -0.06544691324234009, + -0.0367683507502079, + 0.9971784353256226, + 4.023383442350247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977850317955017, + 0.005504261236637831, + 0.06629303842782974, + 1.0691664674094008 + ], + [ + -0.007902255281805992, + 0.9993218183517456, + 0.03596492484211922, + -0.3413255178159283 + ], + [ + -0.06605011969804764, + -0.036409128457307816, + 0.9971518516540527, + 4.115888669930639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977322816848755, + 0.007086150348186493, + 0.06693363189697266, + 1.0896186050250782 + ], + [ + -0.00922052189707756, + 0.9994570016860962, + 0.031632985919713974, + -0.3446064525485588 + ], + [ + -0.06667312979698181, + -0.03217841312289238, + 0.9972558617591858, + 4.20454831522662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9977045059204102, + 0.006153814494609833, + 0.06743817776441574, + 1.1110949236779444 + ], + [ + -0.007962259463965893, + 0.999614953994751, + 0.0265804510563612, + -0.3490989451584179 + ], + [ + -0.06724863499403, + -0.027056394144892693, + 0.9973693490028381, + 4.294746185761065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9976553916931152, + 0.007275961805135012, + 0.06804978847503662, + 1.1281420475902026 + ], + [ + -0.00872865691781044, + 0.9997398257255554, + 0.021074609830975533, + -0.35770509064472217 + ], + [ + -0.06787873804569244, + -0.021619180217385292, + 0.9974592924118042, + 4.383218983409729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9976793527603149, + 0.00422303332015872, + 0.06795628368854523, + 1.1495934453061116 + ], + [ + -0.0052313958294689655, + 0.9998787641525269, + 0.014667296782135963, + -0.36724352399874394 + ], + [ + -0.0678860992193222, + -0.014988765120506287, + 0.9975804686546326, + 4.470348232263519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9976881146430969, + 0.0032759809400886297, + 0.06788019090890884, + 1.168859975696391 + ], + [ + -0.003954957704991102, + 0.9999434351921082, + 0.009870603680610657, + -0.3819263234940542 + ], + [ + -0.06784401088953018, + -0.010116247460246086, + 0.9976446628570557, + 4.553516835477289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9977220296859741, + 0.0062746466137468815, + 0.06716722249984741, + 1.1863102816605364 + ], + [ + -0.006887554656714201, + 0.9999366998672485, + 0.008897422812879086, + -0.39896798490928614 + ], + [ + -0.06710714101791382, + -0.0093397730961442, + 0.9977020621299744, + 4.627484055886191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9978421926498413, + 0.0040911720134317875, + 0.06553041934967041, + 1.2052848747060183 + ], + [ + -0.004613119643181562, + 0.9999588131904602, + 0.007815638557076454, + -0.414210771360705 + ], + [ + -0.06549574434757233, + -0.008101074025034904, + 0.9978199601173401, + 4.708843913337876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9979370832443237, + 0.006092149298638105, + 0.06391003727912903, + 1.2232911133445576 + ], + [ + -0.006552970502525568, + 0.9999539852142334, + 0.00700333621352911, + -0.43259212794941143 + ], + [ + -0.06386443972587585, + -0.007407689467072487, + 0.9979310631752014, + 4.787622482083258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9980493783950806, + 0.006954638287425041, + 0.06204105168581009, + 1.2370968686493997 + ], + [ + -0.007351692765951157, + 0.9999539256095886, + 0.006173888221383095, + -0.4490081741787871 + ], + [ + -0.0619952529668808, + -0.006617952138185501, + 0.9980545043945312, + 4.864449479808593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9981880784034729, + 0.004793141502887011, + 0.059980008751153946, + 1.2509120455906568 + ], + [ + -0.005136301275342703, + 0.999971330165863, + 0.005568365566432476, + -0.4663782204900469 + ], + [ + -0.059951599687337875, + -0.0058663515374064445, + 0.9981840252876282, + 4.944448707339006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.998391330242157, + 0.004487055819481611, + 0.05652131140232086, + 1.2652875493121793 + ], + [ + -0.00478563504293561, + 0.999975323677063, + 0.0051483516581356525, + -0.48022748289569733 + ], + [ + -0.056496813893318176, + -0.005410559941083193, + 0.9983881115913391, + 5.018611781827007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9986770749092102, + 0.006125281564891338, + 0.05105428025126457, + 1.2789226299198988 + ], + [ + -0.006389242596924305, + 0.9999670386314392, + 0.005008605308830738, + -0.4929634062925242 + ], + [ + -0.051021914929151535, + -0.005328177474439144, + 0.9986833333969116, + 5.095043233766173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9990222454071045, + 0.005695189815014601, + 0.04384229704737663, + 1.2926696548637535 + ], + [ + -0.005910080391913652, + 0.9999711513519287, + 0.004773386754095554, + -0.503396999835968 + ], + [ + -0.04381384328007698, + -0.005027830600738525, + 0.9990270733833313, + 5.167015676839011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993916153907776, + 0.004107905086129904, + 0.034633345901966095, + 1.3076462220956362 + ], + [ + -0.004251568112522364, + 0.9999826550483704, + 0.0040755001828074455, + -0.5078789601402898 + ], + [ + -0.034616000950336456, + -0.004220266826450825, + 0.9993917942047119, + 5.2477454906419645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997010231018066, + 0.0045410399325191975, + 0.02402622066438198, + 1.3204346322656226 + ], + [ + -0.004606078844517469, + 0.9999858736991882, + 0.002652350114658475, + -0.5095809346794533 + ], + [ + -0.024013837799429893, + -0.0027622238267213106, + 0.999707818031311, + 5.327562259508443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998488426208496, + 0.004865977447479963, + 0.016691749915480614, + 1.3369892022287053 + ], + [ + -0.004870118107646704, + 0.9999881386756897, + 0.00020741010666824877, + -0.5152891204104445 + ], + [ + -0.016690542921423912, + -0.000288669514702633, + 0.9998606443405151, + 5.407642428215804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999890148639679, + 0.006012647412717342, + 0.013546324335038662, + 1.3506203828877361 + ], + [ + -0.0060002245008945465, + 0.9999815225601196, + -0.0009575465228408575, + -0.5165488030778648 + ], + [ + -0.013551832176744938, + 0.0008761603385210037, + 0.9999077916145325, + 5.48308044180171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999362230300903, + 0.004017787519842386, + 0.010556397028267384, + 1.3658590770435997 + ], + [ + -0.003992080222815275, + 0.9999890327453613, + -0.0024551774840801954, + -0.5194433943741882 + ], + [ + -0.010566146112978458, + 0.0024128786753863096, + 0.9999412894248962, + 5.570880777470248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999563694000244, + 0.004080417100340128, + 0.008404897525906563, + 1.3791262371019215 + ], + [ + -0.004037164617329836, + 0.9999785423278809, + -0.005156668368726969, + -0.521518401094296 + ], + [ + -0.00842575915157795, + 0.0051225111819803715, + 0.9999513626098633, + 5.655592614593422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999702572822571, + 0.0035931861493736506, + 0.0068258787505328655, + 1.3919809547835567 + ], + [ + -0.003551064757630229, + 0.9999746680259705, + -0.006172962486743927, + -0.5296001175856261 + ], + [ + -0.006847885902971029, + 0.006148539483547211, + 0.9999576210975647, + 5.741076942938402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999694228172302, + 0.0053098006173968315, + 0.005746079608798027, + 1.403040786574204 + ], + [ + -0.0052663786336779594, + 0.9999576807022095, + -0.007545664440840483, + -0.5354130633415715 + ], + [ + -0.00578590203076601, + 0.007515172008424997, + 0.9999549984931946, + 5.830026911796942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999532103538513, + 0.0082853389903903, + 0.00498847384005785, + 1.4155405707773216 + ], + [ + -0.008242226205766201, + 0.9999290108680725, + -0.0086017195135355, + -0.5476223220748286 + ], + [ + -0.005059387534856796, + 0.008560201153159142, + 0.9999505877494812, + 5.908538164619854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999786615371704, + 0.0050339908339083195, + 0.004158909432590008, + 1.4287757731441941 + ], + [ + -0.0049929083324968815, + 0.9999392032623291, + -0.009830162860453129, + -0.5610800114095486 + ], + [ + -0.004208141937851906, + 0.009809187613427639, + 0.9999430179595947, + 5.987375949882829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999906420707703, + -0.0007262037834152579, + 0.00426730141043663, + 1.4462495962176622 + ], + [ + 0.0007736890111118555, + 0.9999377131462097, + -0.01113660354167223, + -0.5728413861742767 + ], + [ + -0.004258948378264904, + 0.01113979984074831, + 0.999928891658783, + 6.060922667660111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999878406524658, + -0.0009611010900698602, + 0.004832420032471418, + 1.4639556331141028 + ], + [ + 0.001015659887343645, + 0.9999356269836426, + -0.011300420388579369, + -0.5889926213273255 + ], + [ + -0.004821247886866331, + 0.011305190622806549, + 0.9999244809150696, + 6.117334127639022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999675154685974, + -0.00015152880223467946, + 0.00806077104061842, + 1.4808812061036896 + ], + [ + 0.00023922906257212162, + 0.9999407529830933, + -0.010880034416913986, + -0.6027102673658028 + ], + [ + -0.008058645762503147, + 0.010881608352065086, + 0.9999083280563354, + 6.17273439262234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9998892545700073, + 0.0012780986726284027, + 0.014827449806034565, + 1.4936010243362545 + ], + [ + -0.0011949560139328241, + 0.999983549118042, + -0.005614847410470247, + -0.6132395544909113 + ], + [ + -0.014834382571280003, + 0.005596507806330919, + 0.9998742938041687, + 6.241312953998863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.999731183052063, + 0.0003501180908642709, + 0.023182770237326622, + 1.5071592073142153 + ], + [ + -0.0003617292386479676, + 0.9999998211860657, + 0.0004966604174114764, + -0.6204457557970477 + ], + [ + -0.023182591423392296, + -0.0005049127503298223, + 0.9997311234474182, + 6.313039099272799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9995606541633606, + -0.0010255733504891396, + 0.029622554779052734, + 1.5220608993806803 + ], + [ + 0.0008829490398056805, + 0.9999879598617554, + 0.004827397875487804, + -0.6252171243940081 + ], + [ + -0.029627148061990738, + -0.004799121990799904, + 0.9995495080947876, + 6.389199144848138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993817210197449, + -0.0030100608710199594, + 0.0350300669670105, + 1.5388638076384247 + ], + [ + 0.0027395186480134726, + 0.9999660849571228, + 0.00776857603341341, + -0.6297498777440067 + ], + [ + -0.035052262246608734, + -0.00766780786216259, + 0.9993560910224915, + 6.462793074253827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9991675019264221, + -0.002856188453733921, + 0.040695954114198685, + 1.5550822374252131 + ], + [ + 0.0024761799722909927, + 0.9999529123306274, + 0.009385096840560436, + -0.631390318343167 + ], + [ + -0.04072083905339241, + -0.009276513941586018, + 0.9991275072097778, + 6.543269256464622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9989688396453857, + -0.0010832861298695207, + 0.04538865387439728, + 1.5705620291199178 + ], + [ + 0.0006090535316616297, + 0.9999451041221619, + 0.010460791178047657, + -0.6320849617230727 + ], + [ + -0.045397497713565826, + -0.010422359220683575, + 0.9989146590232849, + 6.623588500262457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9988123774528503, + 0.00044688204070553184, + 0.048720359802246094, + 1.586238902016309 + ], + [ + -0.0009931810200214386, + 0.9999368786811829, + 0.011189320124685764, + -0.6339955764981459 + ], + [ + -0.04871228337287903, + -0.011224419809877872, + 0.9987497925758362, + 6.706548454307775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9986555576324463, + 0.0009071117965504527, + 0.0518287792801857, + 1.6025855480450257 + ], + [ + -0.0014875956112518907, + 0.999936580657959, + 0.011162551119923592, + -0.6353185466906992 + ], + [ + -0.05181536823511124, + -0.011224644258618355, + 0.9985936284065247, + 6.786156353789644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9984264969825745, + 0.0011249363888055086, + 0.056064847856760025, + 1.6192774427303624 + ], + [ + -0.0017508089076727629, + 0.9999366998672485, + 0.011115498840808868, + -0.6410712307499301 + ], + [ + -0.056048791855573654, + -0.011196168139576912, + 0.9983652830123901, + 6.866692021272836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9982465505599976, + 0.0011838267091661692, + 0.05918176844716072, + 1.636018635163809 + ], + [ + -0.001611761748790741, + 0.9999728798866272, + 0.007183647248893976, + -0.6469511528443631 + ], + [ + -0.059171658009290695, + -0.007266438100486994, + 0.9982213973999023, + 6.943162399534059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9981118440628052, + -0.001040152390487492, + 0.06141403689980507, + 1.652354574260465 + ], + [ + 0.0009375576046295464, + 0.9999980926513672, + 0.001699337037280202, + -0.6536206735993311 + ], + [ + -0.061415690928697586, + -0.0016385491471737623, + 0.9981109499931335, + 7.017452804866346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9979944229125977, + -0.0028898746240884066, + 0.0632355734705925, + 1.6739382642869567 + ], + [ + 0.0031618622597306967, + 0.9999861717224121, + -0.004201534204185009, + -0.6627108231667549 + ], + [ + -0.06322256475687027, + 0.004393049515783787, + 0.9979897737503052, + 7.104949777213264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9979304671287537, + 0.0003608219849411398, + 0.06430157274007797, + 1.6899799411808472 + ], + [ + -6.037531420588493e-06, + 0.9999848008155823, + -0.005517617333680391, + -0.675841690428246 + ], + [ + -0.06430258601903915, + 0.005505810026079416, + 0.9979152679443359, + 7.169086339000252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9978909492492676, + 0.0004777564899995923, + 0.06491117179393768, + 1.7096527371889791 + ], + [ + -2.4052977096289396e-05, + 0.9999755620956421, + -0.006990207824856043, + -0.6881163706427895 + ], + [ + -0.06491293013095856, + 0.006973904091864824, + 0.9978665709495544, + 7.248178081032241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.997808039188385, + 0.000297151185804978, + 0.0661739930510521, + 1.723218633742195 + ], + [ + 0.00033709636772982776, + 0.999954104423523, + -0.009573173709213734, + -0.6999513089382154 + ], + [ + -0.06617379933595657, + 0.009574496187269688, + 0.9977622032165527, + 7.3167129627252985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.997726559638977, + -0.0017033083131536841, + 0.06737102568149567, + 1.7360600460016529 + ], + [ + 0.0024053817614912987, + 0.9999436140060425, + -0.01034125778824091, + -0.7135807275772095 + ], + [ + -0.06734961271286011, + 0.010479799471795559, + 0.9976744055747986, + 7.3875943914206035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9976573586463928, + -0.006033037789165974, + 0.06814268231391907, + 1.749154165515908 + ], + [ + 0.006759333424270153, + 0.9999227523803711, + -0.010432925075292587, + -0.7250353790098621 + ], + [ + -0.06807447969913483, + 0.010869083926081657, + 0.9976210594177246, + 7.452915007257104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9976159334182739, + -0.008385879918932915, + 0.06849902868270874, + 1.7639872816258244 + ], + [ + 0.009016618132591248, + 0.9999197125434875, + -0.008904002606868744, + -0.73587857569967 + ], + [ + -0.06841886043548584, + 0.009500404819846153, + 0.9976114630699158, + 7.523221551493875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9976527094841003, + -0.007452929392457008, + 0.06806962937116623, + 1.7788756164039747 + ], + [ + 0.007729080505669117, + 0.9999629259109497, + -0.003794420976191759, + -0.744580866993847 + ], + [ + -0.06803882867097855, + 0.0043116300366818905, + 0.9976733326911926, + 7.5960580409410055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9977293014526367, + -0.006074890494346619, + 0.06707680225372314, + 1.792473311694811 + ], + [ + 0.006288596428930759, + 0.9999758005142212, + -0.0029753055423498154, + -0.7501554274888632 + ], + [ + -0.06705710291862488, + 0.003390368539839983, + 0.9977433681488037, + 7.669394840023905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977807998657227, + -0.005066234618425369, + 0.06639101356267929, + 1.8037806898218147 + ], + [ + 0.0052542854100465775, + 0.9999826550483704, + -0.0026581697165966034, + -0.7562528834914282 + ], + [ + -0.06637639552354813, + 0.0030011082999408245, + 0.9977901577949524, + 7.7419436290173484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.997759997844696, + -0.007839915342628956, + 0.06643446534872055, + 1.8153361999343927 + ], + [ + 0.008031059987843037, + 0.9999643564224243, + -0.0026106026489287615, + -0.7591156694746237 + ], + [ + -0.06641163676977158, + 0.0031382942106574774, + 0.997787356376648, + 7.819558527379957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.997713565826416, + -0.013056120835244656, + 0.06631133705377579, + 1.8289236051481097 + ], + [ + 0.013250495307147503, + 0.9999091029167175, + -0.0024922622833400965, + -0.7613704712160172 + ], + [ + -0.06627277284860611, + 0.003365221666172147, + 0.9977958798408508, + 7.897979392791767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9976815581321716, + -0.015176714397966862, + 0.06634099781513214, + 1.841455962760846 + ], + [ + 0.015379841439425945, + 0.999878466129303, + -0.002552185906097293, + -0.7604337415112878 + ], + [ + -0.06629420816898346, + 0.0035665829200297594, + 0.9977937340736389, + 7.9766200836937795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9976813197135925, + -0.01608588546514511, + 0.06613034754991531, + 1.8543020903652165 + ], + [ + 0.01629258319735527, + 0.9998639225959778, + -0.002587453695014119, + -0.762068711942242 + ], + [ + -0.06607972830533981, + 0.0036588881630450487, + 0.9978076219558716, + 8.054475972298018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9976411461830139, + -0.01765255816280842, + 0.06633671373128891, + 1.866443541162746 + ], + [ + 0.01786639727652073, + 0.9998369216918945, + -0.0026316498406231403, + -0.7641250900409189 + ], + [ + -0.06627943366765976, + 0.0038106399588286877, + 0.9977938532829285, + 8.130474112415687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9975485801696777, + -0.02244982123374939, + 0.06627862900495529, + 1.8797092481966942 + ], + [ + 0.022664815187454224, + 0.9997400045394897, + -0.002493547275662422, + -0.7689280767594614 + ], + [ + -0.06620541960000992, + 0.003989627119153738, + 0.9977980256080627, + 8.21028839077088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9975548982620239, + -0.024588927626609802, + 0.06541842222213745, + 1.8946482595828822 + ], + [ + 0.02483026310801506, + 0.9996875524520874, + -0.002878508297726512, + -0.7746474199580706 + ], + [ + -0.06532719731330872, + 0.0044958265498280525, + 0.9978537559509277, + 8.296172368700278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9976932406425476, + -0.022283777594566345, + 0.06412211060523987, + 1.9100405992450802 + ], + [ + 0.02257254347205162, + 0.9997380375862122, + -0.003782346611842513, + -0.7833975376072018 + ], + [ + -0.064021036028862, + 0.005221020430326462, + 0.997934877872467, + 8.379705067727423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9978575110435486, + -0.017883770167827606, + 0.06293320655822754, + 1.9225364958326663 + ], + [ + 0.018196217715740204, + 0.9998247623443604, + -0.004395079333335161, + -0.7964920113163609 + ], + [ + -0.06284357607364655, + 0.0055308095179498196, + 0.9980080723762512, + 8.45775259045073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9979286789894104, + -0.01763654686510563, + 0.06186487525701523, + 1.932451469792817 + ], + [ + 0.017995560541749, + 0.9998242855072021, + -0.005250792484730482, + -0.8081039313347109 + ], + [ + -0.06176140159368515, + 0.006353209260851145, + 0.9980707168579102, + 8.530194839261352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.997907817363739, + -0.021341800689697266, + 0.061028365045785904, + 1.941838341704162 + ], + [ + 0.021728936582803726, + 0.9997477531433105, + -0.0056868609972298145, + -0.8195757252829415 + ], + [ + -0.06089160218834877, + 0.007001044694334269, + 0.9981198310852051, + 8.599870699062334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980111122131348, + -0.018924472853541374, + 0.060130249708890915, + 1.9516422654248877 + ], + [ + 0.01930769719183445, + 0.9997967481613159, + -0.0057986024767160416, + -0.8322314243162832 + ], + [ + -0.06000829115509987, + 0.006948046386241913, + 0.998173713684082, + 8.658136750187742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9981309175491333, + -0.016142763197422028, + 0.05894165486097336, + 1.9650710782182106 + ], + [ + 0.016508832573890686, + 0.9998472929000854, + -0.0057290163822472095, + -0.8425601022034747 + ], + [ + -0.05884017050266266, + 0.006691365968436003, + 0.9982450008392334, + 8.72725731184822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9982412457466125, + -0.012950924225151539, + 0.05785031244158745, + 1.9772218594859754 + ], + [ + 0.013205197639763355, + 0.9999047517776489, + -0.004015219397842884, + -0.8522813289945577 + ], + [ + -0.05779280140995979, + 0.004772081971168518, + 0.9983171820640564, + 8.793732973631077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9983158707618713, + -0.010702126659452915, + 0.05701611191034317, + 1.9906983644692957 + ], + [ + 0.010721663944423199, + 0.9999425411224365, + -3.6751298466697335e-05, + -0.8592921542681857 + ], + [ + -0.05701243877410889, + 0.0006479970179498196, + 0.99837327003479, + 8.861397975434931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9983153939247131, + -0.0118070924654603, + 0.05680672824382782, + 2.005415201619748 + ], + [ + 0.011752449907362461, + 0.9999300837516785, + 0.0012958917068317533, + -0.8652995994014124 + ], + [ + -0.05681806057691574, + -0.0006260904483497143, + 0.9983843564987183, + 8.924637683913593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9983342289924622, + -0.011487333104014397, + 0.056540101766586304, + 2.0219252070515044 + ], + [ + 0.011366648599505424, + 0.9999324083328247, + 0.002455619163811207, + -0.871146751054421 + ], + [ + -0.056564487516880035, + -0.0018088571960106492, + 0.9983972907066345, + 8.995037812720566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9983739852905273, + -0.010094399563968182, + 0.056102294474840164, + 2.0401230477818078 + ], + [ + 0.009913013316690922, + 0.9999446868896484, + 0.003510476090013981, + -0.8735668626798463 + ], + [ + -0.056134629994630814, + -0.002948625013232231, + 0.9984188675880432, + 9.072533063293534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9984042048454285, + -0.008963607251644135, + 0.05575580149888992, + 2.0585716771399647 + ], + [ + 0.008717818185687065, + 0.999951183795929, + 0.004649975337088108, + -0.8744680720814911 + ], + [ + -0.05579476058483124, + -0.004156486131250858, + 0.9984335899353027, + 9.148603415174607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.998447060585022, + -0.0052846516482532024, + 0.055457163602113724, + 2.075958700281512 + ], + [ + 0.005000563804060221, + 0.9999736547470093, + 0.005260172300040722, + -0.8728523219785382 + ], + [ + -0.05548350140452385, + -0.004974686540663242, + 0.9984472393989563, + 9.227371068630145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9984697103500366, + -0.0024804098065942526, + 0.055245403200387955, + 2.0931372478101102 + ], + [ + 0.0021738496143370867, + 0.9999818801879883, + 0.00560846459120512, + -0.8729818233696547 + ], + [ + -0.055258315056562424, + -0.005479786545038223, + 0.9984570741653442, + 9.308225446604707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9984811544418335, + -0.0021097385324537754, + 0.055053822696208954, + 2.1112070521344064 + ], + [ + 0.0017925468273460865, + 0.9999815225601196, + 0.005810227710753679, + -0.8756066909034131 + ], + [ + -0.05506506562232971, + -0.005702716764062643, + 0.9984664916992188, + 9.384877362391109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9985043406486511, + -0.002810361562296748, + 0.05460021644830704, + 2.1297110109041717 + ], + [ + 0.002497106557711959, + 0.9999800324440002, + 0.005804620683193207, + -0.8819715682537325 + ], + [ + -0.05461543798446655, + -0.005659596063196659, + 0.9984914064407349, + 9.459557954056729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9985615015029907, + -0.004494324326515198, + 0.053429216146469116, + 2.1517196720646274 + ], + [ + 0.004264224320650101, + 0.999981164932251, + 0.004419859033077955, + -0.8889042638963269 + ], + [ + -0.05344807356595993, + -0.004185666795819998, + 0.9985618591308594, + 9.54278632079161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9986550211906433, + -0.0006285645067691803, + 0.05184384435415268, + 2.171970368889139 + ], + [ + 0.0005889573367312551, + 0.9999995231628418, + 0.0007792438846081495, + -0.8997686686054353 + ], + [ + -0.05184430629014969, + -0.0007476620376110077, + 0.9986549019813538, + 9.619718279876674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9987298846244812, + 0.006403125356882811, + 0.04997667297720909, + 2.1867239681999564 + ], + [ + -0.006466985214501619, + 0.9999784827232361, + 0.0011161935981363058, + -0.9155903392673088 + ], + [ + -0.04996844753623009, + -0.0014379741623997688, + 0.9987497329711914, + 9.687306186427204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9988917708396912, + 0.005800662562251091, + 0.04670731723308563, + 2.2035794117166083 + ], + [ + -0.005821628496050835, + 0.999983012676239, + 0.00031286804005503654, + -0.9279843847048448 + ], + [ + -0.04670470952987671, + -0.0005844339611940086, + 0.9989085793495178, + 9.763303505014742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.998955488204956, + 0.008278938941657543, + 0.044937651604413986, + 2.2207958100629703 + ], + [ + -0.008290850557386875, + 0.9999656081199646, + 7.869955152273178e-05, + -0.9393217614718846 + ], + [ + -0.044935453683137894, + -0.00045118870912119746, + 0.9989897608757019, + 9.829632792099645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9988858699798584, + 0.016320714727044106, + 0.044279441237449646, + 2.233313511606426 + ], + [ + -0.01634223945438862, + 0.9998664259910583, + 0.00012411049101501703, + -0.9509618522659424 + ], + [ + -0.044271498918533325, + -0.0008475972572341561, + 0.999019205570221, + 9.898585506855705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9988095760345459, + 0.022424573078751564, + 0.043319422751665115, + 2.2465078149471553 + ], + [ + -0.022460060194134712, + 0.9997476935386658, + 0.00033257860923185945, + -0.9648937071523359 + ], + [ + -0.04330103471875191, + -0.0013051393907517195, + 0.9990612268447876, + 9.955433333861912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.998889684677124, + 0.02171654999256134, + 0.04180610924959183, + 2.2620301655154624 + ], + [ + -0.0217466838657856, + 0.9997634887695312, + 0.0002660815080162138, + -0.9756881675961929 + ], + [ + -0.0417904406785965, + -0.001174930133856833, + 0.9991257190704346, + 10.038799384530057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9990049004554749, + 0.02065189927816391, + 0.03953167796134949, + 2.2804495328033023 + ], + [ + -0.0206887386739254, + 0.999785840511322, + 0.0005229446687735617, + -0.9847500838991684 + ], + [ + -0.03951241075992584, + -0.0013402847107499838, + 0.9992181658744812, + 10.11198415623008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9990421533584595, + 0.024416619911789894, + 0.036311954259872437, + 2.2961297009148836 + ], + [ + -0.024463923647999763, + 0.9997003674507141, + 0.0008588620112277567, + -0.9907415745719786 + ], + [ + -0.03628010302782059, + -0.0017463723197579384, + 0.9993401169776917, + 10.189069614027657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.999018669128418, + 0.028120698407292366, + 0.034219637513160706, + 2.3107400095940047 + ], + [ + -0.02817101590335369, + 0.9996026158332825, + 0.000989103689789772, + -0.9944791953135196 + ], + [ + -0.034178227186203, + -0.0019521350041031837, + 0.9994138479232788, + 10.26256525903202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9990718960762024, + 0.027947019785642624, + 0.032776426523923874, + 2.3226865978405087 + ], + [ + -0.02799016237258911, + 0.9996078014373779, + 0.0008581203874200583, + -0.9970540334552115 + ], + [ + -0.03273959085345268, + -0.0017747413367033005, + 0.999462366104126, + 10.32499250710989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9991108179092407, + 0.027369718998670578, + 0.03206896036863327, + 2.338105907782157 + ], + [ + -0.027394380420446396, + 0.9996246695518494, + 0.0003298054216429591, + -0.9986132682193809 + ], + [ + -0.03204789757728577, + -0.0012080214219167829, + 0.9994856119155884, + 10.402676632744797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9990968704223633, + 0.028219180181622505, + 0.031765762716531754, + 2.3517996522027156 + ], + [ + -0.028230855241417885, + 0.999601423740387, + -8.099785191006958e-05, + -1.0002206642781535 + ], + [ + -0.03175538405776024, + -0.0008158497512340546, + 0.9994953274726868, + 10.472714836763279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9990859627723694, + 0.028851941227912903, + 0.03154123201966286, + 2.366903843322108 + ], + [ + -0.02885228767991066, + 0.9995836019515991, + -0.00044429185800254345, + -1.0037607564354822 + ], + [ + -0.031540919095277786, + -0.00046615093015134335, + 0.9995023608207703, + 10.547135528215863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9990869760513306, + 0.02876167930662632, + 0.03158999979496002, + 2.3802607163211786 + ], + [ + -0.02875780127942562, + 0.9995862245559692, + -0.0005771882133558393, + -1.0096496329878881 + ], + [ + -0.031593531370162964, + -0.00033179769525304437, + 0.9995007514953613, + 10.617273945319933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9990562796592712, + 0.02948688715696335, + 0.03189077228307724, + 2.3957812349093124 + ], + [ + -0.02947382628917694, + 0.9995651841163635, + -0.000879676197655499, + -1.0163810306979764 + ], + [ + -0.03190284222364426, + -6.109700188972056e-05, + 0.9994909763336182, + 10.698927893757086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9990488290786743, + 0.02945585548877716, + 0.0321526862680912, + 2.410779724108733 + ], + [ + -0.029434986412525177, + 0.9995660781860352, + -0.0011223310139030218, + -1.0262963838291608 + ], + [ + -0.03217179700732231, + 0.00017484970157966018, + 0.9994823336601257, + 10.776272225261947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9989447593688965, + 0.031945452094078064, + 0.03299728035926819, + 2.4237780677146077 + ], + [ + -0.031927689909935, + 0.9994896054267883, + -0.0010651740012690425, + -1.0386158586097753 + ], + [ + -0.03301446884870529, + 1.0523013770580292e-05, + 0.9994548559188843, + 10.851888941085043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9989441633224487, + 0.03080902434885502, + 0.03407950699329376, + 2.4366575764560823 + ], + [ + -0.030786024406552315, + 0.999525249004364, + -0.0011995249660685658, + -1.0532177922637782 + ], + [ + -0.03410028666257858, + 0.00014908600132912397, + 0.9994183778762817, + 10.92095183025641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.998995840549469, + 0.027714751660823822, + 0.0352022685110569, + 2.4490328743573158 + ], + [ + -0.027677197009325027, + 0.9996157288551331, + -0.0015537842409685254, + -1.068469351337802 + ], + [ + -0.035231802612543106, + 0.0005779239581897855, + 0.9993789792060852, + 10.992446807295744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9989539980888367, + 0.02802574262022972, + 0.03613165020942688, + 2.4631381170764084 + ], + [ + -0.027975033968687057, + 0.9996067881584167, + -0.0019083048682659864, + -1.0839434751991852 + ], + [ + -0.036170922219753265, + 0.0008955248049460351, + 0.9993452429771423, + 11.054363236387614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9988880753517151, + 0.02918260172009468, + 0.03702758625149727, + 2.4748445436324116 + ], + [ + -0.029140550643205643, + 0.9995739459991455, + -0.0016749444184824824, + -1.098348149945659 + ], + [ + -0.0370606891810894, + 0.000594077748246491, + 0.9993128180503845, + 11.114805447070834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.998953640460968, + 0.02679811418056488, + 0.037061359733343124, + 2.492303856005592 + ], + [ + -0.026873428374528885, + 0.9996376633644104, + 0.0015354377683252096, + -1.1102732862470337 + ], + [ + -0.03700678423047066, + -0.002529796911403537, + 0.9993118047714233, + 11.184613044957914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9989449977874756, + 0.027110565453767776, + 0.0370667465031147, + 2.508641545865942 + ], + [ + -0.027469255030155182, + 0.9995803236961365, + 0.009201958775520325, + -1.119550558279187 + ], + [ + -0.03680172190070152, + -0.010210447013378143, + 0.9992704391479492, + 11.262310478929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9989355206489563, + 0.027378644794225693, + 0.037124745547771454, + 2.5260524121177497 + ], + [ + -0.027818899601697922, + 0.9995480179786682, + 0.011394498869776726, + -1.127441615690284 + ], + [ + -0.036796003580093384, + -0.012415139004588127, + 0.9992457032203674, + 11.344776039930224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9988865256309509, + 0.028748463839292526, + 0.037406884133815765, + 2.5387063641324294 + ], + [ + -0.02923358604311943, + 0.9994946122169495, + 0.012487008236348629, + -1.1359337074416025 + ], + [ + -0.037028998136520386, + -0.013566642068326473, + 0.9992220997810364, + 11.415116422481766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.998908519744873, + 0.027692321687936783, + 0.037615396082401276, + 2.5554174836003973 + ], + [ + -0.028195910155773163, + 0.999518871307373, + 0.012923906557261944, + -1.138866679130062 + ], + [ + -0.037239402532577515, + -0.013970400206744671, + 0.9992086887359619, + 11.492760995291775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9989668726921082, + 0.0248889047652483, + 0.03802328556776047, + 2.571577835560257 + ], + [ + -0.025415735319256783, + 0.9995867013931274, + 0.013435455970466137, + -1.1428317786361766 + ], + [ + -0.03767317533493042, + -0.014387964271008968, + 0.9991865158081055, + 11.566277472041376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.998975396156311, + 0.024493755772709846, + 0.03805578500032425, + 2.5916294805010276 + ], + [ + -0.02501777373254299, + 0.9995977878570557, + 0.013355020433664322, + -1.1466771730080179 + ], + [ + -0.03771336376667023, + -0.014293408021330833, + 0.9991863965988159, + 11.64627467255078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9989914894104004, + 0.02384980022907257, + 0.03804191201925278, + 2.610035241817549 + ], + [ + -0.02430664747953415, + 0.9996373653411865, + 0.011592000722885132, + -1.1477454208558606 + ], + [ + -0.03775165230035782, + -0.012504981830716133, + 0.999208927154541, + 11.726827992195014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9989848732948303, + 0.024090297520160675, + 0.03806464001536369, + 2.6282637035002083 + ], + [ + -0.02449437603354454, + 0.9996480941772461, + 0.010185090824961662, + -1.1513429877944805 + ], + [ + -0.03780588135123253, + -0.011107120662927628, + 0.9992233514785767, + 11.804160533713237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999041736125946, + 0.0220362339168787, + 0.03781494125723839, + 2.6453230081134675 + ], + [ + -0.022411605343222618, + 0.9997034072875977, + 0.009531451389193535, + -1.158733946936471 + ], + [ + -0.03759368881583214, + -0.010369811207056046, + 0.9992393255233765, + 11.88188519339133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9991551041603088, + 0.017691023647785187, + 0.03709658607840538, + 2.6633320520241415 + ], + [ + -0.018030673265457153, + 0.9997983574867249, + 0.008841359056532383, + -1.167017768302821 + ], + [ + -0.03693269565701485, + -0.009502765722572803, + 0.9992725849151611, + 11.957857663258652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9991850256919861, + 0.018255801871418953, + 0.03600074350833893, + 2.6802689964372304 + ], + [ + -0.01851208321750164, + 0.9998055100440979, + 0.0067982664331793785, + -1.179216835960265 + ], + [ + -0.03586963564157486, + -0.00745917484164238, + 0.99932861328125, + 12.032723498368455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9992206692695618, + 0.019376160576939583, + 0.03438951447606087, + 2.6974709117785096 + ], + [ + -0.019581550732254982, + 0.9997923374176025, + 0.005645738448947668, + -1.1944042273930142 + ], + [ + -0.03427297994494438, + -0.006314738187938929, + 0.999392569065094, + 12.099868739190113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.999293327331543, + 0.01945505291223526, + 0.032161273062229156, + 2.7134737481307325 + ], + [ + -0.019608024507761, + 0.9997978210449219, + 0.004447821993380785, + -1.2076050137594547 + ], + [ + -0.03206823766231537, + -0.00507529778406024, + 0.9994727969169617, + 12.170058806955574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9994325041770935, + 0.0152274826541543, + 0.030047167092561722, + 2.7301299775744603 + ], + [ + -0.01526403333991766, + 0.9998829960823059, + 0.000987457693554461, + -1.2209252965340416 + ], + [ + -0.03002861514687538, + -0.001445538247935474, + 0.9995480179786682, + 12.233062424991132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9995042085647583, + 0.014685378409922123, + 0.02785046584904194, + 2.743675042875111 + ], + [ + -0.014679322950541973, + 0.9998921751976013, + -0.0004218514950480312, + -1.2361040809187471 + ], + [ + -0.02785365842282772, + 1.2816395610570908e-05, + 0.999612033367157, + 12.293746968741155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9995535612106323, + 0.015482153743505478, + 0.025553669780492783, + 2.753532160191973 + ], + [ + -0.015468135476112366, + 0.9998800754547119, + -0.0007462030043825507, + -1.2497646148303687 + ], + [ + -0.025562159717082977, + 0.0003506022912915796, + 0.9996731877326965, + 12.353188574623704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9996675252914429, + 0.013493288308382034, + 0.021971967071294785, + 2.7686095476699863 + ], + [ + -0.013476114720106125, + 0.9999087452888489, + -0.0009295264026150107, + -1.261071018359628 + ], + [ + -0.021982505917549133, + 0.000633120653219521, + 0.9997581839561462, + 12.417896319086307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997672438621521, + 0.013798602856695652, + 0.016586342826485634, + 2.7806823274330985 + ], + [ + -0.013785668648779392, + 0.9999045729637146, + -0.000893937423825264, + -1.2716579677597168 + ], + [ + -0.016597094014286995, + 0.0006650754949077964, + 0.999862015247345, + 12.472142466296997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997966289520264, + 0.014912912622094154, + 0.013576041907072067, + 2.79198704284148 + ], + [ + -0.014905702322721481, + 0.9998887181282043, + -0.0006321101100184023, + -1.2793323542665227 + ], + [ + -0.013583958148956299, + 0.0004296211409382522, + 0.9999076128005981, + 12.53660714046301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998296499252319, + 0.014911137521266937, + 0.010879241861402988, + 2.802485503300956 + ], + [ + -0.014909233897924423, + 0.9998888373374939, + -0.0002559823333285749, + -1.2843714934065595 + ], + [ + -0.010881849564611912, + 9.373758075525984e-05, + 0.999940812587738, + 12.599331490376324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998962879180908, + 0.011821954511106014, + 0.008224685676395893, + 2.8144494466672434 + ], + [ + -0.011822947300970554, + 0.9999300837516785, + 7.215944060590118e-05, + -1.287203958287217 + ], + [ + -0.008223257027566433, + -0.0001693919621175155, + 0.9999661445617676, + 12.666205810396026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9999180436134338, + 0.011597241275012493, + 0.005427784752100706, + 2.82659659092851 + ], + [ + -0.011599103920161724, + 0.9999327063560486, + 0.00031193025643005967, + -1.2903330972941789 + ], + [ + -0.005423801485449076, + -0.000374862109310925, + 0.9999852180480957, + 12.734295738142356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9999082088470459, + 0.013234812766313553, + 0.0028947931714355946, + 2.8369637845882347 + ], + [ + -0.013236328959465027, + 0.9999122619628906, + 0.0005053632194176316, + -1.294360265863656 + ], + [ + -0.0028878506273031235, + -0.0005436332430690527, + 0.9999957084655762, + 12.80408535652691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998955130577087, + 0.01443690899759531, + 0.0007592426845803857, + 2.8451452128765116 + ], + [ + -0.014437261037528515, + 0.9998956918716431, + 0.00045958024566061795, + -1.2983017638531698 + ], + [ + -0.000752528547309339, + -0.00047049360000528395, + 0.9999995827674866, + 12.878613440854481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.999945878982544, + 0.01032046414911747, + -0.0013055233284831047, + 2.854020770951625 + ], + [ + -0.010320005938410759, + 0.9999467134475708, + 0.0003568376414477825, + -1.3061586633805307 + ], + [ + 0.0013091363944113255, + -0.0003433453384786844, + 0.9999991059303284, + 12.948802826691779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9999775886535645, + 0.005509700160473585, + -0.0038059037178754807, + 2.8669338796101083 + ], + [ + -0.00551215885207057, + 0.999984622001648, + -0.0006357859238050878, + -1.3108036864737762 + ], + [ + 0.003802342340350151, + 0.0006567504606209695, + 0.9999925494194031, + 13.024862639994863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9999616742134094, + 0.0060647837817668915, + -0.006314929109066725, + 2.8785806171390043 + ], + [ + -0.0060769254341721535, + 0.9999797344207764, + -0.0019052927382290363, + -1.3228590175303445 + ], + [ + 0.006303245667368174, + 0.0019435950089246035, + 0.999978244304657, + 13.101665821513333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9999279379844666, + 0.00871394295245409, + -0.008259360678493977, + 2.885460109061514 + ], + [ + -0.008767376653850079, + 0.9999407529830933, + -0.006455392576754093, + -1.3332385550446224 + ], + [ + 0.008202618919312954, + 0.006527340039610863, + 0.9999450445175171, + 13.173630378445962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9999051690101624, + 0.008813763968646526, + -0.010578884743154049, + 2.8959502813298994 + ], + [ + -0.008922138251364231, + 0.9999077320098877, + -0.010241314768791199, + -1.3428867032451015 + ], + [ + 0.01048764493316412, + 0.01033473014831543, + 0.9998915791511536, + 13.239686060171524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9999057054519653, + 0.005617652088403702, + -0.012532315216958523, + 2.9053024157589893 + ], + [ + -0.005763334222137928, + 0.9999158978462219, + -0.011618818156421185, + -1.3530756192547935 + ], + [ + 0.012465990148484707, + 0.011689950712025166, + 0.9998539686203003, + 13.304450764764134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998809695243835, + 0.0037787393666803837, + -0.014957125298678875, + 2.9173074111844572 + ], + [ + -0.003965840209275484, + 0.9999139904975891, + -0.012499313801527023, + -1.3643447249166427 + ], + [ + 0.014908607117831707, + 0.012557143345475197, + 0.999809980392456, + 13.37014313063623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998461008071899, + 0.004617433995008469, + -0.016925472766160965, + 2.9236557844785915 + ], + [ + -0.00483574066311121, + 0.9999053478240967, + -0.012879972346127033, + -1.3782959715012582 + ], + [ + 0.016864396631717682, + 0.012959836982190609, + 0.9997738003730774, + 13.435343821277662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998111128807068, + 0.005959848873317242, + -0.018497822806239128, + 2.9340080165025277 + ], + [ + -0.006209643557667732, + 0.9998899102210999, + -0.013476072810590267, + -1.3875996424855175 + ], + [ + 0.01841547153890133, + 0.013588392175734043, + 0.9997380971908569, + 13.499891628627129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9997602701187134, + 0.008704312145709991, + -0.020089764147996902, + 2.9412150657637053 + ], + [ + -0.008975086733698845, + 0.9998695850372314, + -0.013427660800516605, + -1.3983393725162279 + ], + [ + 0.01997026428580284, + 0.01360474992543459, + 0.9997079968452454, + 13.556581877904605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9997073411941528, + 0.008538779802620411, + -0.0226342361420393, + 2.9498477559579612 + ], + [ + -0.008839807473123074, + 0.9998733401298523, + -0.013233145698904991, + -1.4089983278155875 + ], + [ + 0.022518375888466835, + 0.013429354876279831, + 0.9996562004089355, + 13.62364569788773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9996473789215088, + 0.007265427149832249, + -0.025541944429278374, + 2.9609294640393884 + ], + [ + -0.007600320503115654, + 0.9998860955238342, + -0.013038980774581432, + -1.4179058908592173 + ], + [ + 0.02544430084526539, + 0.01322850864380598, + 0.9995887279510498, + 13.682092470483004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9995606541633606, + 0.007889007218182087, + -0.028571125119924545, + 2.9714241740873195 + ], + [ + -0.008261810056865215, + 0.9998819828033447, + -0.012953796423971653, + -1.4237567323693483 + ], + [ + 0.02846556156873703, + 0.013184153474867344, + 0.9995078444480896, + 13.746981868812222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9994656443595886, + 0.007855929434299469, + -0.03172843158245087, + 2.982100396850554 + ], + [ + -0.008272998034954071, + 0.9998807907104492, + -0.013035152107477188, + -1.429196184022086 + ], + [ + 0.03162224590778351, + 0.013290675356984138, + 0.9994115233421326, + 13.80990369099746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9993538856506348, + 0.007413392886519432, + -0.03516943380236626, + 2.993881968060328 + ], + [ + -0.007883665151894093, + 0.9998810887336731, + -0.013251845724880695, + -1.4326220762345099 + ], + [ + 0.035067010670900345, + 0.013520547188818455, + 0.9992935061454773, + 13.877381262153147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9991592764854431, + 0.007640538737177849, + -0.04027840867638588, + 3.005309686812353 + ], + [ + -0.008182737976312637, + 0.9998778700828552, + -0.013313664123415947, + -1.4366482485549241 + ], + [ + 0.04017176851630211, + 0.013632059097290039, + 0.9990997910499573, + 13.945172825057385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9988681674003601, + 0.01128571666777134, + -0.0462067537009716, + 3.016554422237082 + ], + [ + -0.01191735453903675, + 0.9998389482498169, + -0.013417244888842106, + -1.4404814901439824 + ], + [ + 0.046047892421483994, + 0.01395271997898817, + 0.9988417625427246, + 14.009614412833331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9986879229545593, + 0.011906800791621208, + -0.04980649799108505, + 3.0292337844663297 + ], + [ + -0.012608805671334267, + 0.9998252391815186, + -0.013804278336465359, + -1.4429584554812875 + ], + [ + 0.04963342845439911, + 0.0144141661003232, + 0.9986634850502014, + 14.07471508935978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9985008239746094, + 0.010725514031946659, + -0.053675033152103424, + 3.0432424667956575 + ], + [ + -0.01150058675557375, + 0.9998337030410767, + -0.014152107760310173, + -1.4465562071119036 + ], + [ + 0.05351431667804718, + 0.014748185873031616, + 0.9984581470489502, + 14.140974486725671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9982212781906128, + 0.010342747904360294, + -0.05871337652206421, + 3.0571476624742115 + ], + [ + -0.011227843351662159, + 0.9998279213905334, + -0.014765028841793537, + -1.45462094152578 + ], + [ + 0.05855056643486023, + 0.015397991053760052, + 0.9981656670570374, + 14.196627254203426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.997978687286377, + 0.013936588540673256, + -0.06200225651264191, + 3.070825518952674 + ], + [ + -0.014923978596925735, + 0.9997686147689819, + -0.015490537509322166, + -1.4620685360948062 + ], + [ + 0.061772026121616364, + 0.01638454757630825, + 0.9979557991027832, + 14.2548795281021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9977265000343323, + 0.016866324469447136, + -0.06524868309497833, + 3.084883584292425 + ], + [ + -0.017990121617913246, + 0.9996991157531738, + -0.016674241051077843, + -1.4671972828526652 + ], + [ + 0.06494781374931335, + 0.017810164019465446, + 0.9977297186851501, + 14.313167038626007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9975706934928894, + 0.014509929344058037, + -0.06813359260559082, + 3.10175736594413 + ], + [ + -0.015762949362397194, + 0.9997156858444214, + -0.017889156937599182, + -1.4750596988036335 + ], + [ + 0.06785465776920319, + 0.0189196839928627, + 0.9975157976150513, + 14.365918129579537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.99745112657547, + 0.014798960648477077, + -0.06980185955762863, + 3.11833490798988 + ], + [ + -0.016195649281144142, + 0.9996789693832397, + -0.01948600634932518, + -1.4799975274894643 + ], + [ + 0.06949108093976974, + 0.020566824823617935, + 0.9973705410957336, + 14.421382718208816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.997362494468689, + 0.013784256763756275, + -0.07126038521528244, + 3.13136471254485 + ], + [ + -0.015303411521017551, + 0.999666154384613, + -0.020816516131162643, + -1.4852939921040689 + ], + [ + 0.07094965130090714, + 0.02185213938355446, + 0.9972404837608337, + 14.47173368359491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.997215211391449, + 0.015808049589395523, + -0.07288338243961334, + 3.146207317584602 + ], + [ + -0.017365489155054092, + 0.9996331334114075, + -0.020784994587302208, + -1.4931729859745448 + ], + [ + 0.07252807915210724, + 0.021992767229676247, + 0.9971238374710083, + 14.527660317151605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.997067928314209, + 0.017235873267054558, + -0.07455512136220932, + 3.1617975198195962 + ], + [ + -0.018852664157748222, + 0.9996009469032288, + -0.02103666216135025, + -1.50166940892347 + ], + [ + 0.0741627886891365, + 0.022380542010068893, + 0.9969949722290039, + 14.588571516094806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9968582987785339, + 0.020695731043815613, + -0.0764540359377861, + 3.17679825394247 + ], + [ + -0.022352855652570724, + 0.9995320439338684, + -0.020882928743958473, + -1.509241849458712 + ], + [ + 0.07598606497049332, + 0.022526288405060768, + 0.9968544244766235, + 14.645213525986925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9967167377471924, + 0.022289618849754333, + -0.07783933728933334, + 3.1916079027037467 + ], + [ + -0.023909538984298706, + 0.9995152354240417, + -0.019941402599215508, + -1.5168828279741349 + ], + [ + 0.07735712081193924, + 0.021737033501267433, + 0.9967664480209351, + 14.70789554938674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9966174960136414, + 0.024336202070116997, + -0.0784941166639328, + 3.2037473740502507 + ], + [ + -0.02596733532845974, + 0.9994661808013916, + -0.019826853647828102, + -1.521166314177799 + ], + [ + 0.07796970009803772, + 0.02179807238280773, + 0.9967173933982849, + 14.77282998032164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9966540336608887, + 0.021567951887845993, + -0.07883905619382858, + 3.2199329885709944 + ], + [ + -0.02329205349087715, + 0.9995077848434448, + -0.021014736965298653, + -1.5196226133179556 + ], + [ + 0.07834700495004654, + 0.02278074435889721, + 0.9966658353805542, + 14.838809411679202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9967775940895081, + 0.016080839559435844, + -0.07858625054359436, + 3.2359348971714277 + ], + [ + -0.01790848933160305, + 0.9995840191841125, + -0.02260741777718067, + -1.5169886197637303 + ], + [ + 0.07819001376628876, + 0.023941928520798683, + 0.9966509342193604, + 14.901048422344715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9972068667411804, + 0.011159533634781837, + -0.07385050505399704, + 3.2521369550291293 + ], + [ + -0.01300082542002201, + 0.9996153116226196, + -0.024499110877513885, + -1.5158324450391778 + ], + [ + 0.07354869693517685, + 0.025390800088644028, + 0.9969683289527893, + 14.97178188151753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.99750816822052, + 0.009589234367012978, + -0.06989617645740509, + 3.2690578789231344 + ], + [ + -0.011480415239930153, + 0.9995774030685425, + -0.026705697178840637, + -1.5157101095546774 + ], + [ + 0.06961055099964142, + 0.027441587299108505, + 0.9971967339515686, + 15.048339561357546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9978479743003845, + 0.007481221575289965, + -0.06514137983322144, + 3.286517870530469 + ], + [ + -0.009428493678569794, + 0.9995162487030029, + -0.029637087136507034, + -1.5156723595983972 + ], + [ + 0.06488814949989319, + 0.030187491327524185, + 0.9974358081817627, + 15.119774263118682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9982084631919861, + 0.0036813057959079742, + -0.05971825122833252, + 3.3028613483112665 + ], + [ + -0.005679569207131863, + 0.999428391456604, + -0.033326368778944016, + -1.5166577319945058 + ], + [ + 0.05956143140792847, + 0.03360584005713463, + 0.9976587891578674, + 15.204133525839255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9982308149337769, + -0.008422035723924637, + -0.05885802581906319, + 3.3240789975919482 + ], + [ + 0.005975984036922455, + 0.9991160035133362, + -0.041611649096012115, + -1.5200970579402238 + ], + [ + 0.059156451374292374, + 0.041186295449733734, + 0.9973987340927124, + 15.280607249865884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9983847141265869, + -0.01077234372496605, + -0.05578441172838211, + 3.3428820112660045 + ], + [ + 0.008017899468541145, + 0.9987485408782959, + -0.04936710745096207, + -1.5255297944293045 + ], + [ + 0.056246399879455566, + 0.04884009063243866, + 0.9972216486930847, + 15.34813971360845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9988193511962891, + -0.01085161417722702, + -0.04735103249549866, + 3.3597733440006383 + ], + [ + 0.008214237168431282, + 0.9984225630760193, + -0.05554174259305, + -1.5269976531854972 + ], + [ + 0.04787905514240265, + 0.05508721247315407, + 0.9973329305648804, + 15.42599725303356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9990471005439758, + -0.014159349724650383, + -0.041284237056970596, + 3.374753518451503 + ], + [ + 0.011726362630724907, + 0.9982132315635681, + -0.058590441942214966, + -1.5294441988116585 + ], + [ + 0.04204007610678673, + 0.058050498366355896, + 0.9974280595779419, + 15.492809746390389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9993362426757812, + -0.01741844043135643, + -0.03199440613389015, + 3.391533092721816 + ], + [ + 0.015475176274776459, + 0.9980776906013489, + -0.0600120946764946, + -1.5319784484151322 + ], + [ + 0.03297821804881096, + 0.05947714298963547, + 0.9976847767829895, + 15.556170493721412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9995859265327454, + -0.01681203953921795, + -0.02335175685584545, + 3.4042509837282076 + ], + [ + 0.015393568202853203, + 0.9981006979942322, + -0.059649210423231125, + -1.5383190564570888 + ], + [ + 0.02431022934615612, + 0.05926504358649254, + 0.9979462027549744, + 15.61134406252837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9996470212936401, + -0.016801370307803154, + -0.02057955600321293, + 3.4139725405482517 + ], + [ + 0.015789272263646126, + 0.9987035989761353, + -0.04839212819933891, + -1.5486129945324314 + ], + [ + 0.021365931257605553, + 0.048050109297037125, + 0.9986163973808289, + 15.66309271860988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9997124075889587, + -0.015621746890246868, + -0.018195996060967445, + 3.4261808556899394 + ], + [ + 0.014922096394002438, + 0.9991673827171326, + -0.037971850484609604, + -1.5551220600780804 + ], + [ + 0.01877403073012829, + 0.03768940642476082, + 0.999113142490387, + 15.723539592512811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9998392462730408, + -0.008632457815110683, + -0.015716003254055977, + 3.4386783334293534 + ], + [ + 0.008142161183059216, + 0.9994862675666809, + -0.030998384580016136, + -1.5614911544158163 + ], + [ + 0.015975521877408028, + 0.030865440145134926, + 0.9993958473205566, + 15.779341790392515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999350309371948, + -0.006021603476256132, + -0.009676533751189709, + 3.453214904764444 + ], + [ + 0.005767375696450472, + 0.9996429681777954, + -0.02608911506831646, + -1.5636089979228887 + ], + [ + 0.009830177761614323, + 0.0260316114872694, + 0.9996128082275391, + 15.8431841880126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9999624490737915, + -0.00857536680996418, + -0.0012413010699674487, + 3.4688515769498003 + ], + [ + 0.008542301133275032, + 0.9996618628501892, + -0.02456003427505493, + -1.5618411204232598 + ], + [ + 0.001451492658816278, + 0.02454850822687149, + 0.9996975660324097, + 15.908988465258878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999136328697205, + -0.011653522029519081, + 0.00607666140422225, + 3.484605262798476 + ], + [ + 0.01179409772157669, + 0.9996510744094849, + -0.02363523654639721, + -1.5599918796719494 + ], + [ + -0.0057991077192127705, + 0.023704862222075462, + 0.9997021555900574, + 15.972675584904712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9998735785484314, + -0.012844599783420563, + 0.009373128414154053, + 3.5007237407743657 + ], + [ + 0.013052739202976227, + 0.9996618032455444, + -0.022493384778499603, + -1.5582842456580308 + ], + [ + -0.00908103957772255, + 0.022612884640693665, + 0.999703049659729, + 16.03769473463709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9998562335968018, + -0.011573554016649723, + 0.012393624521791935, + 3.5163276911713184 + ], + [ + 0.011816331185400486, + 0.9997361302375793, + -0.01969818025827408, + -1.5555383503437041 + ], + [ + -0.012162377126514912, + 0.019841793924570084, + 0.9997291564941406, + 16.103467404469846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/move_left/transforms.json b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e6b47a4470b6de654252a69015a150b026489ff3 --- /dev/null +++ b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/move_left/transforms.json @@ -0,0 +1,7643 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 218, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.994916424853727e-05, + 7.358914444921538e-06, + -1.139659889304312e-05 + ], + [ + 8.994904783321545e-05, + 1.0, + 1.6600621165707707e-05, + -0.0004049866693094373 + ], + [ + -7.360407835221849e-06, + -1.6599959053564817e-05, + 1.0, + -0.0004114329640287906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999658465385437, + 0.003363250056281686, + -0.007550157140940428, + 0.0124561702823996 + ], + [ + -0.0033828888554126024, + 0.9999909400939941, + -0.0025898267049342394, + -0.0045878031350079975 + ], + [ + 0.007541378494352102, + 0.0026152797508984804, + 0.9999681711196899, + 0.08979211415739274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998723268508911, + 0.007244768552482128, + -0.014240838587284088, + 0.024552232164391723 + ], + [ + -0.007357275113463402, + 0.9999420046806335, + -0.007863815873861313, + -0.008804515996424284 + ], + [ + 0.014183040708303452, + 0.007967585697770119, + 0.9998676776885986, + 0.1826290601169184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997193217277527, + 0.01079605147242546, + -0.02108888141810894, + 0.038662363726147855 + ], + [ + -0.01100737601518631, + 0.9998900890350342, + -0.009930421598255634, + -0.015172119492725018 + ], + [ + 0.02097935415804386, + 0.010159767232835293, + 0.999728262424469, + 0.27545123686799394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9995409846305847, + 0.011955601163208485, + -0.02783702127635479, + 0.052282788700634436 + ], + [ + -0.01226752158254385, + 0.9998635649681091, + -0.011061569675803185, + -0.023218325839682658 + ], + [ + 0.02770097739994526, + 0.011397983878850937, + 0.9995512962341309, + 0.3609559432667796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993007183074951, + 0.014591444283723831, + -0.034426990896463394, + 0.06473886087742818 + ], + [ + -0.014982907101511955, + 0.9998257160186768, + -0.01114033441990614, + -0.03342780787154414 + ], + [ + 0.034258436411619186, + 0.011648359708487988, + 0.9993451237678528, + 0.43415073546568095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9990386366844177, + 0.013050142675638199, + -0.04185061529278755, + 0.08109333250791796 + ], + [ + -0.013514121994376183, + 0.9998500943183899, + -0.010822886601090431, + -0.045973981087726934 + ], + [ + 0.04170310124754906, + 0.011378055438399315, + 0.9990652799606323, + 0.5149132282056842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9983908534049988, + 0.012378714047372341, + -0.055339500308036804, + 0.10107922765516465 + ], + [ + -0.012933428399264812, + 0.9998695254325867, + -0.009676956571638584, + -0.05906737102195621 + ], + [ + 0.055212490260601044, + 0.010377113707363605, + 0.9984207153320312, + 0.5823887525306594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997922956943512, + 0.01698937825858593, + -0.062137968838214874, + 0.11973877135784396 + ], + [ + -0.017566194757819176, + 0.9998074173927307, + -0.00874832272529602, + -0.07227312801620378 + ], + [ + 0.06197737157344818, + 0.009821679443120956, + 0.9980292320251465, + 0.6568692688568396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9974725842475891, + 0.021894611418247223, + -0.067594975233078, + 0.13823975273815717 + ], + [ + -0.02250828593969345, + 0.9997119307518005, + -0.008330384269356728, + -0.0830839236176783 + ], + [ + 0.06739310920238495, + 0.0098307766020298, + 0.9976780414581299, + 0.72287777605282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9970553517341614, + 0.02504757232964039, + -0.07247894257307053, + 0.16133730436250363 + ], + [ + -0.025702403858304024, + 0.999636709690094, + -0.008116116747260094, + -0.09221000731643718 + ], + [ + 0.07224931567907333, + 0.00995510071516037, + 0.9973369240760803, + 0.7849139625095003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967605471611023, + 0.026912711560726166, + -0.07578989118337631, + 0.18020681777308065 + ], + [ + -0.02758157253265381, + 0.999589204788208, + -0.00779217854142189, + -0.09885727186356821 + ], + [ + 0.07554904371500015, + 0.009857339784502983, + 0.9970933794975281, + 0.8343784136465893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971497058868408, + 0.025438865646719933, + -0.07103043794631958, + 0.2044305778181498 + ], + [ + -0.025940576568245888, + 0.9996445775032043, + -0.006149694789201021, + -0.09818004400293398 + ], + [ + 0.070848748087883, + 0.007974736392498016, + 0.9974551796913147, + 0.9163687735383961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9973959922790527, + 0.02463543228805065, + -0.06778138130903244, + 0.22753599632170893 + ], + [ + -0.024717463180422783, + 0.9996944069862366, + -0.00037168897688388824, + -0.09855027083856856 + ], + [ + 0.06775150448083878, + 0.002046104520559311, + 0.9977001547813416, + 0.9964109293567145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.997651994228363, + 0.024281147867441177, + -0.06403878331184387, + 0.25618249447115005 + ], + [ + -0.024293623864650726, + 0.9997047185897827, + 0.0005839275545440614, + -0.0963124904421068 + ], + [ + 0.06403404474258423, + 0.0009731774334795773, + 0.9979472160339355, + 1.0761553614370285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981375336647034, + 0.023658227175474167, + -0.05622901767492294, + 0.2857003780553967 + ], + [ + -0.02364048734307289, + 0.99972003698349, + 0.0009807436726987362, + -0.09026810534573096 + ], + [ + 0.056236475706100464, + 0.0003503641637507826, + 0.9984174370765686, + 1.1717945438238881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988082051277161, + 0.027929777279496193, + -0.04002678766846657, + 0.31289976557828314 + ], + [ + -0.027882063761353493, + 0.9996097087860107, + 0.0017498767701908946, + -0.0819269735074263 + ], + [ + 0.04006003960967064, + -0.0006317618535831571, + 0.9991970658302307, + 1.265031007165733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992982745170593, + 0.028215009719133377, + -0.024635205045342445, + 0.34203510402534415 + ], + [ + -0.028162077069282532, + 0.9996002316474915, + 0.0024930823128670454, + -0.07601824605382533 + ], + [ + 0.02469570003449917, + -0.0017975543159991503, + 0.9996933937072754, + 1.356107004595414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995205998420715, + 0.02838749997317791, + -0.012358332984149456, + 0.3699003380015149 + ], + [ + -0.02835298515856266, + 0.9995936155319214, + 0.0029591575730592012, + -0.07155260341199038 + ], + [ + 0.012437312863767147, + -0.0026073434855788946, + 0.9999192357063293, + 1.4439764708769829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995735287666321, + 0.02919137477874756, + -0.000791402708273381, + 0.3989623704264241 + ], + [ + -0.029188483953475952, + 0.999567985534668, + 0.0034472201950848103, + -0.07058082020365149 + ], + [ + 0.0008916898514144123, + -0.0034226500429213047, + 0.9999937415122986, + 1.5314661868324038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994945526123047, + 0.030876172706484795, + 0.007569460663944483, + 0.42843985186743844 + ], + [ + -0.030907241627573967, + 0.9995141625404358, + 0.004022208973765373, + -0.07195328788891915 + ], + [ + -0.0074415928684175014, + -0.00425412692129612, + 0.9999632835388184, + 1.623031418560253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994866847991943, + 0.028547799214720726, + 0.014537607319653034, + 0.4563867859302029 + ], + [ + -0.028619123622775078, + 0.9995792508125305, + 0.004722024779766798, + -0.07755232719524253 + ], + [ + -0.014396687038242817, + -0.00513565493747592, + 0.9998831748962402, + 1.7111737399301943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990425705909729, + 0.03297661989927292, + 0.028747761622071266, + 0.4850513493959805 + ], + [ + -0.03315407782793045, + 0.9994338750839233, + 0.005718108732253313, + -0.08749881506927552 + ], + [ + -0.02854292280972004, + -0.006665739696472883, + 0.999570369720459, + 1.799401456782002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9987449049949646, + 0.03424002230167389, + 0.03655426576733589, + 0.5114718173780749 + ], + [ + -0.03451560437679291, + 0.9993801116943359, + 0.006934499833732843, + -0.1005289975261908 + ], + [ + -0.03629416599869728, + -0.008187488652765751, + 0.9993076324462891, + 1.8824142180949723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9987197518348694, + 0.032315321266651154, + 0.0389174222946167, + 0.5376794393710826 + ], + [ + -0.03272813558578491, + 0.9994140863418579, + 0.010017371736466885, + -0.11381787201089244 + ], + [ + -0.03857090324163437, + -0.011278240941464901, + 0.9991922378540039, + 1.960717022611249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9985103011131287, + 0.032844312489032745, + 0.04357100650668144, + 0.5647617601853911 + ], + [ + -0.03336172550916672, + 0.9993805885314941, + 0.01120152696967125, + -0.12913996868762553 + ], + [ + -0.043176110833883286, + -0.01263844408094883, + 0.9989875555038452, + 2.0468803246844613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9983169436454773, + 0.033406902104616165, + 0.047405634075403214, + 0.5881845944488103 + ], + [ + -0.0340389721095562, + 0.9993411898612976, + 0.01258897501975298, + -0.14469671705694792 + ], + [ + -0.046953845769166946, + -0.014181426726281643, + 0.9987964034080505, + 2.128193768079517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981305003166199, + 0.03452364727854729, + 0.0504341647028923, + 0.6097514322551165 + ], + [ + -0.035260844975709915, + 0.9992828369140625, + 0.013800849206745625, + -0.15732518386627947 + ], + [ + -0.04992154240608215, + -0.015553398989140987, + 0.99863201379776, + 2.2042923605799127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.998140811920166, + 0.031876422464847565, + 0.051950082182884216, + 0.6328120989184226 + ], + [ + -0.0326935276389122, + 0.9993535280227661, + 0.014955290593206882, + -0.16915437569541317 + ], + [ + -0.05143977701663971, + -0.016625916585326195, + 0.9985377192497253, + 2.2838253792255157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981024861335754, + 0.030853405594825745, + 0.0532866008579731, + 0.6552080990257351 + ], + [ + -0.031740106642246246, + 0.9993700981140137, + 0.015874719247221947, + -0.1764282583332007 + ], + [ + -0.05276324227452278, + -0.017535919323563576, + 0.9984530806541443, + 2.3710538228278475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9980063438415527, + 0.03226960450410843, + 0.05424082651734352, + 0.6773634157422501 + ], + [ + -0.03320642560720444, + 0.9993129968643188, + 0.016459718346595764, + -0.18039079007053155 + ], + [ + -0.053672414273023605, + -0.018228046596050262, + 0.9983922243118286, + 2.473164376317768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9979289174079895, + 0.03378099948167801, + 0.054742682725191116, + 0.6987716478960855 + ], + [ + -0.03476226329803467, + 0.9992497563362122, + 0.017072824761271477, + -0.18195912965706418 + ], + [ + -0.054124873131513596, + -0.01894044317305088, + 0.9983545541763306, + 2.5721419067787274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9979005455970764, + 0.033801376819610596, + 0.05524470657110214, + 0.7181821744013492 + ], + [ + -0.03480616211891174, + 0.9992438554763794, + 0.0173278097063303, + -0.18785202493590694 + ], + [ + -0.054617226123809814, + -0.019214285537600517, + 0.9983224868774414, + 2.658150471849925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9978584051132202, + 0.03320891782641411, + 0.056354351341724396, + 0.7359579810349073 + ], + [ + -0.0342295877635479, + 0.999265193939209, + 0.017243841663002968, + -0.1903616042404268 + ], + [ + -0.055740296840667725, + -0.01913589797914028, + 0.9982619285583496, + 2.7463012596154543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9978620409965515, + 0.03211105614900589, + 0.0569227933883667, + 0.756259988584826 + ], + [ + -0.03307916224002838, + 0.9993222951889038, + 0.016147231683135033, + -0.1937936407080444 + ], + [ + -0.056365713477134705, + -0.017995668575167656, + 0.9982479810714722, + 2.8469357960647153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9979039430618286, + 0.03027130477130413, + 0.05719580501317978, + 0.776497479408018 + ], + [ + -0.031125182285904884, + 0.9994160532951355, + 0.014097439125180244, + -0.19660794840104157 + ], + [ + -0.05673565715551376, + -0.01584812067449093, + 0.998263418674469, + 2.945805828778013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978674650192261, + 0.030807090923190117, + 0.05754464864730835, + 0.7951524173059771 + ], + [ + -0.03161534667015076, + 0.9994130730628967, + 0.013188336975872517, + -0.20160261970785906 + ], + [ + -0.057104580104351044, + -0.014979506842792034, + 0.9982558488845825, + 3.038339258105524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9978460073471069, + 0.03109060414135456, + 0.05776454880833626, + 0.8141104607538144 + ], + [ + -0.03186741843819618, + 0.999413013458252, + 0.012575604021549225, + -0.21066851356852165 + ], + [ + -0.057339657098054886, + -0.014389323070645332, + 0.9982510209083557, + 3.1261064268219445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9977990984916687, + 0.0313444547355175, + 0.05843402445316315, + 0.8326053051355248 + ], + [ + -0.03204444423317909, + 0.9994249939918518, + 0.01108058262616396, + -0.2197453836451203 + ], + [ + -0.058053113520145416, + -0.012928680516779423, + 0.9982298016548157, + 3.2173077874950002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9977279901504517, + 0.03169609606266022, + 0.059449292719364166, + 0.8489238064409951 + ], + [ + -0.032397396862506866, + 0.999415934085846, + 0.010869849473237991, + -0.23267998352372152 + ], + [ + -0.05907004326581955, + -0.012771155685186386, + 0.9981721639633179, + 3.2999922724947126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9977307319641113, + 0.029204601421952248, + 0.06066732481122017, + 0.8645690292257318 + ], + [ + -0.029947428032755852, + 0.9994868040084839, + 0.01137114129960537, + -0.24714398593534523 + ], + [ + -0.060304101556539536, + -0.013162167742848396, + 0.9980932474136353, + 3.3830915386638334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977548122406006, + 0.02707119844853878, + 0.06125741824507713, + 0.8819118038300545 + ], + [ + -0.02789047174155712, + 0.9995321035385132, + 0.012558816000819206, + -0.25907135193197545 + ], + [ + -0.06088877096772194, + -0.014239117503166199, + 0.9980430006980896, + 3.465994182999851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9977996349334717, + 0.02478756196796894, + 0.06149400398135185, + 0.9019247408836119 + ], + [ + -0.026203198358416557, + 0.9994074106216431, + 0.022321991622447968, + -0.2748627835103581 + ], + [ + -0.06090425327420235, + -0.023884214460849762, + 0.9978578090667725, + 3.5438204317083284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9979092478752136, + 0.01910555362701416, + 0.06174256652593613, + 0.9228166537625448 + ], + [ + -0.020901694893836975, + 0.9993730187416077, + 0.028577057644724846, + -0.2877235528854181 + ], + [ + -0.06115787476301193, + -0.029807833954691887, + 0.9976829290390015, + 3.619385006560296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979327321052551, + 0.016033479943871498, + 0.0622347891330719, + 0.942192439329789 + ], + [ + -0.018080955371260643, + 0.9993089437484741, + 0.03247665613889694, + -0.2984110810205958 + ], + [ + -0.06167106330394745, + -0.03353478014469147, + 0.9975330233573914, + 3.69297072044166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9979033470153809, + 0.015876278281211853, + 0.0627439096570015, + 0.962453713340144 + ], + [ + -0.018030952662229538, + 0.999261736869812, + 0.03392505273222923, + -0.3071053485871048 + ], + [ + -0.0621589832007885, + -0.0349852554500103, + 0.9974529147148132, + 3.7686067830839876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9978854656219482, + 0.012762999162077904, + 0.06373148411512375, + 0.9819111807555098 + ], + [ + -0.015022799372673035, + 0.9992706775665283, + 0.03510575741529465, + -0.3138584018165615 + ], + [ + -0.06323694437742233, + -0.035988949239254, + 0.9973494410514832, + 3.8470364790976324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9978473782539368, + 0.009629045613110065, + 0.06486820429563522, + 1.0026829674771305 + ], + [ + -0.011970999650657177, + 0.9992868304252625, + 0.0358118899166584, + -0.3165648882509068 + ], + [ + -0.0644771084189415, + -0.03651133552193642, + 0.997251033782959, + 3.933316798793143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9978204965591431, + 0.006022755987942219, + 0.0657111257314682, + 1.0248402302166284 + ], + [ + -0.008421852253377438, + 0.9993056654930115, + 0.03629404678940773, + -0.31751642080908 + ], + [ + -0.06544691324234009, + -0.0367683507502079, + 0.9971784353256226, + 4.024017806866202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977850317955017, + 0.005504261236637831, + 0.06629303842782974, + 1.0467601274290392 + ], + [ + -0.007902255281805992, + 0.9993218183517456, + 0.03596492484211922, + -0.3185817484112997 + ], + [ + -0.06605011969804764, + -0.036409128457307816, + 0.9971518516540527, + 4.116557982636075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977322816848755, + 0.007086150348186493, + 0.06693363189697266, + 1.0667926572984265 + ], + [ + -0.00922052189707756, + 0.9994570016860962, + 0.031632985919713974, + -0.3213650349544765 + ], + [ + -0.06667312979698181, + -0.03217841312289238, + 0.9972558617591858, + 4.205343124366576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9977045059204102, + 0.006153814494609833, + 0.06743817776441574, + 1.0877911977504255 + ], + [ + -0.007962259463965893, + 0.999614953994751, + 0.0265804510563612, + -0.3254185590356554 + ], + [ + -0.06724863499403, + -0.027056394144892693, + 0.9973693490028381, + 4.29569079602987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9976553916931152, + 0.007275961805135012, + 0.06804978847503662, + 1.1044094529569424 + ], + [ + -0.00872865691781044, + 0.9997398257255554, + 0.021074609830975533, + -0.3335390256228535 + ], + [ + -0.06787873804569244, + -0.021619180217385292, + 0.9974592924118042, + 4.384327507376121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9976793527603149, + 0.00422303332015872, + 0.06795628368854523, + 1.125329304785223 + ], + [ + -0.0052313958294689655, + 0.9998787641525269, + 0.014667296782135963, + -0.3426947505060961 + ], + [ + -0.0678860992193222, + -0.014988765120506287, + 0.9975804686546326, + 4.471640194801417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9976881146430969, + 0.0032759809400886297, + 0.06788019090890884, + 1.1441142359636896 + ], + [ + -0.003954957704991102, + 0.9999434351921082, + 0.009870603680610657, + -0.35694452016850425 + ], + [ + -0.06784401088953018, + -0.010116247460246086, + 0.9976446628570557, + 4.5549533788990315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9977220296859741, + 0.0062746466137468815, + 0.06716722249984741, + 1.1611814309375077 + ], + [ + -0.006887554656714201, + 0.9999366998672485, + 0.008897422812879086, + -0.3734493978130567 + ], + [ + -0.06710714101791382, + -0.0093397730961442, + 0.9977020621299744, + 4.6289482057643925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9978421926498413, + 0.0040911720134317875, + 0.06553041934967041, + 1.1796396870766916 + ], + [ + -0.004613119643181562, + 0.9999588131904602, + 0.007815638557076454, + -0.38828633438435295 + ], + [ + -0.06549574434757233, + -0.008101074025034904, + 0.9978199601173401, + 4.710325066120394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9979370832443237, + 0.006092149298638105, + 0.06391003727912903, + 1.1972380436510535 + ], + [ + -0.006552970502525568, + 0.9999539852142334, + 0.00700333621352911, + -0.4061539268084643 + ], + [ + -0.06386443972587585, + -0.007407689467072487, + 0.9979310631752014, + 4.789105447412636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9980493783950806, + 0.006954638287425041, + 0.06204105168581009, + 1.2106067788216375 + ], + [ + -0.007351692765951157, + 0.9999539256095886, + 0.006173888221383095, + -0.42208479820377265 + ], + [ + -0.0619952529668808, + -0.006617952138185501, + 0.9980545043945312, + 4.865929610429821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9981880784034729, + 0.004793141502887011, + 0.059980008751153946, + 1.2239026901634058 + ], + [ + -0.005136301275342703, + 0.999971330165863, + 0.005568365566432476, + -0.4390504093126132 + ], + [ + -0.059951599687337875, + -0.0058663515374064445, + 0.9981840252876282, + 4.945919227910824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.998391330242157, + 0.004487055819481611, + 0.05652131140232086, + 1.2378063251345939 + ], + [ + -0.00478563504293561, + 0.999975323677063, + 0.0051483516581356525, + -0.452446073898831 + ], + [ + -0.056496813893318176, + -0.005410559941083193, + 0.9983881115913391, + 5.02002430497776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9986770749092102, + 0.006125281564891338, + 0.05105428025126457, + 1.2510214043927084 + ], + [ + -0.006389242596924305, + 0.9999670386314392, + 0.005008605308830738, + -0.46467412834094346 + ], + [ + -0.051021914929151535, + -0.005328177474439144, + 0.9986833333969116, + 5.096327712100154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9990222454071045, + 0.005695189815014601, + 0.04384229704737663, + 1.2642888818468367 + ], + [ + -0.005910080391913652, + 0.9999711513519287, + 0.004773386754095554, + -0.47465753607185823 + ], + [ + -0.04381384328007698, + -0.005027830600738525, + 0.9990270733833313, + 5.1681238486298495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993916153907776, + 0.004107905086129904, + 0.034633345901966095, + 1.2787508885706624 + ], + [ + -0.004251568112522364, + 0.9999826550483704, + 0.0040755001828074455, + -0.4787237730162639 + ], + [ + -0.034616000950336456, + -0.004220266826450825, + 0.9993917942047119, + 5.248627947439109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997010231018066, + 0.0045410399325191975, + 0.02402622066438198, + 1.2910842917481875 + ], + [ + -0.004606078844517469, + 0.9999858736991882, + 0.002652350114658475, + -0.4799524162634177 + ], + [ + -0.024013837799429893, + -0.0027622238267213106, + 0.999707818031311, + 5.32818903522008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998488426208496, + 0.004865977447479963, + 0.016691749915480614, + 1.307185568018443 + ], + [ + -0.004870118107646704, + 0.9999881386756897, + 0.00020741010666824877, + -0.4851896795390543 + ], + [ + -0.016690542921423912, + -0.000288669514702633, + 0.9998606443405151, + 5.408133728571305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999890148639679, + 0.006012647412717342, + 0.013546324335038662, + 1.320391850592354 + ], + [ + -0.0060002245008945465, + 0.9999815225601196, + -0.0009575465228408575, + -0.4859521232133362 + ], + [ + -0.013551832176744938, + 0.0008761603385210037, + 0.9999077916145325, + 5.483519265537198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999362230300903, + 0.004017787519842386, + 0.010556397028267384, + 1.3351095216614859 + ], + [ + -0.003992080222815275, + 0.9999890327453613, + -0.0024551774840801954, + -0.4884448991811615 + ], + [ + -0.010566146112978458, + 0.0024128786753863096, + 0.9999412894248962, + 5.571281512336986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999563694000244, + 0.004080417100340128, + 0.008404897525906563, + 1.3479190644031296 + ], + [ + -0.004037164617329836, + 0.9999785423278809, + -0.005156668368726969, + -0.49005615774301753 + ], + [ + -0.00842575915157795, + 0.0051225111819803715, + 0.9999513626098633, + 5.656017168686824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999702572822571, + 0.0035931861493736506, + 0.0068258787505328655, + 1.3602989188811745 + ], + [ + -0.003551064757630229, + 0.9999746680259705, + -0.006172962486743927, + -0.497690774008636 + ], + [ + -0.006847885902971029, + 0.006148539483547211, + 0.9999576210975647, + 5.7414901933308755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999694228172302, + 0.0053098006173968315, + 0.005746079608798027, + 1.3709549923096933 + ], + [ + -0.0052663786336779594, + 0.9999576807022095, + -0.007545664440840483, + -0.5029864807823493 + ], + [ + -0.00578590203076601, + 0.007515172008424997, + 0.9999549984931946, + 5.830455978701432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999532103538513, + 0.0082853389903903, + 0.00498847384005785, + 1.383094294801835 + ], + [ + -0.008242226205766201, + 0.9999290108680725, + -0.0086017195135355, + -0.5146360742258689 + ], + [ + -0.005059387534856796, + 0.008560201153159142, + 0.9999505877494812, + 5.908983782498587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999786615371704, + 0.0050339908339083195, + 0.004158909432590008, + 1.3957637840701689 + ], + [ + -0.0049929083324968815, + 0.9999392032623291, + -0.009830162860453129, + -0.5277366418082456 + ], + [ + -0.004208141937851906, + 0.009809187613427639, + 0.9999430179595947, + 5.987841041001581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999906420707703, + -0.0007262037834152579, + 0.00426730141043663, + 1.4125849281313232 + ], + [ + 0.0007736890111118555, + 0.9999377131462097, + -0.01113660354167223, + -0.5392289558692711 + ], + [ + -0.004258948378264904, + 0.01113979984074831, + 0.999928891658783, + 6.061440690065635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999878406524658, + -0.0009611010900698602, + 0.004832420032471418, + 1.429821890400302 + ], + [ + 0.001015659887343645, + 0.9999356269836426, + -0.011300420388579369, + -0.5549280694539955 + ], + [ + -0.004821247886866331, + 0.011305190622806549, + 0.9999244809150696, + 6.117884061486817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999675154685974, + -0.00015152880223467946, + 0.00806077104061842, + 1.446314879688799 + ], + [ + 0.00023922906257212162, + 0.9999407529830933, + -0.010880034416913986, + -0.5681583713777664 + ], + [ + -0.008058645762503147, + 0.010881608352065086, + 0.9999083280563354, + 6.173389009700032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9998892545700073, + 0.0012780986726284027, + 0.014827449806034565, + 1.458626624406208 + ], + [ + -0.0011949560139328241, + 0.999983549118042, + -0.005614847410470247, + -0.5781752381821417 + ], + [ + -0.014834382571280003, + 0.005596507806330919, + 0.9998742938041687, + 6.242028505919921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.999731183052063, + 0.0003501180908642709, + 0.023182770237326622, + 1.4716972985575276 + ], + [ + -0.0003617292386479676, + 0.9999998211860657, + 0.0004966604174114764, + -0.584949055620687 + ], + [ + -0.023182591423392296, + -0.0005049127503298223, + 0.9997311234474182, + 6.313843791096682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9995606541633606, + -0.0010255733504891396, + 0.029622554779052734, + 1.4860951271474636 + ], + [ + 0.0008829490398056805, + 0.9999879598617554, + 0.004827397875487804, + -0.5893045940510993 + ], + [ + -0.029627148061990738, + -0.004799121990799904, + 0.9995495080947876, + 6.3900915808083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993817210197449, + -0.0030100608710199594, + 0.0350300669670105, + 1.50237120359724 + ], + [ + 0.0027395186480134726, + 0.9999660849571228, + 0.00776857603341341, + -0.5934453161133986 + ], + [ + -0.035052262246608734, + -0.00766780786216259, + 0.9993560910224915, + 6.463790019828191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9991675019264221, + -0.002856188453733921, + 0.040695954114198685, + 1.5181412718812441 + ], + [ + 0.0024761799722909927, + 0.9999529123306274, + 0.009385096840560436, + -0.5946169825880209 + ], + [ + -0.04072083905339241, + -0.009276513941586018, + 0.9991275072097778, + 6.5444284942567625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9989688396453857, + -0.0010832861298695207, + 0.04538865387439728, + 1.5332328944711642 + ], + [ + 0.0006090535316616297, + 0.9999451041221619, + 0.010460791178047657, + -0.5947825561480357 + ], + [ + -0.045397497713565826, + -0.010422359220683575, + 0.9989146590232849, + 6.6248940238651866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9988123774528503, + 0.00044688204070553184, + 0.048720359802246094, + 1.5485126482726241 + ], + [ + -0.0009931810200214386, + 0.9999368786811829, + 0.011189320124685764, + -0.5961724129518331 + ], + [ + -0.04871228337287903, + -0.011224419809877872, + 0.9987497925758362, + 6.707965046387114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9986555576324463, + 0.0009071117965504527, + 0.0518287792801857, + 1.564422819471579 + ], + [ + -0.0014875956112518907, + 0.999936580657959, + 0.011162551119923592, + -0.5970152256628907 + ], + [ + -0.05181536823511124, + -0.011224644258618355, + 0.9985936284065247, + 6.787708902218237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9984264969825745, + 0.0011249363888055086, + 0.056064847856760025, + 1.5806722210299584 + ], + [ + -0.0017508089076727629, + 0.9999366998672485, + 0.011115498840808868, + -0.6022962304102557 + ], + [ + -0.056048791855573654, + -0.011196168139576912, + 0.9983652830123901, + 6.868428251868294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9982465505599976, + 0.0011838267091661692, + 0.05918176844716072, + 1.5969631828470714 + ], + [ + -0.001611761748790741, + 0.9999728798866272, + 0.007183647248893976, + -0.6077185747157868 + ], + [ + -0.059171658009290695, + -0.007266438100486994, + 0.9982213973999023, + 6.945195553309288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9981118440628052, + -0.001040152390487492, + 0.06141403689980507, + 1.6127568453687677 + ], + [ + 0.0009375576046295464, + 0.9999980926513672, + 0.001699337037280202, + -0.614026569445405 + ], + [ + -0.061415690928697586, + -0.0016385491471737623, + 0.9981109499931335, + 7.01982185288165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9979944229125977, + -0.0028898746240884066, + 0.0632355734705925, + 1.6338106449847947 + ], + [ + 0.0031618622597306967, + 0.9999861717224121, + -0.004201534204185009, + -0.6227459775800023 + ], + [ + -0.06322256475687027, + 0.004393049515783787, + 0.9979897737503052, + 7.10766063363802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9979304671287537, + 0.0003608219849411398, + 0.06430157274007797, + 1.6495255039584251 + ], + [ + -6.037531420588493e-06, + 0.9999848008155823, + -0.005517617333680391, + -0.6352890665690127 + ], + [ + -0.06430258601903915, + 0.005505810026079416, + 0.9979152679443359, + 7.171917278563372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9978909492492676, + 0.0004777564899995923, + 0.06491117179393768, + 1.6687450071633687 + ], + [ + -2.4052977096289396e-05, + 0.9999755620956421, + -0.006990207824856043, + -0.6471025615453362 + ], + [ + -0.06491293013095856, + 0.006973904091864824, + 0.9978665709495544, + 7.251126435062577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.997808039188385, + 0.000297151185804978, + 0.0661739930510521, + 1.6818472144241157 + ], + [ + 0.00033709636772982776, + 0.999954104423523, + -0.009573173709213734, + -0.6584925390188507 + ], + [ + -0.06617379933595657, + 0.009574496187269688, + 0.9977622032165527, + 7.319854597101838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.997726559638977, + -0.0017033083131536841, + 0.06737102568149567, + 1.694148470893983 + ], + [ + 0.0024053817614912987, + 0.9999436140060425, + -0.01034125778824091, + -0.6717484791282444 + ], + [ + -0.06734961271286011, + 0.010479799471795559, + 0.9976744055747986, + 7.39085820547996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9976573586463928, + -0.006033037789165974, + 0.06814268231391907, + 1.706601392948133 + ], + [ + 0.006759333424270153, + 0.9999227523803711, + -0.010432925075292587, + -0.6829289114780827 + ], + [ + -0.06807447969913483, + 0.010869083926081657, + 0.9976210594177246, + 7.4562619233186345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9976159334182739, + -0.008385879918932915, + 0.06849902868270874, + 1.7208729181970868 + ], + [ + 0.009016618132591248, + 0.9999197125434875, + -0.008904002606868744, + -0.6934113002249173 + ], + [ + -0.06841886043548584, + 0.009500404819846153, + 0.9976114630699158, + 7.526560948576246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9976527094841003, + -0.007452929392457008, + 0.06806962937116623, + 1.7353364781300593 + ], + [ + 0.007729080505669117, + 0.9999629259109497, + -0.003794420976191759, + -0.7015993087136182 + ], + [ + -0.06803882867097855, + 0.0043116300366818905, + 0.9976733326911926, + 7.599192116110831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9977293014526367, + -0.006074890494346619, + 0.06707680225372314, + 1.748527966886072 + ], + [ + 0.006288596428930759, + 0.9999758005142212, + -0.0029753055423498154, + -0.7066529922869726 + ], + [ + -0.06705710291862488, + 0.003390368539839983, + 0.9977433681488037, + 7.672478945917248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977807998657227, + -0.005066234618425369, + 0.06639101356267929, + 1.7594151067294284 + ], + [ + 0.0052542854100465775, + 0.9999826550483704, + -0.0026581697165966034, + -0.712246467138765 + ], + [ + -0.06637639552354813, + 0.0030011082999408245, + 0.9977901577949524, + 7.7450128642095395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.997759997844696, + -0.007839915342628956, + 0.06643446534872055, + 1.770385420404821 + ], + [ + 0.008031059987843037, + 0.9999643564224243, + -0.0026106026489287615, + -0.7147757940118797 + ], + [ + -0.06641163676977158, + 0.0031382942106574774, + 0.997787356376648, + 7.822667441345442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.997713565826416, + -0.013056120835244656, + 0.06631133705377579, + 1.7832759418795185 + ], + [ + 0.013250495307147503, + 0.9999091029167175, + -0.0024922622833400965, + -0.7168116953884882 + ], + [ + -0.06627277284860611, + 0.003365221666172147, + 0.9977958798408508, + 7.901124334479532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9976815581321716, + -0.015176714397966862, + 0.06634099781513214, + 1.7952472212951853 + ], + [ + 0.015379841439425945, + 0.999878466129303, + -0.002552185906097293, + -0.7155188272973256 + ], + [ + -0.06629420816898346, + 0.0035665829200297594, + 0.9977937340736389, + 7.97980728107526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9976813197135925, + -0.01608588546514511, + 0.06613034754991531, + 1.8075847076380858 + ], + [ + 0.01629258319735527, + 0.9998639225959778, + -0.002587453695014119, + -0.7167428437671903 + ], + [ + -0.06607972830533981, + 0.0036588881630450487, + 0.9978076219558716, + 8.057689733425594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9976411461830139, + -0.01765255816280842, + 0.06633671373128891, + 1.81918793556877 + ], + [ + 0.01786639727652073, + 0.9998369216918945, + -0.0026316498406231403, + -0.7184204711625997 + ], + [ + -0.06627943366765976, + 0.0038106399588286877, + 0.9977938532829285, + 8.133736369298763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9975485801696777, + -0.02244982123374939, + 0.06627862900495529, + 1.8317646228772704 + ], + [ + 0.022664815187454224, + 0.9997400045394897, + -0.002493547275662422, + -0.7230010402092736 + ], + [ + -0.06620541960000992, + 0.003989627119153738, + 0.9977980256080627, + 8.21358788144616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9975548982620239, + -0.024588927626609802, + 0.06541842222213745, + 1.846131755404758 + ], + [ + 0.02483026310801506, + 0.9996875524520874, + -0.002878508297726512, + -0.7283753919385133 + ], + [ + -0.06532719731330872, + 0.0044958265498280525, + 0.9978537559509277, + 8.299486549095624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9976932406425476, + -0.022283777594566345, + 0.06412211060523987, + 1.8611569080484627 + ], + [ + 0.02257254347205162, + 0.9997380375862122, + -0.003782346611842513, + -0.7365656429584125 + ], + [ + -0.064021036028862, + 0.005221020430326462, + 0.997934877872467, + 8.38302358103238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9978575110435486, + -0.017883770167827606, + 0.06293320655822754, + 1.873387724161148 + ], + [ + 0.018196217715740204, + 0.9998247623443604, + -0.004395079333335161, + -0.7489938559311051 + ], + [ + -0.06284357607364655, + 0.0055308095179498196, + 0.9980080723762512, + 8.461061028463225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9979286789894104, + -0.01763654686510563, + 0.06186487525701523, + 1.882843214520661 + ], + [ + 0.017995560541749, + 0.9998242855072021, + -0.005250792484730482, + -0.7601436341704998 + ], + [ + -0.06176140159368515, + 0.006353209260851145, + 0.9980707168579102, + 8.533522096750099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.997907817363739, + -0.021341800689697266, + 0.061028365045785904, + 1.891580411228716 + ], + [ + 0.021728936582803726, + 0.9997477531433105, + -0.0056868609972298145, + -0.7713508343281147 + ], + [ + -0.06089160218834877, + 0.007001044694334269, + 0.9981198310852051, + 8.603218401005398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980111122131348, + -0.018924472853541374, + 0.060130249708890915, + 1.9010298031266384 + ], + [ + 0.01930769719183445, + 0.9997967481613159, + -0.0057986024767160416, + -0.7834328909039772 + ], + [ + -0.06000829115509987, + 0.006948046386241913, + 0.998173713684082, + 8.661469139337266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9981309175491333, + -0.016142763197422028, + 0.05894165486097336, + 1.9141236905678076 + ], + [ + 0.016508832573890686, + 0.9998472929000854, + -0.0057290163822472095, + -0.7931666035050621 + ], + [ + -0.05884017050266266, + 0.006691365968436003, + 0.9982450008392334, + 8.730548988104141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9982412457466125, + -0.012950924225151539, + 0.05785031244158745, + 1.9259632702247338 + ], + [ + 0.013205197639763355, + 0.9999047517776489, + -0.004015219397842884, + -0.8022643009046188 + ], + [ + -0.05779280140995979, + 0.004772081971168518, + 0.9983171820640564, + 8.796904465415373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9983158707618713, + -0.010702126659452915, + 0.05701611191034317, + 1.9390850014675598 + ], + [ + 0.010721663944423199, + 0.9999425411224365, + -3.6751298466697335e-05, + -0.8086914550208311 + ], + [ + -0.05701243877410889, + 0.0006479970179498196, + 0.99837327003479, + 8.864347426298027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9983153939247131, + -0.0118070924654603, + 0.05680672824382782, + 1.9532798474834812 + ], + [ + 0.011752449907362461, + 0.9999300837516785, + 0.0012958917068317533, + -0.8142968828158994 + ], + [ + -0.05681806057691574, + -0.0006260904483497143, + 0.9983843564987183, + 8.927537914629905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9983342289924622, + -0.011487333104014397, + 0.056540101766586304, + 1.9693400289331164 + ], + [ + 0.011366648599505424, + 0.9999324083328247, + 0.002455619163811207, + -0.8196684419070177 + ], + [ + -0.056564487516880035, + -0.0018088571960106492, + 0.9983972907066345, + 8.99788914277875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9983739852905273, + -0.010094399563968182, + 0.056102294474840164, + 1.9871436026788527 + ], + [ + 0.009913013316690922, + 0.9999446868896484, + 0.003510476090013981, + -0.8215559821326955 + ], + [ + -0.056134629994630814, + -0.002948625013232231, + 0.9984188675880432, + 9.075327166781035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9984042048454285, + -0.008963607251644135, + 0.05575580149888992, + 2.0051858253468016 + ], + [ + 0.008717818185687065, + 0.999951183795929, + 0.004649975337088108, + -0.8219372715998424 + ], + [ + -0.05579476058483124, + -0.004156486131250858, + 0.9984335899353027, + 9.151340005756248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.998447060585022, + -0.0052846516482532024, + 0.055457163602113724, + 2.0223029958487655 + ], + [ + 0.005000563804060221, + 0.9999736547470093, + 0.005260172300040722, + -0.8196648203428784 + ], + [ + -0.05548350140452385, + -0.004974686540663242, + 0.9984472393989563, + 9.230071079009964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9984697103500366, + -0.0024804098065942526, + 0.055245403200387955, + 2.039168969442218 + ], + [ + 0.0021738496143370867, + 0.9999818801879883, + 0.00560846459120512, + -0.8191829572050845 + ], + [ + -0.055258315056562424, + -0.005479786545038223, + 0.9984570741653442, + 9.310909358049798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9984811544418335, + -0.0021097385324537754, + 0.055053822696208954, + 2.056797040442717 + ], + [ + 0.0017925468273460865, + 0.9999815225601196, + 0.005810227710753679, + -0.8213272903796955 + ], + [ + -0.05506506562232971, + -0.005702716764062643, + 0.9984664916992188, + 9.387561582282942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9985043406486511, + -0.002810361562296748, + 0.05460021644830704, + 2.0748002046538936 + ], + [ + 0.002497106557711959, + 0.9999800324440002, + 0.005804620683193207, + -0.8272708916728715 + ], + [ + -0.05461543798446655, + -0.005659596063196659, + 0.9984914064407349, + 9.462242629258864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9985615015029907, + -0.004494324326515198, + 0.053429216146469116, + 2.0962511471339633 + ], + [ + 0.004264224320650101, + 0.999981164932251, + 0.004419859033077955, + -0.8338415759362383 + ], + [ + -0.05344807356595993, + -0.004185666795819998, + 0.9985618591308594, + 9.545510509184428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9986550211906433, + -0.0006285645067691803, + 0.05184384435415268, + 2.1162499477511725 + ], + [ + 0.0005889573367312551, + 0.9999995231628418, + 0.0007792438846081495, + -0.8440411670086798 + ], + [ + -0.05184430629014969, + -0.0007476620376110077, + 0.9986549019813538, + 9.622567447597667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9987298846244812, + 0.006403125356882811, + 0.04997667297720909, + 2.130934168830995 + ], + [ + -0.006466985214501619, + 0.9999784827232361, + 0.0011161935981363058, + -0.8590067691804867 + ], + [ + -0.04996844753623009, + -0.0014379741623997688, + 0.9987497329711914, + 9.69003462778739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9988917708396912, + 0.005800662562251091, + 0.04670731723308563, + 2.147288994058486 + ], + [ + -0.005821628496050835, + 0.999983012676239, + 0.00031286804005503654, + -0.8709733382236504 + ], + [ + -0.04670470952987671, + -0.0005844339611940086, + 0.9989085793495178, + 9.76591769574974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.998955488204956, + 0.008278938941657543, + 0.044937651604413986, + 2.1641857215336393 + ], + [ + -0.008290850557386875, + 0.9999656081199646, + 7.869955152273178e-05, + -0.8817071066903216 + ], + [ + -0.044935453683137894, + -0.00045118870912119746, + 0.9989897608757019, + 9.83217475009816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9988858699798584, + 0.016320714727044106, + 0.044279441237449646, + 2.1767141363038447 + ], + [ + -0.01634223945438862, + 0.9998664259910583, + 0.00012411049101501703, + -0.8924244867448914 + ], + [ + -0.044271498918533325, + -0.0008475972572341561, + 0.999019205570221, + 9.901086883679513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9988095760345459, + 0.022424573078751564, + 0.043319422751665115, + 2.189814492194883 + ], + [ + -0.022460060194134712, + 0.9997476935386658, + 0.00033257860923185945, + -0.9055397085484959 + ], + [ + -0.04330103471875191, + -0.0013051393907517195, + 0.9990612268447876, + 9.957871805203538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.998889684677124, + 0.02171654999256134, + 0.04180610924959183, + 2.204840770075398 + ], + [ + -0.0217466838657856, + 0.9997634887695312, + 0.0002660815080162138, + -0.9159039316861998 + ], + [ + -0.0417904406785965, + -0.001174930133856833, + 0.9991257190704346, + 10.041176421322307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9990049004554749, + 0.02065189927816391, + 0.03953167796134949, + 2.222740231351369 + ], + [ + -0.0206887386739254, + 0.999785840511322, + 0.0005229446687735617, + -0.9245561916707298 + ], + [ + -0.03951241075992584, + -0.0013402847107499838, + 0.9992181658744812, + 10.114235783941735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9990421533584595, + 0.024416619911789894, + 0.036311954259872437, + 2.2381911323367176 + ], + [ + -0.024463923647999763, + 0.9997003674507141, + 0.0008588620112277567, + -0.9298580752393824 + ], + [ + -0.03628010302782059, + -0.0017463723197579384, + 0.9993401169776917, + 10.1911225408762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.999018669128418, + 0.028120698407292366, + 0.034219637513160706, + 2.2525756150346745 + ], + [ + -0.02817101590335369, + 0.9996026158332825, + 0.000989103689789772, + -0.9329075030896659 + ], + [ + -0.034178227186203, + -0.0019521350041031837, + 0.9994138479232788, + 10.264495854416202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9990718960762024, + 0.027947019785642624, + 0.032776426523923874, + 2.2640610868755022 + ], + [ + -0.02799016237258911, + 0.9996078014373779, + 0.0008581203874200583, + -0.9350193176676052 + ], + [ + -0.03273959085345268, + -0.0017747413367033005, + 0.999462366104126, + 10.32686181369362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9991108179092407, + 0.027369718998670578, + 0.03206896036863327, + 2.2789953893230805 + ], + [ + -0.027394380420446396, + 0.9996246695518494, + 0.0003298054216429591, + -0.9361402200183011 + ], + [ + -0.03204789757728577, + -0.0012080214219167829, + 0.9994856119155884, + 10.40455260677821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9990968704223633, + 0.028219180181622505, + 0.031765762716531754, + 2.292294245381509 + ], + [ + -0.028230855241417885, + 0.999601423740387, + -8.099785191006958e-05, + -0.9372244923405589 + ], + [ + -0.03175538405776024, + -0.0008158497512340546, + 0.9994953274726868, + 10.47461113080142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9990859627723694, + 0.028851941227912903, + 0.03154123201966286, + 2.3069907747106067 + ], + [ + -0.02885228767991066, + 0.9995836019515991, + -0.00044429185800254345, + -0.9402536554167622 + ], + [ + -0.031540919095277786, + -0.00046615093015134335, + 0.9995023608207703, + 10.549054430950484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9990869760513306, + 0.02876167930662632, + 0.03158999979496002, + 2.3198948568462776 + ], + [ + -0.02875780127942562, + 0.9995862245559692, + -0.0005771882133558393, + -0.9456743134082668 + ], + [ + -0.031593531370162964, + -0.00033179769525304437, + 0.9995007514953613, + 10.619218799719063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9990562796592712, + 0.02948688715696335, + 0.03189077228307724, + 2.335015595563546 + ], + [ + -0.02947382628917694, + 0.9995651841163635, + -0.000879676197655499, + -0.9518882632255554 + ], + [ + -0.03190284222364426, + -6.109700188972056e-05, + 0.9994909763336182, + 10.700923505439187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9990488290786743, + 0.02945585548877716, + 0.0321526862680912, + 2.3495657898313986 + ], + [ + -0.029434986412525177, + 0.9995660781860352, + -0.0011223310139030218, + -0.9613318004881457 + ], + [ + -0.03217179700732231, + 0.00017484970157966018, + 0.9994823336601257, + 10.778314386828361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9989447593688965, + 0.031945452094078064, + 0.03299728035926819, + 2.3622822592335364 + ], + [ + -0.031927689909935, + 0.9994896054267883, + -0.0010651740012690425, + -0.9730234223164721 + ], + [ + -0.03301446884870529, + 1.0523013770580292e-05, + 0.9994548559188843, + 10.853989147940814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9989441633224487, + 0.03080902434885502, + 0.03407950699329376, + 2.3746433901347324 + ], + [ + -0.030786024406552315, + 0.999525249004364, + -0.0011995249660685658, + -0.9872208950268577 + ], + [ + -0.03410028666257858, + 0.00014908600132912397, + 0.9994183778762817, + 10.923145684081426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.998995840549469, + 0.027714751660823822, + 0.0352022685110569, + 2.386369578299984 + ], + [ + -0.027677197009325027, + 0.9996157288551331, + -0.0015537842409685254, + -1.0021923883788046 + ], + [ + -0.035231802612543106, + 0.0005779239581897855, + 0.9993789792060852, + 10.994757112235792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9989539980888367, + 0.02802574262022972, + 0.03613165020942688, + 2.400050152089739 + ], + [ + -0.027975033968687057, + 0.9996067881584167, + -0.0019083048682659864, + -1.0171743337614334 + ], + [ + -0.036170922219753265, + 0.0008955248049460351, + 0.9993452429771423, + 11.056771701378619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9988880753517151, + 0.02918260172009468, + 0.03702758625149727, + 2.4113891624085912 + ], + [ + -0.029140550643205643, + 0.9995739459991455, + -0.0016749444184824824, + -1.0310313487828877 + ], + [ + -0.0370606891810894, + 0.000594077748246491, + 0.9993128180503845, + 11.11726949172704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.998953640460968, + 0.02679811418056488, + 0.037061359733343124, + 2.4282401508175284 + ], + [ + -0.026873428374528885, + 0.9996376633644104, + 0.0015354377683252096, + -1.0426276244411958 + ], + [ + -0.03700678423047066, + -0.002529796911403537, + 0.9993118047714233, + 11.186885030758202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9989449977874756, + 0.027110565453767776, + 0.0370667465031147, + 2.44415115035624 + ], + [ + -0.027469255030155182, + 0.9995803236961365, + 0.009201958775520325, + -1.0513961161885943 + ], + [ + -0.03680172190070152, + -0.010210447013378143, + 0.9992704391479492, + 11.264075061225672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9989355206489563, + 0.027378644794225693, + 0.037124745547771454, + 2.4611327130398992 + ], + [ + -0.027818899601697922, + 0.9995480179786682, + 0.011394498869776726, + -1.0587926741929785 + ], + [ + -0.036796003580093384, + -0.012415139004588127, + 0.9992457032203674, + 11.346405176042412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9988865256309509, + 0.028748463839292526, + 0.037406884133815765, + 2.473434402371332 + ], + [ + -0.02923358604311943, + 0.9994946122169495, + 0.012487008236348629, + -1.066719736498759 + ], + [ + -0.037028998136520386, + -0.013566642068326473, + 0.9992220997810364, + 11.416694995747184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.998908519744873, + 0.027692321687936783, + 0.037615396082401276, + 2.489625418570734 + ], + [ + -0.028195910155773163, + 0.999518871307373, + 0.012923906557261944, + -1.069247290708365 + ], + [ + -0.037239402532577515, + -0.013970400206744671, + 0.9992086887359619, + 11.494337282546105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9989668726921082, + 0.0248889047652483, + 0.03802328556776047, + 2.505143024844508 + ], + [ + -0.025415735319256783, + 0.9995867013931274, + 0.013435455970466137, + -1.072923778344272 + ], + [ + -0.03767317533493042, + -0.014387964271008968, + 0.9991865158081055, + 11.567865587819007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.998975396156311, + 0.024493755772709846, + 0.03805578500032425, + 2.5247180683272226 + ], + [ + -0.02501777373254299, + 0.9995977878570557, + 0.013355020433664322, + -1.076323385599331 + ], + [ + -0.03771336376667023, + -0.014293408021330833, + 0.9991863965988159, + 11.647882770894585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9989914894104004, + 0.02384980022907257, + 0.03804191201925278, + 2.542629134270453 + ], + [ + -0.02430664747953415, + 0.9996373653411865, + 0.011592000722885132, + -1.0769658807991287 + ], + [ + -0.03775165230035782, + -0.012504981830716133, + 0.999208927154541, + 11.728573153748215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9989848732948303, + 0.024090297520160675, + 0.03806464001536369, + 2.5604254173518326 + ], + [ + -0.02449437603354454, + 0.9996480941772461, + 0.010185090824961662, + -1.0800777744295822 + ], + [ + -0.03780588135123253, + -0.011107120662927628, + 0.9992233514785767, + 11.806018373742699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999041736125946, + 0.0220362339168787, + 0.03781494125723839, + 2.5768875996638005 + ], + [ + -0.022411605343222618, + 0.9997034072875977, + 0.009531451389193535, + -1.0871387939779988 + ], + [ + -0.03759368881583214, + -0.010369811207056046, + 0.9992393255233765, + 11.883792119380516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9991551041603088, + 0.017691023647785187, + 0.03709658607840538, + 2.594132050034088 + ], + [ + -0.018030673265457153, + 0.9997983574867249, + 0.008841359056532383, + -1.0952537859502476 + ], + [ + -0.03693269565701485, + -0.009502765722572803, + 0.9992725849151611, + 11.959791662926841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9991850256919861, + 0.018255801871418953, + 0.03600074350833893, + 2.6106546644241577 + ], + [ + -0.01851208321750164, + 0.9998055100440979, + 0.0067982664331793785, + -1.106949135793313 + ], + [ + -0.03586963564157486, + -0.00745917484164238, + 0.99932861328125, + 12.034739724618774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9992206692695618, + 0.019376160576939583, + 0.03438951447606087, + 2.6274820183004652 + ], + [ + -0.019581550732254982, + 0.9997923374176025, + 0.005645738448947668, + -1.1215918068108814 + ], + [ + -0.03427297994494438, + -0.006314738187938929, + 0.999392569065094, + 12.10186575645847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.999293327331543, + 0.01945505291223526, + 0.032161273062229156, + 2.6430337615826165 + ], + [ + -0.019608024507761, + 0.9997978210449219, + 0.004447821993380785, + -1.1343205382266353 + ], + [ + -0.03206823766231537, + -0.00507529778406024, + 0.9994727969169617, + 12.171999313232536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9994325041770935, + 0.0152274826541543, + 0.030047167092561722, + 2.6589225174919253 + ], + [ + -0.01526403333991766, + 0.9998829960823059, + 0.000987457693554461, + -1.1474791750504982 + ], + [ + -0.03002861514687538, + -0.001445538247935474, + 0.9995480179786682, + 12.235130417190733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9995042085647583, + 0.014685378409922123, + 0.02785046584904194, + 2.671969340034344 + ], + [ + -0.014679322950541973, + 0.9998921751976013, + -0.0004218514950480312, + -1.1622320547863016 + ], + [ + -0.02785365842282772, + 1.2816395610570908e-05, + 0.999612033367157, + 12.295775956308582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9995535612106323, + 0.015482153743505478, + 0.025553669780492783, + 2.681427388861432 + ], + [ + -0.015468135476112366, + 0.9998800754547119, + -0.0007462030043825507, + -1.1753681330156216 + ], + [ + -0.025562159717082977, + 0.0003506022912915796, + 0.9996731877326965, + 12.355087251655654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9996675252914429, + 0.013493288308382034, + 0.021971967071294785, + 2.6958962398740005 + ], + [ + -0.013476114720106125, + 0.9999087452888489, + -0.0009295264026150107, + -1.186351397345143 + ], + [ + -0.021982505917549133, + 0.000633120653219521, + 0.9997581839561462, + 12.419563830722861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997672438621521, + 0.013798602856695652, + 0.016586342826485634, + 2.7075298153585003 + ], + [ + -0.013785668648779392, + 0.9999045729637146, + -0.000893937423825264, + -1.1964486917691124 + ], + [ + -0.016597094014286995, + 0.0006650754949077964, + 0.999862015247345, + 12.473423207905745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997966289520264, + 0.014912912622094154, + 0.013576041907072067, + 2.718461161714545 + ], + [ + -0.014905702322721481, + 0.9998887181282043, + -0.0006321101100184023, + -1.2035735081314767 + ], + [ + -0.013583958148956299, + 0.0004296211409382522, + 0.9999076128005981, + 12.537653315506773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998296499252319, + 0.014911137521266937, + 0.010879241861402988, + 2.7285031449959574 + ], + [ + -0.014909233897924423, + 0.9998888373374939, + -0.0002559823333285749, + -1.2081447258437146 + ], + [ + -0.010881849564611912, + 9.373758075525984e-05, + 0.999940812587738, + 12.600155923880791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998962879180908, + 0.011821954511106014, + 0.008224685676395893, + 2.7397747044189735 + ], + [ + -0.011822947300970554, + 0.9999300837516785, + 7.215944060590118e-05, + -1.2107396739127312 + ], + [ + -0.008223257027566433, + -0.0001693919621175155, + 0.9999661445617676, + 12.666814489599128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9999180436134338, + 0.011597241275012493, + 0.005427784752100706, + 2.7514477741608423 + ], + [ + -0.011599103920161724, + 0.9999327063560486, + 0.00031193025643005967, + -1.2134193882178772 + ], + [ + -0.005423801485449076, + -0.000374862109310925, + 0.9999852180480957, + 12.734679643670955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9999082088470459, + 0.013234812766313553, + 0.0028947931714355946, + 2.7614855432290635 + ], + [ + -0.013236328959465027, + 0.9999122619628906, + 0.0005053632194176316, + -1.2168567331018536 + ], + [ + -0.0028878506273031235, + -0.0005436332430690527, + 0.9999957084655762, + 12.804264683755381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998955130577087, + 0.01443690899759531, + 0.0007592426845803857, + 2.7693057719188903 + ], + [ + -0.014437261037528515, + 0.9998956918716431, + 0.00045958024566061795, + -1.2202401955878095 + ], + [ + -0.000752528547309339, + -0.00047049360000528395, + 0.9999995827674866, + 12.878635145848122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.999945878982544, + 0.01032046414911747, + -0.0013055233284831047, + 2.7774046098032303 + ], + [ + -0.010320005938410759, + 0.9999467134475708, + 0.0003568376414477825, + -1.2279444657506482 + ], + [ + 0.0013091363944113255, + -0.0003433453384786844, + 0.9999991059303284, + 12.948674892622137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9999775886535645, + 0.005509700160473585, + -0.0038059037178754807, + 2.7894845371422132 + ], + [ + -0.00551215885207057, + 0.999984622001648, + -0.0006357859238050878, + -1.2324954118358598 + ], + [ + 0.003802342340350151, + 0.0006567504606209695, + 0.9999925494194031, + 13.024617660719437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9999616742134094, + 0.0060647837817668915, + -0.006314929109066725, + 2.800717727105189 + ], + [ + -0.0060769254341721535, + 0.9999797344207764, + -0.0019052927382290363, + -1.2440435188320307 + ], + [ + 0.006303245667368174, + 0.0019435950089246035, + 0.999978244304657, + 13.101324282060828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9999279379844666, + 0.00871394295245409, + -0.008259360678493977, + 2.8073506191304203 + ], + [ + -0.008767376653850079, + 0.9999407529830933, + -0.006455392576754093, + -1.2537504950594072 + ], + [ + 0.008202618919312954, + 0.006527340039610863, + 0.9999450445175171, + 13.173498363382171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9999051690101624, + 0.008813763968646526, + -0.010578884743154049, + 2.81739372756624 + ], + [ + -0.008922138251364231, + 0.9999077320098877, + -0.010241314768791199, + -1.2629241513165599 + ], + [ + 0.01048764493316412, + 0.01033473014831543, + 0.9998915791511536, + 13.239673939736964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9999057054519653, + 0.005617652088403702, + -0.012532315216958523, + 2.826034289845673 + ], + [ + -0.005763334222137928, + 0.9999158978462219, + -0.011618818156421185, + -1.2728993486797584 + ], + [ + 0.012465990148484707, + 0.011689950712025166, + 0.9998539686203003, + 13.304388896182333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998809695243835, + 0.0037787393666803837, + -0.014957125298678875, + 2.8374356194575263 + ], + [ + -0.003965840209275484, + 0.9999139904975891, + -0.012499313801527023, + -1.2838492914866912 + ], + [ + 0.014908607117831707, + 0.012557143345475197, + 0.999809980392456, + 13.369954580084897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998461008071899, + 0.004617433995008469, + -0.016925472766160965, + 2.8433954081227704 + ], + [ + -0.00483574066311121, + 0.9999053478240967, + -0.012879972346127033, + -1.297268464365193 + ], + [ + 0.016864396631717682, + 0.012959836982190609, + 0.9997738003730774, + 13.435028937434957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998111128807068, + 0.005959848873317242, + -0.018497822806239128, + 2.8534007250438638 + ], + [ + -0.006209643557667732, + 0.9998899102210999, + -0.013476072810590267, + -1.3059989413495436 + ], + [ + 0.01841547153890133, + 0.013588392175734043, + 0.9997380971908569, + 13.499500123572789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9997602701187134, + 0.008704312145709991, + -0.020089764147996902, + 2.8603777825557692 + ], + [ + -0.008975086733698845, + 0.9998695850372314, + -0.013427660800516605, + -1.316051120486986 + ], + [ + 0.01997026428580284, + 0.01360474992543459, + 0.9997079968452454, + 13.556062663138805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9997073411941528, + 0.008538779802620411, + -0.0226342361420393, + 2.868544528341513 + ], + [ + -0.008839807473123074, + 0.9998733401298523, + -0.013233145698904991, + -1.3262559590260348 + ], + [ + 0.022518375888466835, + 0.013429354876279831, + 0.9996562004089355, + 13.622900146855393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9996473789215088, + 0.007265427149832249, + -0.025541944429278374, + 2.87906938599002 + ], + [ + -0.007600320503115654, + 0.9998860955238342, + -0.013038980774581432, + -1.3347998685233535 + ], + [ + 0.02544430084526539, + 0.01322850864380598, + 0.9995887279510498, + 13.681084808361318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9995606541633606, + 0.007889007218182087, + -0.028571125119924545, + 2.8891656964605303 + ], + [ + -0.008261810056865215, + 0.9998819828033447, + -0.012953796423971653, + -1.3401319016251834 + ], + [ + 0.02846556156873703, + 0.013184153474867344, + 0.9995078444480896, + 13.745714286574021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9994656443595886, + 0.007855929434299469, + -0.03172843158245087, + 2.899390093439735 + ], + [ + -0.008272998034954071, + 0.9998807907104492, + -0.013035152107477188, + -1.345105937126732 + ], + [ + 0.03162224590778351, + 0.013290675356984138, + 0.9994115233421326, + 13.808374652163499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9993538856506348, + 0.007413392886519432, + -0.03516943380236626, + 2.9106869589897895 + ], + [ + -0.007883665151894093, + 0.9998810887336731, + -0.013251845724880695, + -1.348099871069914 + ], + [ + 0.035067010670900345, + 0.013520547188818455, + 0.9992935061454773, + 13.875574139409489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9991592764854431, + 0.007640538737177849, + -0.04027840867638588, + 2.9216931296658406 + ], + [ + -0.008182737976312637, + 0.9998778700828552, + -0.013313664123415947, + -1.3516366857554643 + ], + [ + 0.04017176851630211, + 0.013632059097290039, + 0.9990997910499573, + 13.942934683663985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9988681674003601, + 0.01128571666777134, + -0.0462067537009716, + 2.932814712128881 + ], + [ + -0.01191735453903675, + 0.9998389482498169, + -0.013417244888842106, + -1.354692015621794 + ], + [ + 0.046047892421483994, + 0.01395271997898817, + 0.9988417625427246, + 14.00689297885664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9986879229545593, + 0.011906800791621208, + -0.04980649799108505, + 2.945107283268107 + ], + [ + -0.012608805671334267, + 0.9998252391815186, + -0.013804278336465359, + -1.3566449539615744 + ], + [ + 0.04963342845439911, + 0.0144141661003232, + 0.9986634850502014, + 14.071712525518533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9985008239746094, + 0.010725514031946659, + -0.053675033152103424, + 2.9585760116577147 + ], + [ + -0.01150058675557375, + 0.9998337030410767, + -0.014152107760310173, + -1.3598704108436193 + ], + [ + 0.05351431667804718, + 0.014748185873031616, + 0.9984581470489502, + 14.137651675513812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9982212781906128, + 0.010342747904360294, + -0.05871337652206421, + 2.9720171163159033 + ], + [ + -0.011227843351662159, + 0.9998279213905334, + -0.014765028841793537, + -1.3674930945180426 + ], + [ + 0.05855056643486023, + 0.015397991053760052, + 0.9981656670570374, + 14.192908576048465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.997978687286377, + 0.013936588540673256, + -0.06200225651264191, + 2.985572102102816 + ], + [ + -0.014923978596925735, + 0.9997686147689819, + -0.015490537509322166, + -1.3741596846879902 + ], + [ + 0.061772026121616364, + 0.01638454757630825, + 0.9979557991027832, + 14.250947341020755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9977265000343323, + 0.016866324469447136, + -0.06524868309497833, + 2.9994538270658064 + ], + [ + -0.017990121617913246, + 0.9996991157531738, + -0.016674241051077843, + -1.378559833146151 + ], + [ + 0.06494781374931335, + 0.017810164019465446, + 0.9977297186851501, + 14.309061501391472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9975706934928894, + 0.014509929344058037, + -0.06813359260559082, + 3.0156829211569054 + ], + [ + -0.015762949362397194, + 0.9997156858444214, + -0.017889156937599182, + -1.386146822909949 + ], + [ + 0.06785465776920319, + 0.0189196839928627, + 0.9975157976150513, + 14.361633500539213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.99745112657547, + 0.014798960648477077, + -0.06980185955762863, + 3.0318434039843245 + ], + [ + -0.016195649281144142, + 0.9996789693832397, + -0.01948600634932518, + -1.3905818352475763 + ], + [ + 0.06949108093976974, + 0.020566824823617935, + 0.9973705410957336, + 14.41707648184099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.997362494468689, + 0.013784256763756275, + -0.07126038521528244, + 3.0443384352916945 + ], + [ + -0.015303411521017551, + 0.999666154384613, + -0.020816516131162643, + -1.3954902332773955 + ], + [ + 0.07094965130090714, + 0.02185213938355446, + 0.9972404837608337, + 14.467389571941393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.997215211391449, + 0.015808049589395523, + -0.07288338243961334, + 3.0589208741616543 + ], + [ + -0.017365489155054092, + 0.9996331334114075, + -0.020784994587302208, + -1.4027210347508918 + ], + [ + 0.07252807915210724, + 0.021992767229676247, + 0.9971238374710083, + 14.523165701851593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.997067928314209, + 0.017235873267054558, + -0.07455512136220932, + 3.0741996310273625 + ], + [ + -0.018852664157748222, + 0.9996009469032288, + -0.02103666216135025, + -1.4106187174276958 + ], + [ + 0.0741627886891365, + 0.022380542010068893, + 0.9969949722290039, + 14.583942135516125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9968582987785339, + 0.020695731043815613, + -0.0764540359377861, + 3.0890785761967234 + ], + [ + -0.022352855652570724, + 0.9995320439338684, + -0.020882928743958473, + -1.4174134829060137 + ], + [ + 0.07598606497049332, + 0.022526288405060768, + 0.9968544244766235, + 14.640409536848557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9967167377471924, + 0.022289618849754333, + -0.07783933728933334, + 3.1035951306743006 + ], + [ + -0.023909538984298706, + 0.9995152354240417, + -0.019941402599215508, + -1.4244444612533815 + ], + [ + 0.07735712081193924, + 0.021737033501267433, + 0.9967664480209351, + 14.70287179956513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9966174960136414, + 0.024336202070116997, + -0.0784941166639328, + 3.1154803625724283 + ], + [ + -0.02596733532845974, + 0.9994661808013916, + -0.019826853647828102, + -1.428073962713476 + ], + [ + 0.07796970009803772, + 0.02179807238280773, + 0.9967173933982849, + 14.767730528404636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9966540336608887, + 0.021567951887845993, + -0.07883905619382858, + 3.130962000464514 + ], + [ + -0.02329205349087715, + 0.9995077848434448, + -0.021014736965298653, + -1.4262980197740864 + ], + [ + 0.07834700495004654, + 0.02278074435889721, + 0.9966658353805542, + 14.833739310482406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9967775940895081, + 0.016080839559435844, + -0.07858625054359436, + 3.1460000335071494 + ], + [ + -0.01790848933160305, + 0.9995840191841125, + -0.02260741777718067, + -1.4236793989367131 + ], + [ + 0.07819001376628876, + 0.023941928520798683, + 0.9966509342193604, + 14.896073597937411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9972068667411804, + 0.011159533634781837, + -0.07385050505399704, + 3.1612570164939773 + ], + [ + -0.01300082542002201, + 0.9996153116226196, + -0.024499110877513885, + -1.4225037688140496 + ], + [ + 0.07354869693517685, + 0.025390800088644028, + 0.9969683289527893, + 14.967343365679138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.99750816822052, + 0.009589234367012978, + -0.06989617645740509, + 3.1775501804417727 + ], + [ + -0.011480415239930153, + 0.9995774030685425, + -0.026705697178840637, + -1.4220591319141231 + ], + [ + 0.06961055099964142, + 0.027441587299108505, + 0.9971967339515686, + 15.04443358822215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9978479743003845, + 0.007481221575289965, + -0.06514137983322144, + 3.194327048387396 + ], + [ + -0.009428493678569794, + 0.9995162487030029, + -0.029637087136507034, + -1.4217521577730157 + ], + [ + 0.06488814949989319, + 0.030187491327524185, + 0.9974358081817627, + 15.116544063602175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9982084631919861, + 0.0036813057959079742, + -0.05971825122833252, + 3.209824936812924 + ], + [ + -0.005679569207131863, + 0.999428391456604, + -0.033326368778944016, + -1.4226315034162853 + ], + [ + 0.05956143140792847, + 0.03360584005713463, + 0.9976587891578674, + 15.201705422132246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9982308149337769, + -0.008422035723924637, + -0.05885802581906319, + 3.2294443517236666 + ], + [ + 0.005975984036922455, + 0.9991160035133362, + -0.041611649096012115, + -1.4267327427452061 + ], + [ + 0.059156451374292374, + 0.041186295449733734, + 0.9973987340927124, + 15.278917889585419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9983847141265869, + -0.01077234372496605, + -0.05578441172838211, + 3.247546897505835 + ], + [ + 0.008017899468541145, + 0.9987485408782959, + -0.04936710745096207, + -1.4319354250795349 + ], + [ + 0.056246399879455566, + 0.04884009063243866, + 0.9972216486930847, + 15.347440039232579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9988193511962891, + -0.01085161417722702, + -0.04735103249549866, + 3.263924395214028 + ], + [ + 0.008214237168431282, + 0.9984225630760193, + -0.05554174259305, + -1.4329963098044083 + ], + [ + 0.04787905514240265, + 0.05508721247315407, + 0.9973329305648804, + 15.426681529720257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9990471005439758, + -0.014159349724650383, + -0.041284237056970596, + 3.2781020275733437 + ], + [ + 0.011726362630724907, + 0.9982132315635681, + -0.058590441942214966, + -1.4353415343558527 + ], + [ + 0.04204007610678673, + 0.058050498366355896, + 0.9974280595779419, + 15.494337007868605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9993362426757812, + -0.01741844043135643, + -0.03199440613389015, + 3.294074579317998 + ], + [ + 0.015475176274776459, + 0.9980776906013489, + -0.0600120946764946, + -1.437793506949728 + ], + [ + 0.03297821804881096, + 0.05947714298963547, + 0.9976847767829895, + 15.558710482840164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9995859265327454, + -0.01681203953921795, + -0.02335175685584545, + 3.3063582763968524 + ], + [ + 0.015393568202853203, + 0.9981006979942322, + -0.059649210423231125, + -1.4436712269057532 + ], + [ + 0.02431022934615612, + 0.05926504358649254, + 0.9979462027549744, + 15.614710678277786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9996470212936401, + -0.016801370307803154, + -0.02057955600321293, + 3.3156065671674666 + ], + [ + 0.015789272263646126, + 0.9987035989761353, + -0.04839212819933891, + -1.4534922532376744 + ], + [ + 0.021365931257605553, + 0.048050109297037125, + 0.9986163973808289, + 15.665675058420147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9997124075889587, + -0.015621746890246868, + -0.018195996060967445, + 3.3274548157843578 + ], + [ + 0.014922096394002438, + 0.9991673827171326, + -0.037971850484609604, + -1.459418946983988 + ], + [ + 0.01877403073012829, + 0.03768940642476082, + 0.999113142490387, + 15.725378829504317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9998392462730408, + -0.008632457815110683, + -0.015716003254055977, + 3.3401548305414788 + ], + [ + 0.008142161183059216, + 0.9994862675666809, + -0.030998384580016136, + -1.4646409467875545 + ], + [ + 0.015975521877408028, + 0.030865440145134926, + 0.9993958473205566, + 15.780796473651849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999350309371948, + -0.006021603476256132, + -0.009676533751189709, + 3.354473539266718 + ], + [ + 0.005767375696450472, + 0.9996429681777954, + -0.02608911506831646, + -1.4660534674166552 + ], + [ + 0.009830177761614323, + 0.0260316114872694, + 0.9996128082275391, + 15.8447744669912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9999624490737915, + -0.00857536680996418, + -0.0012413010699674487, + 3.3693920872727845 + ], + [ + 0.008542301133275032, + 0.9996618628501892, + -0.02456003427505493, + -1.4640993756272138 + ], + [ + 0.001451492658816278, + 0.02454850822687149, + 0.9996975660324097, + 15.911266235457754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999136328697205, + -0.011653522029519081, + 0.00607666140422225, + 3.3843808672669846 + ], + [ + 0.01179409772157669, + 0.9996510744094849, + -0.02363523654639721, + -1.4621166492627788 + ], + [ + -0.0057991077192127705, + 0.023704862222075462, + 0.9997021555900574, + 15.975598789299816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9998735785484314, + -0.012844599783420563, + 0.009373128414154053, + 3.3999186133459416 + ], + [ + 0.013052739202976227, + 0.9996618032455444, + -0.022493384778499603, + -1.4600779978086322 + ], + [ + -0.00908103957772255, + 0.022612884640693665, + 0.999703049659729, + 16.0408495215639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9998562335968018, + -0.011573554016649723, + 0.012393624521791935, + 3.4151847124099732 + ], + [ + 0.011816331185400486, + 0.9997361302375793, + -0.01969818025827408, + -1.4567463704384864 + ], + [ + -0.012162377126514912, + 0.019841793924570084, + 0.9997291564941406, + 16.106667821574955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/move_right/transforms.json b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..345a95764556055860a567d468b6adca1f5f6a08 --- /dev/null +++ b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/move_right/transforms.json @@ -0,0 +1,7643 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 218, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.994916424853727e-05, + 7.358914444921538e-06, + -1.139659889304312e-05 + ], + [ + 8.994904783321545e-05, + 1.0, + 1.6600621165707707e-05, + -0.0004049866693094373 + ], + [ + -7.360407835221849e-06, + -1.6599959053564817e-05, + 1.0, + -0.0004114329640287906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999658465385437, + 0.003363250056281686, + -0.007550157140940428, + 0.013377797790730055 + ], + [ + -0.0033828888554126024, + 0.9999909400939941, + -0.0025898267049342394, + -0.00459092100492082 + ], + [ + 0.007541378494352102, + 0.0026152797508984804, + 0.9999681711196899, + 0.08979906473665022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998723268508911, + 0.007244768552482128, + -0.014240838587284088, + 0.026395314794531617 + ], + [ + -0.007357275113463402, + 0.9999420046806335, + -0.007863815873861313, + -0.008818077793868456 + ], + [ + 0.014183040708303452, + 0.007967585697770119, + 0.9998676776885986, + 0.1826552039707586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997193217277527, + 0.01079605147242546, + -0.02108888141810894, + 0.041426564615717684 + ], + [ + -0.01100737601518631, + 0.9998900890350342, + -0.009930421598255634, + -0.015202554633780833 + ], + [ + 0.02097935415804386, + 0.010159767232835293, + 0.999728262424469, + 0.27550924429884566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9995409846305847, + 0.011955601163208485, + -0.02783702127635479, + 0.055967732422774835 + ], + [ + -0.01226752158254385, + 0.9998635649681091, + -0.011061569675803185, + -0.023263551725701253 + ], + [ + 0.02770097739994526, + 0.011397983878850937, + 0.9995512962341309, + 0.36105806668576557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993007183074951, + 0.014591444283723831, + -0.034426990896463394, + 0.06934393331202494 + ], + [ + -0.014982907101511955, + 0.9998257160186768, + -0.01114033441990614, + -0.03349685352638982 + ], + [ + 0.034258436411619186, + 0.011648359708487988, + 0.9993451237678528, + 0.43430860844453634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9990386366844177, + 0.013050142675638199, + -0.04185061529278755, + 0.08661797013013593 + ], + [ + -0.013514121994376183, + 0.9998500943183899, + -0.010822886601090431, + -0.04604871355958523 + ], + [ + 0.04170310124754906, + 0.011378055438399315, + 0.9990652799606323, + 0.5151438444337811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9983908534049988, + 0.012378714047372341, + -0.055339500308036804, + 0.10752045896745498 + ], + [ + -0.012933428399264812, + 0.9998695254325867, + -0.009676956571638584, + -0.05915081249549985 + ], + [ + 0.055212490260601044, + 0.010377113707363605, + 0.9984207153320312, + 0.582744962145244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997922956943512, + 0.01698937825858593, + -0.062137968838214874, + 0.1270967286440634 + ], + [ + -0.017566194757819176, + 0.9998074173927307, + -0.00874832272529602, + -0.07240264834621535 + ], + [ + 0.06197737157344818, + 0.009821679443120956, + 0.9980292320251465, + 0.6573262448684412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9974725842475891, + 0.021894611418247223, + -0.067594975233078, + 0.14651371887477313 + ], + [ + -0.02250828593969345, + 0.9997119307518005, + -0.008330384269356728, + -0.08327062829367576 + ], + [ + 0.06739310920238495, + 0.0098307766020298, + 0.9976780414581299, + 0.7234367972351439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9970553517341614, + 0.02504757232964039, + -0.07247894257307053, + 0.1705267546089014 + ], + [ + -0.025702403858304024, + 0.999636709690094, + -0.008116116747260094, + -0.09244689583126027 + ], + [ + 0.07224931567907333, + 0.00995510071516037, + 0.9973369240760803, + 0.7855798548199064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967605471611023, + 0.026912711560726166, + -0.07578989118337631, + 0.19031222424199504 + ], + [ + -0.02758157253265381, + 0.999589204788208, + -0.00779217854142189, + -0.09913690070952139 + ], + [ + 0.07554904371500015, + 0.009857339784502983, + 0.9970933794975281, + 0.8351443486519947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971497058868408, + 0.025438865646719933, + -0.07103043794631958, + 0.21545896166205955 + ], + [ + -0.025940576568245888, + 0.9996445775032043, + -0.006149694789201021, + -0.09846694438894224 + ], + [ + 0.070848748087883, + 0.007974736392498016, + 0.9974551796913147, + 0.9171523541624096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9973959922790527, + 0.02463543228805065, + -0.06778138130903244, + 0.23948636304947638 + ], + [ + -0.024717463180422783, + 0.9996944069862366, + -0.00037168897688388824, + -0.09884642477529253 + ], + [ + 0.06775150448083878, + 0.002046104520559311, + 0.9977001547813416, + 0.997222698534826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.997651994228363, + 0.024281147867441177, + -0.06403878331184387, + 0.2690554234289354 + ], + [ + -0.024293623864650726, + 0.9997047185897827, + 0.0005839275545440614, + -0.0966259565564894 + ], + [ + 0.06403404474258423, + 0.0009731774334795773, + 0.9979472160339355, + 1.0769816071756424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981375336647034, + 0.023658227175474167, + -0.05622901767492294, + 0.2994995144655078 + ], + [ + -0.02364048734307289, + 0.99972003698349, + 0.0009807436726987362, + -0.09059493235969049 + ], + [ + 0.056236475706100464, + 0.0003503641637507826, + 0.9984174370765686, + 1.1725720066216685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988082051277161, + 0.027929777279496193, + -0.04002678766846657, + 0.3276287345018255 + ], + [ + -0.027882063761353493, + 0.9996097087860107, + 0.0017498767701908946, + -0.08233813758132645 + ], + [ + 0.04006003960967064, + -0.0006317618535831571, + 0.9991970658302307, + 1.2656217542936177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992982745170593, + 0.028215009719133377, + -0.024635205045342445, + 0.35769231201316903 + ], + [ + -0.028162077069282532, + 0.9996002316474915, + 0.0024930823128670454, + -0.07645949518762975 + ], + [ + 0.02469570003449917, + -0.0017975543159991503, + 0.9996933937072754, + 1.3564939418309776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995205998420715, + 0.02838749997317791, + -0.012358332984149456, + 0.3864822465703235 + ], + [ + -0.02835298515856266, + 0.9995936155319214, + 0.0029591575730592012, + -0.0720229755160034 + ], + [ + 0.012437312863767147, + -0.0026073434855788946, + 0.9999192357063293, + 1.4441828041779488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995735287666321, + 0.02919137477874756, + -0.000791402708273381, + 0.4164664230039043 + ], + [ + -0.029188483953475952, + 0.999567985534668, + 0.0034472201950848103, + -0.07109195494569391 + ], + [ + 0.0008916898514144123, + -0.0034226500429213047, + 0.9999937415122986, + 1.531481801677728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994945526123047, + 0.030876172706484795, + 0.007569460663944483, + 0.4468637145884026 + ], + [ + -0.030907241627573967, + 0.9995141625404358, + 0.004022208973765373, + -0.07252300662859794 + ], + [ + -0.0074415928684175014, + -0.00425412692129612, + 0.9999632835388184, + 1.6228942463414804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994866847991943, + 0.028547799214720726, + 0.014537607319653034, + 0.47573168950696143 + ], + [ + -0.028619123622775078, + 0.9995792508125305, + 0.004722024779766798, + -0.07810624571697365 + ], + [ + -0.014396687038242817, + -0.00513565493747592, + 0.9998831748962402, + 1.7108950943746153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990425705909729, + 0.03297661989927292, + 0.028747761622071266, + 0.5053084337766269 + ], + [ + -0.03315407782793045, + 0.9994338750839233, + 0.005718108732253313, + -0.08817106365196166 + ], + [ + -0.02854292280972004, + -0.006665739696472883, + 0.999570369720459, + 1.798822706273418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9987449049949646, + 0.03424002230167389, + 0.03655426576733589, + 0.532643368359535 + ], + [ + -0.03451560437679291, + 0.9993801116943359, + 0.006934499833732843, + -0.10126066471574494 + ], + [ + -0.03629416599869728, + -0.008187488652765751, + 0.9993076324462891, + 1.8816448486774886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9987197518348694, + 0.032315321266651154, + 0.0389174222946167, + 0.5597709361858632 + ], + [ + -0.03272813558578491, + 0.9994140863418579, + 0.010017371736466885, + -0.11454181233721394 + ], + [ + -0.03857090324163437, + -0.011278240941464901, + 0.9991922378540039, + 1.9598638413413878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9985103011131287, + 0.032844312489032745, + 0.04357100650668144, + 0.5877689099806245 + ], + [ + -0.03336172550916672, + 0.9993805885314941, + 0.01120152696967125, + -0.1299086720403713 + ], + [ + -0.043176110833883286, + -0.01263844408094883, + 0.9989875555038452, + 2.0458854834210074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9983169436454773, + 0.033406902104616165, + 0.047405634075403214, + 0.6121073967850154 + ], + [ + -0.0340389721095562, + 0.9993411898612976, + 0.01258897501975298, + -0.14551239749459627 + ], + [ + -0.046953845769166946, + -0.014181426726281643, + 0.9987964034080505, + 2.127068606798413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981305003166199, + 0.03452364727854729, + 0.0504341647028923, + 0.6345897027699079 + ], + [ + -0.035260844975709915, + 0.9992828369140625, + 0.013800849206745625, + -0.1582026426813432 + ], + [ + -0.04992154240608215, + -0.015553398989140987, + 0.99863201379776, + 2.2030500733495306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.998140811920166, + 0.031876422464847565, + 0.051950082182884216, + 0.6585705714841043 + ], + [ + -0.0326935276389122, + 0.9993535280227661, + 0.014955290593206882, + -0.16999807963448185 + ], + [ + -0.05143977701663971, + -0.016625916585326195, + 0.9985377192497253, + 2.282497901108957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981024861335754, + 0.030853405594825745, + 0.0532866008579731, + 0.6818854926643284 + ], + [ + -0.031740106642246246, + 0.9993700981140137, + 0.015874719247221947, + -0.17727661141396117 + ], + [ + -0.05276324227452278, + -0.017535919323563576, + 0.9984530806541443, + 2.3696435610527677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9980063438415527, + 0.03226960450410843, + 0.05424082651734352, + 0.7049580611940902 + ], + [ + -0.03320642560720444, + 0.9993129968643188, + 0.016459718346595764, + -0.18130894008732062 + ], + [ + -0.053672414273023605, + -0.018228046596050262, + 0.9983922243118286, + 2.4716803464300345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9979289174079895, + 0.03378099948167801, + 0.054742682725191116, + 0.7272839026791709 + ], + [ + -0.03476226329803467, + 0.9992497563362122, + 0.017072824761271477, + -0.18295233717986514 + ], + [ + -0.054124873131513596, + -0.01894044317305088, + 0.9983545541763306, + 2.5705954818321124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9979005455970764, + 0.033801376819610596, + 0.05524470657110214, + 0.7476133425664242 + ], + [ + -0.03480616211891174, + 0.9992438554763794, + 0.0173278097063303, + -0.18887856612282414 + ], + [ + -0.054617226123809814, + -0.019214285537600517, + 0.9983224868774414, + 2.656539641217702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9978584051132202, + 0.03320891782641411, + 0.056354351341724396, + 0.7663075915130053 + ], + [ + -0.0342295877635479, + 0.999265193939209, + 0.017243841663002968, + -0.19140268847655317 + ], + [ + -0.055740296840667725, + -0.01913589797914028, + 0.9982619285583496, + 2.7446059326147703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9978620409965515, + 0.03211105614900589, + 0.0569227933883667, + 0.7875293981644416 + ], + [ + -0.03307916224002838, + 0.9993222951889038, + 0.016147231683135033, + -0.19483022275058903 + ], + [ + -0.056365713477134705, + -0.017995668575167656, + 0.9982479810714722, + 2.8451694972092105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9979039430618286, + 0.03027130477130413, + 0.05719580501317978, + 0.8086879291842061 + ], + [ + -0.031125182285904884, + 0.9994160532951355, + 0.014097439125180244, + -0.19761198653929657 + ], + [ + -0.05673565715551376, + -0.01584812067449093, + 0.998263418674469, + 2.943975646289126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978674650192261, + 0.030807090923190117, + 0.05754464864730835, + 0.8282613838872602 + ], + [ + -0.03161534667015076, + 0.9994130730628967, + 0.013188336975872517, + -0.20265160816880415 + ], + [ + -0.057104580104351044, + -0.014979506842792034, + 0.9982558488845825, + 3.0364445439269465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9978460073471069, + 0.03109060414135456, + 0.05776454880833626, + 0.84813838911496 + ], + [ + -0.03186741843819618, + 0.999413013458252, + 0.012575604021549225, + -0.21175523659360299 + ], + [ + -0.057339657098054886, + -0.014389323070645332, + 0.9982510209083557, + 3.124151065243485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9977990984916687, + 0.0313444547355175, + 0.05843402445316315, + 0.8675512643453712 + ], + [ + -0.03204444423317909, + 0.9994249939918518, + 0.01108058262616396, + -0.22086767754453118 + ], + [ + -0.058053113520145416, + -0.012928680516779423, + 0.9982298016548157, + 3.215274590892451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9977279901504517, + 0.03169609606266022, + 0.059449292719364166, + 0.8847868401883384 + ], + [ + -0.032397396862506866, + 0.999415934085846, + 0.010869849473237991, + -0.23384449824965495 + ], + [ + -0.05907004326581955, + -0.012771155685186386, + 0.9981721639633179, + 3.2978690174833147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9977307319641113, + 0.029204601421952248, + 0.06066732481122017, + 0.9013517290216437 + ], + [ + -0.029947428032755852, + 0.9994868040084839, + 0.01137114129960537, + -0.2482480385817141 + ], + [ + -0.060304101556539536, + -0.013162167742848396, + 0.9980932474136353, + 3.3808683459797213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977548122406006, + 0.02707119844853878, + 0.06125741824507713, + 0.9196149810667961 + ], + [ + -0.02789047174155712, + 0.9995321035385132, + 0.012558816000819206, + -0.2601252775922555 + ], + [ + -0.06088877096772194, + -0.014239117503166199, + 0.9980430006980896, + 3.463693317000149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9977996349334717, + 0.02478756196796894, + 0.06149400398135185, + 0.9405492428810366 + ], + [ + -0.026203198358416557, + 0.9994074106216431, + 0.022321991622447968, + -0.2758771008661678 + ], + [ + -0.06090425327420235, + -0.023884214460849762, + 0.9978578090667725, + 3.541462847710617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9979092478752136, + 0.01910555362701416, + 0.06174256652593613, + 0.9623651308672769 + ], + [ + -0.020901694893836975, + 0.9993730187416077, + 0.028577057644724846, + -0.2885519149872015 + ], + [ + -0.06115787476301193, + -0.029807833954691887, + 0.9976829290390015, + 3.6169612382517156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979327321052551, + 0.016033479943871498, + 0.0622347891330719, + 0.982661600816085 + ], + [ + -0.018080955371260643, + 0.9993089437484741, + 0.03247665613889694, + -0.2991443179204442 + ], + [ + -0.06167106330394745, + -0.03353478014469147, + 0.9975330233573914, + 3.6904697740956935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9979033470153809, + 0.015876278281211853, + 0.0627439096570015, + 1.0038414097601367 + ], + [ + -0.018030952662229538, + 0.999261736869812, + 0.03392505273222923, + -0.3078531761168747 + ], + [ + -0.0621589832007885, + -0.0349852554500103, + 0.9974529147148132, + 3.7660287607392546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9978854656219482, + 0.012762999162077904, + 0.06373148411512375, + 1.0242178456574542 + ], + [ + -0.015022799372673035, + 0.9992706775665283, + 0.03510575741529465, + -0.31449531312637063 + ], + [ + -0.06323694437742233, + -0.035988949239254, + 0.9973494410514832, + 3.8443554657876216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9978473782539368, + 0.009629045613110065, + 0.06486820429563522, + 1.0459076926180844 + ], + [ + -0.011970999650657177, + 0.9992868304252625, + 0.0358118899166584, + -0.3170834476827785 + ], + [ + -0.0644771084189415, + -0.03651133552193642, + 0.997251033782959, + 3.930523781193429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9978204965591431, + 0.006022755987942219, + 0.0657111257314682, + 1.068983441124314 + ], + [ + -0.008421852253377438, + 0.9993056654930115, + 0.03629404678940773, + -0.31788900044793905 + ], + [ + -0.06544691324234009, + -0.0367683507502079, + 0.9971784353256226, + 4.021122459552255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977850317955017, + 0.005504261236637831, + 0.06629303842782974, + 1.0918213869294813 + ], + [ + -0.007902255281805992, + 0.9993218183517456, + 0.03596492484211922, + -0.3189386244562845 + ], + [ + -0.06605011969804764, + -0.036409128457307816, + 0.9971518516540527, + 4.11357507400455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977322816848755, + 0.007086150348186493, + 0.06693363189697266, + 1.1127711034590198 + ], + [ + -0.00922052189707756, + 0.9994570016860962, + 0.031632985919713974, + -0.32178994379765974 + ], + [ + -0.06667312979698181, + -0.03217841312289238, + 0.9972558617591858, + 4.202270629905885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9977045059204102, + 0.006153814494609833, + 0.06743817776441574, + 1.134687907245302 + ], + [ + -0.007962259463965893, + 0.999614953994751, + 0.0265804510563612, + -0.3257928219229017 + ], + [ + -0.06724863499403, + -0.027056394144892693, + 0.9973693490028381, + 4.2925298002836065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9976553916931152, + 0.007275961805135012, + 0.06804978847503662, + 1.152223351913663 + ], + [ + -0.00872865691781044, + 0.9997398257255554, + 0.021074609830975533, + -0.33395735756730155 + ], + [ + -0.06787873804569244, + -0.021619180217385292, + 0.9974592924118042, + 4.3810743328338395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9976793527603149, + 0.00422303332015872, + 0.06795628368854523, + 1.1740638722472476 + ], + [ + -0.0052313958294689655, + 0.9998787641525269, + 0.014667296782135963, + -0.34295029334384897 + ], + [ + -0.0678860992193222, + -0.014988765120506287, + 0.9975804686546326, + 4.468324099632177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9976881146430969, + 0.0032759809400886297, + 0.06788019090890884, + 1.1937687596417792 + ], + [ + -0.003954957704991102, + 0.9999434351921082, + 0.009870603680610657, + -0.35714135677317665 + ], + [ + -0.06784401088953018, + -0.010116247460246086, + 0.9976446628570557, + 4.551576810615129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9977220296859741, + 0.0062746466137468815, + 0.06716722249984741, + 1.2117572020275802 + ], + [ + -0.006887554656714201, + 0.9999366998672485, + 0.008897422812879086, + -0.37379853652837397 + ], + [ + -0.06710714101791382, + -0.0093397730961442, + 0.9977020621299744, + 4.62554646128883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9978421926498413, + 0.0040911720134317875, + 0.06553041934967041, + 1.2311412196005544 + ], + [ + -0.004613119643181562, + 0.9999588131904602, + 0.007815638557076454, + -0.3885244308820655 + ], + [ + -0.06549574434757233, + -0.008101074025034904, + 0.9978199601173401, + 4.7069446406056805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9979370832443237, + 0.006092149298638105, + 0.06391003727912903, + 1.2496642314343958 + ], + [ + -0.006552970502525568, + 0.9999539852142334, + 0.00700333621352911, + -0.4064981842450025 + ], + [ + -0.06386443972587585, + -0.007407689467072487, + 0.9979310631752014, + 4.785750357030723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9980493783950806, + 0.006954638287425041, + 0.06204105168581009, + 1.2639587271598078 + ], + [ + -0.007351692765951157, + 0.9999539256095886, + 0.006173888221383095, + -0.42247779191845025 + ], + [ + -0.0619952529668808, + -0.006617952138185501, + 0.9980545043945312, + 4.862615578473988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9981880784034729, + 0.004793141502887011, + 0.059980008751153946, + 1.2781820418922583 + ], + [ + -0.005136301275342703, + 0.999971330165863, + 0.005568365566432476, + -0.43932971048795444 + ], + [ + -0.059951599687337875, + -0.0058663515374064445, + 0.9981840252876282, + 4.942659187006168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.998391330242157, + 0.004487055819481611, + 0.05652131140232086, + 1.2930169056088143 + ], + [ + -0.00478563504293561, + 0.999975323677063, + 0.0051483516581356525, + -0.45271071731134355 + ], + [ + -0.056496813893318176, + -0.005410559941083193, + 0.9983881115913391, + 5.016900057204857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9986770749092102, + 0.006125281564891338, + 0.05105428025126457, + 1.3071682261157145 + ], + [ + -0.006389242596924305, + 0.9999670386314392, + 0.005008605308830738, + -0.4650333392150563 + ], + [ + -0.051021914929151535, + -0.005328177474439144, + 0.9986833333969116, + 5.093459198910589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9990222454071045, + 0.005695189815014601, + 0.04384229704737663, + 1.321375867298671 + ], + [ + -0.005910080391913652, + 0.9999711513519287, + 0.004773386754095554, + -0.47499525495139616 + ], + [ + -0.04381384328007698, + -0.005027830600738525, + 0.9990270733833313, + 5.165620200442416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993916153907776, + 0.004107905086129904, + 0.034633345901966095, + 1.33678007914174 + ], + [ + -0.004251568112522364, + 0.9999826550483704, + 0.0040755001828074455, + -0.4789706382615071 + ], + [ + -0.034616000950336456, + -0.004220266826450825, + 0.9993917942047119, + 5.2466179860936055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997010231018066, + 0.0045410399325191975, + 0.02402622066438198, + 1.3500528313597226 + ], + [ + -0.004606078844517469, + 0.9999858736991882, + 0.002652350114658475, + -0.48022411123673486 + ], + [ + -0.024013837799429893, + -0.0027622238267213106, + 0.999707818031311, + 5.326772550778455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998488426208496, + 0.004865977447479963, + 0.016691749915480614, + 1.3670843466086322 + ], + [ + -0.004870118107646704, + 0.9999881386756897, + 0.00020741010666824877, + -0.48548143776670133 + ], + [ + -0.016690542921423912, + -0.000288669514702633, + 0.9998606443405151, + 5.407133834294906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999890148639679, + 0.006012647412717342, + 0.013546324335038662, + 1.3812146614773482 + ], + [ + -0.0060002245008945465, + 0.9999815225601196, + -0.0009575465228408575, + -0.4863171138281372 + ], + [ + -0.013551832176744938, + 0.0008761603385210037, + 0.9999077916145325, + 5.482694914455478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999362230300903, + 0.004017787519842386, + 0.010556397028267384, + 1.396856735433851 + ], + [ + -0.003992080222815275, + 0.9999890327453613, + -0.0024551774840801954, + -0.48869141473409117 + ], + [ + -0.010566146112978458, + 0.0024128786753863096, + 0.9999412894248962, + 5.5706290406415295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999563694000244, + 0.004080417100340128, + 0.008404897525906563, + 1.4105891410106888 + ], + [ + -0.004037164617329836, + 0.9999785423278809, + -0.005156668368726969, + -0.49030917819829717 + ], + [ + -0.00842575915157795, + 0.0051225111819803715, + 0.9999513626098633, + 5.655489102675481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999702572822571, + 0.0035931861493736506, + 0.0068258787505328655, + 1.423891497454885 + ], + [ + -0.003551064757630229, + 0.9999746680259705, + -0.006172962486743927, + -0.49791660208999683 + ], + [ + -0.006847885902971029, + 0.006148539483547211, + 0.9999576210975647, + 5.741054705655941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999694228172302, + 0.0053098006173968315, + 0.005746079608798027, + 1.4354691486204825 + ], + [ + -0.0052663786336779594, + 0.9999576807022095, + -0.007545664440840483, + -0.5033262471458123 + ], + [ + -0.00578590203076601, + 0.007515172008424997, + 0.9999549984931946, + 5.830082694699447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999532103538513, + 0.0082853389903903, + 0.00498847384005785, + 1.4485290210093222 + ], + [ + -0.008242226205766201, + 0.9999290108680725, + -0.0086017195135355, + -0.5151754272771218 + ], + [ + -0.005059387534856796, + 0.008560201153159142, + 0.9999505877494812, + 5.908652707369577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999786615371704, + 0.0050339908339083195, + 0.004158909432590008, + 1.4621218150661837 + ], + [ + -0.0049929083324968815, + 0.9999392032623291, + -0.009830162860453129, + -0.5280679684441347 + ], + [ + -0.004208141937851906, + 0.009809187613427639, + 0.9999430179595947, + 5.987561791029669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999906420707703, + -0.0007262037834152579, + 0.00426730141043663, + 1.4798654045102784 + ], + [ + 0.0007736890111118555, + 0.9999377131462097, + -0.01113660354167223, + -0.5391769012169105 + ], + [ + -0.004258948378264904, + 0.01113979984074831, + 0.999928891658783, + 6.061154143308388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999878406524658, + -0.0009611010900698602, + 0.004832420032471418, + 1.4980238260761385 + ], + [ + 0.001015659887343645, + 0.9999356269836426, + -0.011300420388579369, + -0.5548587986414024 + ], + [ + -0.004821247886866331, + 0.011305190622806549, + 0.9999244809150696, + 6.117555239050293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999675154685974, + -0.00015152880223467946, + 0.00806077104061842, + 1.515437058177412 + ], + [ + 0.00023922906257212162, + 0.9999407529830933, + -0.010880034416913986, + -0.5681418348066208 + ], + [ + -0.008058645762503147, + 0.010881608352065086, + 0.9999083280563354, + 6.1728319604537765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9998892545700073, + 0.0012780986726284027, + 0.014827449806034565, + 1.5286649500719414 + ], + [ + -0.0011949560139328241, + 0.999983549118042, + -0.005614847410470247, + -0.5782589401702143 + ], + [ + -0.014834382571280003, + 0.005596507806330919, + 0.9998742938041687, + 6.2409894155278325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.999731183052063, + 0.0003501180908642709, + 0.023182770237326622, + 1.5426459631612224 + ], + [ + -0.0003617292386479676, + 0.9999998211860657, + 0.0004966604174114764, + -0.5849747267279458 + ], + [ + -0.023182591423392296, + -0.0005049127503298223, + 0.9997311234474182, + 6.31219857493115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9995606541633606, + -0.0010255733504891396, + 0.029622554779052734, + 1.5579529437601292 + ], + [ + 0.0008829490398056805, + 0.9999879598617554, + 0.004827397875487804, + -0.5892411193735834 + ], + [ + -0.029627148061990738, + -0.004799121990799904, + 0.9995495080947876, + 6.387961702883106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993817210197449, + -0.0030100608710199594, + 0.0350300669670105, + 1.5751372459572033 + ], + [ + 0.0027395186480134726, + 0.9999660849571228, + 0.00776857603341341, + -0.5932458488569994 + ], + [ + -0.035052262246608734, + -0.00766780786216259, + 0.9993560910224915, + 6.461237827461848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9991675019264221, + -0.002856188453733921, + 0.040695954114198685, + 1.5918126084288144 + ], + [ + 0.0024761799722909927, + 0.9999529123306274, + 0.009385096840560436, + -0.594434407106193 + ], + [ + -0.04072083905339241, + -0.009276513941586018, + 0.9991275072097778, + 6.54142603607771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9989688396453857, + -0.0010832861298695207, + 0.04538865387439728, + 1.60781029171658 + ], + [ + 0.0006090535316616297, + 0.9999451041221619, + 0.010460791178047657, + -0.5947370876355337 + ], + [ + -0.045397497713565826, + -0.010422359220683575, + 0.9989146590232849, + 6.6215049019160634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9988123774528503, + 0.00044688204070553184, + 0.048720359802246094, + 1.623998929333577 + ], + [ + -0.0009931810200214386, + 0.9999368786811829, + 0.011189320124685764, + -0.5962474736372172 + ], + [ + -0.04871228337287903, + -0.011224419809877872, + 0.9987497925758362, + 6.704283565063081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9986555576324463, + 0.0009071117965504527, + 0.0518287792801857, + 1.6408176685807891 + ], + [ + -0.0014875956112518907, + 0.999936580657959, + 0.011162551119923592, + -0.5971290232995117 + ], + [ + -0.05181536823511124, + -0.011224644258618355, + 0.9985936284065247, + 6.783745145938501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9984264969825745, + 0.0011249363888055086, + 0.056064847856760025, + 1.6579697562802223 + ], + [ + -0.0017508089076727629, + 0.9999366998672485, + 0.011115498840808868, + -0.6024317769063336 + ], + [ + -0.056048791855573654, + -0.011196168139576912, + 0.9983652830123901, + 6.864088990563347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9982465505599976, + 0.0011838267091661692, + 0.05918176844716072, + 1.6751668296651356 + ], + [ + -0.001611761748790741, + 0.9999728798866272, + 0.007183647248893976, + -0.6078448417652312 + ], + [ + -0.059171658009290695, + -0.007266438100486994, + 0.9982213973999023, + 6.9405599856311415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9981118440628052, + -0.001040152390487492, + 0.06141403689980507, + 1.6918698578935614 + ], + [ + 0.0009375576046295464, + 0.9999980926513672, + 0.001699337037280202, + -0.6139522561237478 + ], + [ + -0.061415690928697586, + -0.0016385491471737623, + 0.9981109499931335, + 7.014953881066104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9979944229125977, + -0.0028898746240884066, + 0.0632355734705925, + 1.7138341609234085 + ], + [ + 0.0031618622597306967, + 0.9999861717224121, + -0.004201534204185009, + -0.6224924457674709 + ], + [ + -0.06322256475687027, + 0.004393049515783787, + 0.9979897737503052, + 7.1025911745284835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9979304671287537, + 0.0003608219849411398, + 0.06430157274007797, + 1.7304636432278542 + ], + [ + -6.037531420588493e-06, + 0.9999848008155823, + -0.005517617333680391, + -0.6352895562489804 + ], + [ + -0.06430258601903915, + 0.005505810026079416, + 0.9979152679443359, + 7.166701953614362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9978909492492676, + 0.0004777564899995923, + 0.06491117179393768, + 1.7505996564566264 + ], + [ + -2.4052977096289396e-05, + 0.9999755620956421, + -0.006990207824856043, + -0.6471045345545173 + ], + [ + -0.06491293013095856, + 0.006973904091864824, + 0.9978665709495544, + 7.245801779964278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.997808039188385, + 0.000297151185804978, + 0.0661739930510521, + 1.764614701545733 + ], + [ + 0.00033709636772982776, + 0.999954104423523, + -0.009573173709213734, + -0.6584645771081634 + ], + [ + -0.06617379933595657, + 0.009574496187269688, + 0.9977622032165527, + 7.314365526189178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.997726559638977, + -0.0017033083131536841, + 0.06737102568149567, + 1.7778287629927358 + ], + [ + 0.0024053817614912987, + 0.9999436140060425, + -0.01034125778824091, + -0.6715467374321193 + ], + [ + -0.06734961271286011, + 0.010479799471795559, + 0.9976744055747986, + 7.385209528284689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9976573586463928, + -0.006033037789165974, + 0.06814268231391907, + 1.7911953809623895 + ], + [ + 0.006759333424270153, + 0.9999227523803711, + -0.010432925075292587, + -0.6823557698421078 + ], + [ + -0.06807447969913483, + 0.010869083926081657, + 0.9976210594177246, + 7.450489709371795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9976159334182739, + -0.008385879918932915, + 0.06849902868270874, + 1.8063828553472248 + ], + [ + 0.009016618132591248, + 0.9999197125434875, + -0.008904002606868744, + -0.6926384472421238 + ], + [ + -0.06841886043548584, + 0.009500404819846153, + 0.9976114630699158, + 7.520696474824633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9976527094841003, + -0.007452929392457008, + 0.06806962937116623, + 1.8217690630991887 + ], + [ + 0.007729080505669117, + 0.9999629259109497, + -0.003794420976191759, + -0.7009296925223437 + ], + [ + -0.06803882867097855, + 0.0043116300366818905, + 0.9976733326911926, + 7.593297507912607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9977293014526367, + -0.006074890494346619, + 0.06707680225372314, + 1.8358867536492063 + ], + [ + 0.006288596428930759, + 0.9999758005142212, + -0.0029753055423498154, + -0.706102377853103 + ], + [ + -0.06705710291862488, + 0.003390368539839983, + 0.9977433681488037, + 7.666607586675525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977807998657227, + -0.005066234618425369, + 0.06639101356267929, + 1.8476980162106351 + ], + [ + 0.0052542854100465775, + 0.9999826550483704, + -0.0026581697165966034, + -0.7117815718398116 + ], + [ + -0.06637639552354813, + 0.0030011082999408245, + 0.9977901577949524, + 7.739139929674738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.997759997844696, + -0.007839915342628956, + 0.06643446534872055, + 1.8595860838066047 + ], + [ + 0.008031059987843037, + 0.9999643564224243, + -0.0026106026489287615, + -0.714057809847068 + ], + [ + -0.06641163676977158, + 0.0031382942106574774, + 0.997787356376648, + 7.816730179809343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.997713565826416, + -0.013056120835244656, + 0.06631133705377579, + 1.8733920058896465 + ], + [ + 0.013250495307147503, + 0.9999091029167175, + -0.0024922622833400965, + -0.7156148764575201 + ], + [ + -0.06627277284860611, + 0.003365221666172147, + 0.9977958798408508, + 7.895138406609335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9976815581321716, + -0.015176714397966862, + 0.06634099781513214, + 1.8862799164611623 + ], + [ + 0.015379841439425945, + 0.999878466129303, + -0.002552185906097293, + -0.7141155053595347 + ], + [ + -0.06629420816898346, + 0.0035665829200297594, + 0.9977937340736389, + 7.97375831645892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9976813197135925, + -0.01608588546514511, + 0.06613034754991531, + 1.8995369030033937 + ], + [ + 0.01629258319735527, + 0.9998639225959778, + -0.002587453695014119, + -0.7152412231960055 + ], + [ + -0.06607972830533981, + 0.0036588881630450487, + 0.9978076219558716, + 8.05159943588593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9976411461830139, + -0.01765255816280842, + 0.06633671373128891, + 1.9120559132318893 + ], + [ + 0.01786639727652073, + 0.9998369216918945, + -0.0026316498406231403, + -0.7167573318769511 + ], + [ + -0.06627943366765976, + 0.0038106399588286877, + 0.9977938532829285, + 8.127566578699284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9975485801696777, + -0.02244982123374939, + 0.06627862900495529, + 1.9255433834093507 + ], + [ + 0.022664815187454224, + 0.9997400045394897, + -0.002493547275662422, + -0.720870338689347 + ], + [ + -0.06620541960000992, + 0.003989627119153738, + 0.9977980256080627, + 8.20736396181556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9975548982620239, + -0.024588927626609802, + 0.06541842222213745, + 1.9408305153319363 + ], + [ + 0.02483026310801506, + 0.9996875524520874, + -0.002878508297726512, + -0.7260182333208861 + ], + [ + -0.06532719731330872, + 0.0044958265498280525, + 0.9978537559509277, + 8.293284981055743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9976932406425476, + -0.022283777594566345, + 0.06412211060523987, + 1.956788333879638 + ], + [ + 0.02257254347205162, + 0.9997380375862122, + -0.003782346611842513, + -0.7344020074551006 + ], + [ + -0.064021036028862, + 0.005221020430326462, + 0.997934877872467, + 8.376887002463715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9978575110435486, + -0.017883770167827606, + 0.06293320655822754, + 1.9699545800685883 + ], + [ + 0.018196217715740204, + 0.9998247623443604, + -0.004395079333335161, + -0.7472329316360335 + ], + [ + -0.06284357607364655, + 0.0055308095179498196, + 0.9980080723762512, + 8.454979392069001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9979286789894104, + -0.01763654686510563, + 0.06186487525701523, + 1.9803367075832208 + ], + [ + 0.017995560541749, + 0.9998242855072021, + -0.005250792484730482, + -0.7583855425415363 + ], + [ + -0.06176140159368515, + 0.006353209260851145, + 0.9980707168579102, + 8.527488263967674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.997907817363739, + -0.021341800689697266, + 0.061028365045785904, + 1.9899915969042186 + ], + [ + 0.021728936582803726, + 0.9997477531433105, + -0.0056868609972298145, + -0.7692079806743267 + ], + [ + -0.06089160218834877, + 0.007001044694334269, + 0.9981198310852051, + 8.597213422725071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980111122131348, + -0.018924472853541374, + 0.060130249708890915, + 2.000371001393015 + ], + [ + 0.01930769719183445, + 0.9997967481613159, + -0.0057986024767160416, + -0.7815110187411034 + ], + [ + -0.06000829115509987, + 0.006948046386241913, + 0.998173713684082, + 8.655495963812148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9981309175491333, + -0.016142763197422028, + 0.05894165486097336, + 2.01439675048749 + ], + [ + 0.016508832573890686, + 0.9998472929000854, + -0.0057290163822472095, + -0.7915081124907265 + ], + [ + -0.05884017050266266, + 0.006691365968436003, + 0.9982450008392334, + 8.724637855767929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9982412457466125, + -0.012950924225151539, + 0.05785031244158745, + 2.0271674518211644 + ], + [ + 0.013205197639763355, + 0.9999047517776489, + -0.004015219397842884, + -0.800925525107039 + ], + [ + -0.05779280140995979, + 0.004772081971168518, + 0.9983171820640564, + 8.791045287392244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9983158707618713, + -0.010702126659452915, + 0.05701611191034317, + 2.041216855527069 + ], + [ + 0.010721663944423199, + 0.9999425411224365, + -3.6751298466697335e-05, + -0.8075945843315859 + ], + [ + -0.05701243877410889, + 0.0006479970179498196, + 0.99837327003479, + 8.858514817354317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9983153939247131, + -0.0118070924654603, + 0.05680672824382782, + 2.0563317591144195 + ], + [ + 0.011752449907362461, + 0.9999300837516785, + 0.0012958917068317533, + -0.8130837266964297 + ], + [ + -0.05681806057691574, + -0.0006260904483497143, + 0.9983843564987183, + 8.921672824505837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9983342289924622, + -0.011487333104014397, + 0.056540101766586304, + 2.0733140085424697 + ], + [ + 0.011366648599505424, + 0.9999324083328247, + 0.002455619163811207, + -0.8184846342648573 + ], + [ + -0.056564487516880035, + -0.0018088571960106492, + 0.9983972907066345, + 8.991998094770079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9983739852905273, + -0.010094399563968182, + 0.056102294474840164, + 2.092041883160991 + ], + [ + 0.009913013316690922, + 0.9999446868896484, + 0.003510476090013981, + -0.8205144305031077 + ], + [ + -0.056134629994630814, + -0.002948625013232231, + 0.9984188675880432, + 9.069429150357637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9984042048454285, + -0.008963607251644135, + 0.05575580149888992, + 2.111007469178345 + ], + [ + 0.008717818185687065, + 0.999951183795929, + 0.004649975337088108, + -0.8210132632207142 + ], + [ + -0.05579476058483124, + -0.004156486131250858, + 0.9984335899353027, + 9.145426275371682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.998447060585022, + -0.0052846516482532024, + 0.055457163602113724, + 2.12904940969933 + ], + [ + 0.005000563804060221, + 0.9999736547470093, + 0.005260172300040722, + -0.8191301978532276 + ], + [ + -0.05548350140452385, + -0.004974686540663242, + 0.9984472393989563, + 9.224139202362107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9984697103500366, + -0.0024804098065942526, + 0.055245403200387955, + 2.146838053415448 + ], + [ + 0.0021738496143370867, + 0.9999818801879883, + 0.00560846459120512, + -0.8189485420853818 + ], + [ + -0.055258315056562424, + -0.005479786545038223, + 0.9984570741653442, + 9.304950627301764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9984811544418335, + -0.0021097385324537754, + 0.055053822696208954, + 2.16538761760782 + ], + [ + 0.0017925468273460865, + 0.9999815225601196, + 0.005810227710753679, + -0.821132340586491 + ], + [ + -0.05506506562232971, + -0.005702716764062643, + 0.9984664916992188, + 9.381572939201433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9985043406486511, + -0.002810361562296748, + 0.05460021644830704, + 2.1843135839508427 + ], + [ + 0.002497106557711959, + 0.9999800324440002, + 0.005804620683193207, + -0.8269970154697677 + ], + [ + -0.05461543798446655, + -0.005659596063196659, + 0.9984914064407349, + 9.456252548963793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9985615015029907, + -0.004494324326515198, + 0.053429216146469116, + 2.2066911288670132 + ], + [ + 0.004264224320650101, + 0.999981164932251, + 0.004419859033077955, + -0.8333699566565351 + ], + [ + -0.05344807356595993, + -0.004185666795819998, + 0.9985618591308594, + 9.539599201508931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9986550211906433, + -0.0006285645067691803, + 0.05184384435415268, + 2.227620692049853 + ], + [ + 0.0005889573367312551, + 0.9999995231628418, + 0.0007792438846081495, + -0.8439754860522333 + ], + [ + -0.05184430629014969, + -0.0007476620376110077, + 0.9986549019813538, + 9.616785732333973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9987298846244812, + 0.006403125356882811, + 0.04997667297720909, + 2.2432337503279407 + ], + [ + -0.006466985214501619, + 0.9999784827232361, + 0.0011161935981363058, + -0.8597339324949284 + ], + [ + -0.04996844753623009, + -0.0014379741623997688, + 0.9987497329711914, + 9.68441605580636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9988917708396912, + 0.005800662562251091, + 0.04670731723308563, + 2.2605274160062114 + ], + [ + -0.005821628496050835, + 0.999983012676239, + 0.00031286804005503654, + -0.8716333016384101 + ], + [ + -0.04670470952987671, + -0.0005844339611940086, + 0.9989085793495178, + 9.760623060475845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.998955488204956, + 0.008278938941657543, + 0.044937651604413986, + 2.2783520630427767 + ], + [ + -0.008290850557386875, + 0.9999656081199646, + 7.869955152273178e-05, + -0.8826546324683088 + ], + [ + -0.044935453683137894, + -0.00045118870912119746, + 0.9989897608757019, + 9.82703926967723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9988858699798584, + 0.016320714727044106, + 0.044279441237449646, + 2.29179315358263 + ], + [ + -0.01634223945438862, + 0.9998664259910583, + 0.00012411049101501703, + -0.8943072332258117 + ], + [ + -0.044271498918533325, + -0.0008475972572341561, + 0.999019205570221, + 9.8959864805783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9988095760345459, + 0.022424573078751564, + 0.043319422751665115, + 2.305805281669863 + ], + [ + -0.022460060194134712, + 0.9997476935386658, + 0.00033257860923185945, + -0.9081479736032986 + ], + [ + -0.04330103471875191, + -0.0013051393907517195, + 0.9990612268447876, + 9.952843297945876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.998889684677124, + 0.02171654999256134, + 0.04180610924959183, + 2.321761498143596 + ], + [ + -0.0217466838657856, + 0.9997634887695312, + 0.0002660815080162138, + -0.9184493960649599 + ], + [ + -0.0417904406785965, + -0.001174930133856833, + 0.9991257190704346, + 10.036284821353474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9990049004554749, + 0.02065189927816391, + 0.03953167796134949, + 2.3405951873498028 + ], + [ + -0.0206887386739254, + 0.999785840511322, + 0.0005229446687735617, + -0.9269968907953957 + ], + [ + -0.03951241075992584, + -0.0013402847107499838, + 0.9992181658744812, + 10.109574411981116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9990421533584595, + 0.024416619911789894, + 0.036311954259872437, + 2.35697125932588 + ], + [ + -0.024463923647999763, + 0.9997003674507141, + 0.0008588620112277567, + -0.9327666892030615 + ], + [ + -0.03628010302782059, + -0.0017463723197579384, + 0.9993401169776917, + 10.186809053972432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.999018669128418, + 0.028120698407292366, + 0.034219637513160706, + 2.3722737044233333 + ], + [ + -0.02817101590335369, + 0.9996026158332825, + 0.000989103689789772, + -0.9362828321840768 + ], + [ + -0.034178227186203, + -0.0019521350041031837, + 0.9994138479232788, + 10.2604007672879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9990718960762024, + 0.027947019785642624, + 0.032776426523923874, + 2.38468635727733 + ], + [ + -0.02799016237258911, + 0.9996078014373779, + 0.0008581203874200583, + -0.938398775060056 + ], + [ + -0.03273959085345268, + -0.0017747413367033005, + 0.999462366104126, + 10.322908923000716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9991108179092407, + 0.027369718998670578, + 0.03206896036863327, + 2.4005461985065093 + ], + [ + -0.027394380420446396, + 0.9996246695518494, + 0.0003298054216429591, + -0.9394729925671481 + ], + [ + -0.03204789757728577, + -0.0012080214219167829, + 0.9994856119155884, + 10.400653692049914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9990968704223633, + 0.028219180181622505, + 0.031765762716531754, + 2.4147641843365086 + ], + [ + -0.028230855241417885, + 0.999601423740387, + -8.099785191006958e-05, + -0.940685048789507 + ], + [ + -0.03175538405776024, + -0.0008158497512340546, + 0.9994953274726868, + 10.470718535336275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9990859627723694, + 0.028851941227912903, + 0.03154123201966286, + 2.4303801931543836 + ], + [ + -0.02885228767991066, + 0.9995836019515991, + -0.00044429185800254345, + -0.9438169794251567 + ], + [ + -0.031540919095277786, + -0.00046615093015134335, + 0.9995023608207703, + 10.54515905476729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9990869760513306, + 0.02876167930662632, + 0.03158999979496002, + 2.444205217921789 + ], + [ + -0.02875780127942562, + 0.9995862245559692, + -0.0005771882133558393, + -0.9492524730144627 + ], + [ + -0.031593531370162964, + -0.00033179769525304437, + 0.9995007514953613, + 10.615287807336601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9990562796592712, + 0.02948688715696335, + 0.03189077228307724, + 2.4602429264701455 + ], + [ + -0.02947382628917694, + 0.9995651841163635, + -0.000879676197655499, + -0.9555826783180237 + ], + [ + -0.03190284222364426, + -6.109700188972056e-05, + 0.9994909763336182, + 10.696924623833274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9990488290786743, + 0.02945585548877716, + 0.0321526862680912, + 2.475712969171287 + ], + [ + -0.029434986412525177, + 0.9995660781860352, + -0.0011223310139030218, + -0.965048476191847 + ], + [ + -0.03217179700732231, + 0.00017484970157966018, + 0.9994823336601257, + 10.774252141491951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9989447593688965, + 0.031945452094078064, + 0.03299728035926819, + 2.4893369843882898 + ], + [ + -0.031927689909935, + 0.9994896054267883, + -0.0010651740012690425, + -0.9770842713557081 + ], + [ + -0.03301446884870529, + 1.0523013770580292e-05, + 0.9994548559188843, + 10.849790072640241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9989441633224487, + 0.03080902434885502, + 0.03407950699329376, + 2.5026187253437833 + ], + [ + -0.030786024406552315, + 0.999525249004364, + -0.0011995249660685658, + -0.9911649110568215 + ], + [ + -0.03410028666257858, + 0.00014908600132912397, + 0.9994183778762817, + 10.91877707592834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.998995840549469, + 0.027714751660823822, + 0.0352022685110569, + 2.515272267403141 + ], + [ + -0.027677197009325027, + 0.9996157288551331, + -0.0015537842409685254, + -1.0057636396058145 + ], + [ + -0.035231802612543106, + 0.0005779239581897855, + 0.9993789792060852, + 10.990211073189013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9989539980888367, + 0.02802574262022972, + 0.03613165020942688, + 2.5298681370948315 + ], + [ + -0.027975033968687057, + 0.9996067881584167, + -0.0019083048682659864, + -1.0208097990052902 + ], + [ + -0.036170922219753265, + 0.0008955248049460351, + 0.9993452429771423, + 11.052071148352827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9988880753517151, + 0.02918260172009468, + 0.03702758625149727, + 2.542119214666604 + ], + [ + -0.029140550643205643, + 0.9995739459991455, + -0.0016749444184824824, + -1.0348451351343486 + ], + [ + -0.0370606891810894, + 0.000594077748246491, + 0.9993128180503845, + 11.11241915268214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.998953640460968, + 0.02679811418056488, + 0.037061359733343124, + 2.5598994785464853 + ], + [ + -0.026873428374528885, + 0.9996376633644104, + 0.0015354377683252096, + -1.0461694679965483 + ], + [ + -0.03700678423047066, + -0.002529796911403537, + 0.9993118047714233, + 11.182007638919533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9989449977874756, + 0.027110565453767776, + 0.0370667465031147, + 2.576730025638633 + ], + [ + -0.027469255030155182, + 0.9995803236961365, + 0.009201958775520325, + -1.0550418053354536 + ], + [ + -0.03680172190070152, + -0.010210447013378143, + 0.9992704391479492, + 11.259190777397375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9989355206489563, + 0.027378644794225693, + 0.037124745547771454, + 2.5946310084261652 + ], + [ + -0.027818899601697922, + 0.9995480179786682, + 0.011394498869776726, + -1.0625104073194727 + ], + [ + -0.036796003580093384, + -0.012415139004588127, + 0.9992457032203674, + 11.341487737775948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9988865256309509, + 0.028748463839292526, + 0.037406884133815765, + 2.6078467827788145 + ], + [ + -0.02923358604311943, + 0.9994946122169495, + 0.012487008236348629, + -1.0706534725008747 + ], + [ + -0.037028998136520386, + -0.013566642068326473, + 0.9992220997810364, + 11.411712291850472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.998908519744873, + 0.027692321687936783, + 0.037615396082401276, + 2.6249614115684263 + ], + [ + -0.028195910155773163, + 0.999518871307373, + 0.012923906557261944, + -1.0730673817617278 + ], + [ + -0.037239402532577515, + -0.013970400206744671, + 0.9992086887359619, + 11.489291944138465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9989668726921082, + 0.0248889047652483, + 0.03802328556776047, + 2.641407630520482 + ], + [ + -0.025415735319256783, + 0.9995867013931274, + 0.013435455970466137, + -1.0763906251896636 + ], + [ + -0.03767317533493042, + -0.014387964271008968, + 0.9991865158081055, + 11.5627267583724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.998975396156311, + 0.024493755772709846, + 0.03805578500032425, + 2.6619045513016837 + ], + [ + -0.02501777373254299, + 0.9995977878570557, + 0.013355020433664322, + -1.0797590061395606 + ], + [ + -0.03771336376667023, + -0.014293408021330833, + 0.9991863965988159, + 11.642703700663033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9989914894104004, + 0.02384980022907257, + 0.03804191201925278, + 2.6807385567695863 + ], + [ + -0.02430664747953415, + 0.9996373653411865, + 0.011592000722885132, + -1.0803262468101242 + ], + [ + -0.03775165230035782, + -0.012504981830716133, + 0.999208927154541, + 11.723354031310379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9989848732948303, + 0.024090297520160675, + 0.03806464001536369, + 2.699454648566136 + ], + [ + -0.02449437603354454, + 0.9996480941772461, + 0.010185090824961662, + -1.0834866691586746 + ], + [ + -0.03780588135123253, + -0.011107120662927628, + 0.9992233514785767, + 11.800756910070778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999041736125946, + 0.0220362339168787, + 0.03781494125723839, + 2.716845520300799 + ], + [ + -0.022411605343222618, + 0.9997034072875977, + 0.009531451389193535, + -1.090278484311796 + ], + [ + -0.03759368881583214, + -0.010369811207056046, + 0.9992393255233765, + 11.878525538090187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9991551041603088, + 0.017691023647785187, + 0.03709658607840538, + 2.7350267329248963 + ], + [ + -0.018030673265457153, + 0.9997983574867249, + 0.008841359056532383, + -1.0977963601526577 + ], + [ + -0.03693269565701485, + -0.009502765722572803, + 0.9992725849151611, + 11.95458364224894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9991850256919861, + 0.018255801871418953, + 0.03600074350833893, + 2.7524744745223755 + ], + [ + -0.01851208321750164, + 0.9998055100440979, + 0.0067982664331793785, + -1.1095766572822485 + ], + [ + -0.03586963564157486, + -0.00745917484164238, + 0.99932861328125, + 12.02964855052771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9992206692695618, + 0.019376160576939583, + 0.03438951447606087, + 2.770227828196117 + ], + [ + -0.019581550732254982, + 0.9997923374176025, + 0.005645738448947668, + -1.1243891712012035 + ], + [ + -0.03427297994494438, + -0.006314738187938929, + 0.999392569065094, + 12.096969616466335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.999293327331543, + 0.01945505291223526, + 0.032161273062229156, + 2.786710958876368 + ], + [ + -0.019608024507761, + 0.9997978210449219, + 0.004447821993380785, + -1.1371397564968755 + ], + [ + -0.03206823766231537, + -0.00507529778406024, + 0.9994727969169617, + 12.167388580444221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9994325041770935, + 0.0152274826541543, + 0.030047167092561722, + 2.8035408614143247 + ], + [ + -0.01526403333991766, + 0.9998829960823059, + 0.000987457693554461, + -1.1496878877089012 + ], + [ + -0.03002861514687538, + -0.001445538247935474, + 0.9995480179786682, + 12.230785262740907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9995042085647583, + 0.014685378409922123, + 0.02785046584904194, + 2.8175192616502263 + ], + [ + -0.014679322950541973, + 0.9998921751976013, + -0.0004218514950480312, + -1.1643696889118185 + ], + [ + -0.02785365842282772, + 1.2816395610570908e-05, + 0.999612033367157, + 12.291719847524426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9995535612106323, + 0.015482153743505478, + 0.025553669780492783, + 2.8279057448360776 + ], + [ + -0.015468135476112366, + 0.9998800754547119, + -0.0007462030043825507, + -1.17763489203931 + ], + [ + -0.025562159717082977, + 0.0003506022912915796, + 0.9996731877326965, + 12.351341276176377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9996675252914429, + 0.013493288308382034, + 0.021971967071294785, + 2.843312649133568 + ], + [ + -0.013476114720106125, + 0.9999087452888489, + -0.0009295264026150107, + -1.188338658502025 + ], + [ + -0.021982505917549133, + 0.000633120653219521, + 0.9997581839561462, + 12.416322170864053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997672438621521, + 0.013798602856695652, + 0.016586342826485634, + 2.8558823741251422 + ], + [ + -0.013785668648779392, + 0.9999045729637146, + -0.000893937423825264, + -1.198494307116996 + ], + [ + -0.016597094014286995, + 0.0006650754949077964, + 0.999862015247345, + 12.470960413310076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997966289520264, + 0.014912912622094154, + 0.013576041907072067, + 2.8677395523967832 + ], + [ + -0.014905702322721481, + 0.9998887181282043, + -0.0006321101100184023, + -1.2057990599990165 + ], + [ + -0.013583958148956299, + 0.0004296211409382522, + 0.9999076128005981, + 12.53562511161725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998296499252319, + 0.014911137521266937, + 0.010879241861402988, + 2.878707967980117 + ], + [ + -0.014909233897924423, + 0.9998888373374939, + -0.0002559823333285749, + -1.2103845462357532 + ], + [ + -0.010881849564611912, + 9.373758075525984e-05, + 0.999940812587738, + 12.59852113910749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998962879180908, + 0.011821954511106014, + 0.008224685676395893, + 2.8909111018554405 + ], + [ + -0.011822947300970554, + 0.9999300837516785, + 7.215944060590118e-05, + -1.2125267369149055 + ], + [ + -0.008223257027566433, + -0.0001693919621175155, + 0.9999661445617676, + 12.665571527246575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9999180436134338, + 0.011597241275012493, + 0.005427784752100706, + 2.903509043466111 + ], + [ + -0.011599103920161724, + 0.9999327063560486, + 0.00031193025643005967, + -1.2151833072472107 + ], + [ + -0.005423801485449076, + -0.000374862109310925, + 0.9999852180480957, + 12.733854825933538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9999082088470459, + 0.013234812766313553, + 0.0028947931714355946, + 2.9144668913107314 + ], + [ + -0.013236328959465027, + 0.9999122619628906, + 0.0005053632194176316, + -1.218881830435744 + ], + [ + -0.0028878506273031235, + -0.0005436332430690527, + 0.9999957084655762, + 12.80382285591747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998955130577087, + 0.01443690899759531, + 0.0007592426845803857, + 2.923206740288141 + ], + [ + -0.014437261037528515, + 0.9998956918716431, + 0.00045958024566061795, + -1.2224623362267657 + ], + [ + -0.000752528547309339, + -0.00047049360000528395, + 0.9999995827674866, + 12.878519318873558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.999945878982544, + 0.01032046414911747, + -0.0013055233284831047, + 2.9322349394521408 + ], + [ + -0.010320005938410759, + 0.9999467134475708, + 0.0003568376414477825, + -1.229542402154015 + ], + [ + 0.0013091363944113255, + -0.0003433453384786844, + 0.9999991059303284, + 12.948877597612238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9999775886535645, + 0.005509700160473585, + -0.0038059037178754807, + 2.9452414150062243 + ], + [ + -0.00551215885207057, + 0.999984622001648, + -0.0006357859238050878, + -1.2333539877307906 + ], + [ + 0.003802342340350151, + 0.0006567504606209695, + 0.9999925494194031, + 13.025209914964156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9999616742134094, + 0.0060647837817668915, + -0.006314929109066725, + 2.9573937497930043 + ], + [ + -0.0060769254341721535, + 0.9999797344207764, + -0.0019052927382290363, + -1.2449956638309332 + ], + [ + 0.006303245667368174, + 0.0019435950089246035, + 0.999978244304657, + 13.102311887372766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9999279379844666, + 0.00871394295245409, + -0.008259360678493977, + 2.9649429485270504 + ], + [ + -0.008767376653850079, + 0.9999407529830933, + -0.006455392576754093, + -1.2551322659421797 + ], + [ + 0.008202618919312954, + 0.006527340039610863, + 0.9999450445175171, + 13.174791126363923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9999051690101624, + 0.008813763968646526, + -0.010578884743154049, + 2.97590404007292 + ], + [ + -0.008922138251364231, + 0.9999077320098877, + -0.010241314768791199, + -1.2643385363665456 + ], + [ + 0.01048764493316412, + 0.01033473014831543, + 0.9998915791511536, + 13.241336497274755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9999057054519653, + 0.005617652088403702, + -0.012532315216958523, + 2.985466259470733 + ], + [ + -0.005763334222137928, + 0.9999158978462219, + -0.011618818156421185, + -1.2738182950580346 + ], + [ + 0.012465990148484707, + 0.011689950712025166, + 0.9998539686203003, + 13.306376560970987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998809695243835, + 0.0037787393666803837, + -0.014957125298678875, + 2.9977851942936944 + ], + [ + -0.003965840209275484, + 0.9999139904975891, + -0.012499313801527023, + -1.2844852879810822 + ], + [ + 0.014908607117831707, + 0.012557143345475197, + 0.999809980392456, + 13.372345453484439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998461008071899, + 0.004617433995008469, + -0.016925472766160965, + 3.004660908252962 + ], + [ + -0.00483574066311121, + 0.9999053478240967, + -0.012879972346127033, + -1.2980484225366624 + ], + [ + 0.016864396631717682, + 0.012959836982190609, + 0.9997738003730774, + 13.437749001407816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998111128807068, + 0.005959848873317242, + -0.018497822806239128, + 3.015582066856771 + ], + [ + -0.006209643557667732, + 0.9998899102210999, + -0.013476072810590267, + -1.3070062199358568 + ], + [ + 0.01841547153890133, + 0.013588392175734043, + 0.9997380971908569, + 13.502487333702602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9997602701187134, + 0.008704312145709991, + -0.020089764147996902, + 3.0234723151004808 + ], + [ + -0.008975086733698845, + 0.9998695850372314, + -0.013427660800516605, + -1.3175152590601331 + ], + [ + 0.01997026428580284, + 0.01360474992543459, + 0.9997079968452454, + 13.559320485054554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9997073411941528, + 0.008538779802620411, + -0.0226342361420393, + 3.0325518156526274 + ], + [ + -0.008839807473123074, + 0.9998733401298523, + -0.013233145698904991, + -1.3277061762889066 + ], + [ + 0.022518375888466835, + 0.013429354876279831, + 0.9996562004089355, + 13.626594405756911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9996473789215088, + 0.007265427149832249, + -0.025541944429278374, + 3.043988170162324 + ], + [ + -0.007600320503115654, + 0.9998860955238342, + -0.013038980774581432, + -1.3360537462837754 + ], + [ + 0.02544430084526539, + 0.01322850864380598, + 0.9995887279510498, + 13.685282531726573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9995606541633606, + 0.007889007218182087, + -0.028571125119924545, + 3.0549914271051435 + ], + [ + -0.008261810056865215, + 0.9998819828033447, + -0.012953796423971653, + -1.34150252449176 + ], + [ + 0.02846556156873703, + 0.013184153474867344, + 0.9995078444480896, + 13.750436683884963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9994656443595886, + 0.007855929434299469, + -0.03172843158245087, + 3.0661212285817494 + ], + [ + -0.008272998034954071, + 0.9998807907104492, + -0.013035152107477188, + -1.3464860409463881 + ], + [ + 0.03162224590778351, + 0.013290675356984138, + 0.9994115233421326, + 13.813649883969314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9993538856506348, + 0.007413392886519432, + -0.03516943380236626, + 3.078320514002154 + ], + [ + -0.007883665151894093, + 0.9998810887336731, + -0.013251845724880695, + -1.3494222923211994 + ], + [ + 0.035067010670900345, + 0.013520547188818455, + 0.9992935061454773, + 13.881456347651058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9991592764854431, + 0.007640538737177849, + -0.04027840867638588, + 3.090214924685966 + ], + [ + -0.008182737976312637, + 0.9998778700828552, + -0.013313664123415947, + -1.3530168157551559 + ], + [ + 0.04017176851630211, + 0.013632059097290039, + 0.9990997910499573, + 13.949710198538163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9988681674003601, + 0.01128571666777134, + -0.0462067537009716, + 3.1022080234668223 + ], + [ + -0.01191735453903675, + 0.9998389482498169, + -0.013417244888842106, + -1.356713023211824 + ], + [ + 0.046047892421483994, + 0.01395271997898817, + 0.9988417625427246, + 14.014702022364062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9986879229545593, + 0.011906800791621208, + -0.04980649799108505, + 3.115390477504598 + ], + [ + -0.012608805671334267, + 0.9998252391815186, + -0.013804278336465359, + -1.3587948424861795 + ], + [ + 0.04963342845439911, + 0.0144141661003232, + 0.9986634850502014, + 14.080175368158224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9985008239746094, + 0.010725514031946659, + -0.053675033152103424, + 3.1297475814819338 + ], + [ + -0.01150058675557375, + 0.9998337030410767, + -0.014152107760310173, + -1.3618419400017177 + ], + [ + 0.05351431667804718, + 0.014748185873031616, + 0.9984581470489502, + 14.146825558372907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9982212781906128, + 0.010342747904360294, + -0.05871337652206421, + 3.144060783616958 + ], + [ + -0.011227843351662159, + 0.9998279213905334, + -0.014765028841793537, + -1.3694282159067621 + ], + [ + 0.05855056643486023, + 0.015397991053760052, + 0.9981656670570374, + 14.202999779664426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.997978687286377, + 0.013936588540673256, + -0.06200225651264191, + 3.158493754830778 + ], + [ + -0.014923978596925735, + 0.9997686147689819, + -0.015490537509322166, + -1.3767455906568584 + ], + [ + 0.061772026121616364, + 0.01638454757630825, + 0.9979557991027832, + 14.261650696698972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9977265000343323, + 0.016866324469447136, + -0.06524868309497833, + 3.173251346426625 + ], + [ + -0.017990121617913246, + 0.9996991157531738, + -0.016674241051077843, + -1.3816935962666907 + ], + [ + 0.06494781374931335, + 0.017810164019465446, + 0.9977297186851501, + 14.32037499152845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9975706934928894, + 0.014509929344058037, + -0.06813359260559082, + 3.190372720017411 + ], + [ + -0.015762949362397194, + 0.9997156858444214, + -0.017889156937599182, + -1.3889071550563596 + ], + [ + 0.06785465776920319, + 0.0189196839928627, + 0.9975157976150513, + 14.373515883005709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.99745112657547, + 0.014798960648477077, + -0.06980185955762863, + 3.207431574653371 + ], + [ + -0.016195649281144142, + 0.9996789693832397, + -0.01948600634932518, + -1.3934328665956854 + ], + [ + 0.06949108093976974, + 0.020566824823617935, + 0.9973705410957336, + 14.429309473969557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.997362494468689, + 0.013784256763756275, + -0.07126038521528244, + 3.220830231547905 + ], + [ + -0.015303411521017551, + 0.999666154384613, + -0.020816516131162643, + -1.398198302412912 + ], + [ + 0.07094965130090714, + 0.02185213938355446, + 0.9972404837608337, + 14.479944717609389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.997215211391449, + 0.015808049589395523, + -0.07288338243961334, + 3.2363056997824375 + ], + [ + -0.017365489155054092, + 0.9996331334114075, + -0.020784994587302208, + -1.4058100111628045 + ], + [ + 0.07252807915210724, + 0.021992767229676247, + 0.9971238374710083, + 14.5360670099404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.997067928314209, + 0.017235873267054558, + -0.07455512136220932, + 3.2524772145231746 + ], + [ + -0.018852664157748222, + 0.9996009469032288, + -0.02103666216135025, + -1.413989608530556 + ], + [ + 0.0741627886891365, + 0.022380542010068893, + 0.9969949722290039, + 14.597202578839344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9968582987785339, + 0.020695731043815613, + -0.0764540359377861, + 3.2682374409541555 + ], + [ + -0.022352855652570724, + 0.9995320439338684, + -0.020882928743958473, + -1.4214308164103926 + ], + [ + 0.07598606497049332, + 0.022526288405060768, + 0.9968544244766235, + 14.654066018571365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9967167377471924, + 0.022289618849754333, + -0.07783933728933334, + 3.2836471865254064 + ], + [ + -0.023909538984298706, + 0.9995152354240417, + -0.019941402599215508, + -1.4287636037795775 + ], + [ + 0.07735712081193924, + 0.021737033501267433, + 0.9967664480209351, + 14.716845989131158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9966174960136414, + 0.024336202070116997, + -0.0784941166639328, + 3.29643303235555 + ], + [ + -0.02596733532845974, + 0.9994661808013916, + -0.019826853647828102, + -1.4327887692201178 + ], + [ + 0.07796970009803772, + 0.02179807238280773, + 0.9967173933982849, + 14.781887238929349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9966540336608887, + 0.021567951887845993, + -0.07883905619382858, + 3.3128398794182985 + ], + [ + -0.02329205349087715, + 0.9995077848434448, + -0.021014736965298653, + -1.4305485511945415 + ], + [ + 0.07834700495004654, + 0.02278074435889721, + 0.9966658353805542, + 14.848036736270524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9967775940895081, + 0.016080839559435844, + -0.07858625054359436, + 3.32881914984246 + ], + [ + -0.01790848933160305, + 0.9995840191841125, + -0.02260741777718067, + -1.4269639974408503 + ], + [ + 0.07819001376628876, + 0.023941928520798683, + 0.9966509342193604, + 14.910414439171964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9972068667411804, + 0.011159533634781837, + -0.07385050505399704, + 3.3450739504554856 + ], + [ + -0.01300082542002201, + 0.9996153116226196, + -0.024499110877513885, + -1.424900234329261 + ], + [ + 0.07354869693517685, + 0.025390800088644028, + 0.9969683289527893, + 14.980900729169495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.99750816822052, + 0.009589234367012978, + -0.06989617645740509, + 3.3623420162135007 + ], + [ + -0.011480415239930153, + 0.9995774030685425, + -0.026705697178840637, + -1.4241859185161747 + ], + [ + 0.06961055099964142, + 0.027441587299108505, + 0.9971967339515686, + 15.057329183384295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9978479743003845, + 0.007481221575289965, + -0.06514137983322144, + 3.3801015099622136 + ], + [ + -0.009428493678569794, + 0.9995162487030029, + -0.029637087136507034, + -1.4235075086698554 + ], + [ + 0.06488814949989319, + 0.030187491327524185, + 0.9974358081817627, + 15.12862462231091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9982084631919861, + 0.0036813057959079742, + -0.05971825122833252, + 3.3965865202488437 + ], + [ + -0.005679569207131863, + 0.999428391456604, + -0.033326368778944016, + -1.4236941324937489 + ], + [ + 0.05956143140792847, + 0.03360584005713463, + 0.9976587891578674, + 15.21284917381502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9982308149337769, + -0.008422035723924637, + -0.05885802581906319, + 3.4171301454992338 + ], + [ + 0.005975984036922455, + 0.9991160035133362, + -0.041611649096012115, + -1.425609147589877 + ], + [ + 0.059156451374292374, + 0.041186295449733734, + 0.9973987340927124, + 15.290040392885285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9983847141265869, + -0.01077234372496605, + -0.05578441172838211, + 3.4361817974099367 + ], + [ + 0.008017899468541145, + 0.9987485408782959, + -0.04936710745096207, + -1.430420522414972 + ], + [ + 0.056246399879455566, + 0.04884009063243866, + 0.9972216486930847, + 15.358067239209804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9988193511962891, + -0.01085161417722702, + -0.04735103249549866, + 3.4535619863167337 + ], + [ + 0.008214237168431282, + 0.9984225630760193, + -0.05554174259305, + -1.4314367403512314 + ], + [ + 0.04787905514240265, + 0.05508721247315407, + 0.9973329305648804, + 15.435771930973102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9990471005439758, + -0.014159349724650383, + -0.041284237056970596, + 3.4687036403038536 + ], + [ + 0.011726362630724907, + 0.9982132315635681, + -0.058590441942214966, + -1.4331043389046454 + ], + [ + 0.04204007610678673, + 0.058050498366355896, + 0.9974280595779419, + 15.50235755695073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9993362426757812, + -0.01741844043135643, + -0.03199440613389015, + 3.485652402798701 + ], + [ + 0.015475176274776459, + 0.9980776906013489, + -0.0600120946764946, + -1.4348268372122592 + ], + [ + 0.03297821804881096, + 0.05947714298963547, + 0.9976847767829895, + 15.565032574410813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9995859265327454, + -0.01681203953921795, + -0.02335175685584545, + 3.498905242890257 + ], + [ + 0.015393568202853203, + 0.9981006979942322, + -0.059649210423231125, + -1.4407060142288903 + ], + [ + 0.02431022934615612, + 0.05926504358649254, + 0.9979462027549744, + 15.619393478216354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9996470212936401, + -0.016801370307803154, + -0.02057955600321293, + 3.5090866358049455 + ], + [ + 0.015789272263646126, + 0.9987035989761353, + -0.04839212819933891, + -1.4504362650576137 + ], + [ + 0.021365931257605553, + 0.048050109297037125, + 0.9986163973808289, + 15.669810399953876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9997124075889587, + -0.015621746890246868, + -0.018195996060967445, + 3.5218689337578786 + ], + [ + 0.014922096394002438, + 0.9991673827171326, + -0.037971850484609604, + -1.456517046210592 + ], + [ + 0.01877403073012829, + 0.03768940642476082, + 0.999113142490387, + 15.729029816125566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9998392462730408, + -0.008632457815110683, + -0.015716003254055977, + 3.5355151256657966 + ], + [ + 0.008142161183059216, + 0.9994862675666809, + -0.030998384580016136, + -1.463050036031049 + ], + [ + 0.015975521877408028, + 0.030865440145134926, + 0.9993958473205566, + 15.783917958110846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999350309371948, + -0.006021603476256132, + -0.009676533751189709, + 3.550774149026739 + ], + [ + 0.005767375696450472, + 0.9996429681777954, + -0.02608911506831646, + -1.4649212544919141 + ], + [ + 0.009830177761614323, + 0.0260316114872694, + 0.9996128082275391, + 15.846704262256846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9999624490737915, + -0.00857536680996418, + -0.0012413010699674487, + 3.5666197039564635 + ], + [ + 0.008542301133275032, + 0.9996618628501892, + -0.02456003427505493, + -1.4624145346663653 + ], + [ + 0.001451492658816278, + 0.02454850822687149, + 0.9996975660324097, + 15.911552520645762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999136328697205, + -0.011653522029519081, + 0.00607666140422225, + 3.582520435070662 + ], + [ + 0.01179409772157669, + 0.9996510744094849, + -0.02363523654639721, + -1.4597795699907612 + ], + [ + -0.0057991077192127705, + 0.023704862222075462, + 0.9997021555900574, + 15.974449657355457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9998735785484314, + -0.012844599783420563, + 0.009373128414154053, + 3.5989717865869197 + ], + [ + 0.013052739202976227, + 0.9996618032455444, + -0.022493384778499603, + -1.4574794801424176 + ], + [ + -0.00908103957772255, + 0.022612884640693665, + 0.999703049659729, + 16.039041683270085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9998562335968018, + -0.011573554016649723, + 0.012393624521791935, + 3.6151559591293334 + ], + [ + 0.011816331185400486, + 0.9997361302375793, + -0.01969818025827408, + -1.4543831042014062 + ], + [ + -0.012162377126514912, + 0.019841793924570084, + 0.9997291564941406, + 16.104235346149654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/orbit_left/transforms.json b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d43a9f1e3749923893453fcf36bde88da98e9516 --- /dev/null +++ b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/orbit_left/transforms.json @@ -0,0 +1,7643 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 218, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.994916424853727e-05, + 7.358914444921538e-06, + -1.139659889304312e-05 + ], + [ + 8.994904783321545e-05, + 1.0, + 1.6600621165707707e-05, + -0.0004049866693094373 + ], + [ + -7.360407835221849e-06, + -1.6599959053564817e-05, + 1.0, + -0.0004114329640287906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999742276798941, + 0.003363250056281686, + -0.006343744351602957, + 0.01172312472365144 + ], + [ + -0.003379761900943005, + 0.9999909400939941, + -0.0025939061013458935, + -0.004585733913935742 + ], + [ + 0.006334962906915938, + 0.0026152797508984804, + 0.9999765416683637, + 0.08994361357968264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999037778382609, + 0.00724476855248213, + -0.011828209951566897, + 0.02308417674519627 + ], + [ + -0.007338279132264508, + 0.9999420046806338, + -0.007881545316126297, + -0.008796216250986864 + ], + [ + 0.011770423458779539, + 0.00796758569777012, + 0.9998989892292751, + 0.1829223055358637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997891015390759, + 0.01079605147242546, + -0.017470420686185362, + 0.036457390625832406 + ], + [ + -0.010971362361833967, + 0.9998900890350342, + -0.009970195975212013, + -0.015152629031380486 + ], + [ + 0.017360861784097282, + 0.010159767232835293, + 0.9997976457610059, + 0.2758761169622335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9996636810898454, + 0.011955601163208485, + -0.023013135808033807, + 0.049339108180479076 + ], + [ + -0.012213998075678419, + 0.9998635649681091, + -0.011120641190064161, + -0.02318935990020127 + ], + [ + 0.022877043754243025, + 0.011397983878850937, + 0.9996733360559888, + 0.36150266108653634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9994902078501455, + 0.014591444283723831, + -0.028398375371381724, + 0.06105496555208233 + ], + [ + -0.014915433696124315, + 0.9998257160186768, + -0.011230511736176684, + -0.0333817255372469 + ], + [ + 0.02822955609026028, + 0.011648359708487988, + 0.9995335957469869, + 0.43480997434095375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9993154037493003, + 0.013050142675638202, + -0.034617848258060135, + 0.07666681488301089 + ], + [ + -0.013435425068299985, + 0.9998500943183901, + -0.010920426772477409, + -0.045924833096046384 + ], + [ + 0.03447014521676876, + 0.011378055438399317, + 0.9993409785279572, + 0.5156713593719512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9988225951489842, + 0.012378714047372341, + -0.04690607505380734, + 0.09590344927698902 + ], + [ + -0.012851244896738306, + 0.9998695254325867, + -0.009785834826541188, + -0.05901174713650272 + ], + [ + 0.04677881735034653, + 0.010377113707363605, + 0.9988513834060625, + 0.5832033191729141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.99847619835624, + 0.01698937825858593, + -0.05250368065471251, + 0.11381779546653002 + ], + [ + -0.017480942674424117, + 0.9998074173927307, + -0.008917454344658156, + -0.07218126610249684 + ], + [ + 0.052342065162336214, + 0.009821679443120956, + 0.9985809184930378, + 0.6577601014632675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9981477197699486, + 0.021894611418247223, + -0.05676060711775531, + 0.13157390952862716 + ], + [ + -0.022416509261875526, + 0.9997119307518005, + -0.008574284257615718, + -0.08294743494637659 + ], + [ + 0.056556522168050884, + 0.0098307766020298, + 0.9983509730430222, + 0.7238437931531883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9978571910942482, + 0.02504757232964039, + -0.060444997474892695, + 0.15392619657649453 + ], + [ + -0.02560261894741721, + 0.999636709690094, + -0.008425604915011776, + -0.09203463951617401 + ], + [ + 0.060211990348294366, + 0.00995510071516037, + 0.9981359726810415, + 0.7859512373608291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9976785481573537, + 0.026912711560726166, + -0.06255565944919092, + 0.1720512537253812 + ], + [ + -0.02747573729300072, + 0.999589204788208, + -0.008157514940314137, + -0.09864867906801335 + ], + [ + 0.06231041632204141, + 0.009857339784502983, + 0.9980081550076766, + 0.8354924300816847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.998073508180346, + 0.02543886564671994, + -0.056587377864999566, + 0.1955391491954095 + ], + [ + -0.025848829720046023, + 0.9996445775032046, + -0.006524588937045728, + -0.0979638055606412 + ], + [ + 0.05640128473930344, + 0.007974736392498018, + 0.9983763196702983, + 0.9176260268403488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9983363521051309, + 0.02463543228805065, + -0.05213069280085268, + 0.21790790435225682 + ], + [ + -0.024708593939759632, + 0.9996944069862366, + -0.0007592919670103863, + -0.09831585514380457 + ], + [ + 0.05209604940846234, + 0.002046104520559311, + 0.9986400086348239, + 0.9978029225770555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9985912734524678, + 0.024281147867441177, + -0.047179825566334536, + 0.24581938442632564 + ], + [ + -0.024300020917089358, + 0.9997047185897827, + 0.00017353758988438835, + -0.09606228482964281 + ], + [ + 0.04717010153018739, + 0.0009731774334795773, + 0.998886373116387, + 1.0776930647243452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.998991603160873, + 0.023658227175474167, + -0.038157769235276945, + 0.27461011027013427 + ], + [ + -0.0236543637035324, + 0.99972003698349, + 0.0005527908741442274, + -0.09000626357228479 + ], + [ + 0.038160160984742, + 0.0003503641637507826, + 0.9992715956995902, + 1.1735287944562889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9993947228847573, + 0.027929777279496193, + -0.02074035273580175, + 0.30110299911966176 + ], + [ + -0.0279106454057325, + 0.9996097087860107, + 0.001211371676447293, + -0.08159607372146457 + ], + [ + 0.020766092699899305, + -0.0006317618535831571, + 0.9997841529706549, + 1.2670722618868373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9995933305281609, + 0.028215009719133377, + -0.004136223400285566, + 0.329536028570101 + ], + [ + -0.028207282769626512, + 0.9996002316474915, + 0.0019150047073756451, + -0.07566119717623605 + ], + [ + 0.004188602486371941, + -0.0017975543159991503, + 0.9999896072616828, + 1.3584683264413726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995532815492795, + 0.02838749997317791, + 0.009348542499687168, + 0.3566977936244747 + ], + [ + -0.028410556203455825, + 0.9995936155319214, + 0.0023427925973388618, + -0.07117071932073837 + ], + [ + -0.009278237369551438, + -0.0026073434855788946, + 0.9999535384197185, + 1.4466388234690128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993290705466076, + 0.02919137477874756, + 0.022119549942909614, + 0.38506012473474305 + ], + [ + -0.02925982793630136, + 0.999567985534668, + 0.0027772993561663256, + -0.0701646459259771 + ], + [ + -0.022028920640674472, + -0.0034226500429213047, + 0.999751471531782, + 1.534437221484112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9990209845174466, + 0.030876172706484795, + 0.03168169708531451, + 0.41383332216112545 + ], + [ + -0.030995287216558, + 0.9995141625404358, + 0.003275350426588874, + -0.07148824530372856 + ], + [ + -0.03156517541054442, + -0.00425412692129612, + 0.99949266402083, + 1.6262807078967747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9987976477781276, + 0.028547799214720733, + 0.03985265248818667, + 0.44107302813194404 + ], + [ + -0.02872956074373565, + 0.9995792508125307, + 0.003995509282734536, + -0.07709689226188254 + ], + [ + -0.03972182160193246, + -0.005135654937475921, + 0.9991975805249366, + 1.7146921264863335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9979277631017501, + 0.03297661989927292, + 0.05525098444404121, + 0.4690646052540278 + ], + [ + -0.0332941519688373, + 0.9994338750839233, + 0.0048362267079106415, + -0.08694523233256214 + ], + [ + -0.05506022491190662, + -0.006665739696472883, + 0.9984608125000535, + 1.803314080152984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9973462387813757, + 0.03424002230167389, + 0.0642501329791074, + 0.49479160732579125 + ], + [ + -0.03469471329372131, + 0.9993801116943359, + 0.005974203118894123, + -0.09992293982276035 + ], + [ + -0.06400574607737353, + -0.008187488652765751, + 0.9979159660111805, + 1.8866342185228195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9971744407645061, + 0.03231532126665116, + 0.06781477087740737, + 0.5202833503420918 + ], + [ + -0.03300442743496247, + 0.9994140863418581, + 0.009065669590183791, + -0.11320524326548463 + ], + [ + -0.06748207588434502, + -0.011278240941464903, + 0.9976567607142788, + 1.9651600578818291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9967422080760006, + 0.032844312489032745, + 0.0736629124920748, + 0.5466629345513647 + ], + [ + -0.03368435258769948, + 0.9993805885314941, + 0.010190354564430086, + -0.12848557235535243 + ], + [ + -0.07328258881601443, + -0.01263844408094883, + 0.9972311541336397, + 2.0515919449834445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.996339086224525, + 0.03340690210461617, + 0.07869205406530512, + 0.5693811505173999 + ], + [ + -0.034417049531459985, + 0.9993411898612978, + 0.011515234078043734, + -0.14399759311603644 + ], + [ + -0.07825552507376535, + -0.014181426726281646, + 0.9968324793508695, + 2.1331649593450184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.995958444529471, + 0.03452364727854729, + 0.08291488046195758, + 0.5902413031196729 + ], + [ + -0.03569161044752176, + 0.9992828369140625, + 0.012645140208425285, + -0.15656988732679541 + ], + [ + -0.08241886357611268, + -0.015553398989140987, + 0.9964763872289166, + 2.209512698897762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9958167940870446, + 0.03187642246484757, + 0.0856317935912688, + 0.6125858260794008 + ], + [ + -0.033179977791258156, + 0.9993535280227663, + 0.01384256262312705, + -0.16841864098441764 + ], + [ + -0.08513518476321337, + -0.016625916585326198, + 0.9962307100964609, + 2.28926976167309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9956277054319055, + 0.030853405594825745, + 0.08816749306529995, + 0.6342663588452074 + ], + [ + -0.032275977965766006, + 0.9993700981140137, + 0.01475473914349794, + -0.17568229662942714 + ], + [ + -0.08765671852188461, + -0.017535919323563576, + 0.9959963924136704, + 2.376720352194402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9953900027956879, + 0.03226960450410843, + 0.09031872421413369, + 0.6557061526283979 + ], + [ + -0.03378028248603367, + 0.9993129968643188, + 0.015247345500769342, + -0.17958415447951143 + ], + [ + -0.08976464753153353, + -0.018228046596050262, + 0.995796198864886, + 2.4790459788522425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9951841762095427, + 0.03378099948167801, + 0.09201815545405662, + 0.6763966756014642 + ], + [ + -0.035376327521260284, + 0.9992497563362122, + 0.01576108327620581, + -0.18108732224860014 + ], + [ + -0.09141669295876582, + -0.01894044317305088, + 0.9956326159706728, + 2.578229644946034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9950247096195074, + 0.033801376819610596, + 0.09371928165369812, + 0.6950886158346101 + ], + [ + -0.03544902441725103, + 0.9992438554763794, + 0.01597149268327485, + -0.18694978534447873 + ], + [ + -0.09310855433415495, + -0.019214285537600517, + 0.995470555217191, + 2.6644459586018545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.994824644497042, + 0.03320891782641411, + 0.09602674768823578, + 0.7121495164911723 + ], + [ + -0.03488880781829025, + 0.999265193939209, + 0.015867761114270466, + -0.18944553030830127 + ], + [ + -0.09542924093800327, + -0.01913589797914028, + 0.9952522889573868, + 2.7528202911622848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9946883914702764, + 0.03211105614900589, + 0.09779499549165198, + 0.7317329997473453 + ], + [ + -0.03371349873083698, + 0.9993222951889038, + 0.014777146844259632, + -0.19288428884509262 + ], + [ + -0.09725421071711135, + -0.017995668575167656, + 0.9950968515008217, + 2.853667862482944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9946000229824018, + 0.030271304771304137, + 0.09926950172564128, + 0.7512495356103464 + ], + [ + -0.03169253560988459, + 0.9994160532951357, + 0.012770980731140724, + -0.1957331693173448 + ], + [ + -0.09882493863302971, + -0.015848120674490932, + 0.9949786024637336, + 2.9527454584602526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9944279457004832, + 0.030807090923190117, + 0.100816294029068, + 0.7691860367675116 + ], + [ + -0.032158150367004694, + 0.9994130730628967, + 0.011803208980446577, + -0.20069507117911595 + ], + [ + -0.10039350352905314, + -0.014979506842792034, + 0.9948350704264173, + 3.0454868404608053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9942743432554944, + 0.031090604141354568, + 0.1022346703493913, + 0.7874246505293689 + ], + [ + -0.032396845135440944, + 0.9994130134582522, + 0.011141032254335683, + -0.20973248922547594 + ], + [ + -0.10182827512647867, + -0.014389323070645336, + 0.9946979136428624, + 3.133458890906615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.994072737833289, + 0.0313444547355175, + 0.10410075917690911, + 0.8052035561068761 + ], + [ + -0.03251858710360256, + 0.9994249939918518, + 0.009600375530883408, + -0.21878805862307094 + ], + [ + -0.10373998716092898, + -0.012928680516779423, + 0.9945204452222418, + 3.2248786825979563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9938276402647951, + 0.03169609606266022, + 0.10631078110992093, + 0.8208092058673315 + ], + [ + -0.03287279615346838, + 0.999415934085846, + 0.009334035787918148, + -0.23168868174430093 + ], + [ + -0.10595284271356654, + -0.012771155685186386, + 0.9942891601760289, + 3.3077910754596154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9936426402150926, + 0.029204601421952248, + 0.10872645194142692, + 0.8357411115933292 + ], + [ + -0.03046109858868443, + 0.9994868040084839, + 0.009913262480290206, + -0.246195841388364 + ], + [ + -0.10838113901090309, + -0.013162167742848396, + 0.9940222552357352, + 3.3911259428144427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9935056183246658, + 0.02707119844853878, + 0.11051571379967691, + 0.8523662646813845 + ], + [ + -0.028477319525304138, + 0.9995321035385132, + 0.011164432182729254, + -0.25815358122199294 + ], + [ + -0.11016176667691922, + -0.014239117503166199, + 0.9938116817762944, + 3.474246668108664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9934043460670886, + 0.02478756196796894, + 0.11195279904516985, + 0.8716587612997532 + ], + [ + -0.027300157063729746, + 0.9994074106216431, + 0.02096617128850302, + -0.2739101053757711 + ], + [ + -0.11136675175032343, + -0.023884214460849762, + 0.9934923159174456, + 3.552273451515936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9933651343280493, + 0.01910555362701416, + 0.11340512077283187, + 0.8918282842828115 + ], + [ + -0.0223554109773979, + 0.9993730187416077, + 0.027454775050919915, + -0.2868728014818832 + ], + [ + -0.11280948006633297, + -0.029807833954691887, + 0.9931694385896763, + 3.628046089685749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9932249283589636, + 0.0160334799438715, + 0.1150962574188606, + 0.9104860546235963 + ], + [ + -0.01977865937651495, + 0.9993089437484743, + 0.03147155500399479, + -0.2976044382890981 + ], + [ + -0.11451211758590303, + -0.033534780144691474, + 0.9928556932724766, + 3.7018487145790107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930283793510795, + 0.015876278281211856, + 0.1168012242526355, + 0.9300312942570627 + ], + [ + -0.01984527986745182, + 0.9992617368698122, + 0.03289664608701939, + -0.3062717854208262 + ], + [ + -0.11619271755151349, + -0.03498525545001031, + 0.9926103508696789, + 3.777702053318288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9928141091998582, + 0.012762999162077907, + 0.11898423904341648, + 0.9487759988241101 + ], + [ + -0.016946922945910197, + 0.9992706775665285, + 0.03421842350779012, + -0.3130990613047291 + ], + [ + -0.11846072837366313, + -0.035988949239254005, + 0.9923063410726954, + 3.85636941045432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9925673911433304, + 0.009629045613110065, + 0.12131466628449525, + 0.9688371547876818 + ], + [ + -0.01398131692153441, + 0.9992868304252625, + 0.03507590439573168, + -0.31588880661636887 + ], + [ + -0.12089040251436255, + -0.03651133552193642, + 0.9919941695751864, + 3.942894553605051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9923446863466344, + 0.006022755987942219, + 0.1233520120550591, + 0.9902815914403708 + ], + [ + -0.010508331898589617, + 0.9993056654930115, + 0.035745774413747426, + -0.31694700362467054 + ], + [ + -0.12305108176840174, + -0.0367683507502079, + 0.991718993267263, + 4.033832866219301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.992125363183865, + 0.005504261236637831, + 0.12512793591531873, + 1.0114872661961056 + ], + [ + -0.010013315329234858, + 0.9993218183517456, + 0.03543522221682016, + -0.3180216346647808 + ], + [ + -0.12484803225253177, + -0.036409128457307816, + 0.991507641126332, + 4.1265989502632205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9918824078487741, + 0.007086150348186493, + 0.12696104124945334, + 1.0308069015277375 + ], + [ + -0.01111077302775789, + 0.9994570016860962, + 0.03101958324956925, + -0.3207792602216966 + ], + [ + -0.12667229157661422, + -0.03217841312289238, + 0.991422559051745, + 4.215612624891041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9916697662730485, + 0.0061538144946098345, + 0.1286594870735638, + 1.0510908041385163 + ], + [ + -0.009581626316949903, + 0.9996149539947512, + 0.026040552821579285, + -0.3249084966719306 + ], + [ + -0.12844969415257065, + -0.0270563941448927, + 0.9913468985733586, + 4.30618807677987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9914264614817143, + 0.007275961805135013, + 0.13046312030488824, + 1.0669963069223676 + ], + [ + -0.010032741437519966, + 0.9997398257255556, + 0.020485915414366052, + -0.3330347509804792 + ], + [ + -0.13028011208233084, + -0.021619180217385296, + 0.991241471838799, + 4.395055332044495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9912982298168402, + 0.004223033320158721, + 0.1315673476931049, + 1.0871949675540558 + ], + [ + -0.006157919260971217, + 0.9998787641525271, + 0.014303046094982742, + -0.3423697600482319 + ], + [ + -0.13149098813276294, + -0.01498876512050629, + 0.9912040324515846, + 4.482575617790199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9911524762608959, + 0.0032759809400886306, + 0.13268784126596422, + 1.1052593914378637 + ], + [ + -0.004589165292954991, + 0.9999434351921084, + 0.0095921879350798, + -0.35670451747444476 + ], + [ + -0.13264890919360547, + -0.010116247460246088, + 0.9911114720506942, + 4.566094011538415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9910727883852964, + 0.0062746466137468815, + 0.13317436848446967, + 1.1215995296315473 + ], + [ + -0.00746234999176158, + 0.9999366998672485, + 0.00842115636126195, + -0.3730953075129198 + ], + [ + -0.13311309525291354, + -0.0093397730961442, + 0.9910568485340234, + 4.640265980413258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9911417880981053, + 0.004091172013431788, + 0.13274499304334425, + 1.139318796932851 + ], + [ + -0.005130227120273242, + 0.9999588131904604, + 0.007486377534667928, + -0.388028537563055 + ], + [ + -0.13270889623564575, + -0.008101074025034906, + 0.9911219471871913, + 4.7217836112117055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9911869250543051, + 0.006092149298638105, + 0.13233062601151477, + 1.1561786760173907 + ], + [ + -0.007018705173233718, + 0.9999539852142334, + 0.006536506575986954, + -0.405817871248501 + ], + [ + -0.13228472257136334, + -0.007407689467072487, + 0.9911840523766035, + 4.800701549931953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9912692477227643, + 0.006954638287425043, + 0.13166978517577022, + 1.1688052829837015 + ], + [ + -0.007765361201014695, + 0.9999539256095888, + 0.005644771714856777, + -0.421716495807677 + ], + [ + -0.13162445692891792, + -0.006617952138185503, + 0.9912775632842744, + 4.877650931845041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.991394604455671, + 0.004793141502887011, + 0.13081964520969266, + 1.1813553953051754 + ], + [ + -0.005519319129565282, + 0.999971330165863, + 0.005188969282866557, + -0.4387770299796601 + ], + [ + -0.1307910198258725, + -0.0058663515374064445, + 0.9913925820669586, + 4.957755593577104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.991688921244717, + 0.004487055819481611, + 0.12858067672022624, + 1.194496378390464 + ], + [ + -0.0051454504542342416, + 0.999975323677063, + 0.0047887542412429224, + -0.45218741699105613 + ], + [ + -0.12855601058022545, + -0.005410559941083193, + 0.9916874827740408, + 5.031911499442045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9922200189948966, + 0.006125281564891338, + 0.12434578154066131, + 1.206924502428089 + ], + [ + -0.0067402159264461515, + 0.9999670386314392, + 0.004525266552025543, + -0.4643409060034947 + ], + [ + -0.1243139639916495, + -0.005328177474439144, + 0.9922286402661876, + 5.108171427458478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9929524376270393, + 0.005695189815014602, + 0.11837673098698184, + 1.219383204987907 + ], + [ + -0.006250270247320092, + 0.9999711513519289, + 0.004318378535807438, + -0.47434288391935214 + ], + [ + -0.11834871757730178, + -0.005027830600738526, + 0.9929593784559586, + 5.179837989999107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9938764674870726, + 0.004107905086129904, + 0.11042027412197088, + 1.233012795842973 + ], + [ + -0.00454875888830442, + 0.9999826550483704, + 0.0037408990539109766, + -0.478487421609778 + ], + [ + -0.11040299282461674, + -0.004220266826450825, + 0.993877962840949, + 5.260110533515074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9948692051358338, + 0.004541039932519198, + 0.10106759887623389, + 1.2444991081137524 + ], + [ + -0.004796947136714577, + 0.9999858736991885, + 0.002289153035558357, + -0.4797100097211719 + ], + [ + -0.10105577703890478, + -0.002762223826721311, + 0.9948769349853507, + 5.339360448349025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9954684872963614, + 0.004865977447479963, + 0.09496743339370348, + 1.259790599101515 + ], + [ + -0.004871399485991955, + 0.9999881386756897, + -0.00017474662415553318, + -0.4849558787819077 + ], + [ + -0.09496715464180873, + -0.000288669514702633, + 0.9954803473013824, + 5.4191328672308225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9956445565481561, + 0.006012647412717342, + 0.09303617181341373, + 1.2722331351951877 + ], + [ + -0.0059050484264116625, + 0.9999815225601196, + -0.0014317794824179352, + -0.48567220951260304 + ], + [ + -0.09304306555261616, + 0.0008761603385210037, + 0.995661705520188, + 5.494536496758017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9958189314720289, + 0.004017787519842386, + 0.09126085342471553, + 1.2861874136194116 + ], + [ + -0.003780804516177506, + 0.9999890327453613, + -0.002769497823465291, + -0.4882749722914531 + ], + [ + -0.0912709797587229, + 0.0024128786753863096, + 0.9958231941435627, + 5.582319616737857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9959044917549985, + 0.004080417100340129, + 0.0903195787651673, + 1.298242800099027 + ], + [ + -0.003601015482426865, + 0.9999785423278811, + -0.0054701566986487, + -0.489910296359302 + ], + [ + -0.09033995993845911, + 0.005122511181980372, + 0.9958977922663151, + 5.667113605308595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9959399344509602, + 0.0035931861493736506, + 0.08994862442348713, + 1.3098743118314935 + ], + [ + -0.003025493143269785, + 0.9999746680259705, + -0.006446853342186304, + -0.49757832686518183 + ], + [ + -0.08996950468389828, + 0.006148539483547211, + 0.9959255121540842, + 5.752670197950969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9959209419811719, + 0.005309800617396832, + 0.0900740879700192, + 1.3197877678100791 + ], + [ + -0.004611124937431556, + 0.9999576807022097, + -0.007962997085169697, + -0.502799613380792 + ], + [ + -0.09011255176167372, + 0.007515172008424999, + 0.9959032100002662, + 5.841743576042514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9958602099827452, + 0.0082853389903903, + 0.0905193346271894, + 1.331188506100034 + ], + [ + -0.0074761027416388095, + 0.9999290108680725, + -0.009275330679443033, + -0.514303674471248 + ], + [ + -0.09058976395249294, + 0.008560201153159142, + 0.9958515301036558, + 5.920394829576814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9958476025014964, + 0.0050339908339083195, + 0.09089649415329927, + 1.3431162079333214 + ], + [ + -0.004121266483029927, + 0.9999392032623291, + -0.01022626021845733, + -0.5275846739442589 + ], + [ + -0.09094244877290893, + 0.009809187613427639, + 0.9958078221403457, + 5.999367864471182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9957396160975056, + -0.0007262037834152579, + 0.09220689249958988, + 1.359206738037135 + ], + [ + 0.0017502321215058857, + 0.9999377131462097, + -0.011025389818557468, + -0.5393979482162358 + ], + [ + -0.09219314046337165, + 0.01113979984074831, + 0.9956788397202944, + 6.073130160845959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9955744730902134, + -0.0009611010900698602, + 0.09397075219075222, + 1.3757192104912122 + ], + [ + 0.002019145315347716, + 0.9999356269836426, + -0.011164860866167952, + -0.5551143852970277 + ], + [ + -0.0939539754695394, + 0.011305190622806549, + 0.9955123617805693, + 6.129764064606688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9951484210685735, + -0.00015152880223467946, + 0.09838510083815538, + 1.3915202177668242 + ], + [ + 0.0012213729384434812, + 0.9999407529830933, + -0.010813908988097224, + -0.5682996348503405 + ], + [ + -0.09837763606543348, + 0.010881608352065086, + 0.9950896678240202, + 6.18560706839474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9943314995974251, + 0.0012780986726284027, + 0.10631671355272172, + 1.4031864723904426 + ], + [ + -0.0006758315829757312, + 0.999983549118042, + -0.005700673906614128, + -0.5781757773664015 + ], + [ + -0.10632224736326405, + 0.005596507806330919, + 0.9943159668999997, + 6.254785954475975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9932700557707187, + 0.0003501180908642709, + 0.11582087683914136, + 1.41563760180833 + ], + [ + -0.00040624125193136444, + 0.9999998211860657, + 0.0004609638353986329, + -0.5849226652774074 + ], + [ + -0.11582069326710813, + -0.0005049127503298223, + 0.9932700130103935, + 6.3272378342893205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.992354717508976, + -0.0010255733504891396, + 0.12341439033112736, + 1.4293959909537315 + ], + [ + 0.00042544001349318993, + 0.9999879598617554, + 0.004889005016368551, + -0.5892958736976818 + ], + [ + -0.12341791596024129, + -0.004799121990799904, + 0.9923431891512381, + 6.404025248812879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9915123740490256, + -0.0030100608710199603, + 0.12997746730786, + 1.44502258068006 + ], + [ + 0.0019877870455738064, + 0.999966084957123, + 0.00799402518579894, + -0.5935073438285646 + ], + [ + -0.12999712276957343, + -0.007667807862162592, + 0.9914847481550042, + 6.478213599501915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9905956196378365, + -0.0028561884537339215, + 0.13679245571844537, + 1.4601504340771498 + ], + [ + 0.0015602502842044779, + 0.9999529123306277, + 0.00958003804859419, + -0.5946440701893709 + ], + [ + -0.1368133707060603, + -0.00927651394158602, + 0.9905534129932032, + 6.5593636791468155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9897742990887621, + -0.0010832861298695207, + 0.14263838665074713, + 1.4745886345533503 + ], + [ + -0.0004144791490453255, + 0.9999451041221619, + 0.010470305884268895, + -0.5946856123934244 + ], + [ + -0.1426419020608643, + -0.010422359220683575, + 0.9897195140981699, + 6.640290436247308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9891167314223255, + 0.00044688204070553184, + 0.1471323568515459, + 1.489196674052904 + ], + [ + -0.00209346620701069, + 0.9999368786811829, + 0.01103651632678233, + -0.5959687344370604 + ], + [ + -0.14711813855899752, + -0.011224419809877872, + 0.9890552502406582, + 6.723748350557596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9884717272702261, + 0.0009071117965504529, + 0.1514027395368474, + 1.5044335179261843 + ], + [ + -0.002596041525779726, + 0.9999365806579592, + 0.01095792209335103, + -0.5967793782099284 + ], + [ + -0.15138320473211875, + -0.011224644258618357, + 0.9884114489444576, + 6.803871151828616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9876319069294447, + 0.0011249363888055086, + 0.15678633058084143, + 1.5200301128399407 + ], + [ + -0.002866362439142785, + 0.9999366998672485, + 0.01088134241160901, + -0.6020419801248652 + ], + [ + -0.15676416404315904, + -0.011196168139576912, + 0.9875726313870431, + 6.885042479358093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9869439579486808, + 0.0011838267091661694, + 0.16105986865156693, + 1.5356519409270253 + ], + [ + -0.0023386736743863275, + 0.9999728798866274, + 0.006980914637505558, + -0.6075224263239916 + ], + [ + -0.16104723643698296, + -0.0072664381004869955, + 0.9869199719200099, + 6.962199922982685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9863837543746159, + -0.001040152390487492, + 0.16445676116420918, + 1.5507629180971347 + ], + [ + 0.0007565178577438486, + 0.9999980926513672, + 0.0017873000193547824, + -0.6140626333663087 + ], + [ + -0.16445831370076833, + -0.0016385491471737623, + 0.9863826938076036, + 7.037166026642568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9858770134487645, + -0.0028898746240884066, + 0.16744587265784774, + 1.5711282189138078 + ], + [ + 0.0035846495430030285, + 0.9999861717224121, + -0.003847148329905418, + -0.623004703452588 + ], + [ + -0.16743244845027253, + 0.004393049515783787, + 0.9858737527749529, + 7.125319879315543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9854977234814957, + 0.00036082198494113987, + 0.16968838054931673, + 1.586141439442467 + ], + [ + 0.0005786882242060392, + 0.9999848008155825, + -0.005487190303960783, + -0.6353649206940544 + ], + [ + -0.16968777749341427, + 0.005505810026079417, + 0.9854825025004237, + 7.189848034267587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9851876663376213, + 0.0004777564899995924, + 0.17147906260969073, + 1.604651762514461 + ], + [ + 0.0007252103156748906, + 0.9999755620956423, + -0.006952528603207942, + -0.647198683794881 + ], + [ + -0.17147819825309787, + 0.006973904091864826, + 0.9851632399966416, + 7.269300025259257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9847607985463863, + 0.000297151185804978, + 0.17391391569271866, + 1.6170571285897215 + ], + [ + 0.0013725288519807054, + 0.999954104423523, + -0.00948026652464994, + -0.6586500329250474 + ], + [ + -0.1739087560042418, + 0.009574496187269688, + 0.9847152534977622, + 7.338313963014442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9843381201072807, + -0.0017033083131536841, + 0.176282750755911, + 1.6286610264823476 + ], + [ + 0.0035239547656948744, + 0.9999436140060425, + -0.010015448910094078, + -0.6720564492325518 + ], + [ + -0.17625575237012286, + 0.010479799471795559, + 0.9842886261803709, + 7.40959973187869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9839704795597752, + -0.006033037789165975, + 0.17822941892162245, + 1.6404101133307158 + ], + [ + 0.007873348809176678, + 0.9999227523803713, + -0.009620025597479495, + -0.6835347565687725 + ], + [ + -0.17815761528374596, + 0.01086908392608166, + 0.9839419581949232, + 7.475257437681268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.983673675961738, + -0.008385879918932915, + 0.1797658665053246, + 1.6539701915732932 + ], + [ + 0.009956855517401277, + 0.9999197125434875, + -0.007838475181927568, + -0.6941550461735264 + ], + [ + -0.17968570181900154, + 0.009500404819846153, + 0.9836782097177925, + 7.5457862361634005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9835412138803972, + -0.007452929392457008, + 0.18053000798307572, + 1.667705499221644 + ], + [ + 0.008108821077778001, + 0.9999629259109497, + -0.0028953992360746337, + -0.7021870543026558 + ], + [ + -0.1805017389233288, + 0.0043116300366818905, + 0.9835651901199657, + 7.618598895313432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9835123289721389, + -0.00607489049434662, + 0.18073891428674443, + 1.6801573738447042 + ], + [ + 0.006587599461648783, + 0.9999758005142214, + -0.0022366093644583794, + -0.7071346160012042 + ], + [ + -0.18072095288958875, + 0.003390368539839984, + 0.9835285562318147, + 7.69202496647172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9834239643807394, + -0.005066234618425369, + 0.18125009667371514, + 1.6903108671302436 + ], + [ + 0.005526263087938365, + 0.9999826550483704, + -0.0020331742904506527, + -0.7126557082940961 + ], + [ + -0.18123665797399455, + 0.0030011082999408245, + 0.9834349488815168, + 7.764717510514348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9831788466658972, + -0.007839915342628956, + 0.182477140907936, + 1.7005634835988728 + ], + [ + 0.008280940459575992, + 0.9999643564224243, + -0.0016550516076197217, + -0.7153857047143602 + ], + [ + -0.18245766281311798, + 0.0031382942106574774, + 0.9832086835073797, + 7.842579803589646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9829263978209273, + -0.013056120835244656, + 0.1835354170799145, + 1.7127356268764053 + ], + [ + 0.013451969197393544, + 0.9999091029167175, + -0.0009118782188828467, + -0.7178004353580719 + ], + [ + -0.18350683159250533, + 0.003365221666172147, + 0.983012686086655, + 7.921232149993404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9826689425788129, + -0.015176714397966862, + 0.18474676917116276, + 1.7239898874157915 + ], + [ + 0.015574375764934948, + 0.999878466129303, + -0.0007014236478563392, + -0.7166728731975899 + ], + [ + -0.18471367915406708, + 0.0035665829200297594, + 0.982785894550149, + 8.000121798154122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9824704555544853, + -0.016085885465145115, + 0.18572302639977278, + 1.7356043124475071 + ], + [ + 0.016485562473505185, + 0.999863922595978, + -0.0006077942075597514, + -0.7179759026853149 + ], + [ + -0.18568797587587849, + 0.0036588881630450496, + 0.9826019318835367, + 8.078193968260019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9821807158173184, + -0.017652558162808422, + 0.18710814419101376, + 1.746493978914611 + ], + [ + 0.01805380052314363, + 0.9998369216918948, + -0.0004404761022552606, + -0.7197828985373379 + ], + [ + -0.1870698503917697, + 0.0038106399588286885, + 0.9823392530337476, + 8.15446019041581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9818695284136199, + -0.022449821233749393, + 0.18822395074520304, + 1.7583569040309828 + ], + [ + 0.022799499056752923, + 0.99974000453949, + 0.00030735689115739923, + -0.7247329578433264 + ], + [ + -0.18818191374054027, + 0.003989627119153739, + 0.982126073797407, + 8.234511430418495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9817546187628816, + -0.024588927626609802, + 0.1885555980350086, + 1.7719899642400008 + ], + [ + 0.024995575954862966, + 0.9996875524520874, + 0.00022126617005433118, + -0.730293755769053 + ], + [ + -0.18850211836592365, + 0.0044958265498280525, + 0.9820624788401933, + 8.320549928208226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9818258991849592, + -0.022283777594566345, + 0.18847108845110805, + 1.7862635942039655 + ], + [ + 0.022868427278238363, + 0.9997380375862122, + -0.0009278461670451289, + -0.7383455431154002 + ], + [ + -0.1884010473334347, + 0.005221020430326462, + 0.9820782855211745, + 8.404193363906563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9819109625884599, + -0.017883770167827606, + 0.18849684979418235, + 1.7977420563999238 + ], + [ + 0.018605682792382696, + 0.9998247623443604, + -0.0020609777616854355, + -0.7504646613917998 + ], + [ + -0.18842695921002844, + 0.0055308095179498196, + 0.9820716412893447, + 8.48234508838221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9818896729793598, + -0.01763654686510563, + 0.1886308067008189, + 1.8064538087632003 + ], + [ + 0.018518270721242385, + 0.9998242855072021, + -0.0029128457604605, + -0.7616271232976722 + ], + [ + -0.18854629283985094, + 0.006353209260851145, + 0.9820437475145536, + 8.554925949798832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9817483824564373, + -0.02134180068969727, + 0.18898303320666793, + 1.814457929740173 + ], + [ + 0.02228021961209815, + 0.9997477531433108, + -0.002842338308153496, + -0.7731480122691609 + ], + [ + -0.1888747011972653, + 0.00700104469433427, + 0.9819762378338217, + 8.624756886925514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9817387793688981, + -0.018924472853541374, + 0.18929024305076533, + 1.8231631552321246 + ], + [ + 0.019897435335215836, + 0.9997967481613159, + -0.00324083764102023, + -0.7850573764471775 + ], + [ + -0.1891904447896634, + 0.006948046386241913, + 0.9819158483788295, + 8.68314001322404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9817843204866594, + -0.01614276319742203, + 0.1893118994986143, + 1.8355061541538695 + ], + [ + 0.017117507269925586, + 0.9998472929000857, + -0.003514843741171993, + -0.7945816588468838 + ], + [ + -0.18922625044571162, + 0.0066913659684360045, + 0.9819107258338512, + 8.75232855098467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9818089756248297, + -0.012950924225151539, + 0.18942908631427396, + 1.8465967394322602 + ], + [ + 0.013620379218722285, + 0.9999047517776489, + -0.002232599708013858, + -0.8033967697428978 + ], + [ + -0.1893821288818537, + 0.004772081971168518, + 0.9818918541057902, + 8.81880076664827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9817650605854781, + -0.010702126659452915, + 0.18979668238933692, + 1.858976354459299 + ], + [ + 0.010630576226495178, + 0.9999425411224365, + 0.0013950904944694316, + -0.8095631153603046 + ], + [ + -0.18980070585621323, + 0.0006479970179498196, + 0.981822436365871, + 8.88638036634476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9815631000634366, + -0.0118070924654603, + 0.19077345390457076, + 1.8724458576779897 + ], + [ + 0.011470753310279486, + 0.9999300837516785, + 0.0028672691948283184, + -0.815237453877976 + ], + [ + -0.1907939729911316, + -0.0006260904483497143, + 0.9816299074393268, + 8.949753611207463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9813871240391236, + -0.011487333104014398, + 0.19169592759359225, + 1.8877780184204238 + ], + [ + 0.01092744918541043, + 0.9999324083328249, + 0.0039776400242591626, + -0.8205649261482049 + ], + [ + -0.19172865760050903, + -0.0018088571960106496, + 0.981446286453366, + 9.020282452036598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9812545436811808, + -0.010094399563968182, + 0.1924515587239282, + 1.9048486503352882 + ], + [ + 0.009338110934648414, + 0.9999446868896484, + 0.004836420119018934, + -0.8223202332663908 + ], + [ + -0.19248974234890642, + -0.002948625013232231, + 0.9812945688889124, + 9.097883168043834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9810994947534661, + -0.008963607251644135, + 0.19329626754883097, + 1.922160187093179 + ], + [ + 0.007990969726186726, + 0.999951183795929, + 0.005810940318863293, + -0.8225870541878962 + ], + [ + -0.1933389161372251, + -0.004156486131250858, + 0.981123209554589, + 9.174065526819431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9809496730094797, + -0.0052846516482532024, + 0.19419003272119092, + 1.938546317509195 + ], + [ + 0.004217924221482948, + 0.9999736547470093, + 0.005906281930827583, + -0.8199935487035306 + ], + [ + -0.19421613796835743, + -0.004974686540663242, + 0.9809461761708226, + 9.252968036434225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9807668951099863, + -0.0024804098065942526, + 0.19516688888634998, + 1.954684420842883 + ], + [ + 0.0013631952481292487, + 0.9999818801879883, + 0.005858514823061639, + -0.8192660676014714 + ], + [ + -0.19517789458696583, + -0.005479786545038223, + 0.9807525680814246, + 9.333984600890606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9805692324218159, + -0.0021097385324537754, + 0.1961619728608296, + 1.9715858635854318 + ], + [ + 0.0009500545463014278, + 0.9999815225601196, + 0.006005777762962134, + -0.8213744424548951 + ], + [ + -0.1961710216926052, + -0.005702716764062643, + 0.9805531228578169, + 9.410817534426513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.980419706738088, + -0.002810361562296748, + 0.19689921424424534, + 1.9888564037798726 + ], + [ + 0.0016409215591427, + 0.9999800324440002, + 0.006102174929733098, + -0.8273799112610654 + ], + [ + -0.19691242862135608, + -0.005659596063196659, + 0.9804047277816808, + 9.485656971284289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9804069459740199, + -0.004494324326515198, + 0.19693139340346114, + 2.009558044229283 + ], + [ + 0.0035819672656743403, + 0.999981164932251, + 0.0049888148328778555, + -0.8341328037649411 + ], + [ + -0.19695010514162054, + -0.004185666795819998, + 0.9804045793260532, + 9.56902041273583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9804917818304398, + -0.0006285645067691803, + 0.19655915473381294, + 2.0287959985162862 + ], + [ + 0.00046934239191521136, + 0.9999995231628418, + 0.0008566268121767378, + -0.8440785183984999 + ], + [ + -0.19655959441609233, + -0.0007476620376110077, + 0.9804915966947781, + 9.646133008256623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9806018154242294, + 0.006403125356882811, + 0.1959059209687291, + 2.0427150058996735 + ], + [ + -0.006560757758854415, + 0.9999784827232361, + 0.00015570338061396258, + -0.8584079494454447 + ], + [ + -0.19590069534164056, + -0.0014379741623997688, + 0.9806226554714452, + 9.713629266442654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9810082300301446, + 0.005800662562251091, + 0.19387933347185116, + 2.058269005820513 + ], + [ + -0.005803905608405977, + 0.999983012676239, + -0.000551293429339257, + -0.8704432217147496 + ], + [ + -0.19387923955197947, + -0.0005844339611940086, + 0.9810252393598691, + 9.789414993280987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9811003713320763, + 0.008278938941657545, + 0.19332232493580304, + 2.07440175388238 + ], + [ + -0.00820997816627593, + 0.9999656081199648, + -0.0011578666130451691, + -0.8809531486384351 + ], + [ + -0.1933252596400075, + -0.00045118870912119757, + 0.9811345887885747, + 9.855704096665432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9808964821405096, + 0.016320714727044106, + 0.19384463233758245, + 2.08619955412409 + ], + [ + -0.016175405609779533, + 0.9998664259910583, + -0.002332476614602795, + -0.8909269707152756 + ], + [ + -0.1938568118515531, + -0.0008475972572341561, + 0.9810294976265499, + 9.924745818664913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9807318640356733, + 0.022424573078751564, + 0.1940673914673993, + 2.098563835025692 + ], + [ + -0.022251419704046402, + 0.9997476935386658, + -0.0030723335772420406, + -0.9034619176524616 + ], + [ + -0.19408732240222, + -0.0013051393907517195, + 0.9809833973493454, + 9.981631349267804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9808071503634045, + 0.021716549992561344, + 0.19376709400971917, + 2.112828276751377 + ], + [ + -0.021532529032892232, + 0.9997634887695315, + -0.0030560189749052774, + -0.9138772843714488 + ], + [ + -0.1937876326144856, + -0.0011749301338568332, + 0.9810428109342618, + 10.064985410500158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9810363470220356, + 0.02065189927816391, + 0.19272060221510603, + 2.1299467227320803 + ], + [ + -0.020522979458483564, + 0.999785840511322, + -0.0026654630350535615, + -0.9226075334569471 + ], + [ + -0.19273436715955075, + -0.0013402847107499838, + 0.9812500381315817, + 10.138020694809622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9813389995377697, + 0.024416619911789894, + 0.19072899673486468, + 2.144603938300102 + ], + [ + -0.024301374704774156, + 0.9997003674507141, + -0.0029435338740458174, + -0.9275309616041221 + ], + [ + -0.1907437161319396, + -0.0017463723197579384, + 0.9816382989843427, + 10.214790569207572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9814117964638754, + 0.028120698407292373, + 0.18984248897493092, + 2.1582224626121387 + ], + [ + -0.027979740664408767, + 0.9996026158332827, + -0.0034232404952899654, + -0.9302069796992661 + ], + [ + -0.18986331231885298, + -0.0019521350041031842, + 0.9818085929903652, + 10.288148877830364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9814617542338426, + 0.027947019785642624, + 0.18960952676805168, + 2.16894735070818 + ], + [ + -0.027776375647499563, + 0.9996078014373779, + -0.003557880848511163, + -0.932318055045261 + ], + [ + -0.1896346053516131, + -0.0017747413367033005, + 0.9818531552736628, + 10.35055984942445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9813829044162857, + 0.027369718998670578, + 0.19010112993312908, + 2.1831371701535827 + ], + [ + -0.027100040287212333, + 0.9996246695518494, + -0.004018540365325506, + -0.9334868453240397 + ], + [ + -0.19013976811014635, + -0.0012080214219167829, + 0.98175629600651, + 10.428365201693252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9811875165607745, + 0.028219180181622512, + 0.1909834482724186, + 2.1957048532085373 + ], + [ + -0.02785526803459015, + 0.9996014237403872, + -0.004590402055925637, + -0.9344781725598211 + ], + [ + -0.19103686443136883, + -0.0008158497512340548, + 0.9815825133347783, + 10.49857585359191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9809817660309357, + 0.028851941227912903, + 0.19194370279052386, + 2.2096714918536082 + ], + [ + -0.028404563010324253, + 0.9995836019515991, + -0.00508258790498806, + -0.9374333852662856 + ], + [ + -0.19201041773763644, + -0.00046615093015134335, + 0.9813927849459085, + 10.573178454482317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.980742574022996, + 0.02876167930662632, + 0.19317535376228975, + 2.221850244357845 + ], + [ + -0.02828362516288102, + 0.9995862245559692, + -0.005232669328957683, + -0.9428451493108241 + ], + [ + -0.19324593289587252, + -0.00033179769525304437, + 0.9811503008629379, + 10.643528017490624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9804293913084121, + 0.02948688715696335, + 0.1946501475520931, + 2.2362542051628664 + ], + [ + -0.02893429115193847, + 0.9995651841163635, + -0.005682170524733885, + -0.9489733315380959 + ], + [ + -0.19473305953897735, + -6.109700188972056e-05, + 0.9808562782777429, + 10.725443370416071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9801434001502995, + 0.02945585548877716, + 0.19608996215904181, + 2.250084594156645 + ], + [ + -0.028849179819234166, + 0.9995660781860352, + -0.005950031577042481, + -0.958404549940764 + ], + [ + -0.1961801378102694, + 0.00017484970157966018, + 0.9805678524967638, + 10.80304132663074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9796635160201694, + 0.031945452094078064, + 0.19808798085873303, + 2.26210373625305 + ], + [ + -0.03130968831135495, + 0.9994896054267883, + -0.0063415610447071875, + -0.969821803047428 + ], + [ + -0.1981894658166649, + 1.0523013770580292e-05, + 0.9801637107200536, + 10.878981090897323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9792425963672222, + 0.03080902434885502, + 0.20033669582199484, + 2.273762617483679 + ], + [ + -0.030153939952620577, + 0.999525249004364, + -0.006321239137922965, + -0.9841151519367217 + ], + [ + -0.20043633585007845, + 0.00014908600132912397, + 0.9797066902182116, + 10.94842839432684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9788623924427294, + 0.027714751660823822, + 0.20263342716531352, + 2.2847824316901826 + ], + [ + -0.027022152310403662, + 0.9996157288551331, + -0.006184235140566556, + -0.999390632194289 + ], + [ + -0.2027269469412863, + 0.0005779239581897855, + 0.9792351142489687, + 11.020336785905913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9784186396781221, + 0.02802574262022972, + 0.20472311050523948, + 2.297762277816705 + ], + [ + -0.027248192929961366, + 0.9996067881584167, + -0.006616655882773842, + -1.014329678728825 + ], + [ + -0.20482804954172437, + 0.0008955248049460351, + 0.9787975890837716, + 11.082630253256351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9779532437721298, + 0.02918260172009468, + 0.20677495549276564, + 2.30840267044657 + ], + [ + -0.028428428537084736, + 0.9995739459991455, + -0.006618276324399325, + -1.0280401861315611 + ], + [ + -0.2068799835343238, + 0.000594077748246491, + 0.9783661254434437, + 11.14340318600582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9777618626996704, + 0.02679811418056488, + 0.2079991827521838, + 2.3245222982182847 + ], + [ + -0.026738075264903103, + 0.9996376633644104, + -0.0031006536197567625, + -1.0397805860361133 + ], + [ + -0.208006902644286, + -0.002529796911403537, + 0.9781240788810643, + 11.21319710071681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9775007671107059, + 0.027110565453767776, + 0.20918246245545377, + 2.339709030754861 + ], + [ + -0.028646377236818704, + 0.9995803236961365, + 0.004315215918578864, + -1.0482930223667855 + ], + [ + -0.20897768174731002, + -0.010210447013378143, + 0.9778671207384528, + 11.29054858452323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9772282609631594, + 0.027378644794225693, + 0.21041707896724435, + 2.3559676272354997 + ], + [ + -0.029377469610049965, + 0.9995480179786682, + 0.006378875986667452, + -1.0555810049089442 + ], + [ + -0.21014733979043015, + -0.012415139004588127, + 0.9775909251127685, + 11.373061373205655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9768760157413283, + 0.028748463839292526, + 0.21186508900010204, + 2.367555743648824 + ], + [ + -0.030969383948537245, + 0.9994946122169495, + 0.007171135578357825, + -1.0633097048518576 + ], + [ + -0.21155185334382196, + -0.013566642068326473, + 0.9772726153641121, + 11.443559384315005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9766045639996824, + 0.02769232168793679, + 0.21325260705632643, + 2.383024010250829 + ], + [ + -0.030033690549942912, + 0.9995188713073733, + 0.0077468795113607315, + -1.0659154585070862 + ], + [ + -0.21293546669962968, + -0.013970400206744674, + 0.9769663575414637, + 11.5214080010126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9763315561054848, + 0.0248889047652483, + 0.21484244351212495, + 2.397819595303806 + ], + [ + -0.027397895611341594, + 0.9995867013931274, + 0.00870783526617723, + -1.0698585381532963 + ], + [ + -0.21453690970946307, + -0.014387964271008968, + 0.9766098893032322, + 11.595166931372034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.976074224635461, + 0.024493755772709846, + 0.21605368059797816, + 2.416669311362347 + ], + [ + -0.027002450788281566, + 0.9995977878570557, + 0.008666788606095235, + -1.0732827142955361 + ], + [ + -0.21575450265387114, + -0.014293408021330833, + 0.976343048082642, + 11.675372962779294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9758311839773621, + 0.02384980022907257, + 0.2172203566929917, + 2.4338531243428503 + ], + [ + -0.025996063203643307, + 0.9996373653411865, + 0.007027964880809785, + -1.074024397120351 + ], + [ + -0.2169739716014351, + -0.012504981830716133, + 0.9760973122615572, + 11.756252577660725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9755577844195136, + 0.024090297520160675, + 0.21841864194678415, + 2.4509255040967384 + ], + [ + -0.025934258456155053, + 0.9996480941772461, + 0.005578957852032017, + -1.077129292784996 + ], + [ + -0.21820736973628957, + -0.011107120662927628, + 0.9758391950509023, + 11.833888662261106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9753950066172442, + 0.0220362339168787, + 0.21936030035076742, + 2.466650235912111 + ], + [ + -0.02377392774828918, + 0.9997034072875977, + 0.005284787513613924, + -1.084418087776584 + ], + [ + -0.21917878891432288, + -0.010369811207056046, + 0.975629629317009, + 11.91182375492741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9753729390991116, + 0.017691023647785187, + 0.21985156024333993, + 2.483139487466385 + ], + [ + -0.019347116889120313, + 0.9997983574867249, + 0.005381809774686771, + -1.093022329377985 + ], + [ + -0.21971201640541924, + -0.009502765722572803, + 0.9755185046008028, + 11.987934499214136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9753388269371878, + 0.018255801871418956, + 0.21995668157398376, + 2.4989067885013037 + ], + [ + -0.019449308154305116, + 0.9998055100440981, + 0.0032616044927428088, + -1.1046982400772334 + ], + [ + -0.2198543544359857, + -0.0074591748416423815, + 0.9755041624304951, + 12.062948038069369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9754073190802023, + 0.019376160576939583, + 0.21955670448925557, + 2.5149652481218925 + ], + [ + -0.020289783552095812, + 0.9997923374176025, + 0.0019068757492044142, + -1.119233023195482 + ], + [ + -0.21947415973326495, + -0.006314738187938929, + 0.9755978871780178, + 12.130077669280906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9756299974225895, + 0.01945505291223526, + 0.2185580235624574, + 2.52972819871548 + ], + [ + -0.020093949180254114, + 0.9997978210449219, + 0.0007006796151758589, + -1.1319728578592918 + ], + [ + -0.2185002092322443, + -0.00507529778406024, + 0.975823704471892, + 12.200143479256884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.975900343951054, + 0.0152274826541543, + 0.2176848210881942, + 2.5448225261555812 + ], + [ + -0.015176956933368391, + 0.9998829960823059, + -0.0019041440967949039, + -1.1457009033329995 + ], + [ + -0.21768835010110954, + -0.001445538247935474, + 0.976017284786996, + 12.263222484188534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.976123615404461, + 0.014685378409922126, + 0.21671870901331222, + 2.5570798057749355 + ], + [ + -0.014333511949683884, + 0.9998921751976015, + -0.0031954524184302775, + -1.160545035770651 + ], + [ + -0.2167422729624747, + 1.2816395610570911e-05, + 0.9762288823073296, + 12.323797034600226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9763477791437806, + 0.015482153743505478, + 0.21565093537732521, + 2.565747618870548 + ], + [ + -0.015042152420393187, + 0.9998800754547119, + -0.003681532913444467, + -1.1735867407918843 + ], + [ + -0.21568207651699314, + 0.0003506022912915796, + 0.9764635928442856, + 12.383020544320855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9768858411963651, + 0.013493288308382038, + 0.21333537383511914, + 2.5793855927484493 + ], + [ + -0.013047508768340228, + 0.9999087452888491, + -0.0034974565362137556, + -1.1847966759977309 + ], + [ + -0.2133631084742174, + 0.0006331206532195212, + 0.9769727943478909, + 12.447255756715734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9777651242063146, + 0.013798602856695652, + 0.20924868112820214, + 2.5901430734046245 + ], + [ + -0.013353881889451106, + 0.9999045729637146, + -0.0035380252534774484, + -1.1948468778758172 + ], + [ + -0.2092775228339765, + 0.0006650754949077964, + 0.9778560382288773, + 12.50065625152505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9781253993533308, + 0.014912912622094158, + 0.20748086976293983, + 2.6002652498875665 + ], + [ + -0.014499161126139797, + 0.9998887181282046, + -0.0035148046265772183, + -1.2018222875493338 + ], + [ + -0.20751018866393517, + 0.0004296211409382523, + 0.9782327328689435, + 12.564699414800652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9784336743937498, + 0.014911137521266937, + 0.20602240554230125, + 2.609504665173131 + ], + [ + -0.014571863803140642, + 0.9998888373374939, + -0.003164106142453924, + -1.206372647003093 + ], + [ + -0.20604668262808754, + 9.373758075525984e-05, + 0.9785421850418781, + 12.627047470012622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9787715487326137, + 0.011821954511106014, + 0.20461301874126603, + 2.619969814179521 + ], + [ + -0.011606465414686138, + 0.9999300837516785, + -0.0022532754922756373, + -1.209318717471588 + ], + [ + -0.20462534962885542, + -0.0001693919621175155, + 0.9788403232985122, + 12.693552558312263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9790984000342497, + 0.011597241275012493, + 0.2030563415444209, + 2.630837274336658 + ], + [ + -0.011431730711274497, + 0.9999327063560486, + -0.0019879751458434054, + -1.212010586758089 + ], + [ + -0.20306572081447496, + -0.000374862109310925, + 0.9791650356131744, + 12.761243178441209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9793469715096297, + 0.013234812766313553, + 0.20175310491323192, + 2.6400792406814877 + ], + [ + -0.013072305976867073, + 0.9999122619628906, + -0.0021378991449266444, + -1.2152354402014771 + ], + [ + -0.20176370781792546, + -0.0005436332430690527, + 0.9794341033670301, + 12.83068138303866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9795177742179793, + 0.014436908997595314, + 0.2008395963784253, + 2.647113657342058 + ], + [ + -0.014237194989838695, + 0.9998956918716433, + -0.0024388520023265964, + -1.218463552751666 + ], + [ + -0.20085384413284066, + -0.00047049360000528406, + 0.9796210824249458, + 12.904950094166166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.97973972800941, + 0.01032046414911747, + 0.20000882641868764, + 2.6544201445519633 + ], + [ + -0.01018058569971225, + 0.9999467134475708, + -0.001727868768744244, + -1.2266661387031343 + ], + [ + -0.20001600181824905, + -0.0003433453384786844, + 0.9797925927032708, + 12.97489390742537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9800350448313634, + 0.005509700160473586, + 0.1987485185225166, + 2.6656977467111944 + ], + [ + -0.005269248030671756, + 0.9999846220016482, + -0.001738719109755935, + -1.2318304926866408 + ], + [ + -0.19875503538874537, + 0.0006567504606209696, + 0.9800489745972951, + 13.050684186030752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9802899625717517, + 0.0060647837817668915, + 0.197471054857189, + 2.6761334744832928 + ], + [ + -0.005561526791003874, + 0.9999797344207764, + -0.0031029957949992243, + -1.2433382850200034 + ], + [ + -0.19748586811864285, + 0.0019435950089246035, + 0.980303805910185, + 13.127233501787837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9804162917785987, + 0.00871394295245409, + 0.1967434700715292, + 2.6819855300497664 + ], + [ + -0.0072591256196986335, + 0.9999407529830933, + -0.008114436637741538, + -1.252826571641657 + ], + [ + -0.19680251276350055, + 0.006527340039610863, + 0.9804214124458152, + 13.199321387836331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9806338125908817, + 0.008813763968646526, + 0.19565169413813396, + 2.691235729624452 + ], + [ + -0.006620784515205703, + 0.9999077320098877, + -0.011859776202489231, + -1.2620775933631505 + ], + [ + -0.19573817676505118, + 0.01033473014831543, + 0.9806017167588099, + 13.265358883314414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9808023378307107, + 0.005617652088403702, + 0.1949237102712297, + 2.699089682067151 + ], + [ + -0.0032307966711987777, + 0.9999158978462219, + -0.01256084828255718, + -1.2724852443919292 + ], + [ + -0.19497787588579055, + 0.011689950712025166, + 0.9807379810077775, + 13.329971658766665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9810475566195506, + 0.0037787393666803837, + 0.1937301227611003, + 2.709694126868522 + ], + [ + -0.0012741254608559498, + 0.9999139904975891, + -0.013051334735748245, + -1.2836857578149556 + ], + [ + -0.19376278285173015, + 0.012557143345475197, + 0.9809680155031102, + 13.39537295569512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.981191516587686, + 0.0046174339950084695, + 0.19298161752886303, + 2.714870146446278 + ], + [ + -0.0020291909751307996, + 0.9999053478240969, + -0.013607367834534059, + -1.29700303428506 + ], + [ + -0.1930261859370722, + 0.012959836982190612, + 0.9811080222527818, + 13.460341904190015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9812551397784482, + 0.005959848873317242, + 0.1926208232427289, + 2.7241020863828544 + ], + [ + -0.003230195991488235, + 0.9998899102210999, + -0.014482059431109513, + -1.3055714936254492 + ], + [ + -0.19268593747700877, + 0.013588392175734043, + 0.9811664089569118, + 13.524756952463198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9813097183534161, + 0.008704312145709991, + 0.19223795930175738, + 2.7303068337194576 + ], + [ + -0.005925611743710385, + 0.9998695850372314, + -0.01502469240663345, + -1.315261652967698 + ], + [ + -0.19234366703997305, + 0.01360474992543459, + 0.9812333077110632, + 13.581260746633507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9815675956525107, + 0.008538779802620411, + 0.1909244139657501, + 2.737674492118423 + ], + [ + -0.005816760381534708, + 0.9998733401298523, + -0.014812955137788625, + -1.32547421807113 + ], + [ + -0.1910267147686736, + 0.013429354876279831, + 0.9814929396146322, + 13.64790718809096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9819010341830257, + 0.007265427149832249, + 0.18925546803243432, + 2.7473902526114022 + ], + [ + -0.004629794087201144, + 0.9998860955238342, + -0.014364710164152347, + -1.3341706603037942 + ], + [ + -0.18933827587302002, + 0.01322850864380598, + 0.9818228224999328, + 13.70584712426083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9822399658547136, + 0.007889007218182087, + 0.18746322311278732, + 2.7566767328779904 + ], + [ + -0.005276767307014663, + 0.9998819828033447, + -0.014429624873746414, + -1.3394096264297595 + ], + [ + -0.18755492903150775, + 0.013184153474867344, + 0.9821656519674652, + 13.770214634545871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.982604318725217, + 0.00785592943429947, + 0.18554519785853404, + 2.7660879313180304 + ], + [ + -0.005252652595548383, + 0.9998807907104494, + -0.014517827925068538, + -1.3443804794421579 + ], + [ + -0.18563713732906603, + 0.013290675356984142, + 0.982528479317299, + 13.832590205891771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9830201744129136, + 0.007413392886519432, + 0.18334779664944437, + 2.7765648693086336 + ], + [ + -0.0048079497983861815, + 0.9998810887336731, + -0.014650843323147863, + -1.3474284584108525 + ], + [ + -0.18343460916721788, + 0.013520547188818455, + 0.982938935448985, + 13.899461254749767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9837271928540761, + 0.0076405387371778506, + 0.1795060445552067, + 2.7867133621478075 + ], + [ + -0.005068546547161173, + 0.9998778700828554, + -0.014782445301078662, + -1.3509233040846795 + ], + [ + -0.17959706946056403, + 0.013632059097290043, + 0.9836457980914539, + 13.966263774904393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9845311774899934, + 0.01128571666777134, + 0.17484576198324986, + 2.796965268955157 + ], + [ + -0.008670879959730265, + 0.9998389482498169, + -0.01571183122173248, + -1.3534747993746274 + ], + [ + -0.17499491162196268, + 0.01395271997898817, + 0.9844704444026438, + 14.029550777372208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9849405288375551, + 0.011906800791621208, + 0.172483069750701, + 2.8084393623208452 + ], + [ + -0.009240550526721965, + 0.9998252391815186, + -0.016252763051591453, + -1.355338743900544 + ], + [ + -0.17264643721475206, + 0.0144141661003232, + 0.9848783890967476, + 14.094002808379702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9854101421365387, + 0.010725514031946659, + 0.16985804789970918, + 2.8210818289708928 + ], + [ + -0.008063102798202824, + 0.9998337030410767, + -0.01635640617762727, + -1.3587181615621007 + ], + [ + -0.170005238366858, + 0.014748185873031616, + 0.9853327724305982, + 14.159528141517972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9860591004233388, + 0.010342747904360294, + 0.16607357191148236, + 2.833674033740412 + ], + [ + -0.007640423435201936, + 0.9998279213905334, + -0.016902499009296707, + -1.366389976173402 + ], + [ + -0.1662198161441541, + 0.015397991053760052, + 0.9859684784222399, + 14.214204795529552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9863612251691685, + 0.013936588540673256, + 0.16400388279939118, + 2.846425506768264 + ], + [ + -0.011058349198266924, + 0.9997686147689819, + -0.018449791394441393, + -1.3725635172427457 + ], + [ + -0.16422306963789396, + 0.01638454757630825, + 0.9862871506679745, + 14.271907993876672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9866508338881126, + 0.016866324469447136, + 0.16197435446477143, + 2.859505628542572 + ], + [ + -0.01375528795436594, + 0.9996991157531738, + -0.02030927974471853, + -1.3765661767053383 + ], + [ + -0.16226816372262776, + 0.017810164019465446, + 0.9865859582927636, + 14.329687642737492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9869584892205473, + 0.01450992934405804, + 0.1603197290189955, + 2.874929852224967 + ], + [ + -0.011285803361437021, + 0.9997156858444216, + -0.021002931962621985, + -1.3844885709205792 + ], + [ + -0.16057889406677905, + 0.018919683992862705, + 0.9868416488235882, + 14.381958172321644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9870289755350729, + 0.014798960648477077, + 0.15985884698245972, + 2.8903162097719335 + ], + [ + -0.011317001958948454, + 0.9996789693832397, + -0.02267000145004236, + -1.388902260474405 + ], + [ + -0.16014300551268162, + 0.020566824823617935, + 0.9868795389312411, + 14.437275013459017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9870839678736864, + 0.013784256763756279, + 0.15960961199306145, + 2.902038743284659 + ], + [ + -0.010115787876796406, + 0.9996661543846133, + -0.023773779330435167, + -1.3939673568597417 + ], + [ + -0.15988403643672908, + 0.021852139383554462, + 0.9868938799911371, + 14.487484972882465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9871218808618129, + 0.015808049589395523, + 0.15918717784472527, + 2.915851656313379 + ], + [ + -0.012100802453715203, + 0.9996331334114075, + -0.02423111209921335, + -1.400897995093681 + ], + [ + -0.15951180870463808, + 0.021992767229676247, + 0.986950987841939, + 14.543139272363211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9871735536985606, + 0.01723587326705456, + 0.15871765709043748, + 2.930359108427786 + ], + [ + -0.013459820269804733, + 0.999600946903229, + -0.02483540495019527, + -1.408582740855128 + ], + [ + -0.15908237277938528, + 0.022380542010068897, + 0.987011596966795, + 14.603783165095093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9872201199228572, + 0.020695731043815613, + 0.15801304463337354, + 2.944468381325224 + ], + [ + -0.016869458524729417, + 0.9995320439338684, + -0.02551799831162985, + -1.4148627655030366 + ], + [ + -0.15846722196130886, + 0.022526288405060768, + 0.9871072713905948, + 14.6600883226834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9872156747771117, + 0.022289618849754337, + 0.15782404509269304, + 2.958221016946643 + ], + [ + -0.018572592705365643, + 0.999515235424042, + -0.02498768481204887, + -1.4216283808225612 + ], + [ + -0.15830448810515046, + 0.021737033501267437, + 0.9871510345870843, + 14.722452117407586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9870822584915238, + 0.024336202070116997, + 0.1583552167837363, + 2.9693585982428363 + ], + [ + -0.02056935195561912, + 0.9994661808013916, + -0.025383230483114947, + -1.4249432752579876 + ], + [ + -0.15888841127854803, + 0.02179807238280773, + 0.987055879470574, + 14.787320905881646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9870076095256975, + 0.021567951887845993, + 0.1592194659343564, + 2.98408248208354 + ], + [ + -0.017658331106276678, + 0.9995077848434448, + -0.025929177929191537, + -1.4235760563850612 + ], + [ + -0.15970033747893927, + 0.02278074435889721, + 0.9869026511305831, + 14.853372852059145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9868747046010196, + 0.016080839559435848, + 0.1606850592681826, + 2.99836860301031 + ], + [ + -0.012019169064620692, + 0.9995840191841128, + -0.026217339752312593, + -1.4217775457626054 + ], + [ + -0.16103981361581213, + 0.02394192852079869, + 0.9866574589814243, + 14.91582869818639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9859653339170864, + 0.011159533634781837, + 0.16657668650282717, + 3.0129696088595437 + ], + [ + -0.006770008732881576, + 0.9996153116226196, + -0.02689600113673624, + -1.4213701358933595 + ], + [ + -0.16681275156832195, + 0.025390800088644028, + 0.9856615878028244, + 14.987887087530988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9851065967964685, + 0.009589234367012978, + 0.1716770634013239, + 3.0286018173420746 + ], + [ + -0.004731769820763228, + 0.9995774030685425, + -0.028681083491605957, + -1.4212131404937103 + ], + [ + -0.17187954827882773, + 0.027441587299108505, + 0.9847356883436365, + 15.065666573812292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9840812049250115, + 0.007481221575289965, + 0.17756171123103812, + 3.044738227982456 + ], + [ + -0.0019985372868973595, + 0.9995162487030029, + -0.031036418538494776, + -1.4212982953227997 + ], + [ + -0.17770800424683822, + 0.030187491327524185, + 0.9836201139745631, + 15.138588432562507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9829010654447042, + 0.0036813057959079742, + 0.1840975313944812, + 3.0596148856806424 + ], + [ + 0.0025704954731214456, + 0.999428391456604, + -0.033709003476689085, + -1.4228499807357977 + ], + [ + -0.18411639317012304, + 0.03360584005713463, + 0.9823297702204328, + 15.224657433987757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9824903401822248, + -0.008422035723924639, + 0.18612296616830068, + 3.0785185678673996 + ], + [ + 0.015934100730186355, + 0.9991160035133364, + -0.03890175008427607, + -1.4289579245799964 + ], + [ + -0.18563080647170668, + 0.04118629544973374, + 0.9817560410802718, + 15.302035100587936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9816618473303763, + -0.01077234372496605, + 0.19032591912144017, + 3.0959571301831748 + ], + [ + 0.019859405895246804, + 0.9987485408782959, + -0.04590209153677317, + -1.434727523692915 + ], + [ + -0.18959326047326902, + 0.04884009063243866, + 0.9806472707883649, + 15.371101483260896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9797783727059401, + -0.010851614177227022, + 0.19979128354426684, + 3.1118024298865032 + ], + [ + 0.021623898985207703, + 0.9984225630760195, + -0.05181472623887341, + -1.4360313602904167 + ], + [ + -0.19891385755071492, + 0.05508721247315408, + 0.9784675035915888, + 15.451723525477622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9782579150216443, + -0.014159349724650383, + 0.20690806903600126, + 3.1254042967592026 + ], + [ + 0.025843044441311122, + 0.9982132315635681, + -0.0538747113359853, + -1.4390225005157602 + ], + [ + -0.20577553637826945, + 0.058050498366355896, + 0.9768759034087792, + 15.520388265242524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9759808520541238, + -0.01741844043135643, + 0.21715879989748302, + 3.1408985763866504 + ], + [ + 0.029892439148123683, + 0.9980776906013489, + -0.05428972895467133, + -1.4421093777956429 + ], + [ + -0.21579571656257593, + 0.05947714298963547, + 0.9746254077354248, + 15.586275481830844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9738037331278282, + -0.01681203953921795, + 0.2267677631782946, + 3.1526912920585723 + ], + [ + 0.02978835366224278, + 0.9981006979942322, + -0.0539225762758415, + -1.4479834549072241 + ], + [ + -0.22543051319825708, + 0.05926504358649254, + 0.9724549833093076, + 15.643742670696561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9728937260820958, + -0.016801370307803154, + 0.23064145996900196, + 3.1612863574310968 + ], + [ + 0.02741484267653755, + 0.9987035989761353, + -0.04288969096761473, + -1.4575147296179471 + ], + [ + -0.22962185958482934, + 0.048050109297037125, + 0.972093109602766, + 15.695320585963579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9720778114199876, + -0.015621746890246868, + 0.2341382512638428, + 3.172468622629977 + ], + [ + 0.024003299351150097, + 0.9991673827171326, + -0.03299048363204948, + -1.4629814170474886 + ], + [ + -0.2334279372233469, + 0.03768940642476082, + 0.9716434190846586, + 15.755582245728789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9712899331931437, + -0.008632457815110685, + 0.2377422487144059, + 3.1844969820396627 + ], + [ + 0.015719501756855797, + 0.9994862675666811, + -0.0279301253097387, + -1.4669361883372394 + ], + [ + -0.23737899789255895, + 0.030865440145134933, + 0.9709266132413683, + 15.811586660575978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9695600824926766, + -0.006021603476256132, + 0.244779386055282, + 3.198268520185142 + ], + [ + 0.012208666670041207, + 0.9996429681777954, + -0.023766636396673584, + -1.4678251308809298 + ], + [ + -0.24454889275118694, + 0.0260316114872694, + 0.9692874897684072, + 15.87667515408117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9671368776710181, + -0.00857536680996418, + 0.2541115901228353, + 3.212732866958349 + ], + [ + 0.014529878066013439, + 0.9996618628501892, + -0.021564990972180037, + -1.466262593131383 + ], + [ + -0.25384073477837693, + 0.02454850822687149, + 0.9669344402436167, + 15.94463183722228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9649054513676664, + -0.011653522029519081, + 0.2623388437374532, + 3.2272443313437833 + ], + [ + 0.017461701300486836, + 0.9996510744094849, + -0.019819539231849644, + -1.4647704413188156 + ], + [ + -0.26201633360934024, + 0.023704862222075462, + 0.9647722376103416, + 16.010261380252462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9637002025435402, + -0.012844599783420563, + 0.2666776110457237, + 3.2421693486533116 + ], + [ + 0.01840754416333504, + 0.9996618032455444, + -0.01837086490531734, + -1.4629043797833756 + ], + [ + -0.2663514465271708, + 0.022612884640693665, + 0.9636106888737062, + 16.076192195481266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.962579252543177, + -0.011573554016649723, + 0.2707531576262555, + 3.2568108026651896 + ], + [ + 0.01651196366866707, + 0.9997361302375793, + -0.015968689488343908, + -1.4592942280898764 + ], + [ + -0.27049689982053016, + 0.019841793924570084, + 0.9625163567178147, + 16.142664383638632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/orbit_right/transforms.json b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0df9a28fdc929b3993796d7c3bc1aa799174b7f8 --- /dev/null +++ b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/orbit_right/transforms.json @@ -0,0 +1,7643 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 218, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.994916424853727e-05, + 7.358914444921538e-06, + -1.139659889304312e-05 + ], + [ + 8.994904783321545e-05, + 1.0, + 1.6600621165707707e-05, + -0.0004049866693094373 + ], + [ + -7.360407835221849e-06, + -1.6599959053564817e-05, + 1.0, + -0.0004114329640287906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999560099283938, + 0.003363250056281686, + -0.008756558940884424, + 0.014108472240114479 + ], + [ + -0.003386010886024852, + 0.9999909400939941, + -0.0025857435389818775, + -0.004593803555071649 + ], + [ + 0.008747783105172274, + 0.0026152797508984804, + 0.9999583450988334, + 0.08996160300254591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998350545349206, + 0.00724476855248213, + -0.01665338431181478, + 0.027854425608974765 + ], + [ + -0.007376228260077427, + 0.9999420046806338, + -0.007846040647894723, + -0.008831316765630608 + ], + [ + 0.01659557538314427, + 0.00796758569777012, + 0.9998305448463891, + 0.18298997080872587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996364459393348, + 0.01079605147242546, + -0.024707065892985162, + 0.0436116689729324 + ], + [ + -0.011043245475722694, + 0.9998900890350342, + -0.009890517136213407, + -0.015231400972836751 + ], + [ + 0.024597571709712284, + 0.010159767232835293, + 0.9996457829937172, + 0.2760262512408525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999395010607194, + 0.011955601163208485, + -0.03266025846905935, + 0.05887644433468815 + ], + [ + -0.012320759400253213, + 0.9998635649681091, + -0.011002240556900212, + -0.023306413106533752 + ], + [ + 0.03252426593825539, + 0.011397983878850937, + 0.9994059786080035, + 0.3617669759443819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9990748663533722, + 0.014591444283723831, + -0.04045435369712908, + 0.07297377005358505 + ], + [ + -0.01504983531102102, + 0.9998257160186768, + -0.011049751730741632, + -0.03356042884180327 + ], + [ + 0.04028607014189856, + 0.011648359708487988, + 0.9991202877614267, + 0.43521857967730215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9987095215495466, + 0.013050142675638202, + -0.049081189420396104, + 0.09096562922221006 + ], + [ + -0.013592110801488793, + 0.9998500943183901, + -0.010724779327286724, + -0.04611825496609155 + ], + [ + 0.04893387210071691, + 0.011378055438399317, + 0.9987372319272527, + 0.5162682380913634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9978879064335548, + 0.012378714047372341, + -0.06376897874955917, + 0.11257458265230337 + ], + [ + -0.013014689489784192, + 0.9998695254325867, + -0.009567388156272833, + -0.05922770956154785 + ], + [ + 0.063642225416504, + 0.010377113707363605, + 0.9979188399007892, + 0.5841252574959451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9972767565396374, + 0.01698937825858593, + -0.0717664687162625, + 0.13286159025377453 + ], + [ + -0.017649810506734098, + 0.9998074173927307, + -0.008578376178038792, + -0.07251648938384642 + ], + [ + 0.07160690463913774, + 0.009821679443120956, + 0.9973845766663221, + 0.658942842412842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9966798508417289, + 0.021894611418247223, + -0.07842137418097873, + 0.15298850967552247 + ], + [ + -0.022597408983888224, + 0.9997119307518005, + -0.008085502163318969, + -0.08343066220595495 + ], + [ + 0.07822175086846542, + 0.0098307766020298, + 0.9968874877671834, + 0.7252906464391999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9961083908646711, + 0.02504757232964039, + -0.08450233835367249, + 0.17771024395439255 + ], + [ + -0.025798447781655163, + 0.999636709690094, + -0.007805447277877757, + -0.09264775210819665 + ], + [ + 0.08427612511449456, + 0.00995510071516037, + 0.9963927129788324, + 0.7876746934800335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9956670015053061, + 0.026912711560726166, + -0.08901077516751019, + 0.1982059702519538 + ], + [ + -0.02768255023879622, + 0.999589204788208, + -0.007425469821631648, + -0.09937241177694055 + ], + [ + 0.08877436577480173, + 0.009857339784502983, + 0.9960030007110091, + 0.8374748157487814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9960169099592899, + 0.02543886564671994, + -0.0854586106849802, + 0.2240827069504574 + ], + [ + -0.02602688650428078, + 0.9996445775032046, + -0.005773511720490491, + -0.0987063584001032 + ], + [ + 0.08528136217436774, + 0.007974736392498018, + 0.9963249820537161, + 0.9196540827290287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9962102953647307, + 0.02463543228805065, + -0.08341539711463845, + 0.2488377294033139 + ], + [ + -0.024720252478422834, + 0.9996944069862366, + 1.6005440410983215e-05, + -0.09908235793486704 + ], + [ + 0.08339029419967244, + 0.002046104520559311, + 0.9965148890224481, + 0.9999039358122801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9964281099507442, + 0.024281147867441177, + -0.08087947240109142, + 0.2791369762315915 + ], + [ + -0.024280296451565247, + 0.9997047185897827, + 0.0009941509393403445, + -0.09687359483360782 + ], + [ + 0.08087972065051406, + 0.0009731774334795773, + 0.9967233696786048, + 1.0798315460552264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.996956591327059, + 0.023658227175474167, + -0.07428185208026923, + 0.31032490335917806 + ], + [ + -0.02361886913040259, + 0.99972003698349, + 0.00140837529460149, + -0.09085215412895194 + ], + [ + 0.07429437395078252, + 0.0003503641637507826, + 0.9972363139485284, + 1.1755410162455309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9978495302209001, + 0.027929777279496193, + -0.059298308571453955, + 0.3392243758410211 + ], + [ + -0.02784309322616843, + 0.9996097087860107, + 0.002287729857725588, + -0.08266024465133755 + ], + [ + 0.05933906010005088, + -0.0006317618535831571, + 0.9982376766500618, + 1.2686012279621985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9985828835172857, + 0.028215009719133377, + -0.04512382438026857, + 0.370059864773905 + ], + [ + -0.028105025550079692, + 0.9996002316474915, + 0.003070111252757333, + -0.07680323397087181 + ], + [ + 0.045192409826478944, + -0.0017975543159991503, + 0.9989766789651494, + 1.3594697936996043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9990165746834295, + 0.02838749997317791, + -0.034059380654808805, + 0.39961493104203805 + ], + [ + -0.028282043710012778, + 0.9995936155319214, + 0.0035741271002574762, + -0.07238813190877351 + ], + [ + 0.03414699803940438, + -0.0026073434855788946, + 0.9994134015569823, + 1.447172853348301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9992927918239012, + 0.02919137477874756, + -0.023701939541247698, + 0.43036394647002046 + ], + [ + -0.02910180377962571, + 0.999567985534668, + 0.004115329798191913, + -0.07148755998451857 + ], + [ + 0.02381183183250019, + -0.0034226500429213047, + 0.9997105955421987, + 1.5344776356776746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993862357399143, + 0.030876172706484795, + -0.016547182540192905, + 0.46151778772652413 + ], + [ + -0.03080120248451283, + 0.9995141625404358, + 0.0047667258744257925, + -0.0729627859055353 + ], + [ + 0.016686322014502264, + -0.00425412692129612, + 0.9998517452041491, + 1.6259256800700013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9995342018841799, + 0.028547799214720733, + -0.010786768803519932, + 0.49114132284531403 + ], + [ + -0.0284903173342844, + 0.9995792508125307, + 0.005445509447993674, + -0.07853053889047305 + ], + [ + 0.01093768803048708, + -0.005135654937475921, + 0.999926994844529, + 1.7139709387201636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994536228330396, + 0.03297661989927292, + 0.00222428802332656, + 0.5214937976136288 + ], + [ + -0.03299064897029493, + 0.9994338750839233, + 0.006595962751040874, + -0.08868513969498566 + ], + [ + -0.002005514225299552, + -0.006665739696472883, + 0.9999757998963319, + 1.8018161636131402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9993746175489927, + 0.03424002230167389, + 0.008830254695912367, + 0.5495876134093995 + ], + [ + -0.03430992120635418, + 0.9993801116943359, + 0.007889457538582422, + -0.10181663385609281 + ], + [ + -0.008554642316378269, + -0.008187488652765751, + 0.9999299119667275, + 1.8846429439431769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994278159710194, + 0.03231532126665116, + 0.009987448450891938, + 0.5774603514469605 + ], + [ + -0.032424407079695974, + 0.9994140863418581, + 0.010960676117751518, + -0.11507893870518204 + ], + [ + -0.009627395831908692, + -0.011278240941464903, + 0.9998900719649455, + 1.9629518622661812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993701190066332, + 0.032844312489032745, + 0.013439467017108344, + 0.6062098199566943 + ], + [ + -0.03300875159696124, + 0.9993805885314941, + 0.01220251012748468, + -0.13047512303260012 + ], + [ + -0.01303035855660963, + -0.01263844408094883, + 0.9998352476054113, + 2.049017106325088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993126069829225, + 0.03340690210461617, + 0.016072574054386803, + 0.6312979190857292 + ], + [ + -0.033627405446357374, + 0.9993411898612978, + 0.013650330298912345, + -0.14610872943584596 + ], + [ + -0.01560597092536034, + -0.014181426726281646, + 0.999777661665257, + 2.1302528276614003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9992435603011148, + 0.03452364727854729, + 0.01789993933890686, + 0.6545274776860373 + ], + [ + -0.034792668477168144, + 0.9992828369140625, + 0.014941915789692057, + -0.1588409178531113 + ], + [ + -0.0173712555127787, + -0.015553398989140987, + 0.9997281124685258, + 2.206297422950658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9993259329800497, + 0.03187642246484757, + 0.018209094788325195, + 0.6792536588068929 + ], + [ + -0.03216977357845123, + 0.9993535280227663, + 0.016050954305422468, + -0.1706023074630076 + ], + [ + -0.01768567555134352, + -0.016625916585326198, + 0.9997053787512888, + 2.2858339954878684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9993556229741237, + 0.030853405594825745, + 0.018340487644063704, + 0.7033125343188551 + ], + [ + -0.03116538649611604, + 0.9993700981140137, + 0.016975269228704175, + -0.1778779959721493 + ], + [ + -0.017805185593875752, + -0.017535919323563576, + 0.9996876959175994, + 2.3730703261346955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999315472402297, + 0.03226960450410843, + 0.018091882893777188, + 0.7271263504862768 + ], + [ + -0.032589074161023183, + 0.9993129968643188, + 0.017650531861204497, + -0.1819605015855735 + ], + [ + -0.017509879607636655, + -0.018228046596050262, + 0.9996805318382178, + 2.475205026867775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9992779647795124, + 0.03378099948167801, + 0.017390647404525738, + 0.7501918211682437 + ], + [ + -0.03409958090627156, + 0.9992497563362122, + 0.018360688357129007, + -0.18365793247500006 + ], + [ + -0.016757354775042567, + -0.01894044317305088, + 0.9996802032635566, + 2.5742272026659787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9992892442959121, + 0.033801376819610596, + 0.016687802179280856, + 0.7712620842419745 + ], + [ + -0.03411142937973039, + 0.9992438554763794, + 0.018658303683304876, + -0.18960666944204194 + ], + [ + -0.016044503717030877, + -0.019214285537600517, + 0.9996866524542042, + 2.6602768221413164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9993107093438037, + 0.03320891782641411, + 0.01659264177368904, + 0.79070008852292 + ], + [ + -0.03351611892975277, + 0.999265193939209, + 0.01859259330076934, + -0.19214005458695635 + ], + [ + -0.015963012706387125, + -0.01913589797914028, + 0.9996894722493865, + 2.7484324620077496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9993569436121139, + 0.03211105614900589, + 0.01595482758266177, + 0.8126641870305021 + ], + [ + -0.03238917522927019, + 0.9993222951889038, + 0.01749015132863605, + -0.19556716058931092 + ], + [ + -0.015382389734613328, + -0.017995668575167656, + 0.9997197144475591, + 2.84909634465147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994288543971431, + 0.030271304771304137, + 0.015020142737847783, + 0.8345645503352828 + ], + [ + -0.030502340683886298, + 0.9994160532951357, + 0.015398765373337732, + -0.1983318112392415 + ], + [ + -0.014545230441640765, + -0.015848120674490932, + 0.9997685852875685, + 2.9480085976188803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.999424950707811, + 0.030807090923190117, + 0.014164470852391236, + 0.8548783479165012 + ], + [ + -0.031012914668188, + 0.9994130730628967, + 0.014548591033040563, + -0.20341005309696966 + ], + [ + -0.013707954260279681, + -0.014979506842792034, + 0.9997938611989827, + 3.0405829593163887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9994296885512199, + 0.031090604141354568, + 0.013179344445192875, + 0.8754954097818558 + ], + [ + -0.03127450310437077, + 0.9994130134582522, + 0.013985121736924372, + -0.2125451353819007 + ], + [ + -0.012736802748348347, + -0.014389323070645336, + 0.999815338388268, + 3.1283980427409457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.99942868323603, + 0.0313444547355175, + 0.012644496418401197, + 0.8956503540357171 + ], + [ + -0.0315029631391114, + 0.9994249939918518, + 0.012537504975247655, + -0.22169276897677 + ], + [ + -0.012244247014919676, + -0.012928680516779423, + 0.9998414770933607, + 3.219616382566182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994199334557768, + 0.03169609606266022, + 0.01245621715220861, + 0.9136295673570006 + ], + [ + -0.03185028802232646, + 0.999415934085846, + 0.012381603447553544, + -0.23470266763804007 + ], + [ + -0.01205649608568808, + -0.012771155685186386, + 0.9998457780201777, + 3.302295687114023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994957294466362, + 0.029204601421952248, + 0.01246694121780414, + 0.9309417439680353 + ], + [ + -0.029364028544831593, + 0.9994868040084839, + 0.012802543803908566, + -0.24905333990512507 + ], + [ + -0.01208665335999482, + -0.013162167742848396, + 0.9998403012520515, + 3.3853718967386346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995632703170674, + 0.02707119844853878, + 0.011849273073808219, + 0.9499492679788301 + ], + [ + -0.027235397502648823, + 0.9995321035385132, + 0.013922478090546208, + -0.26088134155202014 + ], + [ + -0.011466827437177295, + -0.014239117503166199, + 0.9998328788057195, + 3.4682915886991466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9996335864475284, + 0.02478756196796894, + 0.010877354691267233, + 0.9716263285450919 + ], + [ + -0.025038976418726353, + 0.9994074106216431, + 0.023620511724042458, + -0.2765353518703868 + ], + [ + -0.010285414453421623, + -0.023884214460849762, + 0.9996618155316072, + 3.5461715751255705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997683363699995, + 0.01910555362701416, + 0.009913884609341709, + 0.9941872750778677 + ], + [ + -0.01939173965371285, + 0.9993730187416077, + 0.029622449363069184, + -0.28901676036371016 + ], + [ + -0.009341714991197349, + -0.029807833954691887, + 0.9995120033808461, + 3.621772915693984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999829137271004, + 0.0160334799438715, + 0.009197991596923824, + 1.0152279519434249 + ], + [ + -0.016332313291093834, + 0.9993089437484743, + 0.03339026330628783, + -0.29950219503162495 + ], + [ + -0.008656267912741452, + -0.033534780144691474, + 0.9994000809302551, + 3.6953757891278536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9998377914208336, + 0.015876278281211856, + 0.008501707490592893, + 1.037150534921218 + ], + [ + -0.016163493622304966, + 0.9992617368698122, + 0.03485349237470764, + -0.3082073054923904 + ], + [ + -0.007942084882936845, + -0.03498525545001031, + 0.9993562825906209, + 3.7710296405031203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9998842457273146, + 0.012762999162077907, + 0.008282494392891287, + 1.0582737049380457 + ], + [ + -0.01305241929089499, + 0.9992706775665285, + 0.03588499763616786, + -0.31474750907492716 + ], + [ + -0.007818448318194494, + -0.035988949239254005, + 0.9993216151799155, + 3.8494304374062787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999199053167254, + 0.009629045613110065, + 0.008213231287769452, + 1.080710975645688 + ], + [ + -0.00992220304521566, + 0.9992868304252625, + 0.03643276243669161, + -0.3172309371862285 + ], + [ + -0.007856560435040584, + -0.03651133552193642, + 0.9993023548202911, + 3.9356656921239246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.999951035739251, + 0.006022755987942219, + 0.007849937734205607, + 1.1045326283892345 + ], + [ + -0.006307137691685256, + 0.9993056654930115, + 0.036720640542718744, + -0.3179113106882121 + ], + [ + -0.007623328835581832, + -0.0367683507502079, + 0.9992947589119399, + 4.026339155948943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999587560615198, + 0.005504261236637831, + 0.007226534096083421, + 1.1281143877463187 + ], + [ + -0.005763587261477717, + 0.9993218183517456, + 0.03636897743018693, + -0.3189452978366101 + ], + [ + -0.0070214489802800685, + -0.036409128457307816, + 0.9993123299666876, + 4.118878614626827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999527113371766, + 0.007086150348186493, + 0.006662738510299101, + 1.1498078768335618 + ], + [ + -0.007296729334306411, + 0.9994570016860962, + 0.03213131748424241, + -0.32187900523217977 + ], + [ + -0.006431431609938799, + -0.03217841312289238, + 0.9994614533524684, + 4.207660424067054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999633232211862, + 0.0061538144946098345, + 0.005961641260319043, + 1.1724684198376587 + ], + [ + -0.006312758565018477, + 0.9996149539947512, + 0.027019752653029853, + -0.32587716030287467 + ], + [ + -0.005793065985985256, + -0.0270563941448927, + 0.999617145523919, + 4.298006817773661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999591147331819, + 0.007275961805135013, + 0.005368719388458832, + 1.1907477836284361 + ], + [ + -0.007390230092115115, + 0.9997398257255556, + 0.021580387630955267, + -0.3341174737244585 + ], + [ + -0.005210299738588967, + -0.021619180217385296, + 0.9997526773527378, + 4.386635496758642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999828013982532, + 0.004223033320158721, + 0.004067471536617509, + 1.2133293096941116 + ], + [ + -0.004283490850581879, + 0.9998787641525271, + 0.014971599892891298, + -0.3430311535807317 + ], + [ + -0.004003749013609697, + -0.01498876512050629, + 0.9998796347072224, + 4.473992931938485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999990770337503, + 0.0032759809400886306, + 0.0027845390524425997, + 1.2337747554717002 + ], + [ + -0.0033039700559535407, + 0.9999434351921084, + 0.010107140512395953, + -0.35721396809507 + ], + [ + -0.002751264590323981, + -0.010116247460246088, + 0.9999450553324923, + 4.557354809748783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999799683107017, + 0.0062746466137468815, + 0.0008644514862854213, + 1.2524992574201095 + ], + [ + -0.00628244492918588, + 0.9999366998672485, + 0.009334528781471152, + -0.37399894500198727 + ], + [ + -0.0008058261923294974, + -0.0093397730961442, + 0.9999560609337539, + 4.63146161784478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999896721417427, + 0.004091172013431788, + -0.001983154617429722, + 1.2726145716242767 + ], + [ + -0.004074963559223821, + 0.9999588131904604, + 0.008109238613345008, + -0.3886447766448573 + ], + [ + 0.0020162495998458673, + -0.008101074025034906, + 0.9999651494296009, + 4.713034426174122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999698761797031, + 0.006092149298638105, + -0.004812661670769744, + 1.2918676346218918 + ], + [ + -0.006056259174188069, + 0.9999539852142334, + 0.007437060262076763, + -0.4067088750584436 + ], + [ + 0.004857737792159921, + -0.007407689467072487, + 0.9999607371767306, + 4.792017937043162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.999944688802674, + 0.006954638287425043, + -0.00789133350022834, + 1.3068902862161436 + ], + [ + -0.006902042446042518, + 0.9999539256095888, + 0.006672787451140558, + -0.4227336383873184 + ], + [ + 0.007937378535481248, + -0.006617952138185503, + 0.9999466001515409, + 4.869073585982561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999262072108337, + 0.004793141502887011, + -0.011163397760668459, + 1.32184069513763 + ], + [ + -0.004727270512076293, + 0.999971330165863, + 0.005919560741995294, + -0.4394999146146384 + ], + [ + 0.011191446626161483, + -0.0058663515374064445, + 0.9999201438949497, + 4.949317986837719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9998645851202302, + 0.004487055819481611, + -0.015834088786279715, + 1.3373918755694008 + ], + [ + -0.004400754486898108, + 0.999975323677063, + 0.005480984173125079, + -0.4528723645442479 + ], + [ + 0.015858289356629553, + -0.005410559941083193, + 0.9998596031472108, + 5.023825351189582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997277514650871, + 0.006125281564891338, + -0.02251360548095655, + 1.3522431702669886 + ], + [ + -0.006003680840212222, + 0.9999670386314392, + 0.005464829775104451, + -0.4652706121577779 + ], + [ + 0.02254634336517039, + -0.005328177474439144, + 0.9997316132886188, + 5.100747169012606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9995051155498278, + 0.005695189815014602, + -0.030937320801403382, + 1.36713519561216 + ], + [ + -0.005536838969604574, + 0.9999711513519289, + 0.0052017002573894345, + -0.4752169646985031 + ], + [ + 0.03096605580131397, + -0.005027830600738526, + 0.9995078036733608, + 5.173358071667666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9991361031078254, + 0.004107905086129904, + -0.04135356125247176, + 1.3832033927597576 + ], + [ + -0.003929828046492161, + 0.9999826550483704, + 0.0043865686681601275, + -0.4791263558802065 + ], + [ + 0.0413708697056237, + -0.004220266826450825, + 0.9991349643493153, + 5.254908370753712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9985757794198625, + 0.004541039932519198, + -0.05315832602920269, + 1.3971209192472294 + ], + [ + -0.004387763650698893, + 0.9999858736991885, + 0.002999742255302237, + -0.4804132080567029 + ], + [ + 0.05317119613422709, + -0.002762223826721311, + 0.9985815989394348, + 5.335694316843185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9980837113535611, + 0.004865977447479963, + -0.06168652799594676, + 1.4148200458767157 + ], + [ + -0.004838902959060282, + 0.9999881386756897, + 0.0005882920087627324, + -0.4857110046407118 + ], + [ + 0.06168865581347823, + -0.000288669514702633, + 0.9980953822495965, + 5.416544950412613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9977995466250688, + 0.006012647412717342, + -0.0660293647135611, + 1.429654153532242 + ], + [ + -0.0060573778114070415, + 0.9999815225601196, + -0.0004772456960659414, + -0.4866168747365447 + ], + [ + 0.06602527767193923, + 0.0008761603385210037, + 0.997817571801149, + 5.492402919160019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9975236644787795, + 0.004017787519842386, + -0.07021699545500511, + 1.4460009626824588 + ], + [ + -0.0041772865813494405, + 0.9999890327453613, + -0.0021248241811983202, + -0.48891300149157474 + ], + [ + 0.0702076872837125, + 0.0024128786753863096, + 0.9975295015119489, + 5.580630895726115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9972819960382936, + 0.004080417100340129, + -0.07356631963049548, + 1.4604448939397296 + ], + [ + -0.004446157584821173, + 0.9999785423278811, + -0.004808493479603188, + -0.4905651614855709 + ], + [ + 0.07354511787909772, + 0.005122511181980372, + 0.9972787156250515, + 5.665746869900525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9970750624671169, + 0.0035931861493736506, + -0.07634414107222233, + 1.4744640164520408 + ], + [ + -0.004052042678864791, + 0.9999746680259705, + -0.005856319399101235, + -0.4981628129489332 + ], + [ + 0.07632115944321297, + 0.006148539483547211, + 0.9970642999093311, + 5.751543072909161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9968903178623125, + 0.005309800617396832, + -0.07862288568014411, + 1.486762691129611 + ], + [ + -0.005884094616607538, + 0.9999576807022097, + -0.007074547781295597, + -0.5036789934382868 + ], + [ + 0.07858198847427086, + 0.007515172008424999, + 0.9968793040088977, + 5.840777445953056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9967137693189914, + 0.0082853389903903, + -0.08057896635074847, + 1.5005460396357009 + ], + [ + -0.008947911201290534, + 0.9999290108680725, + -0.007865033792068276, + -0.5156996228882321 + ], + [ + 0.08050808828129649, + 0.008560201153159142, + 0.9967172232203333, + 5.919537944089341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9965692158454578, + 0.0050339908339083195, + -0.08261003623355083, + 1.5148634301060422 + ], + [ + -0.0058269003296892614, + 0.9999392032623291, + -0.00935993953119442, + -0.5284422103794376 + ], + [ + 0.08255789708849717, + 0.009809187613427639, + 0.9965379778277578, + 5.998645112360428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9964902937572417, + -0.0007262037834152579, + -0.08370536743868282, + 1.5333414245415737 + ], + [ + -0.00020885130851034116, + 0.9999377131462097, + -0.011161492474630585, + -0.5392632208620648 + ], + [ + 0.08370825671872334, + 0.01113979984074831, + 0.9964280479655131, + 6.072388523265079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9964361772958605, + -0.0009611010900698602, + -0.08434440296880448, + 1.5522388091488473 + ], + [ + 4.0845985664099495e-06, + 0.9999356269836426, + -0.011345970618745396, + -0.5549350992413398 + ], + [ + 0.08434988155123462, + 0.011305190622806549, + 0.9963720737991159, + 6.128913009516394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9966051674890017, + -0.00015152880223467946, + -0.08232950963310598, + 1.5704215800851116 + ], + [ + -0.0007448721156722525, + 0.9999407529830933, + -0.010857142579376304, + -0.568256835054809 + ], + [ + 0.08232627802820933, + 0.010881608352065086, + 0.996546030163165, + 6.184165318854829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9970467522598023, + 0.0012780986726284027, + -0.07678638212922852, + 1.584458998084287 + ], + [ + -0.0017040413951523877, + 0.999983549118042, + -0.005481849527459302, + -0.5783924140526631 + ], + [ + 0.0767781086527419, + 0.005596507806330919, + 0.9970324891137521, + 6.252096590645416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9975710624918807, + 0.0003501180908642709, + -0.06965525451374399, + 1.599266258048603 + ], + [ + -0.00031409782940015733, + 0.9999998211860657, + 0.0005280740155340821, + -0.5849891069920822 + ], + [ + 0.06965542702756565, + -0.0005049127503298223, + 0.9975709865569209, + 6.322979701519821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9979216357062233, + -0.0010255733504891396, + -0.06443140610400405, + 1.615377705742153 + ], + [ + 0.0013326449888523605, + 0.9999879598617554, + 0.004723073849607333, + -0.5891315891434531 + ], + [ + 0.0644257858124807, + -0.004799121990799904, + 0.997910970556624, + 6.398512719105042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9981796623370737, + -0.0030100608710199603, + -0.06023530191462734, + 1.633354956675012 + ], + [ + 0.003466383590969113, + 0.999966084957123, + 0.007472611378226416, + -0.5929910845802602 + ], + [ + 0.060210768284091915, + -0.007667807862162592, + 0.9981562608805291, + 6.4716080395901665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9984390426056213, + -0.0028561884537339215, + -0.055779349117054705, + 1.6508258838438354 + ], + [ + 0.003369061152910815, + 0.9999529123306277, + 0.00910279830106214, + -0.5941715300707127 + ], + [ + 0.0557507258575502, + -0.00927651394158602, + 0.9984016320914112, + 6.551592745558191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9986311587369148, + -0.0010832861298695207, + -0.052294180199573506, + 1.6676091419662495 + ], + [ + 0.0016267745865024992, + 0.9999451041221619, + 0.010351458965762209, + -0.5945679312235447 + ], + [ + 0.05228009231980515, + -0.010422359220683575, + 0.9985780994780987, + 6.631518743181227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9987407088676772, + 0.00044688204070553184, + -0.05016807015189226, + 1.6845695458782668 + ], + [ + 0.00011681641294300535, + 0.9999368786811829, + 0.01123270436346011, + -0.5961630057862191 + ], + [ + 0.05016992573925436, + -0.011224419809877872, + 0.9986776323083406, + 6.7142199757491055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9988341650228643, + 0.0009071117965504529, + -0.04826443758010814, + 1.7021579368981536 + ], + [ + -0.0003642459336911482, + 0.9999365806579592, + 0.011255345979014276, + -0.5970739081663804 + ], + [ + 0.048271590504391344, + -0.011224644258618357, + 0.9987712053466625, + 6.793612195675211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9989758800897429, + 0.0011249363888055086, + -0.04523193607419267, + 1.7200908554624579 + ], + [ + -0.0006172897075870238, + 0.9999366998672485, + 0.011235595210228815, + -0.6023928002716838 + ], + [ + 0.045241716782583596, + -0.011196168139576912, + 0.9989133558299457, + 6.873811644684124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.999060656499435, + 0.0011838267091661694, + -0.0433181492723955, + 1.7380578728568872 + ], + [ + -0.0008679151875473244, + 0.9999728798866274, + 0.007310901925113734, + -0.6078492294956428 + ], + [ + 0.043325631704090754, + -0.0072664381004869955, + 0.999034600489905, + 6.950202190983023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9991048790101302, + -0.001040152390487492, + -0.04228921759665527, + 1.7555224616656437 + ], + [ + 0.0011085135795729703, + 0.9999980926513672, + 0.0015930970692877653, + -0.6138702963368114 + ], + [ + 0.04228747986510978, + -0.0016385491471737623, + 0.9991041610538427, + 7.024566788473711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9991271967226826, + -0.0028898746240884066, + -0.04167074136462907, + 1.7782443187235917 + ], + [ + 0.002704273274050935, + 0.9999861717224121, + -0.004509675007991119, + -0.622348514836363 + ], + [ + 0.0416831914013529, + 0.004393049515783787, + 0.9991212102438924, + 7.112199153656377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9991255622950688, + 0.00036082198494113987, + -0.041809332082957576, + 1.7956247586233511 + ], + [ + -0.0005906952986872732, + 0.9999848008155825, + -0.00548591073175865, + -0.635366188079071 + ], + [ + 0.04180671387961992, + 0.005505810026079417, + 0.9991105560646126, + 7.176349780035566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9991004334245834, + 0.0004777564899995924, + -0.04240437180381542, + 1.8165071841872882 + ], + [ + -0.0007730392254890608, + 0.9999755620956423, + -0.006947373196845058, + -0.6472037903184036 + ], + [ + 0.04240001102586657, + 0.006973904091864826, + 0.9990763839576109, + 7.255518803778835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9991029741864882, + 0.000297151185804978, + -0.04234533500876041, + 1.831275148413243 + ], + [ + -0.0007023064789448989, + 0.999954104423523, + -0.009553326877980765, + -0.6585776621748142 + ], + [ + 0.04234056046887439, + 0.009574496187269688, + 0.9990573871531538, + 7.324107202093295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9991013252023575, + -0.0017033083131536841, + -0.042351917185639736, + 1.8452415594313398 + ], + [ + 0.001257845438658272, + 0.9999436140060425, + -0.010542547079041897, + -0.6715343033010673 + ], + [ + 0.04236748690252726, + 0.010479799471795559, + 0.9990471389905304, + 7.394979879500963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.999066200478776, + -0.006033037789165975, + -0.04278267727872267, + 1.8593554653233548 + ], + [ + 0.0055621318162804015, + 0.9999227523803713, + -0.011117427923105497, + -0.6820513568594571 + ], + [ + 0.04284643950984874, + 0.01086908392608166, + 0.9990225701161012, + 7.460317848662784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9990125916818279, + -0.008385879918932915, + -0.043629224169654375, + 1.8752861943730452 + ], + [ + 0.007962991543200184, + 0.9999197125434875, + -0.009857557032805898, + -0.6921547554634138 + ], + [ + 0.0437083878155536, + 0.009500404819846153, + 0.9989991734462815, + 7.530607861199187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9989471758357704, + -0.007452929392457008, + -0.04526525238450404, + 1.8914094902961698 + ], + [ + 0.0072500430038864696, + 0.9999629259109497, + -0.004644695086814121, + -0.7004539600705472 + ], + [ + 0.04529818902282893, + 0.0043116300366818905, + 0.9989641810602229, + 7.603342526662256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.998854386538354, + -0.00607489049434662, + -0.04746547030042261, + 1.9062585515581951 + ], + [ + 0.005907076428735773, + 0.9999758005142214, + -0.003674960704738552, + -0.7057095209812664 + ], + [ + 0.0474866490850373, + 0.003390368539839984, + 0.9988661080922875, + 7.676828770547754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9987682984019888, + -0.005066234618425369, + -0.04935764753062055, + 1.9188038504382257 + ], + [ + 0.004911905182736025, + 0.9999826550483704, + -0.003247548134865836, + -0.7114524707206182 + ], + [ + 0.049373249041000954, + 0.0030011082999408245, + 0.9987759043721017, + 7.749517237431876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9986924377073433, + -0.007839915342628956, + -0.05051699071978196, + 1.9314317888404835 + ], + [ + 0.0076713198107966315, + 0.9999643564224243, + -0.003530442334808261, + -0.7135274249550071 + ], + [ + 0.05054285750266977, + 0.0031382942106574774, + 0.9987169436827459, + 7.827213039976675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9985701330784205, + -0.013056120835244656, + -0.05183861668358257, + 1.9459731632313948 + ], + [ + 0.012864011042950204, + 0.9999091029167175, + -0.004037848072990468, + -0.7147028400293338 + ], + [ + 0.05188662115282824, + 0.003365221666172147, + 0.9986473235300657, + 7.905739428639236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9984786202943063, + -0.015176714397966862, + -0.05301003908056995, + 1.9595998397754615 + ], + [ + 0.01496616609106388, + 0.999878466129303, + -0.004366583119082344, + -0.7130408087584852 + ], + [ + 0.05306986166938502, + 0.0035665829200297594, + 0.998584421857141, + 7.984465925695521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9983883508045709, + -0.016085885465145115, + -0.05442370393732567, + 1.973594106442802 + ], + [ + 0.015862749825339476, + 0.999863922595978, + -0.004529497968349041, + -0.7140894226619113 + ], + [ + 0.05448915602324008, + 0.0036588881630450496, + 0.9985076428360548, + 8.062431118323962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9983071729785964, + -0.017652558162808422, + -0.0554184493242803, + 1.9868539919083186 + ], + [ + 0.01741404636543539, + 0.9998369216918948, + -0.004783797833164113, + -0.7154783773194976 + ], + [ + 0.05549386622424007, + 0.0038106399588286885, + 0.9984517854097845, + 8.138491597301416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9981405911716619, + -0.022449821233749393, + -0.05666909842941095, + 2.0010741965490926 + ], + [ + 0.022187346017054188, + 0.99974000453949, + -0.005256738743453861, + -0.7192182965154674 + ], + [ + 0.05677237300708335, + 0.003989627119153739, + 0.9983791640228208, + 8.218402741062627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9979711477488387, + -0.024588927626609802, + -0.05872761934095743, + 2.0170883904074524 + ], + [ + 0.024282024455747113, + 0.9996875524520874, + -0.005933891165486033, + -0.7241929803433584 + ], + [ + 0.05885518264291154, + 0.0044958265498280525, + 0.9982563941444379, + 8.304499089026024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9978746018044405, + -0.022283777594566345, + -0.06123501094903354, + 2.033775937358138 + ], + [ + 0.021921768545325366, + 0.9997380375862122, + -0.006577380066178339, + -0.7327456423662294 + ], + [ + 0.06136552986458611, + 0.005221020430326462, + 0.9981016908476728, + 8.388310729853178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.997812748369481, + -0.017883770167827606, + -0.06363898196128748, + 2.0476754707450877 + ], + [ + 0.01749514649729299, + 0.9998247623443604, + -0.0066587469198929805, + -0.7459070539463171 + ], + [ + 0.06374691595988792, + 0.0055308095179498196, + 0.9979507794913975, + 8.466604655140074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9976695819022412, + -0.01763654686510563, + -0.06591142910848515, + 2.0587855365448102 + ], + [ + 0.01717894809531335, + 0.9998242855072021, + -0.007502983624398057, + -0.7570768473315616 + ], + [ + 0.0660321726493678, + 0.006353209260851145, + 0.9977972633512697, + 8.539309241408278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9974609635934211, + -0.02134180068969727, + -0.06794188254020855, + 2.069164820779577 + ], + [ + 0.020816060040287823, + 0.9997477531433108, + -0.008436748035851987, + -0.7676018989044823 + ], + [ + 0.06810480036062204, + 0.00700104469433427, + 0.9976536075163877, + 8.60921485948176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9973639981382536, + -0.018924472853541374, + -0.0700491416694711, + 2.080277095978562 + ], + [ + 0.018390632474860887, + 0.9997967481613159, + -0.008258062648656857, + -0.7800832052671363 + ], + [ + 0.07019119293248258, + 0.006948046386241913, + 0.9975093754606731, + 8.667680297367639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9972416789588288, + -0.01614276319742203, + -0.0724464008257242, + 2.0950319303330702 + ], + [ + 0.015615081521578299, + 0.9998472929000857, + -0.00784425973150272, + -0.7902891682404694 + ], + [ + 0.07256196804626094, + 0.0066913659684360045, + 0.9973414701889003, + 8.73702941471734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9971185018271579, + -0.012950924225151539, + -0.07474581375102096, + 2.1085324358439634 + ], + [ + 0.01255779020260521, + 0.9999047517776489, + -0.005727227666627028, + -0.7999317630075383 + ], + [ + 0.07481286699610928, + 0.004772081971168518, + 0.997186160569305, + 8.80363609803795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.99699017701772, + -0.010702126659452915, + -0.07678542675913083, + 2.1233130438816215 + ], + [ + 0.010620762460185203, + 0.9999425411224365, + -0.001467934998357963, + -0.8067242051163909 + ], + [ + 0.07679673072487017, + 0.0006479970179498196, + 0.9970465719538397, + 8.871284463572085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9968681349154229, + -0.0118070924654603, + -0.07819559905179828, + 2.1391638313210772 + ], + [ + 0.011819896243706832, + 0.9999300837516785, + -0.0002991102286856444, + -0.8120975747939617 + ], + [ + 0.0781936600636036, + -0.0006260904483497143, + 0.9969379954816345, + 8.934573640953946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9967554944257075, + -0.011487333104014398, + -0.07966492464010387, + 2.1568824796004415 + ], + [ + 0.011594919947908183, + 0.9999324083328249, + 0.0008880299904374848, + -0.8175010065129145 + ], + [ + 0.0796493356667249, + -0.0018088571960106496, + 0.9968212852192939, + 9.005035297834027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9966380140330136, + -0.010094399563968182, + -0.08130652455100165, + 2.1763453782081226 + ], + [ + 0.010300697320054921, + 0.9999446868896484, + 0.00211823278136865, + -0.8196244992844419 + ], + [ + 0.08128064782896958, + -0.002948625013232231, + 0.9966869057677681, + 9.082617978256803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9965212068414608, + -0.008963607251644135, + -0.08285620054681643, + 2.1960467551697693 + ], + [ + 0.009277124331394517, + 0.999951183795929, + 0.0033996453776933295, + -0.8201955445243695 + ], + [ + 0.08282167969371695, + -0.004156486131250858, + 0.9965556974863604, + 9.158759666308155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9964212991219034, + -0.0052846516482532024, + -0.08436008796747727, + 2.214826366518411 + ], + [ + 0.005685424789976797, + 0.9999736547470093, + 0.00451120781411256, + -0.8186098438809134 + ], + [ + 0.08433403260642384, + -0.004974686540663242, + 0.9964251500919882, + 9.237615209937584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9963114305878006, + -0.0024804098065942526, + -0.08577499834654483, + 2.2333525158530274 + ], + [ + 0.0029412627752650002, + 0.9999818801879883, + 0.005246853390690038, + -0.8186593566270809 + ], + [ + 0.0857604371714483, + -0.005479786545038223, + 0.9963007366000851, + 9.318562270868313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9961913691624779, + -0.0021097385324537754, + -0.08716820048131008, + 2.2526389584754662 + ], + [ + 0.0025987715171944857, + 0.9999815225601196, + 0.0054971225909976875, + -0.820869875261694 + ], + [ + 0.08715499093264138, + -0.005702716764062643, + 0.9961784499042673, + 9.39531778558836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9960435283071369, + -0.002810361562296748, + -0.08882224748265251, + 2.2722978863357373 + ], + [ + 0.0033019105392153806, + 0.9999800324440002, + 0.005387629277088471, + -0.8266710674874288 + ], + [ + 0.08880533198914031, + -0.005659596063196659, + 0.9960329049848357, + 9.470153502663713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9958232681917694, + -0.004494324326515198, + -0.0911908545293709, + 2.2953977503621603 + ], + [ + 0.004857261494662639, + 0.999981164932251, + 0.0037584270249097947, + -0.8329121632486939 + ], + [ + 0.09117224598019412, + -0.004185666795819998, + 0.9958263426128662, + 9.553720822657034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9955744394460658, + -0.0006285645067691803, + -0.09397431068304571, + 2.3170446954337 + ], + [ + 0.0006960437266065244, + 0.9999995231628418, + 0.0006852845444342619, + -0.8439085235742108 + ], + [ + 0.09397383631983318, + -0.0007476620376110077, + 0.99557438869902, + 9.631168828020582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9952605620450851, + 0.006403125356882811, + -0.09703331346296361, + 2.3333677103841968 + ], + [ + -0.006233365034205399, + 0.9999784827232361, + 0.002052546287772469, + -0.8602899865922184 + ], + [ + 0.0970443608438412, + -0.0014379741623997688, + 0.9952789894736136, + 9.699087332092947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9948195075323436, + 0.005800662562251091, + -0.1014913334599143, + 2.351351608194779 + ], + [ + -0.005711391039410172, + 0.999983012676239, + 0.0011701526188767804, + -0.8721513327228566 + ], + [ + 0.10149639762871843, + -0.0005844339611940086, + 0.9948357457684838, + 9.775711468823435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9944955901955908, + 0.008278938941657545, + -0.10445085460658371, + 2.369885988804813 + ], + [ + -0.008186519047263936, + 0.9999656081199648, + 0.001313507698156709, + -0.8834055258091215 + ], + [ + 0.104458136055411, + -0.00045118870912119757, + 0.9945291524857535, + 9.842412495278554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9942011374658714, + 0.016320714727044106, + -0.10629086707373817, + 2.3840459677584076 + ], + [ + -0.016138114097983765, + 0.9998664259910583, + 0.002577880361656382, + -0.895799877178895 + ], + [ + 0.10631875093958443, + -0.0008475972572341561, + 0.9943317665212632, + 9.911545004061974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.993851391855805, + 0.022424573078751564, + -0.10842763703100032, + 2.3987700887517094 + ], + [ + -0.022150696424763316, + 0.9997476935386658, + 0.003729820418391621, + -0.9102126043610449 + ], + [ + 0.10848391994198385, + -0.0013051393907517195, + 0.9940973562515636, + 9.968616614800615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9935680641598027, + 0.021716549992561344, + -0.11113439974506309, + 2.4154413886644015 + ], + [ + -0.02145131020512859, + 0.9997634887695315, + 0.0035819476560488618, + -0.9204654309699807 + ], + [ + 0.11118590837454269, + -0.0011749301338568332, + 0.9937989420496746, + 10.052325018170595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9931972721185727, + 0.02065189927816391, + -0.11459809489131494, + 2.434977794453223 + ], + [ + -0.020362108701800618, + 0.999785840511322, + 0.003698906360078702, + -0.9289245276252329 + ], + [ + 0.11464993568181406, + -0.0013402847107499838, + 0.9934050361588566, + 10.125956176412474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9925960239677316, + 0.024416619911789894, + -0.11898283663087365, + 2.452029528745014 + ], + [ + -0.0240351199454416, + 0.9997003674507141, + 0.004640497108901987, + -0.9350590084906352 + ], + [ + 0.11906048857016173, + -0.0017463723197579384, + 0.9928854492528986, + 10.203626443592617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9921017471437245, + 0.028120698407292373, + -0.12224323364921849, + 2.468023914573826 + ], + [ + -0.027670752304814285, + 0.9996026158332827, + 0.005377167471985379, + -0.9389429742304883 + ], + [ + 0.1223458611111432, + -0.0019521350041031842, + 0.9924856074036437, + 10.277550012428781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9917789649290256, + 0.027947019785642624, + -0.12487366571574217, + 2.4811485237145225 + ], + [ + -0.027506260513612633, + 0.9996078014373779, + 0.005252731936857585, + -0.9410647343980489 + ], + [ + 0.12497149746669513, + -0.0017747413367033005, + 0.9921587710082703, + 10.340329015479124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9915538295823393, + 0.027369718998670578, + -0.126774791354569, + 2.497733813796519 + ], + [ + -0.026995439881576166, + 0.9996246695518494, + 0.0046698046893300605, + -0.9421126954104042 + ], + [ + 0.12685502206969632, + -0.0012080214219167829, + 0.9919205409412083, + 10.418274067824113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9913379504930419, + 0.028219180181622512, + -0.12826803218643001, + 2.5126803797495065 + ], + [ + -0.027881150093579426, + 0.9996014237403872, + 0.004430487306516279, + -0.943434751716222 + ], + [ + 0.12834193901985513, + -0.0008158497512340548, + 0.9917296308697312, + 10.48850107517932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9911355741841135, + 0.028851941227912903, + -0.1296837843095197, + 2.529026806427344 + ], + [ + -0.028547590216343486, + 0.9995836019515991, + 0.004205590619537448, + -0.9466559464387211 + ], + [ + 0.12975111694482827, + -0.00046615093015134335, + 0.9915464923619253, + 10.56309647904182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.990987303704558, + 0.02876167930662632, + -0.1308314858847349, + 2.5435891338569787 + ], + [ + -0.02847080899509357, + 0.9995862245559692, + 0.004093570058698129, + -0.9521061078358242 + ], + [ + 0.1308950953424936, + -0.00033179769525304437, + 0.9913961758447069, + 10.63335386054328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9908475856586736, + 0.02948688715696335, + -0.13172521883759608, + 2.5603663872227025 + ], + [ + -0.029221666995681746, + 0.9995651841163635, + 0.0039464470515621405, + -0.9585351814025457 + ], + [ + 0.1317843151531938, + -6.109700188972056e-05, + 0.9912784156804181, + 10.715093503228866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9907236890463351, + 0.02945585548877716, + -0.13266095914075662, + 2.5765775191479072 + ], + [ + -0.02921849845920917, + 0.9995660781860352, + 0.0037359603583954036, + -0.9680240145066412 + ], + [ + 0.13271343420528162, + 0.00017484970157966018, + 0.9911544300475138, + 10.792527462041328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9906002564250107, + 0.031945452094078064, + -0.13300595758233436, + 2.5909455626562155 + ], + [ + -0.03166273351420281, + 0.9994896054267883, + 0.004240670353437381, + -0.9803320537538335 + ], + [ + 0.13307354090784526, + 1.0523013770580292e-05, + 0.9911061481412815, + 10.868113084301246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9906191190451141, + 0.03080902434885502, + -0.13313382445935704, + 2.6049871580384947 + ], + [ + -0.03055436895477316, + 0.999525249004364, + 0.003955843358962864, + -0.9943230165641644 + ], + [ + 0.13319248814813558, + 0.00014908600132912397, + 0.9910901496272865, + 10.937121604420751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9906974580748512, + 0.027714751660823822, + -0.13323076111579085, + 2.6184071407384453 + ], + [ + -0.027544537351135996, + 0.9996157288551331, + 0.003120887994200735, + -1.0086337105182477 + ], + [ + 0.13326605324140994, + 0.0005779239581897855, + 0.9910801092988314, + 11.00857077105505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.990652097592274, + 0.02802574262022972, + -0.13350283884830047, + 2.63375594697822 + ], + [ + -0.027894306992230573, + 0.9996067881584167, + 0.0028551340498545333, + -1.0237389551580096 + ], + [ + 0.13353036754709677, + 0.0008955248049460351, + 0.9910443437192951, + 11.070464326800456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9905780928698921, + 0.02918260172009468, + -0.13380385326930316, + 2.646756943362784 + ], + [ + -0.02899951411600566, + 0.9995739459991455, + 0.003317425452037619, + -1.0379109915486628 + ], + [ + 0.1338436446183382, + 0.000594077748246491, + 0.9910022612475, + 11.13084958480558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9904863341133513, + 0.02679811418056488, + -0.13497682064043418, + 2.66528171303477 + ], + [ + -0.026210905346391918, + 0.9996376633644104, + 0.006125941777703855, + -1.0489475517051021 + ], + [ + 0.13509207118337754, + -0.002529796911403537, + 0.9908298126005219, + 11.200573481734056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9903151892545989, + 0.027110565453767776, + -0.13616489353931713, + 2.6828484097684124 + ], + [ + -0.02546514890078682, + 0.9995803236961365, + 0.013811669293710915, + -1.0577287602040928 + ], + [ + 0.1364821832580869, + -0.010210447013378143, + 0.9905899206749975, + 11.277907127758736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9901509545127404, + 0.027378644794225693, + -0.13730079542266907, + 2.7014866405823756 + ], + [ + -0.02541117664635289, + 0.9995480179786682, + 0.016062312442190307, + -1.0652032062863965 + ], + [ + 0.13767850555674166, + -0.012415139004588127, + 0.9903991873944037, + 11.360334106440886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.989985790397728, + 0.028748463839292526, + -0.1382089030354372, + 2.7154405831190385 + ], + [ + -0.026593134284824918, + 0.9994946122169495, + 0.017416461653974816, + -1.0734909628093874 + ], + [ + 0.13863974542614604, + -0.013566642068326473, + 0.9902499544973438, + 11.43066319766925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9898767627687867, + 0.02769232168793679, + -0.13920180807632143, + 2.733299335007471 + ], + [ + -0.02547362540200309, + 0.9995188713073733, + 0.01769551126957607, + -1.0758025816934467 + ], + [ + 0.13962485991950968, + -0.013970400206744674, + 0.9901058909222192, + 11.508349704323757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9898379718797332, + 0.0248889047652483, + -0.14000490136646798, + 2.7504983465270776 + ], + [ + -0.022625429167579397, + 0.9995867013931274, + 0.017735868570095414, + -1.078831398053706 + ], + [ + 0.1403884555506491, + -0.014387964271008968, + 0.9899919409069254, + 11.581866662068878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9896825396473872, + 0.024493755772709846, + -0.14116853620671851, + 2.77173405660658 + ], + [ + -0.022226847682197546, + 0.9995977878570557, + 0.01761285937685018, + -1.082174754571104 + ], + [ + 0.1415431655043908, + -0.014293408021330833, + 0.98982891716383, + 11.661968542660802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9895248404047556, + 0.02384980022907257, + -0.14237897740338493, + 2.791306612851714 + ], + [ + -0.021823379266911854, + 0.9996373653411865, + 0.015777443069972877, + -1.082721664341959 + ], + [ + 0.14270363189846422, + -0.012504981830716133, + 0.9896864861155394, + 11.742744494804382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9893499583128686, + 0.024090297520160675, + -0.1435491340193751, + 2.8107596327389746 + ], + [ + -0.022243837537402403, + 0.9996480941772461, + 0.014454142105121541, + -1.085952161571383 + ], + [ + 0.14384681536387633, + -0.011107120662927628, + 0.9895376114703744, + 11.82027099222702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9891864294696732, + 0.0220362339168787, + -0.14499851053328755, + 2.8288879896501355 + ], + [ + -0.02029772833780938, + 0.9997034072875977, + 0.013458485946398799, + -1.0925442043176938 + ], + [ + 0.14525208446250665, + -0.010369811207056046, + 0.9893403595681775, + 11.898192839522233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9889903714263072, + 0.017691023647785187, + -0.14691876699157688, + 2.8478017603246 + ], + [ + -0.016101626633539836, + 0.9997983574867249, + 0.012000517827422244, + -1.0996029956496858 + ], + [ + 0.14710143572043952, + -0.009502765722572803, + 0.9890757759547582, + 11.974455149826849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9886393776611516, + 0.018255801871418956, + -0.14919433648104538, + 2.865963466763718 + ], + [ + -0.01693767426239457, + 0.9998055100440981, + 0.010100932735604966, + -1.1114987661047604 + ], + [ + 0.14934971235715894, + -0.0074591748416423815, + 0.9887562750761786, + 12.049771109902373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.988194138891796, + 0.019376160576939583, + -0.15197673657935912, + 2.884418590217678 + ], + [ + -0.018190566934765166, + 0.9997923374176025, + 0.009187750883955756, + -1.1264731349985517 + ], + [ + 0.1521231976698665, + -0.006314738187938929, + 0.9883413767456717, + 12.117405526506381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9876645456121136, + 0.01945505291223526, + -0.1553713193454539, + 2.901592148781233 + ], + [ + -0.018429601876147245, + 0.9997978210449219, + 0.008037880334296336, + -1.1392695316656836 + ], + [ + 0.1554962900774082, + -0.00507529778406024, + 0.9878234393938744, + 12.188210024681938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9872150191264292, + 0.0152274826541543, + -0.15866527240448225, + 2.9191223429386155 + ], + [ + -0.014805116119970717, + 0.9998829960823059, + 0.0038437381769393397, + -1.151417472344536 + ], + [ + 0.1587052417067014, + -0.001445538247935474, + 0.987324973971357, + 12.25197639693327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9866770832274503, + 0.014685378409922126, + -0.16202667934770434, + 2.933790723048628 + ], + [ + -0.014493365512033632, + 0.9998921751976015, + 0.0023670312851284217, + -1.1660776400020991 + ], + [ + 0.162043973802448, + 1.2816395610570911e-05, + 0.9867835599027122, + 12.31329905257676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9860914490623399, + 0.015482153743505478, + -0.1654810135763094, + 2.944861501085997 + ], + [ + -0.015326681250475009, + 0.9998800754547119, + 0.0022165008182839377, + -1.1794535448517698 + ], + [ + 0.16549548628993577, + 0.0003506022912915796, + 0.9862104999941497, + 12.373325246355613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9853158376422807, + 0.013493288308382038, + -0.17020760426781945, + 2.960927335518486 + ], + [ + -0.013404140664110109, + 0.9999087452888491, + 0.0016729316601012936, + -1.1899400863476661 + ], + [ + 0.17021465268745964, + 0.0006331206532195212, + 0.9854068342386277, + 12.438865723623692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9841680884947352, + 0.013798602856695652, + -0.17669980830974566, + 2.9741077493896033 + ], + [ + -0.013698976010603351, + 0.9999045729637146, + 0.001783771418250756, + -1.2001413199856796 + ], + [ + 0.17670755199240215, + 0.0006650754949077964, + 0.9842631528880138, + 12.494282070069705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9833984098349033, + 0.014912912622094158, + -0.18084572351007439, + 2.9866261551957454 + ], + [ + -0.014744676222399094, + 0.9998887181282046, + 0.0022746533848898606, + -1.207582439641162 + ], + [ + 0.18085951135556744, + 0.0004296211409382523, + 0.9835088180630661, + 12.559450036861058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9826849803217568, + 0.014911137521266937, + -0.18468328625817645, + 2.998263353718664 + ], + [ + -0.01467189459802587, + 0.9998888373374939, + 0.00266200888097962, + -1.2121697287537785 + ], + [ + 0.1847024484572324, + 9.373758075525984e-05, + 0.9827945099879609, + 12.622816335672882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9820049882307283, + 0.011821954511106014, + -0.1884845753286462, + 3.011139594826936 + ], + [ + -0.011578096770023328, + 0.9999300837516785, + 0.002394778705928973, + -1.2139439768691962 + ], + [ + 0.18849970776789474, + -0.0001693919621175155, + 0.9820732011399586, + 12.690335535020399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9812451100852697, + 0.011597241275012493, + -0.192415146817446, + 3.0244007995233266 + ], + [ + -0.011308361077569612, + 0.9999327063560486, + 0.0025995157193016297, + -1.2165759451461913 + ], + [ + 0.19243233529844442, + -0.000374862109310925, + 0.9813101702666891, + 12.759108393049386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9804987195742816, + 0.013234812766313553, + -0.19607923617866188, + 3.0360241049714243 + ], + [ + -0.012871237687894353, + 0.9999122619628906, + 0.0031284239943525417, + -1.220476777783449 + ], + [ + 0.19610344664761262, + -0.0005436332430690527, + 0.980583089209549, + 12.829537848447586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9798216483793434, + 0.014436908997595314, + -0.19935182680271452, + 3.0454386740788864 + ], + [ + -0.014053255698007663, + 0.9998956918716433, + 0.0033394197930711883, + -1.224214875934247 + ], + [ + 0.19937923120567175, + -0.00047049360000528406, + 0.9799222693653805, + 12.904650311896631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9792141281814803, + 0.01032046414911747, + -0.20256642479719325, + 3.0551505252783575 + ], + [ + -0.010036923921441518, + 0.9999467134475708, + 0.0024269350766722942, + -1.2308019024436738 + ], + [ + 0.2025806784092675, + -0.0003433453384786844, + 0.9792655382656924, + 12.975418546545129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9784938051025388, + 0.005509700160473586, + -0.20620265781134442, + 3.0688262106803283 + ], + [ + -0.005526716058618307, + 0.9999846220016482, + 0.0004934861282540514, + -1.2340526506193812 + ], + [ + 0.20620219946062032, + 0.0006567504606209696, + 0.9785091770848108, + 13.05221705281151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9777177474949582, + 0.0060647837817668915, + -0.20983620864551158, + 3.0816408603085055 + ], + [ + -0.006337596105850451, + 0.9999797344207764, + -0.0006277250591986294, + -1.2458026176141543 + ], + [ + 0.20982814476125497, + 0.0019435950089246035, + 0.9777363497664477, + 13.129789612425576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9770325563915966, + 0.00871394295245409, + -0.2129119112487287, + 3.0898644921489438 + ], + [ + -0.009903802508047803, + 0.9999407529830933, + -0.004522574774624884, + -1.2564028578459538 + ], + [ + 0.21285987684510863, + 0.006527340039610863, + 0.9770609233009783, + 13.202667304641144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9762748218797025, + 0.008813763968646526, + -0.21635556840397133, + 3.101490606843263 + ], + [ + -0.010840680754864818, + 0.9999077320098877, + -0.008183441815093518, + -1.2657382912435968 + ], + [ + 0.21626348612542506, + 0.01033473014831543, + 0.9762803210771535, + 13.269661898858008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9756088565377385, + 0.005617652088403702, + -0.2194443842189088, + 3.111729983438872 + ], + [ + -0.008045718231754822, + 0.9999158978462219, + -0.010172481253030493, + -1.2748636526331885 + ], + [ + 0.21936877849031008, + 0.011689950712025166, + 0.9755719852987866, + 13.335116113792495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9748139143798075, + 0.0037787393666803837, + -0.22298767038950568, + 3.124709365285445 + ], + [ + -0.006483431990359041, + 0.9999139904975891, + -0.011398501818262746, + -1.2853318378686232 + ], + [ + 0.2229254243428509, + 0.012557143345475197, + 0.9747545940595084, + 13.401560991397423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.974097593542086, + 0.0046174339950084695, + -0.22608090406581624, + 3.132255973963045 + ], + [ + -0.007427535465428099, + 0.9999053478240969, + -0.01158057823718972, + -1.2990217145766567 + ], + [ + 0.22600603259175814, + 0.012959836982190612, + 0.9740396978657037, + 13.467381947790743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9734585657212834, + 0.005959848873317242, + -0.22878560206488163, + 3.1438582865974762 + ], + [ + -0.008910172536191346, + 0.9998899102210999, + -0.011864781366924388, + -1.3081785224440665 + ], + [ + 0.22868971273673191, + 0.013588392175734043, + 0.9734045448091901, + 13.532488421196383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9727947835425583, + 0.008704312145709991, + -0.23150487131754252, + 3.1524265454661005 + ], + [ + -0.011616851100052375, + 0.9998695850372314, + -0.011220651806840776, + -1.3190511224416952 + ], + [ + 0.23137700784306975, + 0.01360474992543459, + 0.9727690222522334, + 13.589692610206987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9719208339135113, + 0.008538779802620411, + -0.23515307628878862, + 3.1621565870355974 + ], + [ + -0.01145675648362101, + 0.9998733401298523, + -0.011045409549914308, + -1.3292276565428067 + ], + [ + 0.2350289791695662, + 0.013429354876279831, + 0.971895557773157, + 13.657468633703484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9709547941858341, + 0.007265427149832249, + -0.23915279792930616, + 3.174231475000847 + ], + [ + -0.010217771669429677, + 0.9998860955238342, + -0.011107521483273606, + -1.337415934750071 + ], + [ + 0.23904485466488892, + 0.01322850864380598, + 0.9709184285770585, + 13.716711631790831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9699282130680973, + 0.007889007218182087, + -0.2432633799745272, + 3.1858653054666553 + ], + [ + -0.010858764465008074, + 0.9998819828033447, + -0.010869479357489848, + -1.34295705944499 + ], + [ + 0.24314891750854384, + 0.013184153474867344, + 0.9698993881960712, + 13.782437098172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9688572829147349, + 0.00785592943429947, + -0.24749511706069596, + 3.197619863181185 + ], + [ + -0.01090041688389356, + 0.9998807907104494, + -0.01093337087584379, + -1.3479524509696148 + ], + [ + 0.24737972847755546, + 0.013290675356984142, + 0.968827450769055, + 13.846243510478525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9676994153415625, + 0.007413392886519432, + -0.2519978559166708, + 3.2104324356630443 + ], + [ + -0.010580813153040217, + 0.9998810887336731, + -0.011216504997711148, + -1.3508511364656623 + ], + [ + 0.2518847404491096, + 0.013520547188818455, + 0.9676627946711596, + 13.91468552995154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.966085984340133, + 0.0076405387371778506, + -0.2581074986395645, + 3.222879862808523 + ], + [ + -0.010899688655401455, + 0.9998778700828554, + -0.01119855528161713, + -1.3544953433710545 + ], + [ + 0.25799042019819535, + 0.013632059097290043, + 0.966051296023019, + 13.98380009780252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9641846908101692, + 0.01128571666777134, + -0.26499162617078065, + 3.235387419827556 + ], + [ + -0.01457897288003049, + 0.9998389482498169, + -0.010464193680336529, + -1.358705551920593 + ], + [ + 0.26483084952862934, + 0.01395271997898817, + 0.9641939100273668, + 14.049762069209757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9628917329062944, + 0.011906800791621208, + -0.26962523138263844, + 3.2491646996138037 + ], + [ + -0.015351554678700832, + 0.9998252391815186, + -0.01067098166969359, + -1.3609030648506963 + ], + [ + 0.2694510455236408, + 0.0144141661003232, + 0.9629062091704305, + 14.115906256888277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9615225051222542, + 0.010725514031946659, + -0.2745166239142499, + 3.2641064514769305 + ], + [ + -0.014361383270752074, + 0.9998337030410767, + -0.01123816356583549, + -1.3638208545030086 + ], + [ + 0.27435044042838896, + 0.014748185873031616, + 0.9615166609761322, + 14.183271897532702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9597910912967116, + 0.010342747904360294, + -0.2805245833836845, + 3.2789558106083603 + ], + [ + -0.014246207931779038, + 0.9998279213905334, + -0.011879229882150406, + -1.3713984388732607 + ], + [ + 0.28035345906659537, + 0.015397991053760052, + 0.9597733095427576, + 14.240322752367737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9584759973593497, + 0.013936588540673256, + -0.28483241138694076, + 3.2939796771342724 + ], + [ + -0.01802514672532013, + 0.9997686147689819, + -0.01173780111519596, + -1.3792563343786195 + ], + [ + 0.28460293069383397, + 0.01638454757630825, + 0.9585054679106035, + 14.299610316836956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9571521560446137, + 0.016866324469447136, + -0.2890939461412755, + 3.3093267085641127 + ], + [ + -0.021293647990454447, + 0.9996991157531738, + -0.012176015182126475, + -1.384676952489694 + ], + [ + 0.2888015920230337, + 0.017810164019465446, + 0.9572233023194355, + 14.358969109877783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9559954332839521, + 0.01450992934405804, + -0.2930225358184214, + 3.3270603215272425 + ], + [ + -0.01941546372037078, + 0.9997156858444216, + -0.013839518671634403, + -1.3916328362235768 + ], + [ + 0.2927384235445899, + 0.018919683992862705, + 0.9560053537785216, + 14.412712041156858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9551437858506678, + 0.014798960648477077, + -0.2957725441200225, + 3.3447718364105423 + ], + [ + -0.02021812597738232, + 0.9996789693832397, + -0.015271898410036133, + -1.3962812725851548 + ], + [ + 0.29545157448872844, + 0.020566824823617935, + 0.9551363115848467, + 14.468936326873642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9543651544957871, + 0.013784256763756279, + -0.2983238839886423, + 3.358833125039269 + ], + [ + -0.019673576603533114, + 0.9996661543846133, + -0.016747302219924314, + -1.4009763555370014 + ], + [ + 0.29799343900048336, + 0.021852139383554462, + 0.9543177383785378, + 14.5199800810116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.953486738444347, + 0.015808049589395523, + -0.3010202731994856, + 3.3749573681418616 + ], + [ + -0.02169292386313807, + 0.9996331334114075, + -0.016217067178025076, + -1.408892854346436 + ], + [ + 0.3006534739505054, + 0.021992767229676247, + 0.9534798152661109, + 14.576530314764398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9525919019572529, + 0.01723587326705456, + -0.303762387598574, + 3.391775447663497 + ], + [ + -0.023217466845538298, + 0.999600946903229, + -0.016090784132911613, + -1.417307249018996 + ], + [ + 0.3033638319549071, + 0.022380542010068897, + 0.952611924834923, + 14.63810371788061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9515782553877907, + 0.020695731043815613, + -0.30670916407557397, + 3.4081656443069273 + ], + [ + -0.026604804844357136, + 0.9995320439338684, + -0.01509739142844157, + -1.4252603897176541 + ], + [ + 0.3062531805991186, + 0.022526288405060768, + 0.9516835687565715, + 14.695433898272972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9507453826814467, + 0.022289618849754337, + -0.3091705597966243, + 3.4242300285879326 + ], + [ + -0.027915796320876197, + 0.999515235424042, + -0.013785278663743215, + -1.4328071442654784 + ], + [ + 0.30871340768394434, + 0.021737033501267437, + 0.950906676786293, + 14.758619981403195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9501210797420219, + 0.024336202070116997, + -0.31093036767290216, + 3.4376985702630303 + ], + [ + -0.02990538773592002, + 0.9994661808013916, + -0.013155774929564292, + -1.43714609243691 + ], + [ + 0.3104442126919718, + 0.02179807238280773, + 0.9503416371190474, + 14.823961168879636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9496991502741382, + 0.021567951887845993, + -0.312420203512246, + 3.454817071644443 + ], + [ + -0.027602989193310615, + 0.9995077848434448, + -0.01490684115218745, + -1.4345772412192657 + ], + [ + 0.3119449168135313, + 0.02278074435889721, + 0.9498270418732346, + 14.890377312958195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9495016697497309, + 0.016080839559435848, + -0.3133495651757665, + 3.4715392941742276 + ], + [ + -0.022770513054693332, + 0.9995840191841128, + -0.01770065151112144, + -1.4302787122464655 + ], + [ + 0.31293457556168075, + 0.02394192852079869, + 0.9494728613031166, + 14.952945526529334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9506714066074973, + 0.011159533634781837, + -0.3099988852099562, + 3.4887228420754495 + ], + [ + -0.0184783895737211, + 0.9996153116226196, + -0.02068277094957069, + -1.4275726450560409 + ], + [ + 0.3096488204452324, + 0.025390800088644028, + 0.9505118977438715, + 15.022976126257802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.951538742196443, + 0.009589234367012978, + -0.3073793149338994, + 3.5068782821138784 + ], + [ + -0.0175572633645758, + 0.9995774030685425, + -0.023167578618320944, + -1.4267176692685084 + ], + [ + 0.30702726278694703, + 0.027441587299108505, + 0.9513050062517827, + 15.099042830071244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9526442982351676, + 0.007481221575289965, + -0.30399477005695663, + 3.5255579154747494 + ], + [ + -0.016301248486054142, + 0.9995162487030029, + -0.026486274271396854, + -1.4258414777521988 + ], + [ + 0.30364956771739016, + 0.030187491327524185, + 0.9523054149871084, + 15.169855219255506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9539415185021477, + 0.0036813057959079742, + -0.2999699731568037, + 3.542989432547838 + ], + [ + -0.013590670020299704, + 0.999428391456604, + -0.0309547742806841, + -1.4256002671670702 + ], + [ + 0.2996845544966794, + 0.03360584005713463, + 0.9534462708991159, + 15.253499585681707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9538101880901383, + -0.008422035723924639, + -0.30029177841247195, + 3.564285147110409 + ], + [ + -0.004342291626990313, + 0.9991160035133364, + -0.04181370862678134, + -1.4260498463281552 + ], + [ + 0.30037848439663595, + 0.04118629544973374, + 0.9529304731303982, + 15.330822257420149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9543488699833819, + -0.01077234372496605, + -0.29849986994126176, + 3.5841801768450665 + ], + [ + -0.004311552365638588, + 0.9987485408782959, + -0.049827788694270014, + -1.4308066670822601 + ], + [ + 0.2986630723765935, + 0.04884009063243866, + 0.9531080963459114, + 15.398606700763084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9564837585921468, + -0.010851614177227022, + -0.2915836692134962, + 3.6026206323339487 + ], + [ + -0.0057001823014196365, + 0.9984225630760195, + -0.05585576769020766, + -1.4319948975239938 + ], + [ + 0.2917298419862712, + 0.05508721247315408, + 0.9549131256848066, + 15.475251215196218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9578513567727612, + -0.014159349724650383, + -0.2869151018389963, + 3.6187175707783124 + ], + [ + -0.003117870221388974, + 0.9982132315635681, + -0.05967098417835842, + -1.4332322126118682 + ], + [ + 0.28724735196431495, + 0.058050498366355896, + 0.9560957383138845, + 15.541146973788857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9600914103750262, + -0.01741844043135643, + -0.2791434249150452, + 3.636738469747598 + ], + [ + 8.852047520977084e-05, + 0.9980776906013489, + -0.06197519465335647, + -1.434431071509781 + ], + [ + 0.27968633765892076, + 0.05947714298963547, + 0.9582473737074049, + 15.6026382588645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.962151934347041, + -0.01681203953921795, + -0.2719944563825313, + 3.651039512110672 + ], + [ + 2.5256967856798226e-05, + 0.9981006979942322, + -0.06160348698098487, + -1.4403089197717085 + ], + [ + 0.27251353530877603, + 0.05926504358649254, + 0.9603249366321004, + 15.655862648781625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9625770904321649, + -0.016801370307803154, + -0.2704866545352741, + 3.6620496235423206 + ], + [ + 0.003155623727431677, + 0.9987035989761353, + -0.050804933118425294, + -1.4496052501918686 + ], + [ + 0.2709895979323416, + 0.048050109297037125, + 0.9613822600551968, + 15.706023637432907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.962913569590995, + -0.015621746890246868, + -0.2693574755923642, + 3.675649386313532 + ], + [ + 0.0048791349267704115, + 0.9991673827171326, + -0.04050585676644572, + -1.4554707451759628 + ], + [ + 0.2697659754169971, + 0.03768940642476082, + 0.9621880555453743, + 15.765031694438731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9633380230631796, + -0.008632457815110685, + -0.26815175641201533, + 3.6901266323898883 + ], + [ + 3.508350053244395e-05, + 0.9994862675666811, + -0.03204985810342207, + -1.4628186083088184 + ], + [ + 0.26829065829699356, + 0.030865440145134933, + 0.962843393087056, + 15.819665656845775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.964641409634816, + -0.006021603476256132, + -0.26349696813922113, + 3.7063318838964534 + ], + [ + -0.001052675197996266, + 0.9996429681777954, + -0.026698247552964745, + -1.4648947482005878 + ], + [ + 0.2635636726180072, + 0.0260316114872694, + 0.9642907182190854, + 15.881669831760144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9665030163724739, + -0.00857536680996418, + -0.25651190952646, + 3.723195501137506 + ], + [ + 0.0019884764717324286, + 0.9996618628501892, + -0.025927054471435652, + -1.4619019038450183 + ], + [ + 0.25664750428617, + 0.02454850822687149, + 0.9661932461499321, + 15.945372797812148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.968022628135038, + -0.011653522029519081, + -0.2505920797453056, + 3.7400672687035224 + ], + [ + 0.005337410451802587, + 0.9996510744094849, + -0.025869619195868335, + -1.4587216350636911 + ], + [ + 0.25080610726773406, + 0.023704862222075462, + 0.9677470362129519, + 16.0072872079271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9685302415455876, + -0.012844599783420563, + -0.24856427705356235, + 3.7573568708818774 + ], + [ + 0.006816544769348647, + 0.9996618032455444, + -0.025097033229089367, + -1.4561789211728586 + ], + [ + 0.24880256683627308, + 0.022612884640693665, + 0.9682902124437986, + 16.07151316567222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9689946646713558, + -0.011573554016649723, + -0.24681051361239884, + 3.774374473903844 + ], + [ + 0.006315435259259427, + 0.9997361302375793, + -0.022085272596384892, + -1.4531776449818354 + ], + [ + 0.2470009914693938, + 0.019841793924570084, + 0.9688120663859373, + 16.13636867397051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/pan_right/transforms.json b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8873555704f3371c912918ff540830a2483ae2d3 --- /dev/null +++ b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/pan_right/transforms.json @@ -0,0 +1,7643 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 218, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.994916424853727e-05, + 7.358914444921538e-06, + -1.139659889304312e-05 + ], + [ + 8.994904783321545e-05, + 1.0, + 1.6600621165707707e-05, + -0.0004049866693094373 + ], + [ + -7.360407835221849e-06, + -1.6599959053564817e-05, + 1.0, + -0.0004114329640287906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999742276798941, + 0.003363250056281686, + -0.006343744351602957, + 0.012916984036564827 + ], + [ + -0.003379761900943005, + 0.9999909400939941, + -0.0025939061013458935, + -0.004589362069964409 + ], + [ + 0.006334962906915938, + 0.0026152797508984804, + 0.9999765416683637, + 0.08979558944702148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999037778382609, + 0.00724476855248213, + -0.011828209951566897, + 0.02547377347946167 + ], + [ + -0.007338279132264508, + 0.9999420046806338, + -0.007881545316126297, + -0.00881129689514637 + ], + [ + 0.011770423458779539, + 0.00796758569777012, + 0.9998989892292751, + 0.1826421320438385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997891015390759, + 0.01079605147242546, + -0.017470420686185362, + 0.04004446417093277 + ], + [ + -0.010971362361833967, + 0.9998900890350342, + -0.009970195975212013, + -0.015187337063252926 + ], + [ + 0.017360861784097282, + 0.010159767232835293, + 0.9997976457610059, + 0.2754802405834198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9996636810898454, + 0.011955601163208485, + -0.023013135808033807, + 0.054125260561704636 + ], + [ + -0.012213998075678419, + 0.9998635649681091, + -0.011120641190064161, + -0.023240938782691956 + ], + [ + 0.022877043754243025, + 0.011397983878850937, + 0.9996733360559888, + 0.3610070049762726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9994902078501455, + 0.014591444283723831, + -0.028398375371381724, + 0.06704139709472656 + ], + [ + -0.014915433696124315, + 0.9998257160186768, + -0.011230511736176684, + -0.03346233069896698 + ], + [ + 0.02822955609026028, + 0.011648359708487988, + 0.9995335957469869, + 0.43422967195510864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9993154037493003, + 0.013050142675638202, + -0.034617848258060135, + 0.08385565131902695 + ], + [ + -0.013435425068299985, + 0.9998500943183901, + -0.010920426772477409, + -0.04601134732365608 + ], + [ + 0.03447014521676876, + 0.011378055438399317, + 0.9993409785279572, + 0.5150285363197327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9988225951489842, + 0.012378714047372341, + -0.04690607505380734, + 0.10429984331130981 + ], + [ + -0.012851244896738306, + 0.9998695254325867, + -0.009785834826541188, + -0.05910909175872803 + ], + [ + 0.04677881735034653, + 0.010377113707363605, + 0.9988513834060625, + 0.5825668573379517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.99847619835624, + 0.01698937825858593, + -0.05250368065471251, + 0.12341775000095367 + ], + [ + -0.017480942674424117, + 0.9998074173927307, + -0.008917454344658156, + -0.07233788818120956 + ], + [ + 0.052342065162336214, + 0.009821679443120956, + 0.9985809184930378, + 0.6570977568626404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9981477197699486, + 0.021894611418247223, + -0.05676060711775531, + 0.14237673580646515 + ], + [ + -0.022416509261875526, + 0.9997119307518005, + -0.008574284257615718, + -0.08317727595567703 + ], + [ + 0.056556522168050884, + 0.0098307766020298, + 0.9983509730430222, + 0.7231572866439819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9978571910942482, + 0.02504757232964039, + -0.060444997474892695, + 0.16593202948570251 + ], + [ + -0.02560261894741721, + 0.999636709690094, + -0.008425604915011776, + -0.09232845157384872 + ], + [ + 0.060211990348294366, + 0.00995510071516037, + 0.9981359726810415, + 0.7852469086647034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9976785481573537, + 0.026912711560726166, + -0.06255565944919092, + 0.18525952100753784 + ], + [ + -0.02747573729300072, + 0.999589204788208, + -0.008157514940314137, + -0.0989970862865448 + ], + [ + 0.06231041632204141, + 0.009857339784502983, + 0.9980081550076766, + 0.834761381149292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.998073508180346, + 0.02543886564671994, + -0.056587377864999566, + 0.20994476974010468 + ], + [ + -0.025848829720046023, + 0.9996445775032046, + -0.006524588937045728, + -0.09832349419593811 + ], + [ + 0.05640128473930344, + 0.007974736392498018, + 0.9983763196702983, + 0.9167605638504028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9983363521051309, + 0.02463543228805065, + -0.05213069280085268, + 0.23351117968559265 + ], + [ + -0.024708593939759632, + 0.9996944069862366, + -0.0007592919670103863, + -0.09869834780693054 + ], + [ + 0.05209604940846234, + 0.002046104520559311, + 0.9986400086348239, + 0.9968168139457703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9985912734524678, + 0.024281147867441177, + -0.047179825566334536, + 0.2626189589500427 + ], + [ + -0.024300020917089358, + 0.9997047185897827, + 0.00017353758988438835, + -0.0964692234992981 + ], + [ + 0.04717010153018739, + 0.0009731774334795773, + 0.998886373116387, + 1.0765684843063354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.998991603160873, + 0.023658227175474167, + -0.038157769235276945, + 0.29259994626045227 + ], + [ + -0.0236543637035324, + 0.99972003698349, + 0.0005527908741442274, + -0.09043151885271072 + ], + [ + 0.038160160984742, + 0.0003503641637507826, + 0.9992715956995902, + 1.1721832752227783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9993947228847573, + 0.027929777279496193, + -0.02074035273580175, + 0.3202642500400543 + ], + [ + -0.0279106454057325, + 0.9996097087860107, + 0.001211371676447293, + -0.08213255554437637 + ], + [ + 0.020766092699899305, + -0.0006317618535831571, + 0.9997841529706549, + 1.2653263807296753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9995933305281609, + 0.028215009719133377, + -0.004136223400285566, + 0.3498637080192566 + ], + [ + -0.028207282769626512, + 0.9996002316474915, + 0.0019150047073756451, + -0.07623887062072754 + ], + [ + 0.004188602486371941, + -0.0017975543159991503, + 0.9999896072616828, + 1.3563004732131958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995532815492795, + 0.02838749997317791, + 0.009348542499687168, + 0.3781912922859192 + ], + [ + -0.028410556203455825, + 0.9995936155319214, + 0.0023427925973388618, + -0.07178778946399689 + ], + [ + -0.009278237369551438, + -0.0026073434855788946, + 0.9999535384197185, + 1.4440796375274658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993290705466076, + 0.02919137477874756, + 0.022119549942909614, + 0.4077143967151642 + ], + [ + -0.02925982793630136, + 0.999567985534668, + 0.0027772993561663256, + -0.0708363875746727 + ], + [ + -0.022028920640674472, + -0.0034226500429213047, + 0.999751471531782, + 1.531473994255066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9990209845174466, + 0.030876172706484795, + 0.03168169708531451, + 0.43765178322792053 + ], + [ + -0.030995287216558, + 0.9995141625404358, + 0.003275350426588874, + -0.07223814725875854 + ], + [ + -0.03156517541054442, + -0.00425412692129612, + 0.99949266402083, + 1.6229628324508667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9987976477781276, + 0.028547799214720733, + 0.03985265248818667, + 0.46605923771858215 + ], + [ + -0.02872956074373565, + 0.9995792508125307, + 0.003995509282734536, + -0.0778292864561081 + ], + [ + -0.03972182160193246, + -0.005135654937475921, + 0.9991975805249366, + 1.7110344171524048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9979277631017501, + 0.03297661989927292, + 0.05525098444404121, + 0.4951798915863037 + ], + [ + -0.0332941519688373, + 0.9994338750839233, + 0.0048362267079106415, + -0.08783493936061859 + ], + [ + -0.05506022491190662, + -0.006665739696472883, + 0.9984608125000535, + 1.79911208152771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9973462387813757, + 0.03424002230167389, + 0.0642501329791074, + 0.5220575928688049 + ], + [ + -0.03469471329372131, + 0.9993801116943359, + 0.005974203118894123, + -0.10089483112096786 + ], + [ + -0.06400574607737353, + -0.008187488652765751, + 0.9979159660111805, + 1.8820295333862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9971744407645061, + 0.03231532126665116, + 0.06781477087740737, + 0.5487251877784729 + ], + [ + -0.03300442743496247, + 0.9994140863418581, + 0.009065669590183791, + -0.11417984217405319 + ], + [ + -0.06748207588434502, + -0.011278240941464903, + 0.9976567607142788, + 1.9602904319763184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9967422080760006, + 0.032844312489032745, + 0.0736629124920748, + 0.5762653350830078 + ], + [ + -0.03368435258769948, + 0.9993805885314941, + 0.010190354564430086, + -0.1295243203639984 + ], + [ + -0.07328258881601443, + -0.01263844408094883, + 0.9972311541336397, + 2.0463829040527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.996339086224525, + 0.03340690210461617, + 0.07869205406530512, + 0.6001459956169128 + ], + [ + -0.034417049531459985, + 0.9993411898612978, + 0.011515234078043734, + -0.1451045572757721 + ], + [ + -0.07825552507376535, + -0.014181426726281646, + 0.9968324793508695, + 2.127631187438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.995958444529471, + 0.03452364727854729, + 0.08291488046195758, + 0.6221705675125122 + ], + [ + -0.03569161044752176, + 0.9992828369140625, + 0.012645140208425285, + -0.15776391327381134 + ], + [ + -0.08241886357611268, + -0.015553398989140987, + 0.9964763872289166, + 2.2036712169647217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9958167940870446, + 0.03187642246484757, + 0.0856317935912688, + 0.6456913352012634 + ], + [ + -0.033179977791258156, + 0.9993535280227663, + 0.01384256262312705, + -0.1695762276649475 + ], + [ + -0.08513518476321337, + -0.016625916585326198, + 0.9962307100964609, + 2.2831616401672363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9956277054319055, + 0.030853405594825745, + 0.08816749306529995, + 0.6685467958450317 + ], + [ + -0.032275977965766006, + 0.9993700981140137, + 0.01475473914349794, + -0.17685243487358093 + ], + [ + -0.08765671852188461, + -0.017535919323563576, + 0.9959963924136704, + 2.3703486919403076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9953900027956879, + 0.03226960450410843, + 0.09031872421413369, + 0.6911607384681702 + ], + [ + -0.03378028248603367, + 0.9993129968643188, + 0.015247345500769342, + -0.1808498650789261 + ], + [ + -0.08976464753153353, + -0.018228046596050262, + 0.995796198864886, + 2.4724223613739014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9951841762095427, + 0.03378099948167801, + 0.09201815545405662, + 0.7130277752876282 + ], + [ + -0.035376327521260284, + 0.9992497563362122, + 0.01576108327620581, + -0.18245573341846466 + ], + [ + -0.09141669295876582, + -0.01894044317305088, + 0.9956326159706728, + 2.57136869430542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9950247096195074, + 0.033801376819610596, + 0.09371928165369812, + 0.7328977584838867 + ], + [ + -0.03544902441725103, + 0.9992438554763794, + 0.01597149268327485, + -0.18836529552936554 + ], + [ + -0.09310855433415495, + -0.019214285537600517, + 0.995470555217191, + 2.6573450565338135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.994824644497042, + 0.03320891782641411, + 0.09602674768823578, + 0.7511327862739563 + ], + [ + -0.03488880781829025, + 0.999265193939209, + 0.015867761114270466, + -0.19088214635849 + ], + [ + -0.09542924093800327, + -0.01913589797914028, + 0.9952522889573868, + 2.7454535961151123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9946883914702764, + 0.03211105614900589, + 0.09779499549165198, + 0.7718946933746338 + ], + [ + -0.03371349873083698, + 0.9993222951889038, + 0.014777146844259632, + -0.1943119317293167 + ], + [ + -0.09725421071711135, + -0.017995668575167656, + 0.9950968515008217, + 2.846052646636963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9946000229824018, + 0.030271304771304137, + 0.09926950172564128, + 0.7925927042961121 + ], + [ + -0.03169253560988459, + 0.9994160532951357, + 0.012770980731140724, + -0.19710996747016907 + ], + [ + -0.09882493863302971, + -0.015848120674490932, + 0.9949786024637336, + 2.9448907375335693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9944279457004832, + 0.030807090923190117, + 0.100816294029068, + 0.8117069005966187 + ], + [ + -0.032158150367004694, + 0.9994130730628967, + 0.011803208980446577, + -0.2021271139383316 + ], + [ + -0.10039350352905314, + -0.014979506842792034, + 0.9948350704264173, + 3.0373919010162354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9942743432554944, + 0.031090604141354568, + 0.1022346703493913, + 0.8311244249343872 + ], + [ + -0.032396845135440944, + 0.9994130134582522, + 0.011141032254335683, + -0.21121187508106232 + ], + [ + -0.10182827512647867, + -0.014389323070645336, + 0.9946979136428624, + 3.125128746032715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.994072737833289, + 0.0313444547355175, + 0.10410075917690911, + 0.850078284740448 + ], + [ + -0.03251858710360256, + 0.9994249939918518, + 0.009600375530883408, + -0.22030653059482574 + ], + [ + -0.10373998716092898, + -0.012928680516779423, + 0.9945204452222418, + 3.2162911891937256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9938276402647951, + 0.03169609606266022, + 0.10631078110992093, + 0.8668553233146667 + ], + [ + -0.03287279615346838, + 0.999415934085846, + 0.009334035787918148, + -0.23326224088668823 + ], + [ + -0.10595284271356654, + -0.012771155685186386, + 0.9942891601760289, + 3.2989306449890137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9936426402150926, + 0.029204601421952248, + 0.10872645194142692, + 0.8829603791236877 + ], + [ + -0.03046109858868443, + 0.9994868040084839, + 0.009913262480290206, + -0.24769601225852966 + ], + [ + -0.10838113901090309, + -0.013162167742848396, + 0.9940222552357352, + 3.3819799423217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9935056183246658, + 0.02707119844853878, + 0.11051571379967691, + 0.9007633924484253 + ], + [ + -0.028477319525304138, + 0.9995321035385132, + 0.011164432182729254, + -0.2595983147621155 + ], + [ + -0.11016176667691922, + -0.014239117503166199, + 0.9938116817762944, + 3.46484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9934043460670886, + 0.02478756196796894, + 0.11195279904516985, + 0.9212369918823242 + ], + [ + -0.027300157063729746, + 0.9994074106216431, + 0.02096617128850302, + -0.27536994218826294 + ], + [ + -0.11136675175032343, + -0.023884214460849762, + 0.9934923159174456, + 3.5426416397094727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9933651343280493, + 0.01910555362701416, + 0.11340512077283187, + 0.9425908923149109 + ], + [ + -0.0223554109773979, + 0.9993730187416077, + 0.027454775050919915, + -0.2881377339363098 + ], + [ + -0.11280948006633297, + -0.029807833954691887, + 0.9931694385896763, + 3.618173122406006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9932249283589636, + 0.0160334799438715, + 0.1150962574188606, + 0.962427020072937 + ], + [ + -0.01977865937651495, + 0.9993089437484743, + 0.03147155500399479, + -0.29877769947052 + ], + [ + -0.11451211758590303, + -0.033534780144691474, + 0.9928556932724766, + 3.6917202472686768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930283793510795, + 0.015876278281211856, + 0.1168012242526355, + 0.9831475615501404 + ], + [ + -0.01984527986745182, + 0.9992617368698122, + 0.03289664608701939, + -0.30747926235198975 + ], + [ + -0.11619271755151349, + -0.03498525545001031, + 0.9926103508696789, + 3.767317771911621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9928141091998582, + 0.012762999162077907, + 0.11898423904341648, + 1.003064513206482 + ], + [ + -0.016946922945910197, + 0.9992706775665285, + 0.03421842350779012, + -0.31417685747146606 + ], + [ + -0.11846072837366313, + -0.035988949239254005, + 0.9923063410726954, + 3.845695972442627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9925673911433304, + 0.009629045613110065, + 0.12131466628449525, + 1.0242953300476074 + ], + [ + -0.01398131692153441, + 0.9992868304252625, + 0.03507590439573168, + -0.31682416796684265 + ], + [ + -0.12089040251436255, + -0.03651133552193642, + 0.9919941695751864, + 3.931920289993286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9923446863466344, + 0.006022755987942219, + 0.1233520120550591, + 1.0469118356704712 + ], + [ + -0.010508331898589617, + 0.9993056654930115, + 0.035745774413747426, + -0.3177027106285095 + ], + [ + -0.12305108176840174, + -0.0367683507502079, + 0.991718993267263, + 4.0225701332092285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.992125363183865, + 0.005504261236637831, + 0.12512793591531873, + 1.0692907571792603 + ], + [ + -0.010013315329234858, + 0.9993218183517456, + 0.03543522221682016, + -0.3187601864337921 + ], + [ + -0.12484803225253177, + -0.036409128457307816, + 0.991507641126332, + 4.1150665283203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9918824078487741, + 0.007086150348186493, + 0.12696104124945334, + 1.0897818803787231 + ], + [ + -0.01111077302775789, + 0.9994570016860962, + 0.03101958324956925, + -0.3215774893760681 + ], + [ + -0.12667229157661422, + -0.03217841312289238, + 0.991422559051745, + 4.2038068771362305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9916697662730485, + 0.0061538144946098345, + 0.1286594870735638, + 1.1112395524978638 + ], + [ + -0.009581626316949903, + 0.9996149539947512, + 0.026040552821579285, + -0.32560569047927856 + ], + [ + -0.12844969415257065, + -0.0270563941448927, + 0.9913468985733586, + 4.294110298156738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9914264614817143, + 0.007275961805135013, + 0.13046312030488824, + 1.1283164024353027 + ], + [ + -0.010032741437519966, + 0.9997398257255556, + 0.020485915414366052, + -0.3337481915950775 + ], + [ + -0.13028011208233084, + -0.021619180217385296, + 0.991241471838799, + 4.3827009201049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9912982298168402, + 0.004223033320158721, + 0.1315673476931049, + 1.1496965885162354 + ], + [ + -0.006157919260971217, + 0.9998787641525271, + 0.014303046094982742, + -0.34282252192497253 + ], + [ + -0.13149098813276294, + -0.01498876512050629, + 0.9912040324515846, + 4.469982147216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9911524762608959, + 0.0032759809400886306, + 0.13268784126596422, + 1.1689414978027344 + ], + [ + -0.004589165292954991, + 0.9999434351921084, + 0.0095921879350798, + -0.35704293847084045 + ], + [ + -0.13264890919360547, + -0.010116247460246088, + 0.9911114720506942, + 4.55326509475708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9910727883852964, + 0.0062746466137468815, + 0.13317436848446967, + 1.186469316482544 + ], + [ + -0.00746234999176158, + 0.9999366998672485, + 0.00842115636126195, + -0.37362396717071533 + ], + [ + -0.13311309525291354, + -0.0093397730961442, + 0.9910568485340234, + 4.627247333526611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9911417880981053, + 0.004091172013431788, + 0.13274499304334425, + 1.205390453338623 + ], + [ + -0.005130227120273242, + 0.9999588131904604, + 0.007486377534667928, + -0.38840538263320923 + ], + [ + -0.13270889623564575, + -0.008101074025034906, + 0.9911219471871913, + 4.708634853363037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9911869250543051, + 0.006092149298638105, + 0.13233062601151477, + 1.2234511375427246 + ], + [ + -0.007018705173233718, + 0.9999539852142334, + 0.006536506575986954, + -0.4063260555267334 + ], + [ + -0.13228472257136334, + -0.007407689467072487, + 0.9911840523766035, + 4.78742790222168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9912692477227643, + 0.006954638287425043, + 0.13166978517577022, + 1.2372827529907227 + ], + [ + -0.007765361201014695, + 0.9999539256095888, + 0.005644771714856777, + -0.42228129506111145 + ], + [ + -0.13162445692891792, + -0.006617952138185503, + 0.9912775632842744, + 4.864272594451904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.991394604455671, + 0.004793141502887011, + 0.13081964520969266, + 1.251042366027832 + ], + [ + -0.005519319129565282, + 0.999971330165863, + 0.005188969282866557, + -0.4391900599002838 + ], + [ + -0.1307910198258725, + -0.0058663515374064445, + 0.9913925820669586, + 4.944289207458496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.991688921244717, + 0.004487055819481611, + 0.12858067672022624, + 1.265411615371704 + ], + [ + -0.0051454504542342416, + 0.999975323677063, + 0.0047887542412429224, + -0.4525783956050873 + ], + [ + -0.12855601058022545, + -0.005410559941083193, + 0.9916874827740408, + 5.018462181091309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9922200189948966, + 0.006125281564891338, + 0.12434578154066131, + 1.2790948152542114 + ], + [ + -0.0067402159264461515, + 0.9999670386314392, + 0.004525266552025543, + -0.4648537337779999 + ], + [ + -0.1243139639916495, + -0.005328177474439144, + 0.9922286402661876, + 5.094893455505371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9929524376270393, + 0.005695189815014602, + 0.11837673098698184, + 1.292832374572754 + ], + [ + -0.006250270247320092, + 0.9999711513519289, + 0.004318378535807438, + -0.4748263955116272 + ], + [ + -0.11834871757730178, + -0.005027830600738526, + 0.9929593784559586, + 5.166872024536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9938764674870726, + 0.004107905086129904, + 0.11042027412197088, + 1.3077654838562012 + ], + [ + -0.00454875888830442, + 0.9999826550483704, + 0.0037408990539109766, + -0.4788472056388855 + ], + [ + -0.11040299282461674, + -0.004220266826450825, + 0.993877962840949, + 5.247622966766357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9948692051358338, + 0.004541039932519198, + 0.10106759887623389, + 1.320568561553955 + ], + [ + -0.004796947136714577, + 0.9999858736991885, + 0.002289153035558357, + -0.4800882637500763 + ], + [ + -0.10105577703890478, + -0.002762223826721311, + 0.9948769349853507, + 5.327480792999268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9954684872963614, + 0.004865977447479963, + 0.09496743339370348, + 1.3371349573135376 + ], + [ + -0.004871399485991955, + 0.9999881386756897, + -0.00017474662415553318, + -0.4853355586528778 + ], + [ + -0.09496715464180873, + -0.000288669514702633, + 0.9954803473013824, + 5.4076337814331055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9956445565481561, + 0.006012647412717342, + 0.09303617181341373, + 1.350803256034851 + ], + [ + -0.0059050484264116625, + 0.9999815225601196, + -0.0014317794824179352, + -0.4861346185207367 + ], + [ + -0.09304306555261616, + 0.0008761603385210037, + 0.995661705520188, + 5.483107089996338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9958189314720289, + 0.004017787519842386, + 0.09126085342471553, + 1.3659831285476685 + ], + [ + -0.003780804516177506, + 0.9999890327453613, + -0.002769497823465291, + -0.48856815695762634 + ], + [ + -0.0912709797587229, + 0.0024128786753863096, + 0.9958231941435627, + 5.570955276489258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9959044917549985, + 0.004080417100340129, + 0.0903195787651673, + 1.3792541027069092 + ], + [ + -0.003601015482426865, + 0.9999785423278811, + -0.0054701566986487, + -0.49018266797065735 + ], + [ + -0.09033995993845911, + 0.005122511181980372, + 0.9958977922663151, + 5.655753135681152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9959399344509602, + 0.0035931861493736506, + 0.08994862442348713, + 1.3920952081680298 + ], + [ + -0.003025493143269785, + 0.9999746680259705, + -0.006446853342186304, + -0.4978036880493164 + ], + [ + -0.08996950468389828, + 0.006148539483547211, + 0.9959255121540842, + 5.741272449493408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9959209419811719, + 0.005309800617396832, + 0.0900740879700192, + 1.403212070465088 + ], + [ + -0.004611124937431556, + 0.9999576807022097, + -0.007962997085169697, + -0.5031563639640808 + ], + [ + -0.09011255176167372, + 0.007515172008424999, + 0.9959032100002662, + 5.8302693367004395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9958602099827452, + 0.0082853389903903, + 0.0905193346271894, + 1.4158116579055786 + ], + [ + -0.0074761027416388095, + 0.9999290108680725, + -0.009275330679443033, + -0.5149057507514954 + ], + [ + -0.09058976395249294, + 0.008560201153159142, + 0.9958515301036558, + 5.908818244934082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9958476025014964, + 0.0050339908339083195, + 0.09089649415329927, + 1.4289427995681763 + ], + [ + -0.004121266483029927, + 0.9999392032623291, + -0.01022626021845733, + -0.5279023051261902 + ], + [ + -0.09094244877290893, + 0.009809187613427639, + 0.9958078221403457, + 5.987701416015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9957396160975056, + -0.0007262037834152579, + 0.09220689249958988, + 1.4462251663208008 + ], + [ + 0.0017502321215058857, + 0.9999377131462097, + -0.011025389818557468, + -0.5392029285430908 + ], + [ + -0.09219314046337165, + 0.01113979984074831, + 0.9956788397202944, + 6.061297416687012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9955744730902134, + -0.0009611010900698602, + 0.09397075219075222, + 1.4639228582382202 + ], + [ + 0.002019145315347716, + 0.9999356269836426, + -0.011164860866167952, + -0.554893434047699 + ], + [ + -0.0939539754695394, + 0.011305190622806549, + 0.9955123617805693, + 6.117719650268555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9951484210685735, + -0.00015152880223467946, + 0.09838510083815538, + 1.4808759689331055 + ], + [ + 0.0012213729384434812, + 0.9999407529830933, + -0.010813908988097224, + -0.5681501030921936 + ], + [ + -0.09837763606543348, + 0.010881608352065086, + 0.9950896678240202, + 6.173110485076904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9943314995974251, + 0.0012780986726284027, + 0.10631671355272172, + 1.4936457872390747 + ], + [ + -0.0006758315829757312, + 0.999983549118042, + -0.005700673906614128, + -0.578217089176178 + ], + [ + -0.10632224736326405, + 0.005596507806330919, + 0.9943159668999997, + 6.241508960723877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9932700557707187, + 0.0003501180908642709, + 0.11582087683914136, + 1.507171630859375 + ], + [ + -0.00040624125193136444, + 0.9999998211860657, + 0.0004609638353986329, + -0.5849618911743164 + ], + [ + -0.11582069326710813, + -0.0005049127503298223, + 0.9932700130103935, + 6.313021183013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.992354717508976, + -0.0010255733504891396, + 0.12341439033112736, + 1.5220240354537964 + ], + [ + 0.00042544001349318993, + 0.9999879598617554, + 0.004889005016368551, + -0.5892728567123413 + ], + [ + -0.12341791596024129, + -0.004799121990799904, + 0.9923431891512381, + 6.389026641845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9915123740490256, + -0.0030100608710199603, + 0.12997746730786, + 1.5387542247772217 + ], + [ + 0.0019877870455738064, + 0.999966084957123, + 0.00799402518579894, + -0.593345582485199 + ], + [ + -0.12999712276957343, + -0.007667807862162592, + 0.9914847481550042, + 6.4625139236450195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9905956196378365, + -0.0028561884537339215, + 0.13679245571844537, + 1.5549769401550293 + ], + [ + 0.0015602502842044779, + 0.9999529123306277, + 0.00958003804859419, + -0.5945256948471069 + ], + [ + -0.1368133707060603, + -0.00927651394158602, + 0.9905534129932032, + 6.542927265167236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9897742990887621, + -0.0010832861298695207, + 0.14263838665074713, + 1.570521593093872 + ], + [ + -0.0004144791490453255, + 0.9999451041221619, + 0.010470305884268895, + -0.5947598218917847 + ], + [ + -0.1426419020608643, + -0.010422359220683575, + 0.9897195140981699, + 6.623199462890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9891167314223255, + 0.00044688204070553184, + 0.1471323568515459, + 1.5862557888031006 + ], + [ + -0.00209346620701069, + 0.9999368786811829, + 0.01103651632678233, + -0.5962099432945251 + ], + [ + -0.14711813855899752, + -0.011224419809877872, + 0.9890552502406582, + 6.706124305725098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9884717272702261, + 0.0009071117965504529, + 0.1514027395368474, + 1.602620244026184 + ], + [ + -0.002596041525779726, + 0.9999365806579592, + 0.01095792209335103, + -0.5970721244812012 + ], + [ + -0.15138320473211875, + -0.011224644258618357, + 0.9884114489444576, + 6.785727024078369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9876319069294447, + 0.0011249363888055086, + 0.15678633058084143, + 1.6193209886550903 + ], + [ + -0.002866362439142785, + 0.9999366998672485, + 0.01088134241160901, + -0.6023640036582947 + ], + [ + -0.15676416404315904, + -0.011196168139576912, + 0.9875726313870431, + 6.86625862121582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9869439579486808, + 0.0011838267091661694, + 0.16105986865156693, + 1.6360650062561035 + ], + [ + -0.0023386736743863275, + 0.9999728798866274, + 0.006980914637505558, + -0.607781708240509 + ], + [ + -0.16104723643698296, + -0.0072664381004869955, + 0.9869199719200099, + 6.942877769470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9863837543746159, + -0.001040152390487492, + 0.16445676116420918, + 1.6523133516311646 + ], + [ + 0.0007565178577438486, + 0.9999980926513672, + 0.0017873000193547824, + -0.6139894127845764 + ], + [ + -0.16445831370076833, + -0.0016385491471737623, + 0.9863826938076036, + 7.017387866973877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9858770134487645, + -0.0028898746240884066, + 0.16744587265784774, + 1.6738224029541016 + ], + [ + 0.0035846495430030285, + 0.9999861717224121, + -0.003847148329905418, + -0.6226192116737366 + ], + [ + -0.16743244845027253, + 0.004393049515783787, + 0.9858737527749529, + 7.105125904083252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9854977234814957, + 0.00036082198494113987, + 0.16968838054931673, + 1.6899945735931396 + ], + [ + 0.0005786882242060392, + 0.9999848008155825, + -0.005487190303960783, + -0.6352893114089966 + ], + [ + -0.16968777749341427, + 0.005505810026079417, + 0.9854825025004237, + 7.169309616088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9851876663376213, + 0.0004777564899995924, + 0.17147906260969073, + 1.7096723318099976 + ], + [ + 0.0007252103156748906, + 0.9999755620956423, + -0.006952528603207942, + -0.6471035480499268 + ], + [ + -0.17147819825309787, + 0.006973904091864826, + 0.9851632399966416, + 7.248464107513428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9847607985463863, + 0.000297151185804978, + 0.17391391569271866, + 1.7232309579849243 + ], + [ + 0.0013725288519807054, + 0.999954104423523, + -0.00948026652464994, + -0.6584785580635071 + ], + [ + -0.1739087560042418, + 0.009574496187269688, + 0.9847152534977622, + 7.317110061645508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9843381201072807, + -0.0017033083131536841, + 0.176282750755911, + 1.7359886169433594 + ], + [ + 0.0035239547656948744, + 0.9999436140060425, + -0.010015448910094078, + -0.6716476082801819 + ], + [ + -0.17625575237012286, + 0.010479799471795559, + 0.9842886261803709, + 7.388033866882324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9839704795597752, + -0.006033037789165975, + 0.17822941892162245, + 1.7488983869552612 + ], + [ + 0.007873348809176678, + 0.9999227523803713, + -0.009620025597479495, + -0.6826423406600952 + ], + [ + -0.17815761528374596, + 0.01086908392608166, + 0.9839419581949232, + 7.453375816345215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.983673675961738, + -0.008385879918932915, + 0.1797658665053246, + 1.7636278867721558 + ], + [ + 0.009956855517401277, + 0.9999197125434875, + -0.007838475181927568, + -0.6930248737335205 + ], + [ + -0.17968570181900154, + 0.009500404819846153, + 0.9836782097177925, + 7.5236287117004395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9835412138803972, + -0.007452929392457008, + 0.18053000798307572, + 1.778552770614624 + ], + [ + 0.008108821077778001, + 0.9999629259109497, + -0.0028953992360746337, + -0.701264500617981 + ], + [ + -0.1805017389233288, + 0.0043116300366818905, + 0.9835651901199657, + 7.596244812011719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9835123289721389, + -0.00607489049434662, + 0.18073891428674443, + 1.7922073602676392 + ], + [ + 0.006587599461648783, + 0.9999758005142214, + -0.0022366093644583794, + -0.7063776850700378 + ], + [ + -0.18072095288958875, + 0.003390368539839984, + 0.9835285562318147, + 7.669543266296387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9834239643807394, + -0.005066234618425369, + 0.18125009667371514, + 1.8035565614700317 + ], + [ + 0.005526263087938365, + 0.9999826550483704, + -0.0020331742904506527, + -0.7120140194892883 + ], + [ + -0.18123665797399455, + 0.0030011082999408245, + 0.9834349488815168, + 7.742076396942139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9831788466658972, + -0.007839915342628956, + 0.182477140907936, + 1.814985752105713 + ], + [ + 0.008280940459575992, + 0.9999643564224243, + -0.0016550516076197217, + -0.7144168019294739 + ], + [ + -0.18245766281311798, + 0.0031382942106574774, + 0.9832086835073797, + 7.819698810577393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9829263978209273, + -0.013056120835244656, + 0.1835354170799145, + 1.8283339738845825 + ], + [ + 0.013451969197393544, + 0.9999091029167175, + -0.0009118782188828467, + -0.7162132859230042 + ], + [ + -0.18350683159250533, + 0.003365221666172147, + 0.983012686086655, + 7.898131370544434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9826689425788129, + -0.015176714397966862, + 0.18474676917116276, + 1.8407635688781738 + ], + [ + 0.015574375764934948, + 0.999878466129303, + -0.0007014236478563392, + -0.7148171663284302 + ], + [ + -0.18471367915406708, + 0.0035665829200297594, + 0.982785894550149, + 7.97678279876709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9824704555544853, + -0.016085885465145115, + 0.18572302639977278, + 1.8535608053207397 + ], + [ + 0.016485562473505185, + 0.999863922595978, + -0.0006077942075597514, + -0.7159920334815979 + ], + [ + -0.18568797587587849, + 0.0036588881630450496, + 0.9826019318835367, + 8.054644584655762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9821807158173184, + -0.017652558162808422, + 0.18710814419101376, + 1.8656219244003296 + ], + [ + 0.01805380052314363, + 0.9998369216918948, + -0.0004404761022552606, + -0.7175889015197754 + ], + [ + -0.1870698503917697, + 0.0038106399588286885, + 0.9823392530337476, + 8.130651473999023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9818695284136199, + -0.022449821233749393, + 0.18822395074520304, + 1.8786540031433105 + ], + [ + 0.022799499056752923, + 0.99974000453949, + 0.00030735689115739923, + -0.7219356894493103 + ], + [ + -0.18818191374054027, + 0.003989627119153739, + 0.982126073797407, + 8.21047592163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9817546187628816, + -0.024588927626609802, + 0.1885555980350086, + 1.8934811353683472 + ], + [ + 0.024995575954862966, + 0.9996875524520874, + 0.00022126617005433118, + -0.7271968126296997 + ], + [ + -0.18850211836592365, + 0.0044958265498280525, + 0.9820624788401933, + 8.296385765075684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9818258991849592, + -0.022283777594566345, + 0.18847108845110805, + 1.9089726209640503 + ], + [ + 0.022868427278238363, + 0.9997380375862122, + -0.0009278461670451289, + -0.7354838252067566 + ], + [ + -0.1884010473334347, + 0.005221020430326462, + 0.9820782855211745, + 8.379955291748047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9819109625884599, + -0.017883770167827606, + 0.18849684979418235, + 1.9216711521148682 + ], + [ + 0.018605682792382696, + 0.9998247623443604, + -0.0020609777616854355, + -0.7481133937835693 + ], + [ + -0.18842695921002844, + 0.0055308095179498196, + 0.9820716412893447, + 8.458020210266113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9818896729793598, + -0.01763654686510563, + 0.1886308067008189, + 1.931589961051941 + ], + [ + 0.018518270721242385, + 0.9998242855072021, + -0.0029128457604605, + -0.7592645883560181 + ], + [ + -0.18854629283985094, + 0.006353209260851145, + 0.9820437475145536, + 8.530505180358887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9817483824564373, + -0.02134180068969727, + 0.18898303320666793, + 1.9407860040664673 + ], + [ + 0.02228021961209815, + 0.9997477531433108, + -0.002842338308153496, + -0.7702794075012207 + ], + [ + -0.1888747011972653, + 0.00700104469433427, + 0.9819762378338217, + 8.600215911865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9817387793688981, + -0.018924472853541374, + 0.18929024305076533, + 1.9507004022598267 + ], + [ + 0.019897435335215836, + 0.9997967481613159, + -0.00324083764102023, + -0.7824719548225403 + ], + [ + -0.1891904447896634, + 0.006948046386241913, + 0.9819158483788295, + 8.658482551574707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9817843204866594, + -0.01614276319742203, + 0.1893118994986143, + 1.964260220527649 + ], + [ + 0.017117507269925586, + 0.9998472929000857, + -0.003514843741171993, + -0.7923373579978943 + ], + [ + -0.18922625044571162, + 0.0066913659684360045, + 0.9819107258338512, + 8.727593421936035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9818089756248297, + -0.012950924225151539, + 0.18942908631427396, + 1.9765653610229492 + ], + [ + 0.013620379218722285, + 0.9999047517776489, + -0.002232599708013858, + -0.8015949130058289 + ], + [ + -0.1893821288818537, + 0.004772081971168518, + 0.9818918541057902, + 8.793974876403809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9817650605854781, + -0.010702126659452915, + 0.18979668238933692, + 1.9901509284973145 + ], + [ + 0.010630576226495178, + 0.9999425411224365, + 0.0013950904944694316, + -0.8081430196762085 + ], + [ + -0.18980070585621323, + 0.0006479970179498196, + 0.981822436365871, + 8.861431121826172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9815631000634366, + -0.0118070924654603, + 0.19077345390457076, + 2.00480580329895 + ], + [ + 0.011470753310279486, + 0.9999300837516785, + 0.0028672691948283184, + -0.8136903047561646 + ], + [ + -0.1907939729911316, + -0.0006260904483497143, + 0.9816299074393268, + 8.924605369567871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9813871240391236, + -0.011487333104014398, + 0.19169592759359225, + 2.021327018737793 + ], + [ + 0.01092744918541043, + 0.9999324083328249, + 0.0039776400242591626, + -0.8190765380859375 + ], + [ + -0.19172865760050903, + -0.0018088571960106496, + 0.981446286453366, + 8.994943618774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9812545436811808, + -0.010094399563968182, + 0.1924515587239282, + 2.039592742919922 + ], + [ + 0.009338110934648414, + 0.9999446868896484, + 0.004836420119018934, + -0.8210352063179016 + ], + [ + -0.19248974234890642, + -0.002948625013232231, + 0.9812945688889124, + 9.072378158569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9810994947534661, + -0.008963607251644135, + 0.19329626754883097, + 2.0580966472625732 + ], + [ + 0.007990969726186726, + 0.999951183795929, + 0.005810940318863293, + -0.8214752674102783 + ], + [ + -0.1933389161372251, + -0.004156486131250858, + 0.981123209554589, + 9.148383140563965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9809496730094797, + -0.0052846516482532024, + 0.19419003272119092, + 2.075676202774048 + ], + [ + 0.004217924221482948, + 0.9999736547470093, + 0.005906281930827583, + -0.819397509098053 + ], + [ + -0.19421613796835743, + -0.004974686540663242, + 0.9809461761708226, + 9.227105140686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9807668951099863, + -0.0024804098065942526, + 0.19516688888634998, + 2.093003511428833 + ], + [ + 0.0013631952481292487, + 0.9999818801879883, + 0.005858514823061639, + -0.8190657496452332 + ], + [ + -0.19517789458696583, + -0.005479786545038223, + 0.9807525680814246, + 9.307929992675781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9805692324218159, + -0.0021097385324537754, + 0.1961619728608296, + 2.1110923290252686 + ], + [ + 0.0009500545463014278, + 0.9999815225601196, + 0.006005777762962134, + -0.8212298154830933 + ], + [ + -0.1961710216926052, + -0.005702716764062643, + 0.9805531228578169, + 9.384567260742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.980419706738088, + -0.002810361562296748, + 0.19689921424424534, + 2.129556894302368 + ], + [ + 0.0016409215591427, + 0.9999800324440002, + 0.006102174929733098, + -0.8271339535713196 + ], + [ + -0.19691242862135608, + -0.005659596063196659, + 0.9804047277816808, + 9.459247589111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9804069459740199, + -0.004494324326515198, + 0.19693139340346114, + 2.1514711380004883 + ], + [ + 0.0035819672656743403, + 0.999981164932251, + 0.0049888148328778555, + -0.8336057662963867 + ], + [ + -0.19695010514162054, + -0.004185666795819998, + 0.9804045793260532, + 9.54255485534668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9804917818304398, + -0.0006285645067691803, + 0.19655915473381294, + 2.1719353199005127 + ], + [ + 0.00046934239191521136, + 0.9999995231628418, + 0.0008566268121767378, + -0.8440083265304565 + ], + [ + -0.19655959441609233, + -0.0007476620376110077, + 0.9804915966947781, + 9.61967658996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9806018154242294, + 0.006403125356882811, + 0.1959059209687291, + 2.1870839595794678 + ], + [ + -0.006560757758854415, + 0.9999784827232361, + 0.00015570338061396258, + -0.8593703508377075 + ], + [ + -0.19590069534164056, + -0.0014379741623997688, + 0.9806226554714452, + 9.687225341796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9810082300301446, + 0.005800662562251091, + 0.19387933347185116, + 2.2039082050323486 + ], + [ + -0.005803905608405977, + 0.999983012676239, + -0.000551293429339257, + -0.8713033199310303 + ], + [ + -0.19387923955197947, + -0.0005844339611940086, + 0.9810252393598691, + 9.763270378112793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9811003713320763, + 0.008278938941657545, + 0.19332232493580304, + 2.221268892288208 + ], + [ + -0.00820997816627593, + 0.9999656081199648, + -0.0011578666130451691, + -0.8821808695793152 + ], + [ + -0.1933252596400075, + -0.00045118870912119757, + 0.9811345887885747, + 9.829607009887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9808964821405096, + 0.016320714727044106, + 0.19384463233758245, + 2.2342536449432373 + ], + [ + -0.016175405609779533, + 0.9998664259910583, + -0.002332476614602795, + -0.8933658599853516 + ], + [ + -0.1938568118515531, + -0.0008475972572341561, + 0.9810294976265499, + 9.898536682128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9807318640356733, + 0.022424573078751564, + 0.1940673914673993, + 2.247809886932373 + ], + [ + -0.022251419704046402, + 0.9997476935386658, + -0.0030723335772420406, + -0.9068438410758972 + ], + [ + -0.19408732240222, + -0.0013051393907517195, + 0.9809833973493454, + 9.955357551574707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9808071503634045, + 0.021716549992561344, + 0.19376709400971917, + 2.263301134109497 + ], + [ + -0.021532529032892232, + 0.9997634887695315, + -0.0030560189749052774, + -0.9171766638755798 + ], + [ + -0.1937876326144856, + -0.0011749301338568332, + 0.9810428109342618, + 10.03873062133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9810363470220356, + 0.02065189927816391, + 0.19272060221510603, + 2.281667709350586 + ], + [ + -0.020522979458483564, + 0.999785840511322, + -0.0026654630350535615, + -0.9257765412330627 + ], + [ + -0.19273436715955075, + -0.0013402847107499838, + 0.9812500381315817, + 10.111905097961426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9813389995377697, + 0.024416619911789894, + 0.19072899673486468, + 2.297581195831299 + ], + [ + -0.024301374704774156, + 0.9997003674507141, + -0.0029435338740458174, + -0.9313123822212219 + ], + [ + -0.1907437161319396, + -0.0017463723197579384, + 0.9816382989843427, + 10.188965797424316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9814117964638754, + 0.028120698407292373, + 0.18984248897493092, + 2.312424659729004 + ], + [ + -0.027979740664408767, + 0.9996026158332827, + -0.0034232404952899654, + -0.9345951676368713 + ], + [ + -0.18986331231885298, + -0.0019521350041031842, + 0.9818085929903652, + 10.26244831085205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9814617542338426, + 0.027947019785642624, + 0.18960952676805168, + 2.324373722076416 + ], + [ + -0.027776375647499563, + 0.9996078014373779, + -0.003557880848511163, + -0.9367090463638306 + ], + [ + -0.1896346053516131, + -0.0017747413367033005, + 0.9818531552736628, + 10.324885368347168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9813829044162857, + 0.027369718998670578, + 0.19010112993312908, + 2.339770793914795 + ], + [ + -0.027100040287212333, + 0.9996246695518494, + -0.004018540365325506, + -0.9378066062927246 + ], + [ + -0.19013976811014635, + -0.0012080214219167829, + 0.98175629600651, + 10.402603149414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9811875165607745, + 0.028219180181622512, + 0.1909834482724186, + 2.353529214859009 + ], + [ + -0.02785526803459015, + 0.9996014237403872, + -0.004590402055925637, + -0.938954770565033 + ], + [ + -0.19103686443136883, + -0.0008158497512340548, + 0.9815825133347783, + 10.472664833068848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9809817660309357, + 0.028851941227912903, + 0.19194370279052386, + 2.368685483932495 + ], + [ + -0.028404563010324253, + 0.9995836019515991, + -0.00508258790498806, + -0.9420353174209595 + ], + [ + -0.19201041773763644, + -0.00046615093015134335, + 0.9813927849459085, + 10.547106742858887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.980742574022996, + 0.02876167930662632, + 0.19317535376228975, + 2.382050037384033 + ], + [ + -0.02828362516288102, + 0.9995862245559692, + -0.005232669328957683, + -0.9474633932113647 + ], + [ + -0.19324593289587252, + -0.00033179769525304437, + 0.9811503008629379, + 10.617253303527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9804293913084121, + 0.02948688715696335, + 0.1946501475520931, + 2.3976292610168457 + ], + [ + -0.02893429115193847, + 0.9995651841163635, + -0.005682170524733885, + -0.9537354707717896 + ], + [ + -0.19473305953897735, + -6.109700188972056e-05, + 0.9808562782777429, + 10.69892406463623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9801434001502995, + 0.02945585548877716, + 0.19608996215904181, + 2.4126393795013428 + ], + [ + -0.028849179819234166, + 0.9995660781860352, + -0.005950031577042481, + -0.9631901383399963 + ], + [ + -0.1961801378102694, + 0.00017484970157966018, + 0.9805678524967638, + 10.776283264160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9796635160201694, + 0.031945452094078064, + 0.19808798085873303, + 2.425809621810913 + ], + [ + -0.03130968831135495, + 0.9994896054267883, + -0.0063415610447071875, + -0.9750538468360901 + ], + [ + -0.1981894658166649, + 1.0523013770580292e-05, + 0.9801637107200536, + 10.851889610290527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9792425963672222, + 0.03080902434885502, + 0.20033669582199484, + 2.438631057739258 + ], + [ + -0.030153939952620577, + 0.999525249004364, + -0.006321239137922965, + -0.9891929030418396 + ], + [ + -0.20043633585007845, + 0.00014908600132912397, + 0.9797066902182116, + 10.920961380004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9788623924427294, + 0.027714751660823822, + 0.20263342716531352, + 2.4508209228515625 + ], + [ + -0.027022152310403662, + 0.9996157288551331, + -0.006184235140566556, + -1.0039780139923096 + ], + [ + -0.2027269469412863, + 0.0005779239581897855, + 0.9792351142489687, + 10.992484092712402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9784186396781221, + 0.02802574262022972, + 0.20472311050523948, + 2.464959144592285 + ], + [ + -0.027248192929961366, + 0.9996067881584167, + -0.006616655882773842, + -1.0189920663833618 + ], + [ + -0.20482804954172437, + 0.0008955248049460351, + 0.9787975890837716, + 11.054421424865723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9779532437721298, + 0.02918260172009468, + 0.20677495549276564, + 2.4767541885375977 + ], + [ + -0.028428428537084736, + 0.9995739459991455, + -0.006618276324399325, + -1.0329382419586182 + ], + [ + -0.2068799835343238, + 0.000594077748246491, + 0.9783661254434437, + 11.11484432220459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9777618626996704, + 0.02679811418056488, + 0.2079991827521838, + 2.494069814682007 + ], + [ + -0.026738075264903103, + 0.9996376633644104, + -0.0031006536197567625, + -1.044398546218872 + ], + [ + -0.208006902644286, + -0.002529796911403537, + 0.9781240788810643, + 11.184446334838867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9775007671107059, + 0.027110565453767776, + 0.20918246245545377, + 2.5104405879974365 + ], + [ + -0.028646377236818704, + 0.9995803236961365, + 0.004315215918578864, + -1.053218960762024 + ], + [ + -0.20897768174731002, + -0.010210447013378143, + 0.9778671207384528, + 11.261632919311523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9772282609631594, + 0.027378644794225693, + 0.21041707896724435, + 2.5278818607330322 + ], + [ + -0.029377469610049965, + 0.9995480179786682, + 0.006378875986667452, + -1.0606515407562256 + ], + [ + -0.21014733979043015, + -0.012415139004588127, + 0.9775909251127685, + 11.34394645690918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9768760157413283, + 0.028748463839292526, + 0.21186508900010204, + 2.5406405925750732 + ], + [ + -0.030969383948537245, + 0.9994946122169495, + 0.007171135578357825, + -1.068686604499817 + ], + [ + -0.21155185334382196, + -0.013566642068326473, + 0.9772726153641121, + 11.414203643798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9766045639996824, + 0.02769232168793679, + 0.21325260705632643, + 2.55729341506958 + ], + [ + -0.030033690549942912, + 0.9995188713073733, + 0.0077468795113607315, + -1.0711573362350464 + ], + [ + -0.21293546669962968, + -0.013970400206744674, + 0.9769663575414637, + 11.491814613342285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9763315561054848, + 0.0248889047652483, + 0.21484244351212495, + 2.573275327682495 + ], + [ + -0.027397895611341594, + 0.9995867013931274, + 0.00870783526617723, + -1.0746572017669678 + ], + [ + -0.21453690970946307, + -0.014387964271008968, + 0.9766098893032322, + 11.565296173095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.976074224635461, + 0.024493755772709846, + 0.21605368059797816, + 2.593311309814453 + ], + [ + -0.027002450788281566, + 0.9995977878570557, + 0.008666788606095235, + -1.0780411958694458 + ], + [ + -0.21575450265387114, + -0.014293408021330833, + 0.976343048082642, + 11.645293235778809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9758311839773621, + 0.02384980022907257, + 0.2172203566929917, + 2.6116838455200195 + ], + [ + -0.025996063203643307, + 0.9996373653411865, + 0.007027964880809785, + -1.0786460638046265 + ], + [ + -0.2169739716014351, + -0.012504981830716133, + 0.9760973122615572, + 11.725963592529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9755577844195136, + 0.024090297520160675, + 0.21841864194678415, + 2.6299400329589844 + ], + [ + -0.025934258456155053, + 0.9996480941772461, + 0.005578957852032017, + -1.0817822217941284 + ], + [ + -0.21820736973628957, + -0.011107120662927628, + 0.9758391950509023, + 11.803387641906738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9753950066172442, + 0.0220362339168787, + 0.21936030035076742, + 2.6468665599823 + ], + [ + -0.02377392774828918, + 0.9997034072875977, + 0.005284787513613924, + -1.0887086391448975 + ], + [ + -0.21917878891432288, + -0.010369811207056046, + 0.975629629317009, + 11.881158828735352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9753729390991116, + 0.017691023647785187, + 0.21985156024333993, + 2.664579391479492 + ], + [ + -0.019347116889120313, + 0.9997983574867249, + 0.005381809774686771, + -1.0965250730514526 + ], + [ + -0.21971201640541924, + -0.009502765722572803, + 0.9755185046008028, + 11.95718765258789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9753388269371878, + 0.018255801871418956, + 0.21995668157398376, + 2.6815645694732666 + ], + [ + -0.019449308154305116, + 0.9998055100440981, + 0.0032616044927428088, + -1.1082628965377808 + ], + [ + -0.2198543544359857, + -0.0074591748416423815, + 0.9755041624304951, + 12.032194137573242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9754073190802023, + 0.019376160576939583, + 0.21955670448925557, + 2.698854923248291 + ], + [ + -0.020289783552095812, + 0.9997923374176025, + 0.0019068757492044142, + -1.1229904890060425 + ], + [ + -0.21947415973326495, + -0.006314738187938929, + 0.9755978871780178, + 12.099417686462402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9756299974225895, + 0.01945505291223526, + 0.2185580235624574, + 2.714872360229492 + ], + [ + -0.020093949180254114, + 0.9997978210449219, + 0.0007006796151758589, + -1.1357301473617554 + ], + [ + -0.2185002092322443, + -0.00507529778406024, + 0.975823704471892, + 12.169693946838379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.975900343951054, + 0.0152274826541543, + 0.2176848210881942, + 2.731231689453125 + ], + [ + -0.015176956933368391, + 0.9998829960823059, + -0.0019041440967949039, + -1.1485835313796997 + ], + [ + -0.21768835010110954, + -0.001445538247935474, + 0.976017284786996, + 12.23295783996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.976123615404461, + 0.014685378409922126, + 0.21671870901331222, + 2.744744300842285 + ], + [ + -0.014333511949683884, + 0.9998921751976015, + -0.0031954524184302775, + -1.16330087184906 + ], + [ + -0.2167422729624747, + 1.2816395610570911e-05, + 0.9762288823073296, + 12.293747901916504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9763477791437806, + 0.015482153743505478, + 0.21565093537732521, + 2.754666566848755 + ], + [ + -0.015042152420393187, + 0.9998800754547119, + -0.003681532913444467, + -1.1765015125274658 + ], + [ + -0.21568207651699314, + 0.0003506022912915796, + 0.9764635928442856, + 12.353214263916016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9768858411963651, + 0.013493288308382038, + 0.21333537383511914, + 2.769604444503784 + ], + [ + -0.013047508768340228, + 0.9999087452888491, + -0.0034974565362137556, + -1.187345027923584 + ], + [ + -0.2133631084742174, + 0.0006331206532195212, + 0.9769727943478909, + 12.417943000793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9777651242063146, + 0.013798602856695652, + 0.20924868112820214, + 2.7817060947418213 + ], + [ + -0.013353881889451106, + 0.9999045729637146, + -0.0035380252534774484, + -1.1974714994430542 + ], + [ + -0.2092775228339765, + 0.0006650754949077964, + 0.9778560382288773, + 12.47219181060791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9781253993533308, + 0.014912912622094158, + 0.20748086976293983, + 2.793100357055664 + ], + [ + -0.014499161126139797, + 0.9998887181282046, + -0.0035148046265772183, + -1.2046862840652466 + ], + [ + -0.20751018866393517, + 0.0004296211409382523, + 0.9782327328689435, + 12.536639213562012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9784336743937498, + 0.014911137521266937, + 0.20602240554230125, + 2.803605556488037 + ], + [ + -0.014571863803140642, + 0.9998888373374939, + -0.003164106142453924, + -1.2092646360397339 + ], + [ + -0.20604668262808754, + 9.373758075525984e-05, + 0.9785421850418781, + 12.59933853149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9787715487326137, + 0.011821954511106014, + 0.20461301874126603, + 2.815342903137207 + ], + [ + -0.011606465414686138, + 0.9999300837516785, + -0.0022532754922756373, + -1.2116332054138184 + ], + [ + -0.20462534962885542, + -0.0001693919621175155, + 0.9788403232985122, + 12.666193008422852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9790984000342497, + 0.011597241275012493, + 0.2030563415444209, + 2.8274784088134766 + ], + [ + -0.011431730711274497, + 0.9999327063560486, + -0.0019879751458434054, + -1.214301347732544 + ], + [ + -0.20306572081447496, + -0.000374862109310925, + 0.9791650356131744, + 12.734267234802246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9793469715096297, + 0.013234812766313553, + 0.20175310491323192, + 2.8379762172698975 + ], + [ + -0.013072305976867073, + 0.9999122619628906, + -0.0021378991449266444, + -1.2178692817687988 + ], + [ + -0.20176370781792546, + -0.0005436332430690527, + 0.9794341033670301, + 12.804043769836426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9795177742179793, + 0.014436908997595314, + 0.2008395963784253, + 2.8462562561035156 + ], + [ + -0.014237194989838695, + 0.9998956918716433, + -0.0024388520023265964, + -1.2213512659072876 + ], + [ + -0.20085384413284066, + -0.00047049360000528406, + 0.9796210824249458, + 12.87857723236084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.97973972800941, + 0.01032046414911747, + 0.20000882641868764, + 2.8548197746276855 + ], + [ + -0.01018058569971225, + 0.9999467134475708, + -0.001727868768744244, + -1.2287434339523315 + ], + [ + -0.20001600181824905, + -0.0003433453384786844, + 0.9797925927032708, + 12.948776245117188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9800350448313634, + 0.005509700160473586, + 0.1987485185225166, + 2.8673629760742188 + ], + [ + -0.005269248030671756, + 0.9999846220016482, + -0.001738719109755935, + -1.2329246997833252 + ], + [ + -0.19875503538874537, + 0.0006567504606209696, + 0.9800489745972951, + 13.024913787841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9802899625717517, + 0.0060647837817668915, + 0.197471054857189, + 2.8790557384490967 + ], + [ + -0.005561526791003874, + 0.9999797344207764, + -0.0031029957949992243, + -1.244519591331482 + ], + [ + -0.19748586811864285, + 0.0019435950089246035, + 0.980303805910185, + 13.101818084716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9804162917785987, + 0.00871394295245409, + 0.1967434700715292, + 2.8861467838287354 + ], + [ + -0.0072591256196986335, + 0.9999407529830933, + -0.008114436637741538, + -1.2544413805007935 + ], + [ + -0.19680251276350055, + 0.006527340039610863, + 0.9804214124458152, + 13.174144744873047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9806338125908817, + 0.008813763968646526, + 0.19565169413813396, + 2.89664888381958 + ], + [ + -0.006620784515205703, + 0.9999077320098877, + -0.011859776202489231, + -1.2636313438415527 + ], + [ + -0.19573817676505118, + 0.01033473014831543, + 0.9806017167588099, + 13.24050521850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9808023378307107, + 0.005617652088403702, + 0.1949237102712297, + 2.905750274658203 + ], + [ + -0.0032307966711987777, + 0.9999158978462219, + -0.01256084828255718, + -1.2733588218688965 + ], + [ + -0.19497787588579055, + 0.011689950712025166, + 0.9807379810077775, + 13.30538272857666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9810475566195506, + 0.0037787393666803837, + 0.1937301227611003, + 2.9176104068756104 + ], + [ + -0.0012741254608559498, + 0.9999139904975891, + -0.013051334735748245, + -1.2841672897338867 + ], + [ + -0.19376278285173015, + 0.012557143345475197, + 0.9809680155031102, + 13.371150016784668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.981191516587686, + 0.0046174339950084695, + 0.19298161752886303, + 2.924028158187866 + ], + [ + -0.0020291909751307996, + 0.9999053478240969, + -0.013607367834534059, + -1.2976584434509277 + ], + [ + -0.1930261859370722, + 0.012959836982190612, + 0.9811080222527818, + 13.436388969421387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9812551397784482, + 0.005959848873317242, + 0.1926208232427289, + 2.9344913959503174 + ], + [ + -0.003230195991488235, + 0.9998899102210999, + -0.014482059431109513, + -1.3065025806427002 + ], + [ + -0.19268593747700877, + 0.013588392175734043, + 0.9811664089569118, + 13.500993728637695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9813097183534161, + 0.008704312145709991, + 0.19223795930175738, + 2.941925048828125 + ], + [ + -0.005925611743710385, + 0.9998695850372314, + -0.01502469240663345, + -1.3167831897735596 + ], + [ + -0.19234366703997305, + 0.01360474992543459, + 0.9812333077110632, + 13.55769157409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9815675956525107, + 0.008538779802620411, + 0.1909244139657501, + 2.9505481719970703 + ], + [ + -0.005816760381534708, + 0.9998733401298523, + -0.014812955137788625, + -1.3269810676574707 + ], + [ + -0.1910267147686736, + 0.013429354876279831, + 0.9814929396146322, + 13.624747276306152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9819010341830257, + 0.007265427149832249, + 0.18925546803243432, + 2.961528778076172 + ], + [ + -0.004629794087201144, + 0.9998860955238342, + -0.014364710164152347, + -1.3354268074035645 + ], + [ + -0.18933827587302002, + 0.01322850864380598, + 0.9818228224999328, + 13.683183670043945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9822399658547136, + 0.007889007218182087, + 0.18746322311278732, + 2.972078561782837 + ], + [ + -0.005276767307014663, + 0.9998819828033447, + -0.014429624873746414, + -1.3408172130584717 + ], + [ + -0.18755492903150775, + 0.013184153474867344, + 0.9821656519674652, + 13.748075485229492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.982604318725217, + 0.00785592943429947, + 0.18554519785853404, + 2.982755661010742 + ], + [ + -0.005252652595548383, + 0.9998807907104494, + -0.014517827925068538, + -1.34579598903656 + ], + [ + -0.18563713732906603, + 0.013290675356984142, + 0.982528479317299, + 13.811012268066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9830201744129136, + 0.007413392886519432, + 0.18334779664944437, + 2.9945037364959717 + ], + [ + -0.0048079497983861815, + 0.9998810887336731, + -0.014650843323147863, + -1.3487610816955566 + ], + [ + -0.18343460916721788, + 0.013520547188818455, + 0.982938935448985, + 13.878515243530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9837271928540761, + 0.0076405387371778506, + 0.1795060445552067, + 3.0059540271759033 + ], + [ + -0.005068546547161173, + 0.9998778700828554, + -0.014782445301078662, + -1.35232675075531 + ], + [ + -0.17959706946056403, + 0.013632059097290043, + 0.9836457980914539, + 13.946322441101074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9845311774899934, + 0.01128571666777134, + 0.17484576198324986, + 3.0175113677978516 + ], + [ + -0.008670879959730265, + 0.9998389482498169, + -0.01571183122173248, + -1.355702519416809 + ], + [ + -0.17499491162196268, + 0.01395271997898817, + 0.9844704444026438, + 14.010797500610352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9849405288375551, + 0.011906800791621208, + 0.172483069750701, + 3.0302488803863525 + ], + [ + -0.009240550526721965, + 0.9998252391815186, + -0.016252763051591453, + -1.357719898223877 + ], + [ + -0.17264643721475206, + 0.0144141661003232, + 0.9848783890967476, + 14.075943946838379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9854101421365387, + 0.010725514031946659, + 0.16985804789970918, + 3.044161796569824 + ], + [ + -0.008063102798202824, + 0.9998337030410767, + -0.01635640617762727, + -1.3608561754226685 + ], + [ + -0.170005238366858, + 0.014748185873031616, + 0.9853327724305982, + 14.14223861694336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9860591004233388, + 0.010342747904360294, + 0.16607357191148236, + 3.0580389499664307 + ], + [ + -0.007640423435201936, + 0.9998279213905334, + -0.016902499009296707, + -1.3684606552124023 + ], + [ + -0.1662198161441541, + 0.015397991053760052, + 0.9859684784222399, + 14.197954177856445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9863612251691685, + 0.013936588540673256, + 0.16400388279939118, + 3.072032928466797 + ], + [ + -0.011058349198266924, + 0.9997686147689819, + -0.018449791394441393, + -1.3754526376724243 + ], + [ + -0.16422306963789396, + 0.01638454757630825, + 0.9862871506679745, + 14.256299018859863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9866508338881126, + 0.016866324469447136, + 0.16197435446477143, + 3.086352586746216 + ], + [ + -0.01375528795436594, + 0.9996991157531738, + -0.02030927974471853, + -1.380126714706421 + ], + [ + -0.16226816372262776, + 0.017810164019465446, + 0.9865859582927636, + 14.314718246459961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9869584892205473, + 0.01450992934405804, + 0.1603197290189955, + 3.103027820587158 + ], + [ + -0.011285803361437021, + 0.9997156858444216, + -0.021002931962621985, + -1.3875269889831543 + ], + [ + -0.16057889406677905, + 0.018919683992862705, + 0.9868416488235882, + 14.367574691772461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9870289755350729, + 0.014798960648477077, + 0.15985884698245972, + 3.1196374893188477 + ], + [ + -0.011317001958948454, + 0.9996789693832397, + -0.02267000145004236, + -1.3920073509216309 + ], + [ + -0.16014300551268162, + 0.020566824823617935, + 0.9868795389312411, + 14.423192977905273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9870839678736864, + 0.013784256763756279, + 0.15960961199306145, + 3.1325843334198 + ], + [ + -0.010115787876796406, + 0.9996661543846133, + -0.023773779330435167, + -1.3968442678451538 + ], + [ + -0.15988403643672908, + 0.021852139383554462, + 0.9868938799911371, + 14.47366714477539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9871218808618129, + 0.015808049589395523, + 0.15918717784472527, + 3.147613286972046 + ], + [ + -0.012100802453715203, + 0.9996331334114075, + -0.02423111209921335, + -1.4042655229568481 + ], + [ + -0.15951180870463808, + 0.021992767229676247, + 0.986950987841939, + 14.529616355895996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9871735536985606, + 0.01723587326705456, + 0.15871765709043748, + 3.1633384227752686 + ], + [ + -0.013459820269804733, + 0.999600946903229, + -0.02483540495019527, + -1.412304162979126 + ], + [ + -0.15908237277938528, + 0.022380542010068897, + 0.987011596966795, + 14.590572357177734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9872201199228572, + 0.020695731043815613, + 0.15801304463337354, + 3.1786580085754395 + ], + [ + -0.016869458524729417, + 0.9995320439338684, + -0.02551799831162985, + -1.4194221496582031 + ], + [ + -0.15846722196130886, + 0.022526288405060768, + 0.9871072713905948, + 14.647237777709961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9872156747771117, + 0.022289618849754337, + 0.15782404509269304, + 3.1936211585998535 + ], + [ + -0.018572592705365643, + 0.999515235424042, + -0.02498768481204887, + -1.4266040325164795 + ], + [ + -0.15830448810515046, + 0.021737033501267437, + 0.9871510345870843, + 14.709858894348145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9870822584915238, + 0.024336202070116997, + 0.1583552167837363, + 3.2059566974639893 + ], + [ + -0.02056935195561912, + 0.9994661808013916, + -0.025383230483114947, + -1.4304313659667969 + ], + [ + -0.15888841127854803, + 0.02179807238280773, + 0.987055879470574, + 14.774808883666992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9870076095256975, + 0.021567951887845993, + 0.1592194659343564, + 3.2219009399414062 + ], + [ + -0.017658331106276678, + 0.9995077848434448, + -0.025929177929191537, + -1.428423285484314 + ], + [ + -0.15970033747893927, + 0.02278074435889721, + 0.9869026511305831, + 14.840888023376465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9868747046010196, + 0.016080839559435848, + 0.1606850592681826, + 3.2374095916748047 + ], + [ + -0.012019169064620692, + 0.9995840191841128, + -0.026217339752312593, + -1.4253216981887817 + ], + [ + -0.16103981361581213, + 0.02394192852079869, + 0.9866574589814243, + 14.903244018554688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9859653339170864, + 0.011159533634781837, + 0.16657668650282717, + 3.2531654834747314 + ], + [ + -0.006770008732881576, + 0.9996153116226196, + -0.02689600113673624, + -1.4237020015716553 + ], + [ + -0.16681275156832195, + 0.025390800088644028, + 0.9856615878028244, + 14.974122047424316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9851065967964685, + 0.009589234367012978, + 0.1716770634013239, + 3.2699460983276367 + ], + [ + -0.004731769820763228, + 0.9995774030685425, + -0.028681083491605957, + -1.423122525215149 + ], + [ + -0.17187954827882773, + 0.027441587299108505, + 0.9847356883436365, + 15.050881385803223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9840812049250115, + 0.007481221575289965, + 0.17756171123103812, + 3.2872142791748047 + ], + [ + -0.0019985372868973595, + 0.9995162487030029, + -0.031036418538494776, + -1.4226298332214355 + ], + [ + -0.17770800424683822, + 0.030187491327524185, + 0.9836201139745631, + 15.122584342956543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9829010654447042, + 0.0036813057959079742, + 0.1840975313944812, + 3.303205728530884 + ], + [ + 0.0025704954731214456, + 0.999428391456604, + -0.033709003476689085, + -1.423162817955017 + ], + [ + -0.18411639317012304, + 0.03360584005713463, + 0.9823297702204328, + 15.207277297973633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9824903401822248, + -0.008422035723924639, + 0.18612296616830068, + 3.32328724861145 + ], + [ + 0.015934100730186355, + 0.9991160035133364, + -0.03890175008427607, + -1.4261709451675415 + ], + [ + -0.18563080647170668, + 0.04118629544973374, + 0.9817560410802718, + 15.284479141235352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9816618473303763, + -0.01077234372496605, + 0.19032591912144017, + 3.3418643474578857 + ], + [ + 0.019859405895246804, + 0.9987485408782959, + -0.04590209153677317, + -1.4311779737472534 + ], + [ + -0.18959326047326902, + 0.04884009063243866, + 0.9806472707883649, + 15.352753639221191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9797783727059401, + -0.010851614177227022, + 0.19979128354426684, + 3.358743190765381 + ], + [ + 0.021623898985207703, + 0.9984225630760195, + -0.05181472623887341, + -1.4322165250778198 + ], + [ + -0.19891385755071492, + 0.05508721247315408, + 0.9784675035915888, + 15.43122673034668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9782579150216443, + -0.014159349724650383, + 0.20690806903600126, + 3.3734028339385986 + ], + [ + 0.025843044441311122, + 0.9982132315635681, + -0.0538747113359853, + -1.434222936630249 + ], + [ + -0.20577553637826945, + 0.058050498366355896, + 0.9768759034087792, + 15.498347282409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9759808520541238, + -0.01741844043135643, + 0.21715879989748302, + 3.3898634910583496 + ], + [ + 0.029892439148123683, + 0.9980776906013489, + -0.05428972895467133, + -1.4363101720809937 + ], + [ + -0.21579571656257593, + 0.05947714298963547, + 0.9746254077354248, + 15.561871528625488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9738037331278282, + -0.01681203953921795, + 0.2267677631782946, + 3.4026317596435547 + ], + [ + 0.02978835366224278, + 0.9981006979942322, + -0.0539225762758415, + -1.4421886205673218 + ], + [ + -0.22543051319825708, + 0.05926504358649254, + 0.9724549833093076, + 15.61705207824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9728937260820958, + -0.016801370307803154, + 0.23064145996900196, + 3.412346601486206 + ], + [ + 0.02741484267653755, + 0.9987035989761353, + -0.04288969096761473, + -1.451964259147644 + ], + [ + -0.22962185958482934, + 0.048050109297037125, + 0.972093109602766, + 15.667742729187012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9720778114199876, + -0.015621746890246868, + 0.2341382512638428, + 3.424661874771118 + ], + [ + 0.024003299351150097, + 0.9991673827171326, + -0.03299048363204948, + -1.45796799659729 + ], + [ + -0.2334279372233469, + 0.03768940642476082, + 0.9716434190846586, + 15.727204322814941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9712899331931437, + -0.008632457815110685, + 0.2377422487144059, + 3.4378349781036377 + ], + [ + 0.015719501756855797, + 0.9994862675666811, + -0.0279301253097387, + -1.4638454914093018 + ], + [ + -0.23737899789255895, + 0.030865440145134933, + 0.9709266132413683, + 15.782357215881348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9695600824926766, + -0.006021603476256132, + 0.244779386055282, + 3.4526238441467285 + ], + [ + 0.012208666670041207, + 0.9996429681777954, + -0.023766636396673584, + -1.4654873609542847 + ], + [ + -0.24454889275118694, + 0.0260316114872694, + 0.9692874897684072, + 15.845739364624023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9671368776710181, + -0.00857536680996418, + 0.2541115901228353, + 3.468005895614624 + ], + [ + 0.014529878066013439, + 0.9996618628501892, + -0.021564990972180037, + -1.4632569551467896 + ], + [ + -0.25384073477837693, + 0.02454850822687149, + 0.9669344402436167, + 15.911409378051758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9649054513676664, + -0.011653522029519081, + 0.2623388437374532, + 3.4834506511688232 + ], + [ + 0.017461701300486836, + 0.9996510744094849, + -0.019819539231849644, + -1.46094810962677 + ], + [ + -0.26201633360934024, + 0.023704862222075462, + 0.9647722376103416, + 15.975024223327637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9637002025435402, + -0.012844599783420563, + 0.2666776110457237, + 3.4994451999664307 + ], + [ + 0.01840754416333504, + 0.9996618032455444, + -0.01837086490531734, + -1.458778738975525 + ], + [ + -0.2663514465271708, + 0.022612884640693665, + 0.9636106888737062, + 16.039945602416992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.962579252543177, + -0.011573554016649723, + 0.2707531576262555, + 3.5151703357696533 + ], + [ + 0.01651196366866707, + 0.9997361302375793, + -0.015968689488343908, + -1.4555647373199463 + ], + [ + -0.27049689982053016, + 0.019841793924570084, + 0.9625163567178147, + 16.105451583862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/pull_out/transforms.json b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3e8e56035378e1ba2100b9e78dadc8e15d64bef7 --- /dev/null +++ b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/pull_out/transforms.json @@ -0,0 +1,7643 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 218, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.994916424853727e-05, + 7.358914444921538e-06, + -1.139659889304312e-05 + ], + [ + 8.994904783321545e-05, + 1.0, + 1.6600621165707707e-05, + -0.0004049866693094373 + ], + [ + -7.360407835221849e-06, + -1.6599959053564817e-05, + 1.0, + -0.0004114329640287906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999658465385437, + 0.003363250056281686, + -0.007550157140940428, + 0.012920463371652818 + ], + [ + -0.0033828888554126024, + 0.9999909400939941, + -0.0025898267049342394, + -0.004588168601436789 + ], + [ + 0.007541378494352102, + 0.0026152797508984804, + 0.9999681711196899, + 0.0893347746216207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998723268508911, + 0.007244768552482128, + -0.014240838587284088, + 0.02548689867631631 + ], + [ + -0.007357275113463402, + 0.9999420046806335, + -0.007863815873861313, + -0.0088040491385806 + ], + [ + 0.014183040708303452, + 0.007967585697770119, + 0.9998676776885986, + 0.18172059501371077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997193217277527, + 0.01079605147242546, + -0.02108888141810894, + 0.040073619306533845 + ], + [ + -0.01100737601518631, + 0.9998900890350342, + -0.009930421598255634, + -0.015173608369799117 + ], + [ + 0.02097935415804386, + 0.010159767232835293, + 0.999728262424469, + 0.2740981277782247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9995409846305847, + 0.011955601163208485, + -0.02783702127635479, + 0.054176573043320034 + ], + [ + -0.01226752158254385, + 0.9998635649681091, + -0.011061569675803185, + -0.023220548792506145 + ], + [ + 0.02770097739994526, + 0.011397983878850937, + 0.9995512962341309, + 0.3591645141076382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993007183074951, + 0.014591444283723831, + -0.034426990896463394, + 0.0671207219585433 + ], + [ + -0.014982907101511955, + 0.9998257160186768, + -0.01114033441990614, + -0.03343666172564922 + ], + [ + 0.034258436411619186, + 0.011648359708487988, + 0.9993451237678528, + 0.43192703342108135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9990386366844177, + 0.013050142675638199, + -0.04185061529278755, + 0.08397136730601161 + ], + [ + -0.013514121994376183, + 0.9998500943183899, + -0.010822886601090431, + -0.04598142229157933 + ], + [ + 0.04170310124754906, + 0.011378055438399315, + 0.9990652799606323, + 0.5122661438405789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9983908534049988, + 0.012378714047372341, + -0.055339500308036804, + 0.10447835782843251 + ], + [ + -0.012933428399264812, + 0.9998695254325867, + -0.009676956571638584, + -0.05907787576978726 + ], + [ + 0.055212490260601044, + 0.010377113707363605, + 0.9984207153320312, + 0.5793461453530097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997922956943512, + 0.01698937825858593, + -0.062137968838214874, + 0.12364683007040332 + ], + [ + -0.017566194757819176, + 0.9998074173927307, + -0.00874832272529602, + -0.07230563630019465 + ], + [ + 0.06197737157344818, + 0.009821679443120956, + 0.9980292320251465, + 0.6534183864219947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9974725842475891, + 0.021894611418247223, + -0.067594975233078, + 0.14265708363001248 + ], + [ + -0.02250828593969345, + 0.9997119307518005, + -0.008330384269356728, + -0.08314272597483638 + ], + [ + 0.06739310920238495, + 0.0098307766020298, + 0.9976780414581299, + 0.7190194514489943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9970553517341614, + 0.02504757232964039, + -0.07247894257307053, + 0.16626603382935723 + ], + [ + -0.025702403858304024, + 0.999636709690094, + -0.008116116747260094, + -0.09229105011418393 + ], + [ + 0.07224931567907333, + 0.00995510071516037, + 0.9973369240760803, + 0.7806508859731085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967605471611023, + 0.026912711560726166, + -0.07578989118337631, + 0.185643709396025 + ], + [ + -0.02758157253265381, + 0.999589204788208, + -0.00779217854142189, + -0.0989575867639846 + ], + [ + 0.07554904371500015, + 0.009857339784502983, + 0.9970933794975281, + 0.8297069907463092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971497058868408, + 0.025438865646719933, + -0.07103043794631958, + 0.21033756478865576 + ], + [ + -0.025940576568245888, + 0.9996445775032043, + -0.006149694789201021, + -0.0982894866671499 + ], + [ + 0.070848748087883, + 0.007974736392498016, + 0.9974551796913147, + 0.9112446826723863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9973959922790527, + 0.02463543228805065, + -0.06778138130903244, + 0.23391724326025506 + ], + [ + -0.024717463180422783, + 0.9996944069862366, + -0.00037168897688388824, + -0.0986961210987741 + ], + [ + 0.06775150448083878, + 0.002046104520559311, + 0.9977001547813416, + 0.9908398084102138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.997651994228363, + 0.024281147867441177, + -0.06403878331184387, + 0.2630321123907643 + ], + [ + -0.024293623864650726, + 0.9997047185897827, + 0.0005839275545440614, + -0.09647299077384354 + ], + [ + 0.06403404474258423, + 0.0009731774334795773, + 0.9979472160339355, + 1.0701301151706326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981375336647034, + 0.023658227175474167, + -0.05622901767492294, + 0.29298862610613147 + ], + [ + -0.02364048734307289, + 0.99972003698349, + 0.0009807436726987362, + -0.0904382981868538 + ], + [ + 0.056236475706100464, + 0.0003503641637507826, + 0.9984174370765686, + 1.1652817722015116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988082051277161, + 0.027929777279496193, + -0.04002678766846657, + 0.32055937842839327 + ], + [ + -0.027882063761353493, + 0.9996097087860107, + 0.0017498767701908946, + -0.08214545786157594 + ], + [ + 0.04006003960967064, + -0.0006317618535831571, + 0.9991970658302307, + 1.2579590290922174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992982745170593, + 0.028215009719133377, + -0.024635205045342445, + 0.3500567027131602 + ], + [ + -0.028162077069282532, + 0.9996002316474915, + 0.0024930823128670454, + -0.07625840168032143 + ], + [ + 0.02469570003449917, + -0.0017975543159991503, + 0.9996933937072754, + 1.348468773815489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995205998420715, + 0.02838749997317791, + -0.012358332984149456, + 0.37829380380376004 + ], + [ + -0.02835298515856266, + 0.9995936155319214, + 0.0029591575730592012, + -0.07181233547151535 + ], + [ + 0.012437312863767147, + -0.0026073434855788946, + 0.9999192357063293, + 1.435785376586123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995735287666321, + 0.02919137477874756, + -0.000791402708273381, + 0.40772132604763295 + ], + [ + -0.029188483953475952, + 0.999567985534668, + 0.0034472201950848103, + -0.07086657060863888 + ], + [ + 0.0008916898514144123, + -0.0034226500429213047, + 0.9999937415122986, + 1.522718288684221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994945526123047, + 0.030876172706484795, + 0.007569460663944483, + 0.4375820186135063 + ], + [ + -0.030907241627573967, + 0.9995141625404358, + 0.004022208973765373, + -0.072275218309208 + ], + [ + -0.0074415928684175014, + -0.00425412692129612, + 0.9999632835388184, + 1.6137465809896794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994866847991943, + 0.028547799214720726, + 0.014537607319653034, + 0.4659185511961339 + ], + [ + -0.028619123622775078, + 0.9995792508125305, + 0.004722024779766798, + -0.07787498347010584 + ], + [ + -0.014396687038242817, + -0.00513565493747592, + 0.9998831748962402, + 1.7013581283630863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990425705909729, + 0.03297661989927292, + 0.028747761622071266, + 0.49488843962515827 + ], + [ + -0.03315407782793045, + 0.9994338750839233, + 0.005718108732253313, + -0.08789291096988568 + ], + [ + -0.02854292280972004, + -0.006665739696472883, + 0.999570369720459, + 1.7889781883784703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9987449049949646, + 0.03424002230167389, + 0.03655426576733589, + 0.5216701513422387 + ], + [ + -0.03451560437679291, + 0.9993801116943359, + 0.006934499833732843, + -0.10096833042796134 + ], + [ + -0.03629416599869728, + -0.008187488652765751, + 0.9993076324462891, + 1.8714377935031592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9987197518348694, + 0.032315321266651154, + 0.0389174222946167, + 0.5482947646747537 + ], + [ + -0.03272813558578491, + 0.9994140863418579, + 0.010017371736466885, + -0.11429063338219844 + ], + [ + -0.03857090324163437, + -0.011278240941464901, + 0.9991922378540039, + 1.9492394579171035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9985103011131287, + 0.032844312489032745, + 0.04357100650668144, + 0.5757633649619631 + ], + [ + -0.03336172550916672, + 0.9993805885314941, + 0.01120152696967125, + -0.12965337021387943 + ], + [ + -0.043176110833883286, + -0.01263844408094883, + 0.9989875555038452, + 2.034873830832644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9983169436454773, + 0.033406902104616165, + 0.047405634075403214, + 0.5995780018445809 + ], + [ + -0.0340389721095562, + 0.9993411898612976, + 0.01258897501975298, + -0.14525539292117007 + ], + [ + -0.046953845769166946, + -0.014181426726281643, + 0.9987964034080505, + 2.1156640415916796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981305003166199, + 0.03452364727854729, + 0.0504341647028923, + 0.6215430456475454 + ], + [ + -0.035260844975709915, + 0.9992828369140625, + 0.013800849206745625, + -0.15793562890910265 + ], + [ + -0.04992154240608215, + -0.015553398989140987, + 0.99863201379776, + 2.191245841677837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.998140811920166, + 0.031876422464847565, + 0.051950082182884216, + 0.645021011560194 + ], + [ + -0.0326935276389122, + 0.9993535280227661, + 0.014955290593206882, + -0.16976919915647276 + ], + [ + -0.05143977701663971, + -0.016625916585326195, + 0.9985377192497253, + 2.270277282499498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981024861335754, + 0.030853405594825745, + 0.0532866008579731, + 0.6678346707644414 + ], + [ + -0.031740106642246246, + 0.9993700981140137, + 0.015874719247221947, + -0.17706458549946547 + ], + [ + -0.05276324227452278, + -0.017535919323563576, + 0.9984530806541443, + 2.3570053097564503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9980063438415527, + 0.03226960450410843, + 0.05424082651734352, + 0.690410865290511 + ], + [ + -0.03320642560720444, + 0.9993129968643188, + 0.016459718346595764, + -0.18107741878878686 + ], + [ + -0.053672414273023605, + -0.018228046596050262, + 0.9983922243118286, + 2.458619703894936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9979289174079895, + 0.03378099948167801, + 0.054742682725191116, + 0.7122457369629825 + ], + [ + -0.03476226329803467, + 0.9992497563362122, + 0.017072824761271477, + -0.18269963091505426 + ], + [ + -0.054124873131513596, + -0.01894044317305088, + 0.9983545541763306, + 2.5571064863886153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9979005455970764, + 0.033801376819610596, + 0.05524470657110214, + 0.7320830899998889 + ], + [ + -0.03480616211891174, + 0.9992438554763794, + 0.0173278097063303, + -0.1886208208337907 + ], + [ + -0.054617226123809814, + -0.019214285537600517, + 0.9983224868774414, + 2.642623250275713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9978584051132202, + 0.03320891782641411, + 0.056354351341724396, + 0.7502757846176075 + ], + [ + -0.0342295877635479, + 0.999265193939209, + 0.017243841663002968, + -0.19114437989530064 + ], + [ + -0.055740296840667725, + -0.01913589797914028, + 0.9982619285583496, + 2.730272654344409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9978620409965515, + 0.03211105614900589, + 0.0569227933883667, + 0.771002815505876 + ], + [ + -0.03307916224002838, + 0.9993222951889038, + 0.016147231683135033, + -0.19456492982942114 + ], + [ + -0.056365713477134705, + -0.017995668575167656, + 0.9982479810714722, + 2.830411894859806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9979039430618286, + 0.03027130477130413, + 0.05719580501317978, + 0.7916701913120285 + ], + [ + -0.031125182285904884, + 0.9994160532951355, + 0.014097439125180244, + -0.1973373455205752 + ], + [ + -0.05673565715551376, + -0.01584812067449093, + 0.998263418674469, + 2.928789714651723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978674650192261, + 0.030807090923190117, + 0.05754464864730835, + 0.8107522428310412 + ], + [ + -0.03161534667015076, + 0.9994130730628967, + 0.013188336975872517, + -0.20234590662548893 + ], + [ + -0.057104580104351044, + -0.014979506842792034, + 0.9982558488845825, + 3.0208309744909614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9978460073471069, + 0.03109060414135456, + 0.05776454880833626, + 0.8301394994477934 + ], + [ + -0.03186741843819618, + 0.999413013458252, + 0.012575604021549225, + -0.21142629782244357 + ], + [ + -0.057339657098054886, + -0.014389323070645332, + 0.9982510209083557, + 3.1081078760909593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9977990984916687, + 0.0313444547355175, + 0.05843402445316315, + 0.849055016109471 + ], + [ + -0.03204444423317909, + 0.9994249939918518, + 0.01108058262616396, + -0.22050056844726548 + ], + [ + -0.058053113520145416, + -0.012928680516779423, + 0.9982298016548157, + 3.198810667321429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9977279901504517, + 0.03169609606266022, + 0.059449292719364166, + 0.8657868798049639 + ], + [ + -0.032397396862506866, + 0.999415934085846, + 0.010869849473237991, + -0.23345759762837315 + ], + [ + -0.05907004326581955, + -0.012771155685186386, + 0.9981721639633179, + 3.280991145268014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9977307319641113, + 0.029204601421952248, + 0.06066732481122017, + 0.8818420874220985 + ], + [ + -0.029947428032755852, + 0.9994868040084839, + 0.01137114129960537, + -0.24790561854976662 + ], + [ + -0.060304101556539536, + -0.013162167742848396, + 0.9980932474136353, + 3.363581910111388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977548122406006, + 0.02707119844853878, + 0.06125741824507713, + 0.8996059942235183 + ], + [ + -0.02789047174155712, + 0.9995321035385132, + 0.012558816000819206, + -0.2598356011473844 + ], + [ + -0.06088877096772194, + -0.014239117503166199, + 0.9980430006980896, + 3.4459867163462574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9977996349334717, + 0.02478756196796894, + 0.06149400398135185, + 0.9200467853536529 + ], + [ + -0.026203198358416557, + 0.9994074106216431, + 0.022321991622447968, + -0.2758019807357942 + ], + [ + -0.06090425327420235, + -0.023884214460849762, + 0.9978578090667725, + 3.5233282627597933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9979092478752136, + 0.01910555362701416, + 0.06174256652593613, + 0.9413674221026458 + ], + [ + -0.020901694893836975, + 0.9993730187416077, + 0.028577057644724846, + -0.288704007428809 + ], + [ + -0.06115787476301193, + -0.029807833954691887, + 0.9976829290390015, + 3.5984033685126064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979327321052551, + 0.016033479943871498, + 0.0622347891330719, + 0.9611651165144784 + ], + [ + -0.018080955371260643, + 0.9993089437484741, + 0.03247665613889694, + -0.29943621231388934 + ], + [ + -0.06167106330394745, + -0.03353478014469147, + 0.9975330233573914, + 3.671493771219034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9979033470153809, + 0.015876278281211853, + 0.0627439096570015, + 0.9818464205664699 + ], + [ + -0.018030952662229538, + 0.999261736869812, + 0.03392505273222923, + -0.30818277727040005 + ], + [ + -0.0621589832007885, + -0.0349852554500103, + 0.9974529147148132, + 3.746633264463618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9978854656219482, + 0.012762999162077904, + 0.06373148411512375, + 1.0017135232206313 + ], + [ + -0.015022799372673035, + 0.9992706775665283, + 0.03510575741529465, + -0.31492103481759676 + ], + [ + -0.06323694437742233, + -0.035988949239254, + 0.9973494410514832, + 3.824554002724485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9978473782539368, + 0.009629045613110065, + 0.06486820429563522, + 1.0228903505075637 + ], + [ + -0.011970999650657177, + 0.9992868304252625, + 0.0358118899166584, + -0.3175998171954523 + ], + [ + -0.0644771084189415, + -0.03651133552193642, + 0.997251033782959, + 3.910320843639462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9978204965591431, + 0.006022755987942219, + 0.0657111257314682, + 1.045458317681941 + ], + [ + -0.008421852253377438, + 0.9993056654930115, + 0.03629404678940773, + -0.3185055282533443 + ], + [ + -0.06544691324234009, + -0.0367683507502079, + 0.9971784353256226, + 4.000512730031519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977850317955017, + 0.005504261236637831, + 0.06629303842782974, + 1.0677938176018575 + ], + [ + -0.007902255281805992, + 0.9993218183517456, + 0.03596492484211922, + -0.31957229763990447 + ], + [ + -0.06605011969804764, + -0.036409128457307816, + 0.9971518516540527, + 4.092550196186188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977322816848755, + 0.007086150348186493, + 0.06693363189697266, + 1.0882396307958435 + ], + [ + -0.00922052189707756, + 0.9994570016860962, + 0.031632985919713974, + -0.3223063600193795 + ], + [ + -0.06667312979698181, + -0.03217841312289238, + 0.9972558617591858, + 4.1808286314735765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9977045059204102, + 0.006153814494609833, + 0.06743817776441574, + 1.1096545999328937 + ], + [ + -0.007962259463965893, + 0.999614953994751, + 0.0265804510563612, + -0.326230392324382 + ], + [ + -0.06724863499403, + -0.027056394144892693, + 0.9973693490028381, + 4.270669820369114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9976553916931152, + 0.007275961805135012, + 0.06804978847503662, + 1.126685716259864 + ], + [ + -0.00872865691781044, + 0.9997398257255554, + 0.021074609830975533, + -0.3342532052868797 + ], + [ + -0.06787873804569244, + -0.021619180217385292, + 0.9974592924118042, + 4.358798669779905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9976793527603149, + 0.00422303332015872, + 0.06795628368854523, + 1.148036826748727 + ], + [ + -0.0052313958294689655, + 0.9998787641525269, + 0.014667296782135963, + -0.3431807554408496 + ], + [ + -0.0678860992193222, + -0.014988765120506287, + 0.9975804686546326, + 4.4456172786275365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9976881146430969, + 0.0032759809400886297, + 0.06788019090890884, + 1.1672523133285035 + ], + [ + -0.003954957704991102, + 0.9999434351921082, + 0.009870603680610657, + -0.35728856639653306 + ], + [ + -0.06784401088953018, + -0.010116247460246086, + 0.9976446628570557, + 4.5284389142067205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9977220296859741, + 0.0062746466137468815, + 0.06716722249984741, + 1.1847669214422252 + ], + [ + -0.006887554656714201, + 0.9999366998672485, + 0.008897422812879086, + -0.37384947788717077 + ], + [ + -0.06710714101791382, + -0.0093397730961442, + 0.9977020621299744, + 4.601959954071704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9978421926498413, + 0.0040911720134317875, + 0.06553041934967041, + 1.2036993457425025 + ], + [ + -0.004613119643181562, + 0.9999588131904602, + 0.007815638557076454, + -0.3886070765314564 + ], + [ + -0.06549574434757233, + -0.008101074025034904, + 0.9978199601173401, + 4.68288466084388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9979370832443237, + 0.006092149298638105, + 0.06391003727912903, + 1.2217723946280195 + ], + [ + -0.006552970502525568, + 0.9999539852142334, + 0.00700333621352911, + -0.4065100141277339 + ], + [ + -0.06386443972587585, + -0.007407689467072487, + 0.9979310631752014, + 4.761214966460856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9980493783950806, + 0.006954638287425041, + 0.06204105168581009, + 1.235624512899581 + ], + [ + -0.007351692765951157, + 0.9999539256095886, + 0.006173888221383095, + -0.4224463114283189 + ], + [ + -0.0619952529668808, + -0.006617952138185501, + 0.9980545043945312, + 4.837596483274539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9981880784034729, + 0.004793141502887011, + 0.059980008751153946, + 1.2494115731631694 + ], + [ + -0.005136301275342703, + 0.999971330165863, + 0.005568365566432476, + -0.4393414578580808 + ], + [ + -0.059951599687337875, + -0.0058663515374064445, + 0.9981840252876282, + 4.917149641793994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.998391330242157, + 0.004487055819481611, + 0.05652131140232086, + 1.2638488141347737 + ], + [ + -0.00478563504293561, + 0.999975323677063, + 0.0051483516581356525, + -0.45272074634217857 + ], + [ + -0.056496813893318176, + -0.005410559941083193, + 0.9983881115913391, + 4.990856979849152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9986770749092102, + 0.006125281564891338, + 0.05105428025126457, + 1.277659648850835 + ], + [ + -0.006389242596924305, + 0.9999670386314392, + 0.005008605308830738, + -0.46499452867377805 + ], + [ + -0.051021914929151535, + -0.005328177474439144, + 0.9986833333969116, + 5.066819868714029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9990222454071045, + 0.005695189815014601, + 0.04384229704737663, + 1.2915797375142575 + ], + [ + -0.005910080391913652, + 0.9999711513519287, + 0.004773386754095554, + -0.47496277799031567 + ], + [ + -0.04381384328007698, + -0.005027830600738525, + 0.9990270733833313, + 5.138328393868037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993916153907776, + 0.004107905086129904, + 0.034633345901966095, + 1.3067599996203376 + ], + [ + -0.004251568112522364, + 0.9999826550483704, + 0.0040755001828074455, + -0.47896552661193476 + ], + [ + -0.034616000950336456, + -0.004220266826450825, + 0.9993917942047119, + 5.2186083662894465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997010231018066, + 0.0045410399325191975, + 0.02402622066438198, + 1.3198599541242222 + ], + [ + -0.004606078844517469, + 0.9999858736991882, + 0.002652350114658475, + -0.4801664897442413 + ], + [ + -0.024013837799429893, + -0.0027622238267213106, + 0.999707818031311, + 5.297996322790049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998488426208496, + 0.004865977447479963, + 0.016691749915480614, + 1.3366349740211385 + ], + [ + -0.004870118107646704, + 0.9999881386756897, + 0.00020741010666824877, + -0.48534177139800844 + ], + [ + -0.016690542921423912, + -0.000288669514702633, + 0.9998606443405151, + 5.377684038630279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999890148639679, + 0.006012647412717342, + 0.013546324335038662, + 1.350391248013601 + ], + [ + -0.0060002245008945465, + 0.9999815225601196, + -0.0009575465228408575, + -0.48610549498594063 + ], + [ + -0.013551832176744938, + 0.0008761603385210037, + 0.9999077916145325, + 5.4526951479472325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999362230300903, + 0.004017787519842386, + 0.010556397028267384, + 1.3656571937085469 + ], + [ + -0.003992080222815275, + 0.9999890327453613, + -0.0024551774840801954, + -0.48849235193853263 + ], + [ + -0.010566146112978458, + 0.0024128786753863096, + 0.9999412894248962, + 5.540081513175217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999563694000244, + 0.004080417100340128, + 0.008404897525906563, + 1.3789907234295997 + ], + [ + -0.004037164617329836, + 0.9999785423278809, + -0.005156668368726969, + -0.4900210765194714 + ], + [ + -0.00842575915157795, + 0.0051225111819803715, + 0.9999513626098633, + 5.62441825427218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999702572822571, + 0.0035931861493736506, + 0.0068258787505328655, + 1.3918781640971603 + ], + [ + -0.003551064757630229, + 0.9999746680259705, + -0.006172962486743927, + -0.497607404910337 + ], + [ + -0.006847885902971029, + 0.006148539483547211, + 0.9999576210975647, + 5.709476562002288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999694228172302, + 0.0053098006173968315, + 0.005746079608798027, + 1.4030267130583525 + ], + [ + -0.0052663786336779594, + 0.9999576807022095, + -0.007545664440840483, + -0.5029129554337312 + ], + [ + -0.00578590203076601, + 0.007515172008424997, + 0.9999549984931946, + 5.798012723845821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999532103538513, + 0.0082853389903903, + 0.00498847384005785, + 1.415648440558738 + ], + [ + -0.008242226205766201, + 0.9999290108680725, + -0.0086017195135355, + -0.514624312002435 + ], + [ + -0.005059387534856796, + 0.008560201153159142, + 0.9999505877494812, + 5.8761009676390525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999786615371704, + 0.0050339908339083195, + 0.004158909432590008, + 1.4288048081031317 + ], + [ + -0.0049929083324968815, + 0.9999392032623291, + -0.009830162860453129, + -0.5275761430404977 + ], + [ + -0.004208141937851906, + 0.009809187613427639, + 0.9999430179595947, + 5.9545235831616665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999906420707703, + -0.0007262037834152579, + 0.00426730141043663, + 1.4460816119415556 + ], + [ + 0.0007736890111118555, + 0.9999377131462097, + -0.01113660354167223, + -0.5388282870414586 + ], + [ + -0.004258948378264904, + 0.01113979984074831, + 0.999928891658783, + 6.027659255815541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999878406524658, + -0.0009611010900698602, + 0.004832420032471418, + 1.4637580660343479 + ], + [ + 0.001015659887343645, + 0.9999356269836426, + -0.011300420388579369, + -0.5545080740897474 + ], + [ + -0.004821247886866331, + 0.011305190622806549, + 0.9999244809150696, + 6.083620843085276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999675154685974, + -0.00015152880223467946, + 0.00806077104061842, + 1.4805973708556648 + ], + [ + 0.00023922906257212162, + 0.9999407529830933, + -0.010880034416913986, + -0.5677740650363094 + ], + [ + -0.008058645762503147, + 0.010881608352065086, + 0.9999083280563354, + 6.138551441480487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9998892545700073, + 0.0012780986726284027, + 0.014827449806034565, + 1.4931264848495547 + ], + [ + -0.0011949560139328241, + 0.999983549118042, + -0.005614847410470247, + -0.5780204401424472 + ], + [ + -0.014834382571280003, + 0.005596507806330919, + 0.9998742938041687, + 6.206490321862533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.999731183052063, + 0.0003501180908642709, + 0.023182770237326622, + 1.506349016431599 + ], + [ + -0.0003617292386479676, + 0.9999998211860657, + 0.0004966604174114764, + -0.5849795146084826 + ], + [ + -0.023182591423392296, + -0.0005049127503298223, + 0.9997311234474182, + 6.277546852827072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9995606541633606, + -0.0010255733504891396, + 0.029622554779052734, + 1.5209592615953789 + ], + [ + 0.0008829490398056805, + 0.9999879598617554, + 0.004827397875487804, + -0.589446376082981 + ], + [ + -0.029627148061990738, + -0.004799121990799904, + 0.9995495080947876, + 6.353098134181467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993817210197449, + -0.0030100608710199594, + 0.0350300669670105, + 1.5374789366249664 + ], + [ + 0.0027395186480134726, + 0.9999660849571228, + 0.00776857603341341, + -0.5936284016126827 + ], + [ + -0.035052262246608734, + -0.00766780786216259, + 0.9993560910224915, + 6.426131835538671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9991675019264221, + -0.002856188453733921, + 0.040695954114198685, + 1.5534766284826165 + ], + [ + 0.0024761799722909927, + 0.9999529123306274, + 0.009385096840560436, + -0.594871689200676 + ], + [ + -0.04072083905339241, + -0.009276513941586018, + 0.9991275072097778, + 6.506093071353051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9989688396453857, + -0.0010832861298695207, + 0.04538865387439728, + 1.568827362234966 + ], + [ + 0.0006090535316616297, + 0.9999451041221619, + 0.010460791178047657, + -0.5951502938205505 + ], + [ + -0.045397497713565826, + -0.010422359220683575, + 0.9989146590232849, + 6.585912786678235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9988123774528503, + 0.00044688204070553184, + 0.048720359802246094, + 1.5844147429488222 + ], + [ + -0.0009931810200214386, + 0.9999368786811829, + 0.011189320124685764, + -0.5966327655296515 + ], + [ + -0.04871228337287903, + -0.011224419809877872, + 0.9987497925758362, + 6.668383530153108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9986555576324463, + 0.0009071117965504527, + 0.0518287792801857, + 1.6006378529292922 + ], + [ + -0.0014875956112518907, + 0.999936580657959, + 0.011162551119923592, + -0.5974990792014563 + ], + [ + -0.05181536823511124, + -0.011224644258618355, + 0.9985936284065247, + 6.747531968245308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9984264969825745, + 0.0011249363888055086, + 0.056064847856760025, + 1.61715073647999 + ], + [ + -0.0017508089076727629, + 0.9999366998672485, + 0.011115498840808868, + -0.6027942810327777 + ], + [ + -0.056048791855573654, + -0.011196168139576912, + 0.9983652830123901, + 6.827612223163728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9982465505599976, + 0.0011838267091661692, + 0.05918176844716072, + 1.6337468263860535 + ], + [ + -0.001611761748790741, + 0.9999728798866272, + 0.007183647248893976, + -0.6080630953447284 + ], + [ + -0.059171658009290695, + -0.007266438100486994, + 0.9982213973999023, + 6.903776931323214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9981118440628052, + -0.001040152390487492, + 0.06141403689980507, + 1.6498794312747667 + ], + [ + 0.0009375576046295464, + 0.9999980926513672, + 0.001699337037280202, + -0.6140567597823673 + ], + [ + -0.061415690928697586, + -0.0016385491471737623, + 0.9981109499931335, + 6.977831396144656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9979944229125977, + -0.0028898746240884066, + 0.0632355734705925, + 1.6712871518518244 + ], + [ + 0.0031618622597306967, + 0.9999861717224121, + -0.004201534204185009, + -0.6224507630673937 + ], + [ + -0.06322256475687027, + 0.004393049515783787, + 0.9979897737503052, + 7.065114332508931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9979304671287537, + 0.0003608219849411398, + 0.06430157274007797, + 1.687386952210132 + ], + [ + -6.037531420588493e-06, + 0.9999848008155823, + -0.005517617333680391, + -0.6350655554986907 + ], + [ + -0.06430258601903915, + 0.005505810026079416, + 0.9979152679443359, + 7.128841162826609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9978909492492676, + 0.0004777564899995923, + 0.06491117179393768, + 1.7070100763769742 + ], + [ + -2.4052977096289396e-05, + 0.9999755620956421, + -0.006990207824856043, + -0.6468168528902898 + ], + [ + -0.06491293013095856, + 0.006973904091864824, + 0.9978665709495544, + 7.207537782714114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.997808039188385, + 0.000297151185804978, + 0.0661739930510521, + 1.7204864144943277 + ], + [ + 0.00033709636772982776, + 0.999954104423523, + -0.009573173709213734, + -0.658081513992618 + ], + [ + -0.06617379933595657, + 0.009574496187269688, + 0.9977622032165527, + 7.275728219115789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.997726559638977, + -0.0017033083131536841, + 0.06737102568149567, + 1.7331633803825224 + ], + [ + 0.0024053817614912987, + 0.9999436140060425, + -0.01034125778824091, + -0.6712139426309975 + ], + [ + -0.06734961271286011, + 0.010479799471795559, + 0.9976744055747986, + 7.346195907938865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9976573586463928, + -0.006033037789165974, + 0.06814268231391907, + 1.746009388442413 + ], + [ + 0.006759333424270153, + 0.9999227523803711, + -0.010432925075292587, + -0.6822000230992994 + ], + [ + -0.06807447969913483, + 0.010869083926081657, + 0.9976210594177246, + 7.41108036129156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9976159334182739, + -0.008385879918932915, + 0.06849902868270874, + 1.7606922141143253 + ], + [ + 0.009016618132591248, + 0.9999197125434875, + -0.008904002606868744, + -0.6926432736217976 + ], + [ + -0.06841886043548584, + 0.009500404819846153, + 0.9976114630699158, + 7.480873934711728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9976527094841003, + -0.007452929392457008, + 0.06806962937116623, + 1.7756041322916334 + ], + [ + 0.007729080505669117, + 0.9999629259109497, + -0.003794420976191759, + -0.7011001339950491 + ], + [ + -0.06803882867097855, + 0.0043116300366818905, + 0.9976733326911926, + 7.553027626171639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9977293014526367, + -0.006074890494346619, + 0.06707680225372314, + 1.78927081823349 + ], + [ + 0.006288596428930759, + 0.9999758005142212, + -0.0029753055423498154, + -0.706247429758276 + ], + [ + -0.06705710291862488, + 0.003390368539839983, + 0.9977433681488037, + 7.625863257091716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977807998657227, + -0.005066234618425369, + 0.06639101356267929, + 1.8006194475059685 + ], + [ + 0.0052542854100465775, + 0.9999826550483704, + -0.0026581697165966034, + -0.7118964230409965 + ], + [ + -0.06637639552354813, + 0.0030011082999408245, + 0.9977901577949524, + 7.697934528210196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.997759997844696, + -0.007839915342628956, + 0.06643446534872055, + 1.812016100889664 + ], + [ + 0.008031059987843037, + 0.9999643564224243, + -0.0026106026489287615, + -0.714300106788024 + ], + [ + -0.06641163676977158, + 0.0031382942106574774, + 0.997787356376648, + 7.775097255937514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.997713565826416, + -0.013056120835244656, + 0.06631133705377579, + 1.8253392683402185 + ], + [ + 0.013250495307147503, + 0.9999091029167175, + -0.0024922622833400965, + -0.7161007321424662 + ], + [ + -0.06627277284860611, + 0.003365221666172147, + 0.9977958798408508, + 7.853069621132266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9976815581321716, + -0.015176714397966862, + 0.06634099781513214, + 1.837736951927161 + ], + [ + 0.015379841439425945, + 0.999878466129303, + -0.002552185906097293, + -0.7147007301972303 + ], + [ + -0.06629420816898346, + 0.0035665829200297594, + 0.9977937340736389, + 7.931261333479859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9976813197135925, + -0.01608588546514511, + 0.06613034754991531, + 1.8505133238668265 + ], + [ + 0.01629258319735527, + 0.9998639225959778, + -0.002587453695014119, + -0.7158727959841318 + ], + [ + -0.06607972830533981, + 0.0036588881630450487, + 0.9978076219558716, + 8.00866266659328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9976411461830139, + -0.01765255816280842, + 0.06633671373128891, + 1.8625343630699793 + ], + [ + 0.01786639727652073, + 0.9998369216918945, + -0.0026316498406231403, + -0.7174664145917096 + ], + [ + -0.06627943366765976, + 0.0038106399588286877, + 0.9977938532829285, + 8.084210377601984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9975485801696777, + -0.02244982123374939, + 0.06627862900495529, + 1.8755386021486076 + ], + [ + 0.022664815187454224, + 0.9997400045394897, + -0.002493547275662422, + -0.721818481236353 + ], + [ + -0.06620541960000992, + 0.003989627119153738, + 0.9977980256080627, + 8.163574816279697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9975548982620239, + -0.024588927626609802, + 0.06541842222213745, + 1.890376021318172 + ], + [ + 0.02483026310801506, + 0.9996875524520874, + -0.002878508297726512, + -0.7270601829731717 + ], + [ + -0.06532719731330872, + 0.0044958265498280525, + 0.9978537559509277, + 8.249022199701054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9976932406425476, + -0.022283777594566345, + 0.06412211060523987, + 1.905899487552555 + ], + [ + 0.02257254347205162, + 0.9997380375862122, + -0.003782346611842513, + -0.7353025514520877 + ], + [ + -0.064021036028862, + 0.005221020430326462, + 0.997934877872467, + 8.332127998061994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9978575110435486, + -0.017883770167827606, + 0.06293320655822754, + 1.9186259969588249 + ], + [ + 0.018196217715740204, + 0.9998247623443604, + -0.004395079333335161, + -0.7479007286545369 + ], + [ + -0.06284357607364655, + 0.0055308095179498196, + 0.9980080723762512, + 8.409729497086618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9979286789894104, + -0.01763654686510563, + 0.06186487525701523, + 1.9285679901868518 + ], + [ + 0.017995560541749, + 0.9998242855072021, + -0.005250792484730482, + -0.7590080980318792 + ], + [ + -0.06176140159368515, + 0.006353209260851145, + 0.9980707168579102, + 8.48175149557228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.997907817363739, + -0.021341800689697266, + 0.061028365045785904, + 1.93777677131997 + ], + [ + 0.021728936582803726, + 0.9997477531433105, + -0.0056868609972298145, + -0.7699989954612652 + ], + [ + -0.06089160218834877, + 0.007001044694334269, + 0.9981198310852051, + 8.550999864894674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980111122131348, + -0.018924472853541374, + 0.060130249708890915, + 1.9477077446706283 + ], + [ + 0.01930769719183445, + 0.9997967481613159, + -0.0057986024767160416, + -0.7821833607822245 + ], + [ + -0.06000829115509987, + 0.006948046386241913, + 0.998173713684082, + 8.608803859833747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9981309175491333, + -0.016142763197422028, + 0.05894165486097336, + 1.9612995567581346 + ], + [ + 0.016508832573890686, + 0.9998472929000854, + -0.0057290163822472095, + -0.7920495871289243 + ], + [ + -0.05884017050266266, + 0.006691365968436003, + 0.9982450008392334, + 8.677451161525216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9982412457466125, + -0.012950924225151539, + 0.05785031244158745, + 1.9736328567056338 + ], + [ + 0.013205197639763355, + 0.9999047517776489, + -0.004015219397842884, + -0.8013913765386571 + ], + [ + -0.05779280140995979, + 0.004772081971168518, + 0.9983171820640564, + 8.743368936299179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9983158707618713, + -0.010702126659452915, + 0.05701611191034317, + 1.9872344361369236 + ], + [ + 0.010721663944423199, + 0.9999425411224365, + -3.6751298466697335e-05, + -0.8081411397710796 + ], + [ + -0.05701243877410889, + 0.0006479970179498196, + 0.99837327003479, + 8.810362258704577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9983153939247131, + -0.0118070924654603, + 0.05680672824382782, + 2.0018738431315266 + ], + [ + 0.011752449907362461, + 0.9999300837516785, + 0.0012958917068317533, + -0.8137571894894203 + ], + [ + -0.05681806057691574, + -0.0006260904483497143, + 0.9983843564987183, + 8.873075854393743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9983342289924622, + -0.011487333104014397, + 0.056540101766586304, + 2.0183827645905006 + ], + [ + 0.011366648599505424, + 0.9999324083328247, + 0.002455619163811207, + -0.8192044113419332 + ], + [ + -0.056564487516880035, + -0.0018088571960106492, + 0.9983972907066345, + 8.942953345110888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9983739852905273, + -0.010094399563968182, + 0.056102294474840164, + 2.0366454334405986 + ], + [ + 0.009913013316690922, + 0.9999446868896484, + 0.003510476090013981, + -0.8212196276424462 + ], + [ + -0.056134629994630814, + -0.002948625013232231, + 0.9984188675880432, + 9.019926660456417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9984042048454285, + -0.008963607251644135, + 0.05575580149888992, + 2.0551418467223095 + ], + [ + 0.008717818185687065, + 0.999951183795929, + 0.004649975337088108, + -0.8217216946746863 + ], + [ + -0.05579476058483124, + -0.004156486131250858, + 0.9984335899353027, + 9.095470761373845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.998447060585022, + -0.0052846516482532024, + 0.055457163602113724, + 2.0727116723695107 + ], + [ + 0.005000563804060221, + 0.9999736547470093, + 0.005260172300040722, + -0.8196786980320644 + ], + [ + -0.05548350140452385, + -0.004974686540663242, + 0.9984472393989563, + 9.173731924202036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9984697103500366, + -0.0024804098065942526, + 0.055245403200387955, + 2.0900248422240195 + ], + [ + 0.0021738496143370867, + 0.9999818801879883, + 0.00560846459120512, + -0.8193681415148972 + ], + [ + -0.055258315056562424, + -0.005479786545038223, + 0.9984570741653442, + 9.254096131994977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9984811544418335, + -0.0021097385324537754, + 0.055053822696208954, + 2.1080986188510047 + ], + [ + 0.0017925468273460865, + 0.9999815225601196, + 0.005810227710753679, + -0.8215457633493923 + ], + [ + -0.05506506562232971, + -0.005702716764062643, + 0.9984664916992188, + 9.330272769488497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9985043406486511, + -0.002810361562296748, + 0.05460021644830704, + 2.1265626888842353 + ], + [ + 0.002497106557711959, + 0.9999800324440002, + 0.005804620683193207, + -0.8274522714797528 + ], + [ + -0.05461543798446655, + -0.005659596063196659, + 0.9984914064407349, + 9.404491608758127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9985615015029907, + -0.004494324326515198, + 0.053429216146469116, + 2.148516526969347 + ], + [ + 0.004264224320650101, + 0.999981164932251, + 0.004419859033077955, + -0.8338501824641146 + ], + [ + -0.05344807356595993, + -0.004185666795819998, + 0.9985618591308594, + 9.487334844703499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9986550211906433, + -0.0006285645067691803, + 0.05184384435415268, + 2.1690444880263873 + ], + [ + 0.0005889573367312551, + 0.9999995231628418, + 0.0007792438846081495, + -0.8440517774567411 + ], + [ + -0.05184430629014969, + -0.0007476620376110077, + 0.9986549019813538, + 9.563991224463635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9987298846244812, + 0.006403125356882811, + 0.04997667297720909, + 2.1842742111448046 + ], + [ + -0.006466985214501619, + 0.9999784827232361, + 0.0011161935981363058, + -0.8594331045791695 + ], + [ + -0.04996844753623009, + -0.0014379741623997688, + 0.9987497329711914, + 9.631074435150568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9988917708396912, + 0.005800662562251091, + 0.04670731723308563, + 2.2012607395854964 + ], + [ + -0.005821628496050835, + 0.999983012676239, + 0.00031286804005503654, + -0.8713210539259274 + ], + [ + -0.04670470952987671, + -0.0005844339611940086, + 0.9989085793495178, + 9.706650214398511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.998955488204956, + 0.008278938941657543, + 0.044937651604413986, + 2.2187010264822415 + ], + [ + -0.008290850557386875, + 0.9999656081199646, + 7.869955152273178e-05, + -0.882185366696545 + ], + [ + -0.044935453683137894, + -0.00045118870912119746, + 0.9989897608757019, + 9.772521880694798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9988858699798584, + 0.016320714727044106, + 0.044279441237449646, + 2.2317029858857804 + ], + [ + -0.01634223945438862, + 0.9998664259910583, + 0.00012411049101501703, + -0.8933730092071842 + ], + [ + -0.044271498918533325, + -0.0008475972572341561, + 0.999019205570221, + 9.84098949286795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9988095760345459, + 0.022424573078751564, + 0.043319422751665115, + 2.245294565611309 + ], + [ + -0.022460060194134712, + 0.9997476935386658, + 0.00033257860923185945, + -0.9068631520919171 + ], + [ + -0.04330103471875191, + -0.0013051393907517195, + 0.9990612268447876, + 9.897347544854687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.998889684677124, + 0.02171654999256134, + 0.04180610924959183, + 2.2608544171165486 + ], + [ + -0.0217466838657856, + 0.9997634887695312, + 0.0002660815080162138, + -0.9171922363878001 + ], + [ + -0.0417904406785965, + -0.001174930133856833, + 0.9991257190704346, + 9.980256443309344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9990049004554749, + 0.02065189927816391, + 0.03953167796134949, + 2.2793358868717597 + ], + [ + -0.0206887386739254, + 0.999785840511322, + 0.0005229446687735617, + -0.9258073877388706 + ], + [ + -0.03951241075992584, + -0.0013402847107499838, + 0.9992181658744812, + 10.052965040250857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9990421533584595, + 0.024416619911789894, + 0.036311954259872437, + 2.295422558919076 + ], + [ + -0.024463923647999763, + 0.9997003674507141, + 0.0008588620112277567, + -0.9313634389951613 + ], + [ + -0.03628010302782059, + -0.0017463723197579384, + 0.9993401169776917, + 10.12955802088509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.999018669128418, + 0.028120698407292366, + 0.034219637513160706, + 2.310374635361856 + ], + [ + -0.02817101590335369, + 0.9996026158332825, + 0.000989103689789772, + -0.9346544226966284 + ], + [ + -0.034178227186203, + -0.0019521350041031837, + 0.9994138479232788, + 10.202575591852039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9990718960762024, + 0.027947019785642624, + 0.032776426523923874, + 2.3223950530097643 + ], + [ + -0.02799016237258911, + 0.9996078014373779, + 0.0008581203874200583, + -0.9367608499448223 + ], + [ + -0.03273959085345268, + -0.0017747413367033005, + 0.999462366104126, + 10.264549160992495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9991108179092407, + 0.027369718998670578, + 0.03206896036863327, + 2.337820055311726 + ], + [ + -0.027394380420446396, + 0.9996246695518494, + 0.0003298054216429591, + -0.9378266681893407 + ], + [ + -0.03204789757728577, + -0.0012080214219167829, + 0.9994856119155884, + 10.34180494629293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9990968704223633, + 0.028219180181622505, + 0.031765762716531754, + 2.351582281015092 + ], + [ + -0.028230855241417885, + 0.999601423740387, + -8.099785191006958e-05, + -0.938949806180561 + ], + [ + -0.03175538405776024, + -0.0008158497512340546, + 0.9994953274726868, + 10.4114054420302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9990859627723694, + 0.028851941227912903, + 0.03154123201966286, + 2.366737776517456 + ], + [ + -0.02885228767991066, + 0.9995836019515991, + -0.00044429185800254345, + -0.9420078818868708 + ], + [ + -0.031540919095277786, + -0.00046615093015134335, + 0.9995023608207703, + 10.485386320577788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9990869760513306, + 0.02876167930662632, + 0.03158999979496002, + 2.380084760899093 + ], + [ + -0.02875780127942562, + 0.9995862245559692, + -0.0005771882133558393, + -0.9474274851888749 + ], + [ + -0.031593531370162964, + -0.00033179769525304437, + 0.9995007514953613, + 10.55507238119978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9990562796592712, + 0.02948688715696335, + 0.03189077228307724, + 2.3956305766709938 + ], + [ + -0.02947382628917694, + 0.9995651841163635, + -0.000879676197655499, + -0.9536803389916599 + ], + [ + -0.03190284222364426, + -6.109700188972056e-05, + 0.9994909763336182, + 10.63628315552039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9990488290786743, + 0.02945585548877716, + 0.0321526862680912, + 2.41060946336368 + ], + [ + -0.029434986412525177, + 0.9995660781860352, + -0.0011223310139030218, + -0.9631192814971831 + ], + [ + -0.03217179700732231, + 0.00017484970157966018, + 0.9994823336601257, + 10.71318230576779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9989447593688965, + 0.031945452094078064, + 0.03299728035926819, + 2.4237111772535034 + ], + [ + -0.031927689909935, + 0.9994896054267883, + -0.0010651740012690425, + -0.9749861076599725 + ], + [ + -0.03301446884870529, + 1.0523013770580292e-05, + 0.9994548559188843, + 10.788329808393382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9989441633224487, + 0.03080902434885502, + 0.03407950699329376, + 2.4364480847106553 + ], + [ + -0.030786024406552315, + 0.999525249004364, + -0.0011995249660685658, + -0.9891160671108333 + ], + [ + -0.03410028666257858, + 0.00014908600132912397, + 0.9994183778762817, + 10.856943336445065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.998995840549469, + 0.027714751660823822, + 0.0352022685110569, + 2.448549808754075 + ], + [ + -0.027677197009325027, + 0.9996157288551331, + -0.0015537842409685254, + -1.003877769847731 + ], + [ + -0.035231802612543106, + 0.0005779239581897855, + 0.9993789792060852, + 10.928008029537816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9989539980888367, + 0.02802574262022972, + 0.03613165020942688, + 2.462611419855175 + ], + [ + -0.027975033968687057, + 0.9996067881584167, + -0.0019083048682659864, + -1.0188680705370827 + ], + [ + -0.036170922219753265, + 0.0008955248049460351, + 0.9993452429771423, + 10.989487010460296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9988880753517151, + 0.02918260172009468, + 0.03702758625149727, + 2.474331185197638 + ], + [ + -0.029140550643205643, + 0.9995739459991455, + -0.0016749444184824824, + -1.0328286373008189 + ], + [ + -0.0370606891810894, + 0.000594077748246491, + 0.9993128180503845, + 11.049451501852905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.998953640460968, + 0.02679811418056488, + 0.037061359733343124, + 2.4916275223124824 + ], + [ + -0.026873428374528885, + 0.9996376633644104, + 0.0015354377683252096, + -1.0444997294450797 + ], + [ + -0.03700678423047066, + -0.002529796911403537, + 0.9993118047714233, + 11.118593068441488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9989449977874756, + 0.027110565453767776, + 0.0370667465031147, + 2.5079808591972297 + ], + [ + -0.027469255030155182, + 0.9995803236961365, + 0.009201958775520325, + -1.0538295976577265 + ], + [ + -0.03680172190070152, + -0.010210447013378143, + 0.9992704391479492, + 11.195321885561613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9989355206489563, + 0.027378644794225693, + 0.037124745547771454, + 2.5254011749706233 + ], + [ + -0.027818899601697922, + 0.9995480179786682, + 0.011394498869776726, + -1.0614129243212567 + ], + [ + -0.036796003580093384, + -0.012415139004588127, + 0.9992457032203674, + 11.27717658273086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9988865256309509, + 0.028748463839292526, + 0.037406884133815765, + 2.538123816038881 + ], + [ + -0.02923358604311943, + 0.9994946122169495, + 0.012487008236348629, + -1.0695267442244745 + ], + [ + -0.037028998136520386, + -0.013566642068326473, + 0.9992220997810364, + 11.346974875795127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.998908519744873, + 0.027692321687936783, + 0.037615396082401276, + 2.554745275334966 + ], + [ + -0.028195910155773163, + 0.999518871307373, + 0.012923906557261944, + -1.072032826679248 + ], + [ + -0.037239402532577515, + -0.013970400206744671, + 0.9992086887359619, + 11.42412628281501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9989668726921082, + 0.0248889047652483, + 0.03802328556776047, + 2.5706820344732653 + ], + [ + -0.025415735319256783, + 0.9995867013931274, + 0.013435455970466137, + -1.0755735370128798 + ], + [ + -0.03767317533493042, + -0.014387964271008968, + 0.9991865158081055, + 11.497148889989896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.998975396156311, + 0.024493755772709846, + 0.03805578500032425, + 2.5906982628259514 + ], + [ + -0.02501777373254299, + 0.9995977878570557, + 0.013355020433664322, + -1.0789581995766422 + ], + [ + -0.03771336376667023, + -0.014293408021330833, + 0.9991863965988159, + 11.576685506242761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9989914894104004, + 0.02384980022907257, + 0.03804191201925278, + 2.6090542202652323 + ], + [ + -0.02430664747953415, + 0.9996373653411865, + 0.011592000722885132, + -1.079447354177176 + ], + [ + -0.03775165230035782, + -0.012504981830716133, + 0.999208927154541, + 11.656893851020918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9989848732948303, + 0.024090297520160675, + 0.03806464001536369, + 2.6272912953357954 + ], + [ + -0.02449437603354454, + 0.9996480941772461, + 0.010185090824961662, + -1.082490953920658 + ], + [ + -0.03780588135123253, + -0.011107120662927628, + 0.9992233514785767, + 11.733856431734727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999041736125946, + 0.0220362339168787, + 0.03781494125723839, + 2.644217771470272 + ], + [ + -0.022411605343222618, + 0.9997034072875977, + 0.009531451389193535, + -1.0893762799795321 + ], + [ + -0.03759368881583214, + -0.010369811207056046, + 0.9992393255233765, + 11.81116602805353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9991551041603088, + 0.017691023647785187, + 0.03709658607840538, + 2.66196382573295 + ], + [ + -0.018030673265457153, + 0.9997983574867249, + 0.008841359056532383, + -1.0971484499803235 + ], + [ + -0.03693269565701485, + -0.009502765722572803, + 0.9992725849151611, + 11.88673202793719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9991850256919861, + 0.018255801871418953, + 0.03600074350833893, + 2.679009677998481 + ], + [ + -0.01851208321750164, + 0.9998055100440979, + 0.0067982664331793785, + -1.1087453541556194 + ], + [ + -0.03586963564157486, + -0.00745917484164238, + 0.99932861328125, + 11.961274042437154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9992206692695618, + 0.019376160576939583, + 0.03438951447606087, + 2.6963985293571437 + ], + [ + -0.019581550732254982, + 0.9997923374176025, + 0.005645738448947668, + -1.1233937560381102 + ], + [ + -0.03427297994494438, + -0.006314738187938929, + 0.999392569065094, + 12.028032502957753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.999293327331543, + 0.01945505291223526, + 0.032161273062229156, + 2.7125603055761704 + ], + [ + -0.019608024507761, + 0.9997978210449219, + 0.004447821993380785, + -1.1360498986202656 + ], + [ + -0.03206823766231537, + -0.00507529778406024, + 0.9994727969169617, + 12.097842446230523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9994325041770935, + 0.0152274826541543, + 0.030047167092561722, + 2.7290577699906677 + ], + [ + -0.01526403333991766, + 0.9998829960823059, + 0.000987457693554461, + -1.1486549741713532 + ], + [ + -0.03002861514687538, + -0.001445538247935474, + 0.9995480179786682, + 12.160640310554461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9995042085647583, + 0.014685378409922123, + 0.02785046584904194, + 2.7427164789048897 + ], + [ + -0.014679322950541973, + 0.9998921751976013, + -0.0004218514950480312, + -1.163270156394582 + ], + [ + -0.02785365842282772, + 1.2816395610570908e-05, + 0.999612033367157, + 12.220965090270417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9995535612106323, + 0.015482153743505478, + 0.025553669780492783, + 2.752794201182811 + ], + [ + -0.015468135476112366, + 0.9998800754547119, + -0.0007462030043825507, + -1.176446836823458 + ], + [ + -0.025562159717082977, + 0.0003506022912915796, + 0.9996731877326965, + 12.279966320667398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9996675252914429, + 0.013493288308382034, + 0.021971967071294785, + 2.767984391632168 + ], + [ + -0.013476114720106125, + 0.9999087452888489, + -0.0009295264026150107, + -1.1872764914146354 + ], + [ + -0.021982505917549133, + 0.000633120653219521, + 0.9997581839561462, + 12.344228111653834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997672438621521, + 0.013798602856695652, + 0.016586342826485634, + 2.7804754951127593 + ], + [ + -0.013785668648779392, + 0.9999045729637146, + -0.000893937423825264, + -1.1974051750535446 + ], + [ + -0.016597094014286995, + 0.0006650754949077964, + 0.999862015247345, + 12.398008499799236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997966289520264, + 0.014912912622094154, + 0.013576041907072067, + 2.7920868460930164 + ], + [ + -0.014905702322721481, + 0.9998887181282043, + -0.0006321101100184023, + -1.2046390942782315 + ], + [ + -0.013583958148956299, + 0.0004296211409382522, + 0.9999076128005981, + 12.461991732790723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998296499252319, + 0.014911137521266937, + 0.010879241861402988, + 2.802788359979554 + ], + [ + -0.014909233897924423, + 0.9998888373374939, + -0.0002559823333285749, + -1.209245407873682 + ], + [ + -0.010881849564611912, + 9.373758075525984e-05, + 0.999940812587738, + 12.524227769995615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998962879180908, + 0.011821954511106014, + 0.008224685676395893, + 2.8147213139893137 + ], + [ + -0.011822947300970554, + 0.9999300837516785, + 7.215944060590118e-05, + -1.2116386589383619 + ], + [ + -0.008223257027566433, + -0.0001693919621175155, + 0.9999661445617676, + 12.59061953021634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9999180436134338, + 0.011597241275012493, + 0.005427784752100706, + 2.8270656970696533 + ], + [ + -0.011599103920161724, + 0.9999327063560486, + 0.00031193025643005967, + -1.2143250659317655 + ], + [ + -0.005423801485449076, + -0.000374862109310925, + 0.9999852180480957, + 12.6582314924161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9999082088470459, + 0.013234812766313553, + 0.0028947931714355946, + 2.837754772262313 + ], + [ + -0.013236328959465027, + 0.9999122619628906, + 0.0005053632194176316, + -1.2179079408906528 + ], + [ + -0.0028878506273031235, + -0.0005436332430690527, + 0.9999957084655762, + 12.727546402276387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998955130577087, + 0.01443690899759531, + 0.0007592426845803857, + 2.8461978259061307 + ], + [ + -0.014437261037528515, + 0.9998956918716431, + 0.00045958024566061795, + -1.2213866345252715 + ], + [ + -0.000752528547309339, + -0.00047049360000528395, + 0.9999995827674866, + 12.801618739124816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.999945878982544, + 0.01032046414911747, + -0.0013055233284831047, + 2.8549208474015035 + ], + [ + -0.010320005938410759, + 0.9999467134475708, + 0.0003568376414477825, + -1.2287710600923145 + ], + [ + 0.0013091363944113255, + -0.0003433453384786844, + 0.9999991059303284, + 12.871356959496776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9999775886535645, + 0.005509700160473585, + -0.0038059037178754807, + 2.867659380557316 + ], + [ + -0.00551215885207057, + 0.999984622001648, + -0.0006357859238050878, + -1.2328751846583836 + ], + [ + 0.003802342340350151, + 0.0006567504606209695, + 0.9999925494194031, + 12.94703418376259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9999616742134094, + 0.0060647837817668915, + -0.006314929109066725, + 2.8795504563977334 + ], + [ + -0.0060769254341721535, + 0.9999797344207764, + -0.0019052927382290363, + -1.2443703287667358 + ], + [ + 0.006303245667368174, + 0.0019435950089246035, + 0.999978244304657, + 13.02347877525514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9999279379844666, + 0.00871394295245409, + -0.008259360678493977, + 2.8867976366748285 + ], + [ + -0.008767376653850079, + 0.9999407529830933, + -0.006455392576754093, + -1.253932683666404 + ], + [ + 0.008202618919312954, + 0.006527340039610863, + 0.9999450445175171, + 13.095347232148395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9999051690101624, + 0.008813763968646526, + -0.010578884743154049, + 2.8974873944996826 + ], + [ + -0.008922138251364231, + 0.9999077320098877, + -0.010241314768791199, + -1.2628195898598789 + ], + [ + 0.01048764493316412, + 0.01033473014831543, + 0.9998915791511536, + 13.161251139421067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9999057054519653, + 0.005617652088403702, + -0.012532315216958523, + 2.9067493947192786 + ], + [ + -0.005763334222137928, + 0.9999158978462219, + -0.011618818156421185, + -1.2724325289928315 + ], + [ + 0.012465990148484707, + 0.011689950712025166, + 0.9998539686203003, + 13.22567086840555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998809695243835, + 0.0037787393666803837, + -0.014957125298678875, + 2.9188097339732924 + ], + [ + -0.003965840209275484, + 0.9999139904975891, + -0.012499313801527023, + -1.2831650406087873 + ], + [ + 0.014908607117831707, + 0.012557143345475197, + 0.999809980392456, + 13.290980921582692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998461008071899, + 0.004617433995008469, + -0.016925472766160965, + 2.9253931156690083 + ], + [ + -0.00483574066311121, + 0.9999053478240967, + -0.012879972346127033, + -1.2966197360036593 + ], + [ + 0.016864396631717682, + 0.012959836982190609, + 0.9997738003730774, + 13.35576205003646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998111128807068, + 0.005959848873317242, + -0.018497822806239128, + 2.9359916801963535 + ], + [ + -0.006209643557667732, + 0.9998899102210999, + -0.013476072810590267, + -1.3054095904055278 + ], + [ + 0.01841547153890133, + 0.013588392175734043, + 0.9997380971908569, + 13.419908979741109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9997602701187134, + 0.008704312145709991, + -0.020089764147996902, + 2.943563707009782 + ], + [ + -0.008975086733698845, + 0.9998695850372314, + -0.013427660800516605, + -1.31568793817831 + ], + [ + 0.01997026428580284, + 0.01360474992543459, + 0.9997079968452454, + 13.476148571589025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9997073411941528, + 0.008538779802620411, + -0.0226342361420393, + 2.9524048051921317 + ], + [ + -0.008839807473123074, + 0.9998733401298523, + -0.013233145698904991, + -1.325895583816731 + ], + [ + 0.022518375888466835, + 0.013429354876279831, + 0.9996562004089355, + 13.542747827609015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9996473789215088, + 0.007265427149832249, + -0.025541944429278374, + 2.9636356942295548 + ], + [ + -0.007600320503115654, + 0.9998860955238342, + -0.013038980774581432, + -1.334351241708334 + ], + [ + 0.02544430084526539, + 0.01322850864380598, + 0.9995887279510498, + 13.600729115987154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9995606541633606, + 0.007889007218182087, + -0.028571125119924545, + 2.974448516861909 + ], + [ + -0.008261810056865215, + 0.9998819828033447, + -0.012953796423971653, + -1.3397427045993404 + ], + [ + 0.02846556156873703, + 0.013184153474867344, + 0.9995078444480896, + 13.665167000436563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9994656443595886, + 0.007855929434299469, + -0.03172843158245087, + 2.9854021338754535 + ], + [ + -0.008272998034954071, + 0.9998807907104492, + -0.013035152107477188, + -1.3447087251971805 + ], + [ + 0.03162224590778351, + 0.013290675356984138, + 0.9994115233421326, + 13.727651214736948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9993538856506348, + 0.007413392886519432, + -0.03516943380236626, + 2.9974534309439123 + ], + [ + -0.007883665151894093, + 0.9998810887336731, + -0.013251845724880695, + -1.3476496365702442 + ], + [ + 0.035067010670900345, + 0.013520547188818455, + 0.9992935061454773, + 13.79470353011162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9991592764854431, + 0.007640538737177849, + -0.04027840867638588, + 3.00935077776935 + ], + [ + -0.008182737976312637, + 0.9998778700828552, + -0.013313664123415947, + -1.351203985531999 + ], + [ + 0.04017176851630211, + 0.013632059097290039, + 0.9990997910499573, + 13.862066560104696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9988681674003601, + 0.01128571666777134, + -0.0462067537009716, + 3.021429359816736 + ], + [ + -0.01191735453903675, + 0.9998389482498169, + -0.013417244888842106, + -1.35456483597923 + ], + [ + 0.046047892421483994, + 0.01395271997898817, + 0.9988417625427246, + 13.926103083878619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9986879229545593, + 0.011906800791621208, + -0.04980649799108505, + 3.0344950564823665 + ], + [ + -0.012608805671334267, + 0.9998252391815186, + -0.013804278336465359, + -1.3565430357850539 + ], + [ + 0.04963342845439911, + 0.0144141661003232, + 0.9986634850502014, + 13.990804433135942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9985008239746094, + 0.010725514031946659, + -0.053675033152103424, + 3.0487625136971475 + ], + [ + -0.01150058675557375, + 0.9998337030410767, + -0.014152107760310173, + -1.3596431376146418 + ], + [ + 0.05351431667804718, + 0.014748185873031616, + 0.9984581470489502, + 14.056656490053449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9982212781906128, + 0.010342747904360294, + -0.05871337652206421, + 3.0630985819524335 + ], + [ + -0.011227843351662159, + 0.9998279213905334, + -0.014765028841793537, + -1.3671882771509205 + ], + [ + 0.05855056643486023, + 0.015397991053760052, + 0.9981656670570374, + 14.11193713650176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.997978687286377, + 0.013936588540673256, + -0.06200225651264191, + 3.07740455253333 + ], + [ + -0.014923978596925735, + 0.9997686147689819, + -0.015490537509322166, + -1.3741106003213863 + ], + [ + 0.061772026121616364, + 0.01638454757630825, + 0.9979557991027832, + 14.16984017543529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9977265000343323, + 0.016866324469447136, + -0.06524868309497833, + 3.0920355365641656 + ], + [ + -0.017990121617913246, + 0.9996991157531738, + -0.016674241051077843, + -1.3786744420987465 + ], + [ + 0.06494781374931335, + 0.017810164019465446, + 0.9977297186851501, + 14.227819206445448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9975706934928894, + 0.014509929344058037, + -0.06813359260559082, + 3.108993434686265 + ], + [ + -0.015762949362397194, + 0.9997156858444214, + -0.017889156937599182, + -1.385960657269724 + ], + [ + 0.06785465776920319, + 0.0189196839928627, + 0.9975157976150513, + 14.280234598893724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.99745112657547, + 0.014798960648477077, + -0.06980185955762863, + 3.1257813396301413 + ], + [ + -0.016195649281144142, + 0.9996789693832397, + -0.01948600634932518, + -1.390292223173833 + ], + [ + 0.06949108093976974, + 0.020566824823617935, + 0.9973705410957336, + 14.335405985578413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.997362494468689, + 0.013784256763756275, + -0.07126038521528244, + 3.1388893997614287 + ], + [ + -0.015303411521017551, + 0.999666154384613, + -0.020816516131162643, + -1.3950024378464518 + ], + [ + 0.07094965130090714, + 0.02185213938355446, + 0.9972404837608337, + 14.385432042064755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.997215211391449, + 0.015808049589395523, + -0.07288338243961334, + 3.1540955417235876 + ], + [ + -0.017365489155054092, + 0.9996331334114075, + -0.020784994587302208, + -1.4024169036225858 + ], + [ + 0.07252807915210724, + 0.021992767229676247, + 0.9971238374710083, + 14.44093206989051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.997067928314209, + 0.017235873267054558, + -0.07455512136220932, + 3.1700037193394475 + ], + [ + -0.018852664157748222, + 0.9996009469032288, + -0.02103666216135025, + -1.4104234659932726 + ], + [ + 0.0741627886891365, + 0.022380542010068893, + 0.9969949722290039, + 14.501440087771087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9968582987785339, + 0.020695731043815613, + -0.0764540359377861, + 3.1855283021274525 + ], + [ + -0.022352855652570724, + 0.9995320439338684, + -0.020882928743958473, + -1.417545573112087 + ], + [ + 0.07598606497049332, + 0.022526288405060768, + 0.9968544244766235, + 14.557658693482798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9967167377471924, + 0.022289618849754333, + -0.07783933728933334, + 3.2006518084195354 + ], + [ + -0.023909538984298706, + 0.9995152354240417, + -0.019941402599215508, + -1.4248028735720342 + ], + [ + 0.07735712081193924, + 0.021737033501267433, + 0.9967664480209351, + 14.619828376462383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9966174960136414, + 0.024336202070116997, + -0.0784941166639328, + 3.2130826610505308 + ], + [ + -0.02596733532845974, + 0.9994661808013916, + -0.019826853647828102, + -1.428631416580335 + ], + [ + 0.07796970009803772, + 0.02179807238280773, + 0.9967173933982849, + 14.684323479750189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9966540336608887, + 0.021567951887845993, + -0.07883905619382858, + 3.229094549677064 + ], + [ + -0.02329205349087715, + 0.9995077848434448, + -0.021014736965298653, + -1.4265058117888627 + ], + [ + 0.07834700495004654, + 0.02278074435889721, + 0.9966658353805542, + 14.749948007060635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9967775940895081, + 0.016080839559435844, + -0.07858625054359436, + 3.244616349213134 + ], + [ + -0.01790848933160305, + 0.9995840191841125, + -0.02260741777718067, + -1.4232484833788006 + ], + [ + 0.07819001376628876, + 0.023941928520798683, + 0.9966509342193604, + 14.81184607573918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9972068667411804, + 0.011159533634781837, + -0.07385050505399704, + 3.25997198163639 + ], + [ + -0.01300082542002201, + 0.9996153116226196, + -0.024499110877513885, + -1.4214440190022992 + ], + [ + 0.07354869693517685, + 0.025390800088644028, + 0.9969683289527893, + 14.882235565493184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.99750816822052, + 0.009589234367012978, + -0.06989617645740509, + 3.276420352460327 + ], + [ + -0.011480415239930153, + 0.9995774030685425, + -0.026705697178840637, + -1.4206488638635604 + ], + [ + 0.06961055099964142, + 0.027441587299108505, + 0.9971967339515686, + 14.958514315054714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9978479743003845, + 0.007481221575289965, + -0.06514137983322144, + 3.2932781311224133 + ], + [ + -0.009428493678569794, + 0.9995162487030029, + -0.029637087136507034, + -1.4198709891654104 + ], + [ + 0.06488814949989319, + 0.030187491327524185, + 0.9974358081817627, + 15.029735479706444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9982084631919861, + 0.0036813057959079742, + -0.05971825122833252, + 3.308792274613534 + ], + [ + -0.005679569207131863, + 0.999428391456604, + -0.033326368778944016, + -1.4200451899079545 + ], + [ + 0.05956143140792847, + 0.03360584005713463, + 0.9976587891578674, + 15.113947927374994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9982308149337769, + -0.008422035723924637, + -0.05885802581906319, + 3.3288204455087262 + ], + [ + 0.005975984036922455, + 0.9991160035133362, + -0.041611649096012115, + -1.4222590666350132 + ], + [ + 0.059156451374292374, + 0.041186295449733734, + 0.9973987340927124, + 15.190714467615576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9983847141265869, + -0.01077234372496605, + -0.05578441172838211, + 3.347134303404576 + ], + [ + 0.008017899468541145, + 0.9987485408782959, + -0.04936710745096207, + -1.4265142608313792 + ], + [ + 0.056246399879455566, + 0.04884009063243866, + 0.9972216486930847, + 15.258546064114242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9988193511962891, + -0.01085161417722702, + -0.04735103249549866, + 3.363238265739608 + ], + [ + 0.008214237168431282, + 0.9984225630760193, + -0.05554174259305, + -1.4269438988224428 + ], + [ + 0.04787905514240265, + 0.05508721247315407, + 0.9973329305648804, + 15.336549042007341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9990471005439758, + -0.014159349724650383, + -0.041284237056970596, + 3.377341007703941 + ], + [ + 0.011726362630724907, + 0.9982132315635681, + -0.058590441942214966, + -1.4286338944726276 + ], + [ + 0.04204007610678673, + 0.058050498366355896, + 0.9974280595779419, + 15.40320091912274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9993362426757812, + -0.01741844043135643, + -0.03199440613389015, + 3.392930235978096 + ], + [ + 0.015475176274776459, + 0.9980776906013489, + -0.0600120946764946, + -1.4305578607018643 + ], + [ + 0.03297821804881096, + 0.05947714298963547, + 0.9976847767829895, + 15.466240914076703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9995859265327454, + -0.01681203953921795, + -0.02335175685584545, + 3.4048808459029427 + ], + [ + 0.015393568202853203, + 0.9981006979942322, + -0.059649210423231125, + -1.436443604448218 + ], + [ + 0.02431022934615612, + 0.05926504358649254, + 0.9979462027549744, + 15.520936522313526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9996470212936401, + -0.016801370307803154, + -0.02057955600321293, + 3.414338171422001 + ], + [ + 0.015789272263646126, + 0.9987035989761353, + -0.04839212819933891, + -1.4472811499670628 + ], + [ + 0.021365931257605553, + 0.048050109297037125, + 0.9986163973808289, + 15.571102432666287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9997124075889587, + -0.015621746890246868, + -0.018195996060967445, + 3.426431162867369 + ], + [ + 0.014922096394002438, + 0.9991673827171326, + -0.037971850484609604, + -1.4542758028404916 + ], + [ + 0.01877403073012829, + 0.03768940642476082, + 0.999113142490387, + 15.630055533383848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9998392462730408, + -0.008632457815110683, + -0.015716003254055977, + 3.4393703664399786 + ], + [ + 0.008142161183059216, + 0.9994862675666809, + -0.030998384580016136, + -1.460817077800563 + ], + [ + 0.015975521877408028, + 0.030865440145134926, + 0.9993958473205566, + 15.684720386557865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999350309371948, + -0.006021603476256132, + -0.009676533751189709, + 3.453573660593274 + ], + [ + 0.005767375696450472, + 0.9996429681777954, + -0.02608911506831646, + -1.4629265399821412 + ], + [ + 0.009830177761614323, + 0.0260316114872694, + 0.9996128082275391, + 15.747620688056067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9999624490737915, + -0.00857536680996418, + -0.0012413010699674487, + 3.4681283096371924 + ], + [ + 0.008542301133275032, + 0.9996618628501892, + -0.02456003427505493, + -1.4608349056837195 + ], + [ + 0.001451492658816278, + 0.02454850822687149, + 0.9996975660324097, + 15.812821691816303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999136328697205, + -0.011653522029519081, + 0.00607666140422225, + 3.4828485856379903 + ], + [ + 0.01179409772157669, + 0.9996510744094849, + -0.02363523654639721, + -1.4586063696002836 + ], + [ + -0.0057991077192127705, + 0.023704862222075462, + 0.9997021555900574, + 15.875975392243829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9998735785484314, + -0.012844599783420563, + 0.009373128414154053, + 3.498512206539031 + ], + [ + 0.013052739202976227, + 0.9996618032455444, + -0.022493384778499603, + -1.4565397661127801 + ], + [ + -0.00908103957772255, + 0.022612884640693665, + 0.999703049659729, + 15.940435990100632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9998562335968018, + -0.011573554016649723, + 0.012393624521791935, + 3.513930973317474 + ], + [ + 0.011816331185400486, + 0.9997361302375793, + -0.01969818025827408, + -1.4535949192941189 + ], + [ + -0.012162377126514912, + 0.019841793924570084, + 0.9997291564941406, + 16.00547866821289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/push_in/transforms.json b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d814f5a19e65ba33b7a5b5437dce643c31f23547 --- /dev/null +++ b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/push_in/transforms.json @@ -0,0 +1,7643 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 218, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.994916424853727e-05, + 7.358914444921538e-06, + -1.139659889304312e-05 + ], + [ + 8.994904783321545e-05, + 1.0, + 1.6600621165707707e-05, + -0.0004049866693094373 + ], + [ + -7.360407835221849e-06, + -1.6599959053564817e-05, + 1.0, + -0.0004114329640287906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999658465385437, + 0.003363250056281686, + -0.007550157140940428, + 0.012913504701476836 + ], + [ + -0.0033828888554126024, + 0.9999909400939941, + -0.0025898267049342394, + -0.004590555538492028 + ], + [ + 0.007541378494352102, + 0.0026152797508984804, + 0.9999681711196899, + 0.09025640427242226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998723268508911, + 0.007244768552482128, + -0.014240838587284088, + 0.02546064828260703 + ], + [ + -0.007357275113463402, + 0.9999420046806335, + -0.007863815873861313, + -0.00881854465171214 + ], + [ + 0.014183040708303452, + 0.007967585697770119, + 0.9998676776885986, + 0.18356366907396623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997193217277527, + 0.01079605147242546, + -0.02108888141810894, + 0.040015309035331695 + ], + [ + -0.01100737601518631, + 0.9998900890350342, + -0.009930421598255634, + -0.015201065756706735 + ], + [ + 0.02097935415804386, + 0.010159767232835293, + 0.999728262424469, + 0.2768623533886149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9995409846305847, + 0.011955601163208485, + -0.02783702127635479, + 0.05407394808008924 + ], + [ + -0.01226752158254385, + 0.9998635649681091, + -0.011061569675803185, + -0.023261328772877767 + ], + [ + 0.02770097739994526, + 0.011397983878850937, + 0.9995512962341309, + 0.36284949584490694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993007183074951, + 0.014591444283723831, + -0.034426990896463394, + 0.06696207223090983 + ], + [ + -0.014982907101511955, + 0.9998257160186768, + -0.01114033441990614, + -0.03348799967228474 + ], + [ + 0.034258436411619186, + 0.011648359708487988, + 0.9993451237678528, + 0.43653231048913593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9990386366844177, + 0.013050142675638199, + -0.04185061529278755, + 0.08373993533204228 + ], + [ + -0.013514121994376183, + 0.9998500943183899, + -0.010822886601090431, + -0.04604127235573283 + ], + [ + 0.04170310124754906, + 0.011378055438399315, + 0.9990652799606323, + 0.5177909287988864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9983908534049988, + 0.012378714047372341, + -0.055339500308036804, + 0.10412132879418712 + ], + [ + -0.012933428399264812, + 0.9998695254325867, + -0.009676956571638584, + -0.0591403077476688 + ], + [ + 0.055212490260601044, + 0.010377113707363605, + 0.9984207153320312, + 0.5857875693228937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997922956943512, + 0.01698937825858593, + -0.062137968838214874, + 0.12318866993150403 + ], + [ + -0.017566194757819176, + 0.9998074173927307, + -0.00874832272529602, + -0.07237014006222448 + ], + [ + 0.06197737157344818, + 0.009821679443120956, + 0.9980292320251465, + 0.6607771273032861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9974725842475891, + 0.021894611418247223, + -0.067594975233078, + 0.14209638798291782 + ], + [ + -0.02250828593969345, + 0.9997119307518005, + -0.008330384269356728, + -0.08321182593651769 + ], + [ + 0.06739310920238495, + 0.0098307766020298, + 0.9976780414581299, + 0.7272951218389696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9970553517341614, + 0.02504757232964039, + -0.07247894257307053, + 0.1655980251420478 + ], + [ + -0.025702403858304024, + 0.999636709690094, + -0.008116116747260094, + -0.09236585303351352 + ], + [ + 0.07224931567907333, + 0.00995510071516037, + 0.9973369240760803, + 0.7898429313562982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967605471611023, + 0.026912711560726166, + -0.07578989118337631, + 0.18487533261905068 + ], + [ + -0.02758157253265381, + 0.999589204788208, + -0.00779217854142189, + -0.099036585809105 + ], + [ + 0.07554904371500015, + 0.009857339784502983, + 0.9970933794975281, + 0.8398157715522748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971497058868408, + 0.025438865646719933, + -0.07103043794631958, + 0.2095519746915536 + ], + [ + -0.025940576568245888, + 0.9996445775032043, + -0.006149694789201021, + -0.09835750172472632 + ], + [ + 0.070848748087883, + 0.007974736392498016, + 0.9974551796913147, + 0.9222764450284193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9973959922790527, + 0.02463543228805065, + -0.06778138130903244, + 0.23310511611093024 + ], + [ + -0.024717463180422783, + 0.9996944069862366, + -0.00037168897688388824, + -0.09870057451508699 + ], + [ + 0.06775150448083878, + 0.002046104520559311, + 0.9977001547813416, + 1.0027938194813266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.997651994228363, + 0.024281147867441177, + -0.06403878331184387, + 0.26220580550932115 + ], + [ + -0.024293623864650726, + 0.9997047185897827, + 0.0005839275545440614, + -0.09646545622475265 + ], + [ + 0.06403404474258423, + 0.0009731774334795773, + 0.9979472160339355, + 1.0830068534420383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981375336647034, + 0.023658227175474167, + -0.05622901767492294, + 0.2922112664147731 + ], + [ + -0.02364048734307289, + 0.99972003698349, + 0.0009807436726987362, + -0.09042473951856765 + ], + [ + 0.056236475706100464, + 0.0003503641637507826, + 0.9984174370765686, + 1.179084778244045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988082051277161, + 0.027929777279496193, + -0.04002678766846657, + 0.31996912165171537 + ], + [ + -0.027882063761353493, + 0.9996097087860107, + 0.0017498767701908946, + -0.0821196532271768 + ], + [ + 0.04006003960967064, + -0.0006317618535831571, + 0.9991970658302307, + 1.2726937323671332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992982745170593, + 0.028215009719133377, + -0.024635205045342445, + 0.349670713325353 + ], + [ + -0.028162077069282532, + 0.9996002316474915, + 0.0024930823128670454, + -0.07621933956113365 + ], + [ + 0.02469570003449917, + -0.0017975543159991503, + 0.9996933937072754, + 1.3641321726109026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995205998420715, + 0.02838749997317791, + -0.012358332984149456, + 0.37808878076807834 + ], + [ + -0.02835298515856266, + 0.9995936155319214, + 0.0029591575730592012, + -0.07176324345647843 + ], + [ + 0.012437312863767147, + -0.0026073434855788946, + 0.9999192357063293, + 1.4523738984688086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995735287666321, + 0.02919137477874756, + -0.000791402708273381, + 0.4077074673826954 + ], + [ + -0.029188483953475952, + 0.999567985534668, + 0.0034472201950848103, + -0.07080620454070652 + ], + [ + 0.0008916898514144123, + -0.0034226500429213047, + 0.9999937415122986, + 1.5402296998259108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994945526123047, + 0.030876172706484795, + 0.007569460663944483, + 0.43772154784233475 + ], + [ + -0.030907241627573967, + 0.9995141625404358, + 0.004022208973765373, + -0.0722010762083091 + ], + [ + -0.0074415928684175014, + -0.00425412692129612, + 0.9999632835388184, + 1.632179083912054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994866847991943, + 0.028547799214720726, + 0.014537607319653034, + 0.4661999242410304 + ], + [ + -0.028619123622775078, + 0.9995792508125305, + 0.004722024779766798, + -0.07778358944211035 + ], + [ + -0.014396687038242817, + -0.00513565493747592, + 0.9998831748962402, + 1.7207107059417233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990425705909729, + 0.03297661989927292, + 0.028747761622071266, + 0.49547134354744915 + ], + [ + -0.03315407782793045, + 0.9994338750839233, + 0.005718108732253313, + -0.0877769677513515 + ], + [ + -0.02854292280972004, + -0.006665739696472883, + 0.999570369720459, + 1.8092459746769496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9987449049949646, + 0.03424002230167389, + 0.03655426576733589, + 0.5224450343953712 + ], + [ + -0.03451560437679291, + 0.9993801116943359, + 0.006934499833732843, + -0.10082133181397439 + ], + [ + -0.03629416599869728, + -0.008187488652765751, + 0.9993076324462891, + 1.8926212732693017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9987197518348694, + 0.032315321266651154, + 0.0389174222946167, + 0.5491556108821921 + ], + [ + -0.03272813558578491, + 0.9994140863418579, + 0.010017371736466885, + -0.11406905096590794 + ], + [ + -0.03857090324163437, + -0.011278240941464901, + 0.9991922378540039, + 1.9713414060355332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9985103011131287, + 0.032844312489032745, + 0.04357100650668144, + 0.5767673052040525 + ], + [ + -0.03336172550916672, + 0.9993805885314941, + 0.01120152696967125, + -0.1293952705141174 + ], + [ + -0.043176110833883286, + -0.01263844408094883, + 0.9989875555038452, + 2.0578919772728246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9983169436454773, + 0.033406902104616165, + 0.047405634075403214, + 0.6007139893892448 + ], + [ + -0.0340389721095562, + 0.9993411898612976, + 0.01258897501975298, + -0.14495372163037412 + ], + [ + -0.046953845769166946, + -0.014181426726281643, + 0.9987964034080505, + 2.13959833328625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981305003166199, + 0.03452364727854729, + 0.0504341647028923, + 0.622798089377479 + ], + [ + -0.035260844975709915, + 0.9992828369140625, + 0.013800849206745625, + -0.15759219763852003 + ], + [ + -0.04992154240608215, + -0.015553398989140987, + 0.99863201379776, + 2.2160965922516063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.998140811920166, + 0.031876422464847565, + 0.051950082182884216, + 0.6463616588423329 + ], + [ + -0.0326935276389122, + 0.9993535280227661, + 0.014955290593206882, + -0.16938325617342226 + ], + [ + -0.05143977701663971, + -0.016625916585326195, + 0.9985377192497253, + 2.2960459978349745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981024861335754, + 0.030853405594825745, + 0.0532866008579731, + 0.6692589209256221 + ], + [ + -0.031740106642246246, + 0.9993700981140137, + 0.015874719247221947, + -0.1766402842476964 + ], + [ + -0.05276324227452278, + -0.017535919323563576, + 0.9984530806541443, + 2.383692074124165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9980063438415527, + 0.03226960450410843, + 0.05424082651734352, + 0.6919106116458293 + ], + [ + -0.03320642560720444, + 0.9993129968643188, + 0.016459718346595764, + -0.1806223113690653 + ], + [ + -0.053672414273023605, + -0.018228046596050262, + 0.9983922243118286, + 2.486225018852867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9979289174079895, + 0.03378099948167801, + 0.054742682725191116, + 0.7138098136122738 + ], + [ + -0.03476226329803467, + 0.9992497563362122, + 0.017072824761271477, + -0.18221183592187506 + ], + [ + -0.054124873131513596, + -0.01894044317305088, + 0.9983545541763306, + 2.5856309022222246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9979005455970764, + 0.033801376819610596, + 0.05524470657110214, + 0.7337124269678845 + ], + [ + -0.03480616211891174, + 0.9992438554763794, + 0.0173278097063303, + -0.18810977022494038 + ], + [ + -0.054617226123809814, + -0.019214285537600517, + 0.9983224868774414, + 2.672066862791914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9978584051132202, + 0.03320891782641411, + 0.056354351341724396, + 0.7519897879303051 + ], + [ + -0.0342295877635479, + 0.999265193939209, + 0.017243841663002968, + -0.19061991282167934 + ], + [ + -0.055740296840667725, + -0.01913589797914028, + 0.9982619285583496, + 2.7606345378858155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9978620409965515, + 0.03211105614900589, + 0.0569227933883667, + 0.7727865712433916 + ], + [ + -0.03307916224002838, + 0.9993222951889038, + 0.016147231683135033, + -0.19405893362921228 + ], + [ + -0.056365713477134705, + -0.017995668575167656, + 0.9982479810714722, + 2.8616933984141197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9979039430618286, + 0.03027130477130413, + 0.05719580501317978, + 0.7935152172801956 + ], + [ + -0.031125182285904884, + 0.9994160532951355, + 0.014097439125180244, + -0.19688258941976294 + ], + [ + -0.05673565715551376, + -0.01584812067449093, + 0.998263418674469, + 2.9609917604154155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978674650192261, + 0.030807090923190117, + 0.05754464864730835, + 0.8126615583621961 + ], + [ + -0.03161534667015076, + 0.9994130730628967, + 0.013188336975872517, + -0.20190832125117428 + ], + [ + -0.057104580104351044, + -0.014979506842792034, + 0.9982558488845825, + 3.0539528275415093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9978460073471069, + 0.03109060414135456, + 0.05776454880833626, + 0.832109350420981 + ], + [ + -0.03186741843819618, + 0.999413013458252, + 0.012575604021549225, + -0.21099745233968106 + ], + [ + -0.057339657098054886, + -0.014389323070645332, + 0.9982510209083557, + 3.1421496159744704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9977990984916687, + 0.0313444547355175, + 0.05843402445316315, + 0.851101553371425 + ], + [ + -0.03204444423317909, + 0.9994249939918518, + 0.01108058262616396, + -0.220112492742386 + ], + [ + -0.058053113520145416, + -0.012928680516779423, + 0.9982298016548157, + 3.233771711066022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9977279901504517, + 0.03169609606266022, + 0.059449292719364166, + 0.8679237668243696 + ], + [ + -0.032397396862506866, + 0.999415934085846, + 0.010869849473237991, + -0.23306688414500332 + ], + [ + -0.05907004326581955, + -0.012771155685186386, + 0.9981721639633179, + 3.3168701447100135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9977307319641113, + 0.029204601421952248, + 0.06066732481122017, + 0.884078670825277 + ], + [ + -0.029947428032755852, + 0.9994868040084839, + 0.01137114129960537, + -0.2474864059672927 + ], + [ + -0.060304101556539536, + -0.013162167742848396, + 0.9980932474136353, + 3.4003779745321667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977548122406006, + 0.02707119844853878, + 0.06125741824507713, + 0.9019207906733323 + ], + [ + -0.02789047174155712, + 0.9995321035385132, + 0.012558816000819206, + -0.25936102837684655 + ], + [ + -0.06088877096772194, + -0.014239117503166199, + 0.9980430006980896, + 3.4837007836537426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9977996349334717, + 0.02478756196796894, + 0.06149400398135185, + 0.9224271984109955 + ], + [ + -0.026203198358416557, + 0.9994074106216431, + 0.022321991622447968, + -0.2749379036407317 + ], + [ + -0.06090425327420235, + -0.023884214460849762, + 0.9978578090667725, + 3.561955016659152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9979092478752136, + 0.01910555362701416, + 0.06174256652593613, + 0.943814362527176 + ], + [ + -0.020901694893836975, + 0.9993730187416077, + 0.028577057644724846, + -0.28757146044381066 + ], + [ + -0.06115787476301193, + -0.029807833954691887, + 0.9976829290390015, + 3.6379428762994053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979327321052551, + 0.016033479943871498, + 0.0622347891330719, + 0.9636889236313956 + ], + [ + -0.018080955371260643, + 0.9993089437484741, + 0.03247665613889694, + -0.2981191866271507 + ], + [ + -0.06167106330394745, + -0.03353478014469147, + 0.9975330233573914, + 3.7119467233183197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9979033470153809, + 0.015876278281211853, + 0.0627439096570015, + 0.9844487025338109 + ], + [ + -0.018030952662229538, + 0.999261736869812, + 0.03392505273222923, + -0.30677574743357944 + ], + [ + -0.0621589832007885, + -0.0349852554500103, + 0.9974529147148132, + 3.788002279359624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9978854656219482, + 0.012762999162077904, + 0.06373148411512375, + 1.0044155031923325 + ], + [ + -0.015022799372673035, + 0.9992706775665283, + 0.03510575741529465, + -0.3134326801253354 + ], + [ + -0.06323694437742233, + -0.035988949239254, + 0.9973494410514832, + 3.866837942160769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9978473782539368, + 0.009629045613110065, + 0.06486820429563522, + 1.0257003095876511 + ], + [ + -0.011970999650657177, + 0.9992868304252625, + 0.0358118899166584, + -0.316048518738233 + ], + [ + -0.0644771084189415, + -0.03651133552193642, + 0.997251033782959, + 3.9535197363471104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9978204965591431, + 0.006022755987942219, + 0.0657111257314682, + 1.0483653536590014 + ], + [ + -0.008421852253377438, + 0.9993056654930115, + 0.03629404678940773, + -0.3168998930036747 + ], + [ + -0.06544691324234009, + -0.0367683507502079, + 0.9971784353256226, + 4.044627536386938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977850317955017, + 0.005504261236637831, + 0.06629303842782974, + 1.070787696756663 + ], + [ + -0.007902255281805992, + 0.9993218183517456, + 0.03596492484211922, + -0.31794807522767976 + ], + [ + -0.06605011969804764, + -0.036409128457307816, + 0.9971518516540527, + 4.137582860454437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977322816848755, + 0.007086150348186493, + 0.06693363189697266, + 1.0913241299616028 + ], + [ + -0.00922052189707756, + 0.9994570016860962, + 0.031632985919713974, + -0.3208486187327567 + ], + [ + -0.06667312979698181, + -0.03217841312289238, + 0.9972558617591858, + 4.226785122798884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9977045059204102, + 0.006153814494609833, + 0.06743817776441574, + 1.1128245050628338 + ], + [ + -0.007962259463965893, + 0.999614953994751, + 0.0265804510563612, + -0.3249809886341751 + ], + [ + -0.06724863499403, + -0.027056394144892693, + 0.9973693490028381, + 4.317550775944363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9976553916931152, + 0.007275961805135012, + 0.06804978847503662, + 1.1299470886107414 + ], + [ + -0.00872865691781044, + 0.9997398257255554, + 0.021074609830975533, + -0.33324317790327534 + ], + [ + -0.06787873804569244, + -0.021619180217385292, + 0.9974592924118042, + 4.406603170430056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9976793527603149, + 0.00422303332015872, + 0.06795628368854523, + 1.1513563502837436 + ], + [ + -0.0052313958294689655, + 0.9998787641525269, + 0.014667296782135963, + -0.3424642884090955 + ], + [ + -0.0678860992193222, + -0.014988765120506287, + 0.9975804686546326, + 4.494347015806057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9976881146430969, + 0.0032759809400886297, + 0.06788019090890884, + 1.1706306822769652 + ], + [ + -0.003954957704991102, + 0.9999434351921082, + 0.009870603680610657, + -0.35679731054514785 + ], + [ + -0.06784401088953018, + -0.010116247460246086, + 0.9976446628570557, + 4.57809127530744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9977220296859741, + 0.0062746466137468815, + 0.06716722249984741, + 1.1881717115228627 + ], + [ + -0.006887554656714201, + 0.9999366998672485, + 0.008897422812879086, + -0.3733984564542599 + ], + [ + -0.06710714101791382, + -0.0093397730961442, + 0.9977020621299744, + 4.652534712981518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9978421926498413, + 0.0040911720134317875, + 0.06553041934967041, + 1.2070815609347436 + ], + [ + -0.004613119643181562, + 0.9999588131904602, + 0.007815638557076454, + -0.3882036887349621 + ], + [ + -0.06549574434757233, + -0.008101074025034904, + 0.9978199601173401, + 4.7343850458821946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9979370832443237, + 0.006092149298638105, + 0.06391003727912903, + 1.2251298804574298 + ], + [ + -0.006552970502525568, + 0.9999539852142334, + 0.00700333621352911, + -0.4061420969257329 + ], + [ + -0.06386443972587585, + -0.007407689467072487, + 0.9979310631752014, + 4.813640837982503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9980493783950806, + 0.006954638287425041, + 0.06204105168581009, + 1.2389409930818642 + ], + [ + -0.007351692765951157, + 0.9999539256095886, + 0.006173888221383095, + -0.422116278693904 + ], + [ + -0.0619952529668808, + -0.006617952138185501, + 0.9980545043945312, + 4.8909487056292695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9981880784034729, + 0.004793141502887011, + 0.059980008751153946, + 1.2526731588924946 + ], + [ + -0.005136301275342703, + 0.999971330165863, + 0.005568365566432476, + -0.4390386619424868 + ], + [ + -0.059951599687337875, + -0.0058663515374064445, + 0.9981840252876282, + 4.971428773122998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.998391330242157, + 0.004487055819481611, + 0.05652131140232086, + 1.2669744166086345 + ], + [ + -0.00478563504293561, + 0.999975323677063, + 0.0051483516581356525, + -0.452436044867996 + ], + [ + -0.056496813893318176, + -0.005410559941083193, + 0.9983881115913391, + 5.046067382333465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9986770749092102, + 0.006125281564891338, + 0.05105428025126457, + 1.280529981657588 + ], + [ + -0.006389242596924305, + 0.9999670386314392, + 0.005008605308830738, + -0.4647129388822217 + ], + [ + -0.051021914929151535, + -0.005328177474439144, + 0.9986833333969116, + 5.122967042296713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9990222454071045, + 0.005695189815014601, + 0.04384229704737663, + 1.2940850116312503 + ], + [ + -0.005910080391913652, + 0.9999711513519287, + 0.004773386754095554, + -0.47469001303293873 + ], + [ + -0.04381384328007698, + -0.005027830600738525, + 0.9990270733833313, + 5.195415655204228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993916153907776, + 0.004107905086129904, + 0.034633345901966095, + 1.3087709680920647 + ], + [ + -0.004251568112522364, + 0.9999826550483704, + 0.0040755001828074455, + -0.47872888466583624 + ], + [ + -0.034616000950336456, + -0.004220266826450825, + 0.9993917942047119, + 5.276637567243268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997010231018066, + 0.0045410399325191975, + 0.02402622066438198, + 1.321277168983688 + ], + [ + -0.004606078844517469, + 0.9999858736991882, + 0.002652350114658475, + -0.4800100377559113 + ], + [ + -0.024013837799429893, + -0.0027622238267213106, + 0.999707818031311, + 5.356965263208486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998488426208496, + 0.004865977447479963, + 0.016691749915480614, + 1.3376349406059367 + ], + [ + -0.004870118107646704, + 0.9999881386756897, + 0.00020741010666824877, + -0.4853293459077472 + ], + [ + -0.016690542921423912, + -0.000288669514702633, + 0.9998606443405151, + 5.437583524235932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999890148639679, + 0.006012647412717342, + 0.013546324335038662, + 1.351215264056101 + ], + [ + -0.0060002245008945465, + 0.9999815225601196, + -0.0009575465228408575, + -0.48616374205553275 + ], + [ + -0.013551832176744938, + 0.0008761603385210037, + 0.9999077916145325, + 5.513519032045443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999362230300903, + 0.004017787519842386, + 0.010556397028267384, + 1.36630906338679 + ], + [ + -0.003992080222815275, + 0.9999890327453613, + -0.0024551774840801954, + -0.48864396197672005 + ], + [ + -0.010566146112978458, + 0.0024128786753863096, + 0.9999412894248962, + 5.601829039803299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999563694000244, + 0.004080417100340128, + 0.008404897525906563, + 1.3795174819842186 + ], + [ + -0.004037164617329836, + 0.9999785423278809, + -0.005156668368726969, + -0.4903442594218433 + ], + [ + -0.00842575915157795, + 0.0051225111819803715, + 0.9999513626098633, + 5.687088017090125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999702572822571, + 0.0035931861493736506, + 0.0068258787505328655, + 1.3923122522388993 + ], + [ + -0.003551064757630229, + 0.9999746680259705, + -0.006172962486743927, + -0.4979999711882958 + ], + [ + -0.006847885902971029, + 0.006148539483547211, + 0.9999576210975647, + 5.773068336984529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999694228172302, + 0.0053098006173968315, + 0.005746079608798027, + 1.4033974278718233 + ], + [ + -0.0052663786336779594, + 0.9999576807022095, + -0.007545664440840483, + -0.5033997724944305 + ], + [ + -0.00578590203076601, + 0.007515172008424997, + 0.9999549984931946, + 5.862525949555058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999532103538513, + 0.0082853389903903, + 0.00498847384005785, + 1.4159748752524193 + ], + [ + -0.008242226205766201, + 0.9999290108680725, + -0.0086017195135355, + -0.5151871895005558 + ], + [ + -0.005059387534856796, + 0.008560201153159142, + 0.9999505877494812, + 5.9415355222291115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999786615371704, + 0.0050339908339083195, + 0.004158909432590008, + 1.4290807910332208 + ], + [ + -0.0049929083324968815, + 0.9999392032623291, + -0.009830162860453129, + -0.5282284672118827 + ], + [ + -0.004208141937851906, + 0.009809187613427639, + 0.9999430179595947, + 6.0208792488695835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999906420707703, + -0.0007262037834152579, + 0.00426730141043663, + 1.446368720700046 + ], + [ + 0.0007736890111118555, + 0.9999377131462097, + -0.01113660354167223, + -0.5395775700447231 + ], + [ + -0.004258948378264904, + 0.01113979984074831, + 0.999928891658783, + 6.094935577558482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999878406524658, + -0.0009611010900698602, + 0.004832420032471418, + 1.4640876504420925 + ], + [ + 0.001015659887343645, + 0.9999356269836426, + -0.011300420388579369, + -0.5552787940056505 + ], + [ + -0.004821247886866331, + 0.011305190622806549, + 0.9999244809150696, + 6.151818457451833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999675154685974, + -0.00015152880223467946, + 0.00806077104061842, + 1.4811545670105462 + ], + [ + 0.00023922906257212162, + 0.9999407529830933, + -0.010880034416913986, + -0.5685261411480778 + ], + [ + -0.008058645762503147, + 0.010881608352065086, + 0.9999083280563354, + 6.207669528673321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9998892545700073, + 0.0012780986726284027, + 0.014827449806034565, + 1.4941650896285947 + ], + [ + -0.0011949560139328241, + 0.999983549118042, + -0.005614847410470247, + -0.5784137382099087 + ], + [ + -0.014834382571280003, + 0.005596507806330919, + 0.9998742938041687, + 6.276527599585221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.999731183052063, + 0.0003501180908642709, + 0.023182770237326622, + 1.507994245287151 + ], + [ + -0.0003617292386479676, + 0.9999998211860657, + 0.0004966604174114764, + -0.5849442677401502 + ], + [ + -0.023182591423392296, + -0.0005049127503298223, + 0.9997311234474182, + 6.34849551320076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9995606541633606, + -0.0010255733504891396, + 0.029622554779052734, + 1.523088809312214 + ], + [ + 0.0008829490398056805, + 0.9999879598617554, + 0.004827397875487804, + -0.5890993373417016 + ], + [ + -0.029627148061990738, + -0.004799121990799904, + 0.9995495080947876, + 6.424955149509939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993817210197449, + -0.0030100608710199594, + 0.0350300669670105, + 1.540029512929477 + ], + [ + 0.0027395186480134726, + 0.9999660849571228, + 0.00776857603341341, + -0.5930627633577152 + ], + [ + -0.035052262246608734, + -0.00766780786216259, + 0.9993560910224915, + 6.498896011751368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9991675019264221, + -0.002856188453733921, + 0.040695954114198685, + 1.5564772518274421 + ], + [ + 0.0024761799722909927, + 0.9999529123306274, + 0.009385096840560436, + -0.5941797004935379 + ], + [ + -0.04072083905339241, + -0.009276513941586018, + 0.9991275072097778, + 6.579761458981421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9989688396453857, + -0.0010832861298695207, + 0.04538865387439728, + 1.5722158239527781 + ], + [ + 0.0006090535316616297, + 0.9999451041221619, + 0.010460791178047657, + -0.5943693499630188 + ], + [ + -0.045397497713565826, + -0.010422359220683575, + 0.9989146590232849, + 6.660486139103015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9988123774528503, + 0.00044688204070553184, + 0.048720359802246094, + 1.588096834657379 + ], + [ + -0.0009931810200214386, + 0.9999368786811829, + 0.011189320124685764, + -0.5957871210593988 + ], + [ + -0.04871228337287903, + -0.011224419809877872, + 0.9987497925758362, + 6.743865081297088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9986555576324463, + 0.0009071117965504527, + 0.0518287792801857, + 1.604602635123076 + ], + [ + -0.0014875956112518907, + 0.999936580657959, + 0.011162551119923592, + -0.5966451697609461 + ], + [ + -0.05181536823511124, + -0.011224644258618355, + 0.9985936284065247, + 6.82392207991143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9984264969825745, + 0.0011249363888055086, + 0.056064847856760025, + 1.6214912408301907 + ], + [ + -0.0017508089076727629, + 0.9999366998672485, + 0.011115498840808868, + -0.6019337262838117 + ], + [ + -0.056048791855573654, + -0.011196168139576912, + 0.9983652830123901, + 6.904905019267913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9982465505599976, + 0.0011838267091661692, + 0.05918176844716072, + 1.6383831861261535 + ], + [ + -0.001611761748790741, + 0.9999728798866272, + 0.007183647248893976, + -0.6075003211362897 + ], + [ + -0.059171658009290695, + -0.007266438100486994, + 0.9982213973999023, + 6.981978607617216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9981118440628052, + -0.001040152390487492, + 0.06141403689980507, + 1.6547472719875624 + ], + [ + 0.0009375576046295464, + 0.9999980926513672, + 0.001699337037280202, + -0.6139220657867855 + ], + [ + -0.061415690928697586, + -0.0016385491471737623, + 0.9981109499931335, + 7.056944337803098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9979944229125977, + -0.0028898746240884066, + 0.0632355734705925, + 1.6763576540563787 + ], + [ + 0.0031618622597306967, + 0.9999861717224121, + -0.004201534204185009, + -0.6227876602800795 + ], + [ + -0.06322256475687027, + 0.004393049515783787, + 0.9979897737503052, + 7.145137475657573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9979304671287537, + 0.0003608219849411398, + 0.06430157274007797, + 1.6926021949761474 + ], + [ + -6.037531420588493e-06, + 0.9999848008155823, + -0.005517617333680391, + -0.6355130673193025 + ], + [ + -0.06430258601903915, + 0.005505810026079416, + 0.9979152679443359, + 7.209778069351126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9978909492492676, + 0.0004777564899995923, + 0.06491117179393768, + 1.712334587243021 + ], + [ + -2.4052977096289396e-05, + 0.9999755620956421, + -0.006990207824856043, + -0.6473902432095637 + ], + [ + -0.06491293013095856, + 0.006973904091864824, + 0.9978665709495544, + 7.289390432312741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.997808039188385, + 0.000297151185804978, + 0.0661739930510521, + 1.725975501475521 + ], + [ + 0.00033709636772982776, + 0.999954104423523, + -0.009573173709213734, + -0.6588756021343961 + ], + [ + -0.06617379933595657, + 0.009574496187269688, + 0.9977622032165527, + 7.358491904175227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.997726559638977, + -0.0017033083131536841, + 0.06737102568149567, + 1.7388138535041964 + ], + [ + 0.0024053817614912987, + 0.9999436140060425, + -0.01034125778824091, + -0.6720812739293662 + ], + [ + -0.06734961271286011, + 0.010479799471795559, + 0.9976744055747986, + 7.429871825825783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9976573586463928, + -0.006033037789165974, + 0.06814268231391907, + 1.7517873854681094 + ], + [ + 0.006759333424270153, + 0.9999227523803711, + -0.010432925075292587, + -0.683084658220891 + ], + [ + -0.06807447969913483, + 0.010869083926081657, + 0.9976210594177246, + 7.495671271398869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9976159334182739, + -0.008385879918932915, + 0.06849902868270874, + 1.7665635594299862 + ], + [ + 0.009016618132591248, + 0.9999197125434875, + -0.008904002606868744, + -0.6934064738452435 + ], + [ + -0.06841886043548584, + 0.009500404819846153, + 0.9976114630699158, + 7.566383488689151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9976527094841003, + -0.007452929392457008, + 0.06806962937116623, + 1.7815014089376147 + ], + [ + 0.007729080505669117, + 0.9999629259109497, + -0.003794420976191759, + -0.7014288672409128 + ], + [ + -0.06803882867097855, + 0.0043116300366818905, + 0.9976733326911926, + 7.639461997851798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9977293014526367, + -0.006074890494346619, + 0.06707680225372314, + 1.7951439023017883 + ], + [ + 0.006288596428930759, + 0.9999758005142212, + -0.0029753055423498154, + -0.7065079403817996 + ], + [ + -0.06705710291862488, + 0.003390368539839983, + 0.9977433681488037, + 7.713223275501058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977807998657227, + -0.005066234618425369, + 0.06639101356267929, + 1.806493675434095 + ], + [ + 0.0052542854100465775, + 0.9999826550483704, + -0.0026581697165966034, + -0.7121316159375801 + ], + [ + -0.06637639552354813, + 0.0030011082999408245, + 0.9977901577949524, + 7.786218265674082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.997759997844696, + -0.007839915342628956, + 0.06643446534872055, + 1.8179554033217618 + ], + [ + 0.008031059987843037, + 0.9999643564224243, + -0.0026106026489287615, + -0.7145334970709237 + ], + [ + -0.06641163676977158, + 0.0031382942106574774, + 0.997787356376648, + 7.864300365217271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.997713565826416, + -0.013056120835244656, + 0.06631133705377579, + 1.8313286794289465 + ], + [ + 0.013250495307147503, + 0.9999091029167175, + -0.0024922622833400965, + -0.7163258397035421 + ], + [ + -0.06627277284860611, + 0.003365221666172147, + 0.9977958798408508, + 7.943193119956601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9976815581321716, + -0.015176714397966862, + 0.06634099781513214, + 1.8437901858291867 + ], + [ + 0.015379841439425945, + 0.999878466129303, + -0.002552185906097293, + -0.71493360245963 + ], + [ + -0.06629420816898346, + 0.0035665829200297594, + 0.9977937340736389, + 8.02230426405432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9976813197135925, + -0.01608588546514511, + 0.06613034754991531, + 1.856608286774653 + ], + [ + 0.01629258319735527, + 0.9998639225959778, + -0.002587453695014119, + -0.716111270979064 + ], + [ + -0.06607972830533981, + 0.0036588881630450487, + 0.9978076219558716, + 8.100626502718244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9976411461830139, + -0.01765255816280842, + 0.06633671373128891, + 1.8687094857306799 + ], + [ + 0.01786639727652073, + 0.9998369216918945, + -0.0026316498406231403, + -0.7177113884478412 + ], + [ + -0.06627943366765976, + 0.0038106399588286877, + 0.9977938532829285, + 8.177092570396063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9975485801696777, + -0.02244982123374939, + 0.06627862900495529, + 1.8817694041380135 + ], + [ + 0.022664815187454224, + 0.9997400045394897, + -0.002493547275662422, + -0.7220528976622677 + ], + [ + -0.06620541960000992, + 0.003989627119153738, + 0.9977980256080627, + 8.257377026982022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9975548982620239, + -0.024588927626609802, + 0.06541842222213745, + 1.8965862494185224 + ], + [ + 0.02483026310801506, + 0.9996875524520874, + -0.002878508297726512, + -0.7273334422862278 + ], + [ + -0.06532719731330872, + 0.0044958265498280525, + 0.9978537559509277, + 8.343749330450313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9976932406425476, + -0.022283777594566345, + 0.06412211060523987, + 1.9120457543755456 + ], + [ + 0.02257254347205162, + 0.9997380375862122, + -0.003782346611842513, + -0.7356650989614255 + ], + [ + -0.064021036028862, + 0.005221020430326462, + 0.997934877872467, + 8.4277825854341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9978575110435486, + -0.017883770167827606, + 0.06293320655822754, + 1.9247163072709115 + ], + [ + 0.018196217715740204, + 0.9998247623443604, + -0.004395079333335161, + -0.7483260589126017 + ], + [ + -0.06284357607364655, + 0.0055308095179498196, + 0.9980080723762512, + 8.506310923445609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9979286789894104, + -0.01763654686510563, + 0.06186487525701523, + 1.93461193191703 + ], + [ + 0.017995560541749, + 0.9998242855072021, + -0.005250792484730482, + -0.759521078680157 + ], + [ + -0.06176140159368515, + 0.006353209260851145, + 0.9980707168579102, + 8.579258865145494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.997907817363739, + -0.021341800689697266, + 0.061028365045785904, + 1.9437952368129645 + ], + [ + 0.021728936582803726, + 0.9997477531433105, + -0.0056868609972298145, + -0.7705598195411762 + ], + [ + -0.06089160218834877, + 0.007001044694334269, + 0.9981198310852051, + 8.649431958835795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980111122131348, + -0.018924472853541374, + 0.060130249708890915, + 1.953693059849025 + ], + [ + 0.01930769719183445, + 0.9997967481613159, + -0.0057986024767160416, + -0.7827605488628561 + ], + [ + -0.06000829115509987, + 0.006948046386241913, + 0.998173713684082, + 8.708161243315667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9981309175491333, + -0.016142763197422028, + 0.05894165486097336, + 1.9672208842971632 + ], + [ + 0.016508832573890686, + 0.9998472929000854, + -0.0057290163822472095, + -0.7926251288668643 + ], + [ + -0.05884017050266266, + 0.006691365968436003, + 0.9982450008392334, + 8.777735682346854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9982412457466125, + -0.012950924225151539, + 0.05785031244158745, + 1.9794978653402646 + ], + [ + 0.013205197639763355, + 0.9999047517776489, + -0.004015219397842884, + -0.8017984494730006 + ], + [ + -0.05779280140995979, + 0.004772081971168518, + 0.9983171820640564, + 8.844580816508438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9983158707618713, + -0.010702126659452915, + 0.05701611191034317, + 1.9930674208577053 + ], + [ + 0.010721663944423199, + 0.9999425411224365, + -3.6751298466697335e-05, + -0.8081448995813374 + ], + [ + -0.05701243877410889, + 0.0006479970179498196, + 0.99837327003479, + 8.912499984947766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9983153939247131, + -0.0118070924654603, + 0.05680672824382782, + 2.007737763466374 + ], + [ + 0.011752449907362461, + 0.9999300837516785, + 0.0012958917068317533, + -0.8136234200229088 + ], + [ + -0.05681806057691574, + -0.0006260904483497143, + 0.9983843564987183, + 8.976134884741999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9983342289924622, + -0.011487333104014397, + 0.056540101766586304, + 2.0242712728850853 + ], + [ + 0.011366648599505424, + 0.9999324083328247, + 0.002455619163811207, + -0.8189486648299418 + ], + [ + -0.056564487516880035, + -0.0018088571960106492, + 0.9983972907066345, + 9.04693389243794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9983739852905273, + -0.010094399563968182, + 0.056102294474840164, + 2.042540052399245 + ], + [ + 0.009913013316690922, + 0.9999446868896484, + 0.003510476090013981, + -0.8208507849933571 + ], + [ + -0.056134629994630814, + -0.002948625013232231, + 0.9984188675880432, + 9.124829656682255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9984042048454285, + -0.008963607251644135, + 0.05575580149888992, + 2.061051447802837 + ], + [ + 0.008717818185687065, + 0.999951183795929, + 0.004649975337088108, + -0.8212288401458704 + ], + [ + -0.05579476058483124, + -0.004156486131250858, + 0.9984335899353027, + 9.201295519754085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.998447060585022, + -0.0052846516482532024, + 0.055457163602113724, + 2.078640733178585 + ], + [ + 0.005000563804060221, + 0.9999736547470093, + 0.005260172300040722, + -0.8191163201640416 + ], + [ + -0.05548350140452385, + -0.004974686540663242, + 0.9984472393989563, + 9.280478357170034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9984697103500366, + -0.0024804098065942526, + 0.055245403200387955, + 2.0959821806336465 + ], + [ + 0.0021738496143370867, + 0.9999818801879883, + 0.00560846459120512, + -0.8187633577755691 + ], + [ + -0.055258315056562424, + -0.005479786545038223, + 0.9984570741653442, + 9.361763853356585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9984811544418335, + -0.0021097385324537754, + 0.055053822696208954, + 2.1140860391995324 + ], + [ + 0.0017925468273460865, + 0.9999815225601196, + 0.005810227710753679, + -0.8209138676167942 + ], + [ + -0.05506506562232971, + -0.005702716764062643, + 0.9984664916992188, + 9.438861751995878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9985043406486511, + -0.002810361562296748, + 0.05460021644830704, + 2.132551099720501 + ], + [ + 0.002497106557711959, + 0.9999800324440002, + 0.005804620683193207, + -0.8268156356628864 + ], + [ + -0.05461543798446655, + -0.005659596063196659, + 0.9984914064407349, + 9.51400356946453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9985615015029907, + -0.004494324326515198, + 0.053429216146469116, + 2.1544257490316294 + ], + [ + 0.004264224320650101, + 0.999981164932251, + 0.004419859033077955, + -0.8333613501286589 + ], + [ + -0.05344807356595993, + -0.004185666795819998, + 0.9985618591308594, + 9.59777486598986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9986550211906433, + -0.0006285645067691803, + 0.05184384435415268, + 2.174826151774638 + ], + [ + 0.0005889573367312551, + 0.9999995231628418, + 0.0007792438846081495, + -0.843964875604172 + ], + [ + -0.05184430629014969, + -0.0007476620376110077, + 0.9986549019813538, + 9.675361955468006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9987298846244812, + 0.006403125356882811, + 0.04997667297720909, + 2.189893708014131 + ], + [ + -0.006466985214501619, + 0.9999784827232361, + 0.0011161935981363058, + -0.8593075970962455 + ], + [ + -0.04996844753623009, + -0.0014379741623997688, + 0.9987497329711914, + 9.743376248443182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9988917708396912, + 0.005800662562251091, + 0.04670731723308563, + 2.206555670479201 + ], + [ + -0.005821628496050835, + 0.999983012676239, + 0.00031286804005503654, + -0.8712855859361331 + ], + [ + -0.04670470952987671, + -0.0005844339611940086, + 0.9989085793495178, + 9.819890541827075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.998955488204956, + 0.008278938941657543, + 0.044937651604413986, + 2.2238367580941745 + ], + [ + -0.008290850557386875, + 0.9999656081199646, + 7.869955152273178e-05, + -0.8821763724620854 + ], + [ + -0.044935453683137894, + -0.00045118870912119746, + 0.9989897608757019, + 9.886692139080592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9988858699798584, + 0.016320714727044106, + 0.044279441237449646, + 2.236804304000694 + ], + [ + -0.01634223945438862, + 0.9998664259910583, + 0.00012411049101501703, + -0.8933587107635189 + ], + [ + -0.044271498918533325, + -0.0008475972572341561, + 0.999019205570221, + 9.956083871389863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9988095760345459, + 0.022424573078751564, + 0.043319422751665115, + 2.2503252082534373 + ], + [ + -0.022460060194134712, + 0.9997476935386658, + 0.00033257860923185945, + -0.9068245300598773 + ], + [ + -0.04330103471875191, + -0.0013051393907517195, + 0.9990612268447876, + 10.013367558294727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.998889684677124, + 0.02171654999256134, + 0.04180610924959183, + 2.2657478511024456 + ], + [ + -0.0217466838657856, + 0.9997634887695312, + 0.0002660815080162138, + -0.9171610913633595 + ], + [ + -0.0417904406785965, + -0.001174930133856833, + 0.9991257190704346, + 10.097204799366438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9990049004554749, + 0.02065189927816391, + 0.03953167796134949, + 2.283999531829412 + ], + [ + -0.0206887386739254, + 0.999785840511322, + 0.0005229446687735617, + -0.9257456947272549 + ], + [ + -0.03951241075992584, + -0.0013402847107499838, + 0.9992181658744812, + 10.170845155671994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9990421533584595, + 0.024416619911789894, + 0.036311954259872437, + 2.2997398327435215 + ], + [ + -0.024463923647999763, + 0.9997003674507141, + 0.0008588620112277567, + -0.9312613254472826 + ], + [ + -0.03628010302782059, + -0.0017463723197579384, + 0.9993401169776917, + 10.248373573963542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.999018669128418, + 0.028120698407292366, + 0.034219637513160706, + 2.314474684096152 + ], + [ + -0.02817101590335369, + 0.9996026158332825, + 0.000989103689789772, + -0.9345359125771143 + ], + [ + -0.034178227186203, + -0.0019521350041031837, + 0.9994138479232788, + 10.322321029852063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9990718960762024, + 0.027947019785642624, + 0.032776426523923874, + 2.3263523911430677 + ], + [ + -0.02799016237258911, + 0.9996078014373779, + 0.0008581203874200583, + -0.9366572427828388 + ], + [ + -0.03273959085345268, + -0.0017747413367033005, + 0.999462366104126, + 10.385221575701841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9991108179092407, + 0.027369718998670578, + 0.03206896036863327, + 2.3417215325178637 + ], + [ + -0.027394380420446396, + 0.9996246695518494, + 0.0003298054216429591, + -0.9377865443961085 + ], + [ + -0.03204789757728577, + -0.0012080214219167829, + 0.9994856119155884, + 10.463401352535195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9990968704223633, + 0.028219180181622505, + 0.031765762716531754, + 2.3554761487029254 + ], + [ + -0.028230855241417885, + 0.999601423740387, + -8.099785191006958e-05, + -0.9389597349495049 + ], + [ + -0.03175538405776024, + -0.0008158497512340546, + 0.9994953274726868, + 10.533924224107496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9990859627723694, + 0.028851941227912903, + 0.03154123201966286, + 2.370633191347534 + ], + [ + -0.02885228767991066, + 0.9995836019515991, + -0.00044429185800254345, + -0.9420627529550482 + ], + [ + -0.031540919095277786, + -0.00046615093015134335, + 0.9995023608207703, + 10.608827165139985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9990869760513306, + 0.02876167930662632, + 0.03158999979496002, + 2.3840153138689733 + ], + [ + -0.02875780127942562, + 0.9995862245559692, + -0.0005771882133558393, + -0.9474993012338546 + ], + [ + -0.031593531370162964, + -0.00033179769525304437, + 0.9995007514953613, + 10.679434225855884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9990562796592712, + 0.02948688715696335, + 0.03189077228307724, + 2.3996279453626976 + ], + [ + -0.02947382628917694, + 0.9995651841163635, + -0.000879676197655499, + -0.9537906025519192 + ], + [ + -0.03190284222364426, + -6.109700188972056e-05, + 0.9994909763336182, + 10.76156497375207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9990488290786743, + 0.02945585548877716, + 0.0321526862680912, + 2.4146692956390057 + ], + [ + -0.029434986412525177, + 0.9995660781860352, + -0.0011223310139030218, + -0.9632609951828096 + ], + [ + -0.03217179700732231, + 0.00017484970157966018, + 0.9994823336601257, + 10.839384222552523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9989447593688965, + 0.031945452094078064, + 0.03299728035926819, + 2.427908066368323 + ], + [ + -0.031927689909935, + 0.9994896054267883, + -0.0010651740012690425, + -0.9751215860122077 + ], + [ + -0.03301446884870529, + 1.0523013770580292e-05, + 0.9994548559188843, + 10.915449412187673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9989441633224487, + 0.03080902434885502, + 0.03407950699329376, + 2.4408140307678603 + ], + [ + -0.030786024406552315, + 0.999525249004364, + -0.0011995249660685658, + -0.9892697389728459 + ], + [ + -0.03410028666257858, + 0.00014908600132912397, + 0.9994183778762817, + 10.9849794235647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.998995840549469, + 0.027714751660823822, + 0.0352022685110569, + 2.45309203694905 + ], + [ + -0.027677197009325027, + 0.9996157288551331, + -0.0015537842409685254, + -1.0040782581368881 + ], + [ + -0.035231802612543106, + 0.0005779239581897855, + 0.9993789792060852, + 11.056960155886989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9989539980888367, + 0.02802574262022972, + 0.03613165020942688, + 2.4673068693293954 + ], + [ + -0.027975033968687057, + 0.9996067881584167, + -0.0019083048682659864, + -1.019116062229641 + ], + [ + -0.036170922219753265, + 0.0008955248049460351, + 0.9993452429771423, + 11.11935583927115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9988880753517151, + 0.02918260172009468, + 0.03702758625149727, + 2.4791771918775574 + ], + [ + -0.029140550643205643, + 0.9995739459991455, + -0.0016749444184824824, + -1.0330478466164175 + ], + [ + -0.0370606891810894, + 0.000594077748246491, + 0.9993128180503845, + 11.180237142556274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.998953640460968, + 0.02679811418056488, + 0.037061359733343124, + 2.4965121070515313 + ], + [ + -0.026873428374528885, + 0.9996376633644104, + 0.0015354377683252096, + -1.0442973629926644 + ], + [ + -0.03700678423047066, + -0.002529796911403537, + 0.9993118047714233, + 11.250299601236247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9989449977874756, + 0.027110565453767776, + 0.0370667465031147, + 2.5129003167976434 + ], + [ + -0.027469255030155182, + 0.9995803236961365, + 0.009201958775520325, + -1.0526083238663213 + ], + [ + -0.03680172190070152, + -0.010210447013378143, + 0.9992704391479492, + 11.327943953061434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9989355206489563, + 0.027378644794225693, + 0.037124745547771454, + 2.530362546495441 + ], + [ + -0.027818899601697922, + 0.9995480179786682, + 0.011394498869776726, + -1.0598901571911945 + ], + [ + -0.036796003580093384, + -0.012415139004588127, + 0.9992457032203674, + 11.4107163310875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9988865256309509, + 0.028748463839292526, + 0.037406884133815765, + 2.5431573691112654 + ], + [ + -0.02923358604311943, + 0.9994946122169495, + 0.012487008236348629, + -1.0678464647751593 + ], + [ + -0.037028998136520386, + -0.013566642068326473, + 0.9992220997810364, + 11.48143241180253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.998908519744873, + 0.027692321687936783, + 0.037615396082401276, + 2.559841554804194 + ], + [ + -0.028195910155773163, + 0.999518871307373, + 0.012923906557261944, + -1.0702818457908447 + ], + [ + -0.037239402532577515, + -0.013970400206744671, + 0.9992086887359619, + 11.55950294386956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9989668726921082, + 0.0248889047652483, + 0.03802328556776047, + 2.575868620891725 + ], + [ + -0.025415735319256783, + 0.9995867013931274, + 0.013435455970466137, + -1.0737408665210557 + ], + [ + -0.03767317533493042, + -0.014387964271008968, + 0.9991865158081055, + 11.63344345620151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.998975396156311, + 0.024493755772709846, + 0.03805578500032425, + 2.595924356802955 + ], + [ + -0.02501777373254299, + 0.9995977878570557, + 0.013355020433664322, + -1.0771241921622494 + ], + [ + -0.03771336376667023, + -0.014293408021330833, + 0.9991863965988159, + 11.713900965314856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9989914894104004, + 0.02384980022907257, + 0.03804191201925278, + 2.614313470774807 + ], + [ + -0.02430664747953415, + 0.9996373653411865, + 0.011592000722885132, + -1.0778447734320769 + ], + [ + -0.03775165230035782, + -0.012504981830716133, + 0.999208927154541, + 11.795033334037676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9989848732948303, + 0.024090297520160675, + 0.03806464001536369, + 2.6325887705821733 + ], + [ + -0.02449437603354454, + 0.9996480941772461, + 0.010185090824961662, + -1.0810734896675989 + ], + [ + -0.03780588135123253, + -0.011107120662927628, + 0.9992233514785767, + 11.87291885207875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999041736125946, + 0.0220362339168787, + 0.03781494125723839, + 2.6495153484943277 + ], + [ + -0.022411605343222618, + 0.9997034072875977, + 0.009531451389193535, + -1.0880409983102628 + ], + [ + -0.03759368881583214, + -0.010369811207056046, + 0.9992393255233765, + 11.951151629417174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9991551041603088, + 0.017691023647785187, + 0.03709658607840538, + 2.6671949572260343 + ], + [ + -0.018030673265457153, + 0.9997983574867249, + 0.008841359056532383, + -1.0959016961225818 + ], + [ + -0.03693269565701485, + -0.009502765722572803, + 0.9992725849151611, + 12.02764327723859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9991850256919861, + 0.018255801871418953, + 0.03600074350833893, + 2.684119460948052 + ], + [ + -0.01851208321750164, + 0.9998055100440979, + 0.0067982664331793785, + -1.1077804389199422 + ], + [ + -0.03586963564157486, + -0.00745917484164238, + 0.99932861328125, + 12.10311423270933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9992206692695618, + 0.019376160576939583, + 0.03438951447606087, + 2.7013113171394383 + ], + [ + -0.019581550732254982, + 0.9997923374176025, + 0.005645738448947668, + -1.1225872219739748 + ], + [ + -0.03427297994494438, + -0.006314738187938929, + 0.999392569065094, + 12.170802869967051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.999293327331543, + 0.01945505291223526, + 0.032161273062229156, + 2.717184414882814 + ], + [ + -0.019608024507761, + 0.9997978210449219, + 0.004447821993380785, + -1.1354103961032451 + ], + [ + -0.03206823766231537, + -0.00507529778406024, + 0.9994727969169617, + 12.241545447446235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9994325041770935, + 0.0152274826541543, + 0.030047167092561722, + 2.7334056089155823 + ], + [ + -0.01526403333991766, + 0.9998829960823059, + 0.000987457693554461, + -1.1485120885880462 + ], + [ + -0.03002861514687538, + -0.001445538247935474, + 0.9995480179786682, + 12.30527536937718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9995042085647583, + 0.014685378409922123, + 0.02785046584904194, + 2.7467721227796806 + ], + [ + -0.014679322950541973, + 0.9998921751976013, + -0.0004218514950480312, + -1.1633315873035381 + ], + [ + -0.02785365842282772, + 1.2816395610570908e-05, + 0.999612033367157, + 12.366530713562591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9995535612106323, + 0.015482153743505478, + 0.025553669780492783, + 2.7565389325146987 + ], + [ + -0.015468135476112366, + 0.9998800754547119, + -0.0007462030043825507, + -1.1765561882314737 + ], + [ + -0.025562159717082977, + 0.0003506022912915796, + 0.9996731877326965, + 12.426462207164633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9996675252914429, + 0.013493288308382034, + 0.021971967071294785, + 2.7712244973754006 + ], + [ + -0.013476114720106125, + 0.9999087452888489, + -0.0009295264026150107, + -1.1874135644325325 + ], + [ + -0.021982505917549133, + 0.000633120653219521, + 0.9997581839561462, + 12.49165788993308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997672438621521, + 0.013798602856695652, + 0.016586342826485634, + 2.7829366943708833 + ], + [ + -0.013785668648779392, + 0.9999045729637146, + -0.000893937423825264, + -1.1975378238325638 + ], + [ + -0.016597094014286995, + 0.0006650754949077964, + 0.999862015247345, + 12.546375121416585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997966289520264, + 0.014912912622094154, + 0.013576041907072067, + 2.7941138680183117 + ], + [ + -0.014905702322721481, + 0.9998887181282043, + -0.0006321101100184023, + -1.2047334738522617 + ], + [ + -0.013583958148956299, + 0.0004296211409382522, + 0.9999076128005981, + 12.6112866943333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998296499252319, + 0.014911137521266937, + 0.010879241861402988, + 2.8044227529965204 + ], + [ + -0.014909233897924423, + 0.9998888373374939, + -0.0002559823333285749, + -1.2092838642057857 + ], + [ + -0.010881849564611912, + 9.373758075525984e-05, + 0.999940812587738, + 12.674449292992666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998962879180908, + 0.011821954511106014, + 0.008224685676395893, + 2.8159644922851004 + ], + [ + -0.011822947300970554, + 0.9999300837516785, + 7.215944060590118e-05, + -1.2116277518892749 + ], + [ + -0.008223257027566433, + -0.0001693919621175155, + 0.9999661445617676, + 12.741766486629363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9999180436134338, + 0.011597241275012493, + 0.005427784752100706, + 2.8278911205573 + ], + [ + -0.011599103920161724, + 0.9999327063560486, + 0.00031193025643005967, + -1.2142776295333224 + ], + [ + -0.005423801485449076, + -0.000374862109310925, + 0.9999852180480957, + 12.810302977188393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9999082088470459, + 0.013234812766313553, + 0.0028947931714355946, + 2.838197662277482 + ], + [ + -0.013236328959465027, + 0.9999122619628906, + 0.0005053632194176316, + -1.2178306226469449 + ], + [ + -0.0028878506273031235, + -0.0005436332430690527, + 0.9999957084655762, + 12.880541137396465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9998955130577087, + 0.01443690899759531, + 0.0007592426845803857, + 2.8463146863009006 + ], + [ + -0.014437261037528515, + 0.9998956918716431, + 0.00045958024566061795, + -1.2213158972893037 + ], + [ + -0.000752528547309339, + -0.00047049360000528395, + 0.9999995827674866, + 12.955535725596864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.999945878982544, + 0.01032046414911747, + -0.0013055233284831047, + 2.8547187018538676 + ], + [ + -0.010320005938410759, + 0.9999467134475708, + 0.0003568376414477825, + -1.2287158078123486 + ], + [ + 0.0013091363944113255, + -0.0003433453384786844, + 0.9999991059303284, + 13.0261955307376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9999775886535645, + 0.005509700160473585, + -0.0038059037178754807, + 2.8670665715911214 + ], + [ + -0.00551215885207057, + 0.999984622001648, + -0.0006357859238050878, + -1.2329742149082668 + ], + [ + 0.003802342340350151, + 0.0006567504606209695, + 0.9999925494194031, + 13.102793391921004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9999616742134094, + 0.0060647837817668915, + -0.006314929109066725, + 2.87856102050046 + ], + [ + -0.0060769254341721535, + 0.9999797344207764, + -0.0019052927382290363, + -1.244668853896228 + ], + [ + 0.006303245667368174, + 0.0019435950089246035, + 0.999978244304657, + 13.180157394178453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9999279379844666, + 0.00871394295245409, + -0.008259360678493977, + 2.8854959309826422 + ], + [ + -0.008767376653850079, + 0.9999407529830933, + -0.006455392576754093, + -1.254950077335183 + ], + [ + 0.008202618919312954, + 0.006527340039610863, + 0.9999450445175171, + 13.252942257597699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9999051690101624, + 0.008813763968646526, + -0.010578884743154049, + 2.8958103731394775 + ], + [ + -0.008922138251364231, + 0.9999077320098877, + -0.010241314768791199, + -1.2644430978232266 + ], + [ + 0.01048764493316412, + 0.01033473014831543, + 0.9998915791511536, + 13.319759297590652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9999057054519653, + 0.005617652088403702, + -0.012532315216958523, + 2.9047511545971276 + ], + [ + -0.005763334222137928, + 0.9999158978462219, + -0.011618818156421185, + -1.2742851147449614 + ], + [ + 0.012465990148484707, + 0.011689950712025166, + 0.9998539686203003, + 13.385094588747771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998809695243835, + 0.0037787393666803837, + -0.014957125298678875, + 2.9164110797779284 + ], + [ + -0.003965840209275484, + 0.9999139904975891, + -0.012499313801527023, + -1.285169538858986 + ], + [ + 0.014908607117831707, + 0.012557143345475197, + 0.999809980392456, + 13.451319111986644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998461008071899, + 0.004617433995008469, + -0.016925472766160965, + 2.922663200706724 + ], + [ + -0.00483574066311121, + 0.9999053478240967, + -0.012879972346127033, + -1.2986971508981962 + ], + [ + 0.016864396631717682, + 0.012959836982190609, + 0.9997738003730774, + 13.517015888806313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998111128807068, + 0.005959848873317242, + -0.018497822806239128, + 2.9329911117042813 + ], + [ + -0.006209643557667732, + 0.9998899102210999, + -0.013476072810590267, + -1.3075955708798725 + ], + [ + 0.01841547153890133, + 0.013588392175734043, + 0.9997380971908569, + 13.582078477534282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9997602701187134, + 0.008704312145709991, + -0.020089764147996902, + 2.940286390646468 + ], + [ + -0.008975086733698845, + 0.9998695850372314, + -0.013427660800516605, + -1.3178784413688092 + ], + [ + 0.01997026428580284, + 0.01360474992543459, + 0.9997079968452454, + 13.639234576604334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9997073411941528, + 0.008538779802620411, + -0.0226342361420393, + 2.948691538802009 + ], + [ + -0.008839807473123074, + 0.9998733401298523, + -0.013233145698904991, + -1.3280665514982104 + ], + [ + 0.022518375888466835, + 0.013429354876279831, + 0.9996562004089355, + 13.70674672500329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9996473789215088, + 0.007265427149832249, + -0.025541944429278374, + 2.959421861922789 + ], + [ + -0.007600320503115654, + 0.9998860955238342, + -0.013038980774581432, + -1.3365023730987948 + ], + [ + 0.02544430084526539, + 0.01322850864380598, + 0.9995887279510498, + 13.765638224100737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9995606541633606, + 0.007889007218182087, + -0.028571125119924545, + 2.969708606703765 + ], + [ + -0.008261810056865215, + 0.9998819828033447, + -0.012953796423971653, + -1.341891721517603 + ], + [ + 0.02846556156873703, + 0.013184153474867344, + 0.9995078444480896, + 13.830983970022421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9994656443595886, + 0.007855929434299469, + -0.03172843158245087, + 2.980109188146031 + ], + [ + -0.008272998034954071, + 0.9998807907104492, + -0.013035152107477188, + -1.3468832528759396 + ], + [ + 0.03162224590778351, + 0.013290675356984138, + 0.9994115233421326, + 13.894373321395864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9993538856506348, + 0.007413392886519432, + -0.03516943380236626, + 2.991554042048031 + ], + [ + -0.007883665151894093, + 0.9998810887336731, + -0.013251845724880695, + -1.3498725268208691 + ], + [ + 0.035067010670900345, + 0.013520547188818455, + 0.9992935061454773, + 13.962326956948926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9991592764854431, + 0.007640538737177849, + -0.04027840867638588, + 3.002557276582457 + ], + [ + -0.008182737976312637, + 0.9998778700828552, + -0.013313664123415947, + -1.353449515978621 + ], + [ + 0.04017176851630211, + 0.013632059097290039, + 0.9990997910499573, + 14.030578322097453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9988681674003601, + 0.01128571666777134, + -0.0462067537009716, + 3.0135933757789672 + ], + [ + -0.01191735453903675, + 0.9998389482498169, + -0.013417244888842106, + -1.3568402028543882 + ], + [ + 0.046047892421483994, + 0.01395271997898817, + 0.9988417625427246, + 14.095491917342084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9986879229545593, + 0.011906800791621208, + -0.04980649799108505, + 3.0260027042903386 + ], + [ + -0.012608805671334267, + 0.9998252391815186, + -0.013804278336465359, + -1.3588967606627 + ], + [ + 0.04963342845439911, + 0.0144141661003232, + 0.9986634850502014, + 14.161083460540816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9985008239746094, + 0.010725514031946659, + -0.053675033152103424, + 3.039561079442501 + ], + [ + -0.01150058675557375, + 0.9998337030410767, + -0.014152107760310173, + -1.362069213230695 + ], + [ + 0.05351431667804718, + 0.014748185873031616, + 0.9984581470489502, + 14.22782074383327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9982212781906128, + 0.010342747904360294, + -0.05871337652206421, + 3.052979317980428 + ], + [ + -0.011227843351662159, + 0.9998279213905334, + -0.014765028841793537, + -1.3697330332738842 + ], + [ + 0.05855056643486023, + 0.015397991053760052, + 0.9981656670570374, + 14.28397121921113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.997978687286377, + 0.013936588540673256, + -0.06200225651264191, + 3.066661304400264 + ], + [ + -0.014923978596925735, + 0.9997686147689819, + -0.015490537509322166, + -1.3767946750234623 + ], + [ + 0.061772026121616364, + 0.01638454757630825, + 0.9979557991027832, + 14.342757862284436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9977265000343323, + 0.016866324469447136, + -0.06524868309497833, + 3.080669636928266 + ], + [ + -0.017990121617913246, + 0.9996991157531738, + -0.016674241051077843, + -1.3815789873140953 + ], + [ + 0.06494781374931335, + 0.017810164019465446, + 0.9977297186851501, + 14.401617286474474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9975706934928894, + 0.014509929344058037, + -0.06813359260559082, + 3.0970622064880513 + ], + [ + -0.015762949362397194, + 0.9997156858444214, + -0.017889156937599182, + -1.3890933206965845 + ], + [ + 0.06785465776920319, + 0.0189196839928627, + 0.9975157976150513, + 14.454914784651198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.99745112657547, + 0.014798960648477077, + -0.06980185955762863, + 3.113493639007554 + ], + [ + -0.016195649281144142, + 0.9996789693832397, + -0.01948600634932518, + -1.3937224786694287 + ], + [ + 0.06949108093976974, + 0.020566824823617935, + 0.9973705410957336, + 14.510979970232134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.997362494468689, + 0.013784256763756275, + -0.07126038521528244, + 3.126279267078171 + ], + [ + -0.015303411521017551, + 0.999666154384613, + -0.020816516131162643, + -1.3986860978438558 + ], + [ + 0.07094965130090714, + 0.02185213938355446, + 0.9972404837608337, + 14.561902247486026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.997215211391449, + 0.015808049589395523, + -0.07288338243961334, + 3.141131032220504 + ], + [ + -0.017365489155054092, + 0.9996331334114075, + -0.020784994587302208, + -1.4061141422911105 + ], + [ + 0.07252807915210724, + 0.021992767229676247, + 0.9971238374710083, + 14.618300641901483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.997067928314209, + 0.017235873267054558, + -0.07455512136220932, + 3.1566731262110896 + ], + [ + -0.018852664157748222, + 0.9996009469032288, + -0.02103666216135025, + -1.4141848599649793 + ], + [ + 0.0741627886891365, + 0.022380542010068893, + 0.9969949722290039, + 14.679704626584382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9968582987785339, + 0.020695731043815613, + -0.0764540359377861, + 3.1717877150234264 + ], + [ + -0.022352855652570724, + 0.9995320439338684, + -0.020882928743958473, + -1.4212987262043193 + ], + [ + 0.07598606497049332, + 0.022526288405060768, + 0.9968544244766235, + 14.736816861937124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9967167377471924, + 0.022289618849754333, + -0.07783933728933334, + 3.1865905087801716 + ], + [ + -0.023909538984298706, + 0.9995152354240417, + -0.019941402599215508, + -1.4284051914609248 + ], + [ + 0.07735712081193924, + 0.021737033501267433, + 0.9967664480209351, + 14.799889412233906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9966174960136414, + 0.024336202070116997, + -0.0784941166639328, + 3.1988307338774478 + ], + [ + -0.02596733532845974, + 0.9994661808013916, + -0.019826853647828102, + -1.4322313153532586 + ], + [ + 0.07796970009803772, + 0.02179807238280773, + 0.9967173933982849, + 14.865294287583795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9966540336608887, + 0.021567951887845993, + -0.07883905619382858, + 3.2147073302057483 + ], + [ + -0.02329205349087715, + 0.9995077848434448, + -0.021014736965298653, + -1.4303407591797652 + ], + [ + 0.07834700495004654, + 0.02278074435889721, + 0.9966658353805542, + 14.931828039692295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9967775940895081, + 0.016080839559435844, + -0.07858625054359436, + 3.2302028341364752 + ], + [ + -0.01790848933160305, + 0.9995840191841125, + -0.02260741777718067, + -1.4273949129987629 + ], + [ + 0.07819001376628876, + 0.023941928520798683, + 0.9966509342193604, + 14.994641961370196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9972068667411804, + 0.011159533634781837, + -0.07385050505399704, + 3.2463589853130728 + ], + [ + -0.01300082542002201, + 0.9996153116226196, + -0.024499110877513885, + -1.4259599841410113 + ], + [ + 0.07354869693517685, + 0.025390800088644028, + 0.9969683289527893, + 15.066008529355448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.99750816822052, + 0.009589234367012978, + -0.06989617645740509, + 3.2634718441949464 + ], + [ + -0.011480415239930153, + 0.9995774030685425, + -0.026705697178840637, + -1.4255961865667375 + ], + [ + 0.06961055099964142, + 0.027441587299108505, + 0.9971967339515686, + 15.143248456551731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9978479743003845, + 0.007481221575289965, + -0.06514137983322144, + 3.281150427227196 + ], + [ + -0.009428493678569794, + 0.9995162487030029, + -0.029637087136507034, + -1.4253886772774607 + ], + [ + 0.06488814949989319, + 0.030187491327524185, + 0.9974358081817627, + 15.215433206206642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9982084631919861, + 0.0036813057959079742, + -0.05971825122833252, + 3.2976191824482335 + ], + [ + -0.005679569207131863, + 0.999428391456604, + -0.033326368778944016, + -1.4262804460020797 + ], + [ + 0.05956143140792847, + 0.03360584005713463, + 0.9976587891578674, + 15.300606668572271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9982308149337769, + -0.008422035723924637, + -0.05885802581906319, + 3.317754051714174 + ], + [ + 0.005975984036922455, + 0.9991160035133362, + -0.041611649096012115, + -1.4300828237000698 + ], + [ + 0.059156451374292374, + 0.041186295449733734, + 0.9973987340927124, + 15.378243814855127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9983847141265869, + -0.01077234372496605, + -0.05578441172838211, + 3.3365943915111953 + ], + [ + 0.008017899468541145, + 0.9987485408782959, + -0.04936710745096207, + -1.4358416866631276 + ], + [ + 0.056246399879455566, + 0.04884009063243866, + 0.9972216486930847, + 15.446961214328141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9988193511962891, + -0.01085161417722702, + -0.04735103249549866, + 3.3542481157911537 + ], + [ + 0.008214237168431282, + 0.9984225630760193, + -0.05554174259305, + -1.4374891513331969 + ], + [ + 0.04787905514240265, + 0.05508721247315407, + 0.9973329305648804, + 15.525904418686018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9990471005439758, + -0.014159349724650383, + -0.041284237056970596, + 3.3694646601732563 + ], + [ + 0.011726362630724907, + 0.9982132315635681, + -0.058590441942214966, + -1.4398119787878705 + ], + [ + 0.04204007610678673, + 0.058050498366355896, + 0.9974280595779419, + 15.593493645696595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9993362426757812, + -0.01741844043135643, + -0.03199440613389015, + 3.3867967461386033 + ], + [ + 0.015475176274776459, + 0.9980776906013489, + -0.0600120946764946, + -1.442062483460123 + ], + [ + 0.03297821804881096, + 0.05947714298963547, + 0.9976847767829895, + 15.657502143174273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9995859265327454, + -0.01681203953921795, + -0.02335175685584545, + 3.4003826733841667 + ], + [ + 0.015393568202853203, + 0.9981006979942322, + -0.059649210423231125, + -1.4479336366864255 + ], + [ + 0.02431022934615612, + 0.05926504358649254, + 0.9979462027549744, + 15.713167634180614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9996470212936401, + -0.016801370307803154, + -0.02057955600321293, + 3.410355031550411 + ], + [ + 0.015789272263646126, + 0.9987035989761353, + -0.04839212819933891, + -1.4566473683282253 + ], + [ + 0.021365931257605553, + 0.048050109297037125, + 0.9986163973808289, + 15.764383025707737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9997124075889587, + -0.015621746890246868, + -0.018195996060967445, + 3.4228925866748674 + ], + [ + 0.014922096394002438, + 0.9991673827171326, + -0.037971850484609604, + -1.4616601903540885 + ], + [ + 0.01877403073012829, + 0.03768940642476082, + 0.999113142490387, + 15.824353112246035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9998392462730408, + -0.008632457815110683, + -0.015716003254055977, + 3.4362995897672968 + ], + [ + 0.008142161183059216, + 0.9994862675666809, + -0.030998384580016136, + -1.4668739050180406 + ], + [ + 0.015975521877408028, + 0.030865440145134926, + 0.9993958473205566, + 15.87999404520483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999350309371948, + -0.006021603476256132, + -0.009676533751189709, + 3.451674027700183 + ], + [ + 0.005767375696450472, + 0.9996429681777954, + -0.02608911506831646, + -1.4680481819264282 + ], + [ + 0.009830177761614323, + 0.0260316114872694, + 0.9996128082275391, + 15.94385804119198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9999624490737915, + -0.00857536680996418, + -0.0012413010699674487, + 3.4678834815920556 + ], + [ + 0.008542301133275032, + 0.9996618628501892, + -0.02456003427505493, + -1.4656790046098596 + ], + [ + 0.001451492658816278, + 0.02454850822687149, + 0.9996975660324097, + 16.009997064287212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999136328697205, + -0.011653522029519081, + 0.00607666140422225, + 3.484052716699656 + ], + [ + 0.01179409772157669, + 0.9996510744094849, + -0.02363523654639721, + -1.4632898496532565 + ], + [ + -0.0057991077192127705, + 0.023704862222075462, + 0.9997021555900574, + 16.074073054411443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9998735785484314, + -0.012844599783420563, + 0.009373128414154053, + 3.5003781933938303 + ], + [ + 0.013052739202976227, + 0.9996618032455444, + -0.022493384778499603, + -1.4610177118382697 + ], + [ + -0.00908103957772255, + 0.022612884640693665, + 0.999703049659729, + 16.139455214733353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9998562335968018, + -0.011573554016649723, + 0.012393624521791935, + 3.5164096982218327 + ], + [ + 0.011816331185400486, + 0.9997361302375793, + -0.01969818025827408, + -1.4575345553457737 + ], + [ + -0.012162377126514912, + 0.019841793924570084, + 0.9997291564941406, + 16.205424499511718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/tilt_down/transforms.json b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1890b3957f1ab11d34614d3a998978b4027fafa4 --- /dev/null +++ b/dynpose_eval/camera_controls/54bfd24e-0958-4673-885d-79bc459a1dc6/tilt_down/transforms.json @@ -0,0 +1,7643 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 218, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -8.994916424853727e-05, + 7.358914444921538e-06, + -1.139659889304312e-05 + ], + [ + 8.994904783321545e-05, + 1.0, + 1.6600621165707707e-05, + -0.0004049866693094373 + ], + [ + -7.360407835221849e-06, + -1.6599959053564817e-05, + 1.0, + -0.0004114329640287906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999658465385437, + 0.0033723564843954807, + -0.007546094058261416, + 0.012916984036564827 + ], + [ + -0.0033828888554126024, + 0.9999933368338733, + -0.0013833872514408439, + -0.004589362069964409 + ], + [ + 0.007541378494352102, + 0.0014088677484762689, + 0.9999705985839286, + 0.08979558944702148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998723268508913, + 0.007279109114370513, + -0.014223316264120744, + 0.02547377347946167 + ], + [ + -0.0073572751134634035, + 0.999958068377405, + -0.005451037676582705, + -0.00881129689514637 + ], + [ + 0.014183040708303455, + 0.00555498654165926, + 0.9998839919874529, + 0.1826421320438385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997193217277527, + 0.010872308560027221, + -0.021049668725133877, + 0.04004446417093277 + ], + [ + -0.01100737601518631, + 0.9999194814849349, + -0.006311415887627625, + -0.015187337063252926 + ], + [ + 0.02097935415804386, + 0.006541345725310652, + 0.9997584860137848, + 0.2754802405834198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9995409846305847, + 0.012089797191997103, + -0.02777900208017416, + 0.054125260561704636 + ], + [ + -0.01226752158254385, + 0.9999053030921652, + -0.0062363228423778505, + -0.023240938782691956 + ], + [ + 0.02770097739994526, + 0.006574240067274084, + 0.9995946614540174, + 0.3610070049762726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993007183074951, + 0.014798849556417677, + -0.0343383459164344, + 0.06704139709472656 + ], + [ + -0.014982907101511955, + 0.9998747260686182, + -0.005108975675520203, + -0.03346233069896698 + ], + [ + 0.034258436411619186, + 0.005619890753246131, + 0.9993972070755477, + 0.43422967195510864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999038636684418, + 0.013352741871930397, + -0.041755053691032586, + 0.08385565131902695 + ], + [ + -0.013514121994376186, + 0.9999022418904313, + -0.003585058627519177, + -0.04601134732365608 + ], + [ + 0.041703101247549064, + 0.00414589390022528, + 0.9991214667557415, + 0.5150285363197327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9983908534049988, + 0.012845616980194922, + -0.05523298815208124, + 0.10429984331130981 + ], + [ + -0.012933428399264812, + 0.999915592385942, + -0.001232672197400265, + -0.05910909175872803 + ], + [ + 0.055212490260601044, + 0.0019450396264527154, + 0.9984727468057765, + 0.5825668573379517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997922956943512, + 0.017588307865588782, + -0.061971102712292794, + 0.12341775000095367 + ], + [ + -0.017566194757819176, + 0.999845284042237, + 0.0009016665273045655, + -0.07233788818120956 + ], + [ + 0.06197737157344818, + 0.00018880224785638948, + 0.9980775409343197, + 0.6570977568626404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9974725842475891, + 0.022627255240386807, + -0.06735326277325292, + 0.14237673580646515 + ], + [ + -0.02250828593969345, + 0.9997434496662209, + 0.002524804755329125, + -0.08317727595567703 + ], + [ + 0.06739310920238495, + -0.0010024172520855554, + 0.9977259712646462, + 0.7231572866439819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9970553517341614, + 0.025920149606059453, + -0.0721714891111339, + 0.16593202948570251 + ], + [ + -0.025702403858304024, + 0.9996618754940527, + 0.003944286349338263, + -0.09232845157384872 + ], + [ + 0.07224931567907333, + -0.002077691150908265, + 0.9973844431087081, + 0.7852469086647034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967605471611023, + 0.02791611501827864, + -0.07542607090008802, + 0.18525952100753784 + ], + [ + -0.02758157253265381, + 0.9996045898465649, + 0.005473603312657477, + -0.0989970862865448 + ], + [ + 0.07554904371500015, + -0.0033755029554444383, + 0.9971363901519323, + 0.834761381149292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.997149705886841, + 0.02646449887821987, + -0.0706547188754051, + 0.20994476974010468 + ], + [ + -0.025940576568245895, + 0.9996288476269428, + 0.008322684037666835, + -0.09832349419593811 + ], + [ + 0.07084874808788301, + -0.006466138041641876, + 0.9974661001620002, + 0.9167605638504028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9973959922790527, + 0.02569543077580088, + -0.06738668276021313, + 0.23351117968559265 + ], + [ + -0.024717463180422783, + 0.9995772850321613, + 0.015306755371151415, + -0.09869834780693054 + ], + [ + 0.06775150448083878, + -0.013601269523001619, + 0.9976095382772684, + 0.9968168139457703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.997651994228363, + 0.02535926621752391, + -0.06361955302209052, + 0.2626189589500427 + ], + [ + -0.024293623864650726, + 0.9995522610349151, + 0.01746833712906712, + -0.0964692234992981 + ], + [ + 0.06403404474258423, + -0.01588177093822182, + 0.9978213078583086, + 1.0765684843063354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981375336647034, + 0.024671859261531, + -0.05579169743207629, + 0.29259994626045227 + ], + [ + -0.02364048734307289, + 0.9995385941549049, + 0.019071261082021344, + -0.09043151885271072 + ], + [ + 0.056236475706100464, + -0.017716799688382398, + 0.9982602949243212, + 1.1721832752227783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988082051277161, + 0.028697170276964393, + -0.03948023059752413, + 0.3202642500400543 + ], + [ + -0.027882063761353493, + 0.9993897048007232, + 0.021043999294034485, + -0.08213255554437637 + ], + [ + 0.04006003960967064, + -0.019918127856042148, + 0.9989987205544822, + 1.2653263807296753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992982745170593, + 0.028714299182607202, + -0.024051385064660626, + 0.3498637080192566 + ], + [ + -0.028162077069282532, + 0.9993388720372446, + 0.0229925510647471, + -0.07623887062072754 + ], + [ + 0.02469570003449917, + -0.022299079933276858, + 0.9994462785250731, + 1.3563004732131958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995205998420715, + 0.02864916006620718, + -0.011739002358596415, + 0.3781912922859192 + ], + [ + -0.02835298515856266, + 0.9992936703434958, + 0.024664006915857257, + -0.07178778946399689 + ], + [ + 0.012437312863767147, + -0.024319346418196296, + 0.9996268531634058, + 1.4440796375274658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995735287666321, + 0.029201845285140787, + -0.00012211331893870496, + 0.4077143967151642 + ], + [ + -0.029188483953475952, + 0.9992263773312128, + 0.026356932265500427, + -0.0708363875746727 + ], + [ + 0.0008916898514144123, + -0.026342127116418267, + 0.9996525846193088, + 1.531473994255066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994945526123047, + 0.030684559362052673, + 0.008312195407974055, + 0.43765178322792053 + ], + [ + -0.030907241627573967, + 0.9991261719825425, + 0.02813595108483075, + -0.07223814725875854 + ], + [ + -0.0074415928684175014, + -0.02837863730165557, + 0.9995695668468997, + 1.6229628324508667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994866847991946, + 0.028170360467694108, + 0.01525613508411014, + 0.46605923771858215 + ], + [ + -0.028619123622775085, + 0.9991388394330438, + 0.03004256495958836, + -0.0778292864561081 + ], + [ + -0.01439668703824282, + -0.030463761595147246, + 0.9994321876053905, + 1.7110344171524048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990425705909729, + 0.032202075178580605, + 0.02961279474236768, + 0.4951798915863037 + ], + [ + -0.03315407782793045, + 0.998930108137823, + 0.03223982767476158, + -0.08783493936061859 + ], + [ + -0.02854292280972004, + -0.03319074726730622, + 0.9990414057508498, + 1.79911208152771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9987449049949646, + 0.033212651879183486, + 0.0374901750884191, + 0.5220575928688049 + ], + [ + -0.03451560437679291, + 0.9988029942917066, + 0.03465939312868326, + -0.10089483112096786 + ], + [ + -0.03629416599869728, + -0.03590988867770414, + 0.9986957790693829, + 1.8820295333862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9987197518348696, + 0.03117508837022855, + 0.039836661653969534, + 0.5487251877784729 + ], + [ + -0.03272813558578492, + 0.9987051616597994, + 0.03894693555482172, + -0.11417984217405319 + ], + [ + -0.038570903241634376, + -0.04020085357912676, + 0.9984469030839527, + 1.9602904319763184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9985103011131287, + 0.03151541893413939, + 0.0445416640942859, + 0.5762653350830078 + ], + [ + -0.03336172550916672, + 0.9985882546444459, + 0.04133440003395792, + -0.1295243203639984 + ], + [ + -0.043176110833883286, + -0.04275881105532424, + 0.9981520677719756, + 2.0463829040527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9983169436454775, + 0.031903708035794016, + 0.048430038859010344, + 0.6001459956169128 + ], + [ + -0.034038972109556205, + 0.9984547669246944, + 0.043924645141386935, + -0.1451045572757721 + ], + [ + -0.04695384576916696, + -0.04549922760243657, + 0.9978603051592102, + 2.127631187438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981305003166199, + 0.032862774955109954, + 0.05153178837321495, + 0.6221705675125122 + ], + [ + -0.035260844975709915, + 0.9983032567249187, + 0.04633852827038295, + -0.15776391327381134 + ], + [ + -0.04992154240608215, + -0.048068952103597615, + 0.997595701196405, + 2.2036712169647217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9981408119201662, + 0.03010366723020067, + 0.05299704300486213, + 0.6456913352012634 + ], + [ + -0.03269352763891221, + 0.9982782856642076, + 0.04869906631146014, + -0.1695762276649475 + ], + [ + -0.05143977701663972, + -0.05034118595504745, + 0.9974065183581794, + 2.2831616401672363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981024861335754, + 0.028970565058535593, + 0.05433323870325531, + 0.6685467958450317 + ], + [ + -0.031740106642246246, + 0.9982032046914208, + 0.050822847808529234, + -0.17685243487358093 + ], + [ + -0.05276324227452278, + -0.05245095409994656, + 0.9972286398556145, + 2.3703486919403076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9980063438415527, + 0.03028573595242741, + 0.055372997335849335, + 0.6911607384681702 + ], + [ + -0.03320642560720444, + 0.9980629307166242, + 0.052609641315432394, + -0.1808498650789261 + ], + [ + -0.053672414273023605, + -0.054343492793155444, + 0.9970787732371345, + 2.4724223613739014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9979289174079895, + 0.03171048230551249, + 0.05596751334375905, + 0.7130277752876282 + ], + [ + -0.03476226329803467, + 0.997912612458918, + 0.05442402758640576, + -0.18245573341846466 + ], + [ + -0.054124873131513596, + -0.05625686730369599, + 0.9969482038267513, + 2.57136869430542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9979005455970764, + 0.03164392295968376, + 0.05650816594749899, + 0.7328977584838867 + ], + [ + -0.03480616211891174, + 0.9978304883737158, + 0.05588248534550085, + -0.18836529552936554 + ], + [ + -0.054617226123809814, + -0.05773199364770362, + 0.9968369944395831, + 2.6573450565338135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9978584051132202, + 0.030939569818133554, + 0.057631485819965446, + 0.7511327862739563 + ], + [ + -0.0342295877635479, + 0.9977870065271605, + 0.05700322358632001, + -0.19088214635849 + ], + [ + -0.055740296840667725, + -0.058853848326272294, + 0.9967092279785974, + 2.7454535961151123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9978620409965515, + 0.029749769161700378, + 0.05819171392015219, + 0.7718946933746338 + ], + [ + -0.03307916224002838, + 0.997819531658049, + 0.05711361478981305, + -0.1943119317293167 + ], + [ + -0.056365713477134705, + -0.058916441616656275, + 0.9966703209727722, + 2.846052646636963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9979039430618288, + 0.02782990604805389, + 0.05842266968411625, + 0.7925927042961121 + ], + [ + -0.03112518228590489, + 0.9979301036062382, + 0.056273383498383796, + -0.19710996747016907 + ], + [ + -0.05673565715551378, + -0.057973848187434784, + 0.9967045946111074, + 2.9448907375335693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978674650192261, + 0.02827953647465514, + 0.05882798021239995, + 0.8117069005966187 + ], + [ + -0.03161534667015076, + 0.9978979808469713, + 0.05656891958266325, + -0.2021271139383316 + ], + [ + -0.057104580104351044, + -0.05830815538497233, + 0.9966640780489351, + 3.0373919010162354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9978460073471072, + 0.02848196098875464, + 0.05909438774655454, + 0.8311244249343872 + ], + [ + -0.03186741843819619, + 0.9978562900460192, + 0.057160665687219295, + -0.21121187508106232 + ], + [ + -0.0573396570980549, + -0.0589207255209289, + 0.9966145199961184, + 3.125128746032715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9977990984916687, + 0.028633548401601722, + 0.05980911270360819, + 0.850078284740448 + ], + [ + -0.03204444423317909, + 0.9978670857234712, + 0.05687158479148521, + -0.22030653059482574 + ], + [ + -0.058053113520145416, + -0.0586629664194092, + 0.9965884527038195, + 3.2162911891937256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9977279901504517, + 0.028864870834612845, + 0.06087429787806301, + 0.8668553233146667 + ], + [ + -0.032397396862506866, + 0.9977986086525716, + 0.057864492594742516, + -0.23326224088668823 + ], + [ + -0.05907004326581955, + -0.05970519493426424, + 0.9964667887223385, + 3.2989306449890137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9977307319641113, + 0.026244057130744517, + 0.062005503862829825, + 0.8829603791236877 + ], + [ + -0.029947428032755852, + 0.9977746774535707, + 0.05957237005501934, + -0.24769601225852966 + ], + [ + -0.060304101556539536, + -0.061294087317530326, + 0.9962963454978133, + 3.3819799423217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977548122406006, + 0.02400926128942491, + 0.06252100805192283, + 0.9007633924484253 + ], + [ + -0.02789047174155712, + 0.9976886007775111, + 0.06196455230274395, + -0.2595983147621155 + ], + [ + -0.06088877096772194, + -0.06356917105849605, + 0.9961182380624559, + 3.46484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9977996349334717, + 0.02164112711971601, + 0.06267054627943425, + 0.9212369918823242 + ], + [ + -0.026203198358416557, + 0.9969940880544118, + 0.07291249618550902, + -0.27536994218826294 + ], + [ + -0.06090425327420235, + -0.07439422789131513, + 0.9953673501137188, + 3.5426416397094727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9979092478752136, + 0.015878249421988296, + 0.06265020268041828, + 0.9425908923149109 + ], + [ + -0.020901694893836975, + 0.996546701305643, + 0.08036013271009997, + -0.2881377339363098 + ], + [ + -0.06115787476301193, + -0.08150161526006053, + 0.9947950646092453, + 3.618173122406006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979327321052553, + 0.012708790547351278, + 0.0629978420294855, + 0.962427020072937 + ], + [ + -0.018080955371260646, + 0.9961781328682657, + 0.08545306223156383, + -0.29877769947052 + ], + [ + -0.06167106330394746, + -0.08641546751212005, + 0.9943485712478058, + 3.6917202472686768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9979033470153811, + 0.012448180920065853, + 0.06351296877716987, + 0.9831475615501404 + ], + [ + -0.01803095266222954, + 0.9959485807331243, + 0.08809853864073815, + -0.30747926235198975 + ], + [ + -0.06215898320078851, + -0.0890590262324798, + 0.99408489326541, + 3.767317771911621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9978854656219485, + 0.009208281704977006, + 0.0643413068189422, + 1.003064513206482 + ], + [ + -0.015022799372673038, + 0.9957850049865079, + 0.0904794180573169, + -0.31417685747146606 + ], + [ + -0.06323694437742235, + -0.09125468271137355, + 0.9938177372719298, + 3.845695972442627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9978473782539368, + 0.005937312823526662, + 0.06530965291896143, + 1.0242953300476074 + ], + [ + -0.011970999650657177, + 0.9956512299904973, + 0.09238662857351021, + -0.31682416796684265 + ], + [ + -0.0644771084189415, + -0.09296957591938135, + 0.9935790657799439, + 3.931920289993286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9978204965591431, + 0.0022094854120588286, + 0.06594955503110704, + 1.0469118356704712 + ], + [ + -0.008421852253377438, + 0.9955299433010212, + 0.094070202029378, + -0.3177027106285095 + ], + [ + -0.06544691324234009, + -0.094420592834934, + 0.9933788276101152, + 4.0225701332092285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977850317955017, + 0.0015779497265659525, + 0.06650243537206209, + 1.0692907571792603 + ], + [ + -0.007902255281805992, + 0.9954512976227231, + 0.09494359648746924, + -0.3187601864337921 + ], + [ + -0.06605011969804764, + -0.09525881912156588, + 0.9932588772680019, + 4.1150665283203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977322816848755, + 0.0030381099826392345, + 0.06723908456701301, + 1.0897818803787231 + ], + [ + -0.00922052189707756, + 0.9957321207461464, + 0.09182857796971494, + -0.3215774893760681 + ], + [ + -0.06667312979698181, + -0.09224031550494032, + 0.9935021028058839, + 4.2038068771362305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9977045059204104, + 0.001995391126923173, + 0.06768896266947519, + 1.1112395524978638 + ], + [ + -0.007962259463965895, + 0.9960889437951482, + 0.08799654923549073, + -0.32560569047927856 + ], + [ + -0.06724863499403001, + -0.08833350927966732, + 0.993818322397413, + 4.294110298156738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9976553916931155, + 0.002995321791384831, + 0.06837208040606244, + 1.1283164024353027 + ], + [ + -0.008728656917810442, + 0.9964518659353386, + 0.0837110338920388, + -0.3337481915950775 + ], + [ + -0.06787873804569246, + -0.08411155679339867, + 0.9941416775217304, + 4.3827009201049805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9976793527603152, + -0.0001278825752068002, + 0.06808725394101431, + 1.1496965885162354 + ], + [ + -0.005231395829468966, + 0.9968982181223547, + 0.0785277995524792, + -0.34282252192497253 + ], + [ + -0.06788609921932222, + -0.07870175394575203, + 0.9945840781185353, + 4.469982147216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9976881146430971, + -0.001150115750316389, + 0.06794946359398733, + 1.1689414978027344 + ], + [ + -0.003954957704991103, + 0.9971795618022425, + 0.07494814156936361, + -0.35704293847084045 + ], + [ + -0.0678440108895302, + -0.07504360919733957, + 0.9948696741324878, + 4.55326509475708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9977220296859741, + 0.0018072482597059616, + 0.06743545671380305, + 1.186469316482544 + ], + [ + -0.006887554656714201, + 0.9971462222521907, + 0.07517964699504702, + -0.37362396717071533 + ], + [ + -0.06710714101791382, + -0.07547285392040912, + 0.9948871717240099, + 4.627247333526611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9978421926498415, + -0.00034210354815973485, + 0.06565711319993808, + 1.205390453338623 + ], + [ + -0.004613119643181563, + 0.9971498900529889, + 0.07530477442128586, + -0.38840538263320923 + ], + [ + -0.06549574434757234, + -0.07544516527142434, + 0.9949966468516851, + 4.708634853363037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9979370832443237, + 0.0016862745849755855, + 0.06417759442453903, + 1.2234511375427246 + ], + [ + -0.006552970502525568, + 0.9971093125216938, + 0.07569701543959473, + -0.4063260555267334 + ], + [ + -0.06386443972587585, + -0.075961411141787, + 0.9950633872927779, + 4.78742790222168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9980493783950808, + 0.0025998984702802486, + 0.0623754728714301, + 1.2372827529907227 + ], + [ + -0.007351692765951158, + 0.9970751953229148, + 0.076072499035909, + -0.42228129506111145 + ], + [ + -0.06199525296688081, + -0.07638267452603871, + 0.9951493747498242, + 4.864272594451904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9981880784034729, + 0.0005152026408333358, + 0.06016901379858307, + 1.251042366027832 + ], + [ + -0.005136301275342703, + 0.9970431176283131, + 0.07667261205137454, + -0.4391900599002838 + ], + [ + -0.059951599687337875, + -0.0768427296312202, + 0.9952391457949169, + 4.944289207458496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.998391330242157, + 0.00038747322558871676, + 0.056697814570446384, + 1.265411615371704 + ], + [ + -0.00478563504293561, + 0.9969842504878171, + 0.07745681227037592, + -0.4525783956050873 + ], + [ + -0.056496813893318176, + -0.07760354079017492, + 0.9953822310964888, + 5.018462181091309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9986770749092102, + 0.0023548355981446393, + 0.051366461388045535, + 1.2790948152542114 + ], + [ + -0.006389242596924305, + 0.9968920897733109, + 0.07851958879076733, + -0.4648537337779999 + ], + [ + -0.051021914929151535, + -0.07874390899906203, + 0.9955883620631137, + 5.094893455505371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9990222454071047, + 0.0024029259478058765, + 0.04414530716065772, + 1.292832374572754 + ], + [ + -0.005910080391913654, + 0.9968183135609223, + 0.07948797712085248, + -0.4748263955116272 + ], + [ + -0.04381384328007699, + -0.07967115845594808, + 0.9958578608133298, + 5.166872024536133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993916153907776, + 0.0014662273982209407, + 0.03484528246088113, + 1.3077654838562012 + ], + [ + -0.004251568112522364, + 0.9967861531514883, + 0.07999553103008851, + -0.4788472056388855 + ], + [ + -0.034616000950336456, + -0.08009501381596906, + 0.9961860055921382, + 5.247622966766357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997010231018069, + 0.0026742231180334605, + 0.02430491419028846, + 1.320568561553955 + ], + [ + -0.00460607884451747, + 0.9968019024421987, + 0.07977938234076204, + -0.4800882637500763 + ], + [ + -0.0240138377994299, + -0.07986748058394784, + 0.9965161999980567, + 5.327480792999268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998488426208496, + 0.003543411258868753, + 0.017021647640896954, + 1.3371349573135376 + ], + [ + -0.004870118107646704, + 0.9968987190306086, + 0.07854466567600002, + -0.4853355586528778 + ], + [ + -0.016690542921423912, + -0.07861568760093211, + 0.9967652507457067, + 5.4076337814331055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999890148639679, + 0.004916101630961535, + 0.013981658580217675, + 1.350803256034851 + ], + [ + -0.0060002245008945465, + 0.9968893006862993, + 0.07858552369348701, + -0.4861346185207367 + ], + [ + -0.013551832176744938, + -0.07866078733969778, + 0.9968093297734973, + 5.483107089996338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999362230300903, + 0.0031523024046638533, + 0.010846341517883537, + 1.3659831285476685 + ], + [ + -0.003992080222815275, + 0.9969221762925016, + 0.07829602750908903, + -0.48856815695762634 + ], + [ + -0.010566146112978458, + -0.07833433321633118, + 0.9968711734822002, + 5.570955276489258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999563694000246, + 0.0033779414051111614, + 0.008711005567520552, + 1.3792541027069092 + ], + [ + -0.004037164617329837, + 0.9970379133021068, + 0.0768054411030829, + -0.49018266797065735 + ], + [ + -0.008425759151577951, + -0.07683725612648092, + 0.9970080259341374, + 5.655753135681152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999702572822571, + 0.003013179434173167, + 0.007101010992703971, + 1.3920952081680298 + ], + [ + -0.003551064757630229, + 0.9970251686967535, + 0.07699516312550406, + -0.4978036880493164 + ], + [ + -0.006847885902971029, + -0.07701808412262331, + 0.9970061500547337, + 5.741272449493408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999694228172304, + 0.0048061890684791475, + 0.006173488487490992, + 1.403212070465088 + ], + [ + -0.00526637863367796, + 0.997030414494055, + 0.0768287239319294, + -0.5031563639640808 + ], + [ + -0.005785902030766011, + -0.07685888144511824, + 0.9970251697749895, + 5.8302693367004395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999532103538513, + 0.007828182019586207, + 0.0056790210165882015, + 1.4158116579055786 + ], + [ + -0.008242226205766201, + 0.9969987831197225, + 0.07697689791089204, + -0.5149057507514954 + ], + [ + -0.005059387534856796, + -0.0770201100189206, + 0.9970167288651625, + 5.908818244934082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999786615371704, + 0.004654204341087088, + 0.004579953420698208, + 1.4289427995681763 + ], + [ + -0.0049929083324968815, + 0.9970219165927939, + 0.07695674211137181, + -0.5279023051261902 + ], + [ + -0.004208141937851906, + -0.07697796921924047, + 0.9970238971973838, + 5.987701416015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999906420707703, + -0.0010987280482779396, + 0.004186887858360722, + 1.4462251663208008 + ], + [ + 0.0007736890111118555, + 0.9970417728556933, + 0.07685803335560902, + -0.5392029285430908 + ], + [ + -0.004258948378264904, + -0.07685407353334855, + 0.9970332666946397, + 6.061297416687012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999878406524658, + -0.0013881255464024986, + 0.004727484124033555, + 1.4639228582382202 + ], + [ + 0.001015659887343645, + 0.996960849826876, + 0.07789750653648743, + -0.554893434047699 + ], + [ + -0.004821247886866331, + -0.07789176153146572, + 0.996950173455933, + 6.117719650268555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999675154685974, + -0.000879282130230039, + 0.008014103423505175, + 1.4808759689331055 + ], + [ + 0.00023922906257212162, + 0.9968332638017644, + 0.07951936118726616, + -0.5681501030921936 + ], + [ + -0.008058645762503147, + -0.07951486376667258, + 0.9968011137418094, + 6.173110485076904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9998892545700073, + -8.489643196879851e-05, + 0.014882190583488976, + 1.4936457872390747 + ], + [ + -0.0011949560139328241, + 0.9962971292896392, + 0.0859689198919143, + -0.578217089176178 + ], + [ + -0.014834382571280003, + -0.08597717885787745, + 0.9961866537078542, + 6.241508960723877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.999731183052063, + -0.001801894902949295, + 0.02311528916784198, + 1.507171630859375 + ], + [ + -0.0003617292386479676, + 0.9956419672446972, + 0.09325750428165562, + -0.5849618911743164 + ], + [ + -0.023182591423392296, + -0.09324079582345281, + 0.9953736625612171, + 6.313021183013916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9995606541633606, + -0.003804494880426575, + 0.029395124953638514, + 1.5220240354537964 + ], + [ + 0.0008829490398056805, + 0.9951099892378356, + 0.09876908908053535, + -0.5892728567123413 + ], + [ + -0.029627148061990738, + -0.09869973953909054, + 0.994676134286598, + 6.389026641845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993817210197451, + -0.006330043827017371, + 0.034584629581774114, + 1.5387542247772217 + ], + [ + 0.002739518648013473, + 0.9946884317168043, + 0.10289531401782695, + -0.593345582485199 + ], + [ + -0.03505226224660874, + -0.10273695297483572, + 0.9940907958705845, + 6.4625139236450195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9991675019264223, + -0.006764607107210389, + 0.040231313481333006, + 1.5549769401550293 + ], + [ + 0.002476179972290993, + 0.9943946807559898, + 0.10570300755136279, + -0.5945256948471069 + ], + [ + -0.04072083905339242, + -0.10551538890738837, + 0.9935835808213902, + 6.542927265167236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9989688396453857, + -0.005506547562855826, + 0.045066410366336185, + 1.570521593093872 + ], + [ + 0.0006090535316616297, + 0.9941537087343142, + 0.10797241693951432, + -0.5947598218917847 + ], + [ + -0.045397497713565826, + -0.10783363101802426, + 0.9931319296069376, + 6.623199462890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9988123774528503, + -0.004367291695685689, + 0.048526280777156386, + 1.5862557888031006 + ], + [ + -0.0009931810200214386, + 0.9939425818549193, + 0.1098958880354328, + -0.5962099432945251 + ], + [ + -0.04871228337287903, + -0.109813570560787, + 0.9927578332559432, + 6.706124305725098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9986555576324465, + -0.004278651116857058, + 0.05165983312115774, + 1.602620244026184 + ], + [ + -0.001487595611251891, + 0.9938116542881077, + 0.11106828389135633, + -0.5970721244812012 + ], + [ + -0.05181536823511125, + -0.11099581374710017, + 0.9924692220232626, + 6.785727024078369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9984264969825745, + -0.004552821876159236, + 0.05589100518012244, + 1.6193209886550903 + ], + [ + -0.0017508089076727629, + 0.9936818116658761, + 0.11222038683013902, + -0.6023640036582947 + ], + [ + -0.056048791855573654, + -0.11214166463447409, + 0.9921102960651242, + 6.86625862121582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9982465505599978, + -0.004880741746559635, + 0.0589920462623062, + 1.6360650062561035 + ], + [ + -0.0016117617487907414, + 0.993984188113829, + 0.10951163899898471, + -0.607781708240509 + ], + [ + -0.05917165800929071, + -0.10941469826542596, + 0.9922334317856701, + 6.942877769470215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9981118440628052, + -0.007395121100215112, + 0.060976044716258934, + 1.6523133516311646 + ], + [ + 0.0009375576046295464, + 0.9944444237763128, + 0.10525854394269292, + -0.6139894127845764 + ], + [ + -0.061415690928697586, + -0.10500263433505203, + 0.9925737252830152, + 7.017387866973877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9979944229125977, + -0.009499062254420765, + 0.06258479802463447, + 1.6738224029541016 + ], + [ + 0.0031618622597306967, + 0.9949230807287845, + 0.10058856773440437, + -0.6226192116737366 + ], + [ + -0.06322256475687027, + -0.10018894692205738, + 0.9929577344020655, + 7.105125904083252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9979304671287539, + -0.006455129021623379, + 0.06397775987533912, + 1.6899945735931396 + ], + [ + -6.037531420588495e-06, + 0.9949391014586059, + 0.10047999976096292, + -0.6352893114089966 + ], + [ + -0.06430258601903917, + -0.10027243599548805, + 0.992879969845293, + 7.169309616088867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9978909492492678, + -0.006481378474839216, + 0.06458854548595842, + 1.7096723318099976 + ], + [ + -2.4052977096289403e-05, + 0.994965782117853, + 0.10021516955301343, + -0.6471035480499268 + ], + [ + -0.06491293013095857, + -0.10000536357850702, + 0.9928671895134996, + 7.248464107513428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.997808039188385, + -0.006875686575828312, + 0.06581649177264685, + 1.7232309579849243 + ], + [ + 0.00033709636772982776, + 0.9951027309570702, + 0.09884539164825758, + -0.6584785580635071 + ], + [ + -0.06617379933595657, + -0.09860654684534129, + 0.9929238813041145, + 7.317110061645508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.997726559638977, + -0.009074656051624328, + 0.06677879137968226, + 1.7359886169433594 + ], + [ + 0.0024053817614912987, + 0.9950564838557402, + 0.09928125070102292, + -0.6716476082801819 + ], + [ + -0.06734961271286011, + -0.09889491405177303, + 0.9928161167661861, + 7.388033866882324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.997657358646393, + -0.013543774349318765, + 0.06705511818106012, + 1.7488983869552612 + ], + [ + 0.006759333424270155, + 0.9949254022990666, + 0.10038824888204995, + -0.6826423406600952 + ], + [ + -0.06807447969913484, + -0.09969982566038095, + 0.9926861840191116, + 7.453375816345215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9976159334182739, + -0.016002609126187135, + 0.06712940051604654, + 1.7636278867721558 + ], + [ + 0.009016618132591248, + 0.9946293592545054, + 0.10310747065293505, + -0.6930248737335205 + ], + [ + -0.06841886043548584, + -0.10225637654886784, + 0.9924023994304604, + 7.5236287117004395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9976527094841003, + -0.015108035787571802, + 0.06678898003337327, + 1.778552770614624 + ], + [ + 0.007729080505669117, + 0.9939689604325868, + 0.10938901463810069, + -0.701264500617981 + ], + [ + -0.06803882867097855, + -0.10861603009147115, + 0.991752603688991, + 7.596244812011719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9977293014526369, + -0.013706062884456712, + 0.06594198613410655, + 1.7922073602676392 + ], + [ + 0.006288596428930761, + 0.9937553794092607, + 0.1114033211007847, + -0.7063776850700378 + ], + [ + -0.06705710291862489, + -0.11073567611771795, + 0.9915850610605766, + 7.669543266296387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9977807998657227, + -0.012704460207405045, + 0.06536076885967039, + 1.8035565614700317 + ], + [ + 0.0052542854100465775, + 0.9935904141183612, + 0.11291795798690982, + -0.7120140194892883 + ], + [ + -0.06637639552354813, + -0.11232395124090959, + 0.9914522356730725, + 7.742076396942139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.997759997844696, + -0.015543088378242536, + 0.06506469751267643, + 1.814985752105713 + ], + [ + 0.008031059987843037, + 0.9934297339890701, + 0.11416169667585306, + -0.7144168019294739 + ], + [ + -0.06641163676977158, + -0.11338343086455066, + 0.9913292364502504, + 7.819698810577393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.997713565826416, + -0.02078684025624172, + 0.06430834304571574, + 1.8283339738845825 + ], + [ + 0.013250495307147503, + 0.9932224539962785, + 0.11547113208336678, + -0.7162132859230042 + ], + [ + -0.06627277284860611, + -0.11435499820256612, + 0.991226955308587, + 7.898131370544434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9976815581321716, + -0.022973429881041032, + 0.06405998884269114, + 1.8407635688781738 + ], + [ + 0.015379841439425945, + 0.9930591428522585, + 0.11660617256185338, + -0.7148171663284302 + ], + [ + -0.06629420816898346, + -0.1153505968768406, + 0.9911101331691134, + 7.97678279876709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9976813197135928, + -0.023927908480630974, + 0.06371368592392773, + 1.8535608053207397 + ], + [ + 0.016292583197355274, + 0.9929075475465757, + 0.11776740062803506, + -0.7159920334815979 + ], + [ + -0.06607972830533983, + -0.11645627340481597, + 0.9909951434192219, + 8.054644584655762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9976411461830141, + -0.025584898462373305, + 0.06369917871549333, + 1.8656219244003296 + ], + [ + 0.017866397276520733, + 0.9927433159866816, + 0.11891805633702274, + -0.7175889015197754 + ], + [ + -0.06627943366765977, + -0.11749947307063942, + 0.9908587025677336, + 8.130651473999023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.997548580169678, + -0.0304155857590009, + 0.0630217682958886, + 1.8786540031433105 + ], + [ + 0.022664815187454227, + 0.9924859890037724, + 0.12024082537074926, + -0.7219356894493103 + ], + [ + -0.06620541960000993, + -0.1185176860469553, + 0.9907423353859336, + 8.21047592163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9975548982620239, + -0.0325075901231279, + 0.061866322924893635, + 1.8934811353683472 + ], + [ + 0.02483026310801506, + 0.9923358685786876, + 0.12104962730156141, + -0.7271968126296997 + ], + [ + -0.06532719731330872, + -0.11921749068355518, + 0.990716670212456, + 8.296385765075684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9976932406425476, + -0.03013295336836929, + 0.060829408460500375, + 1.9089726209640503 + ], + [ + 0.02257254347205162, + 0.9923523024027601, + 0.12135632599318333, + -0.7354838252067566 + ], + [ + -0.064021036028862, + -0.11970331125700875, + 0.9907433556692558, + 8.379955291748047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9978575110435486, + -0.025691363574318192, + 0.06016952352153381, + 1.9216711521148682 + ], + [ + 0.018196217715740204, + 0.9923686116909569, + 0.12195659330214902, + -0.7481133937835693 + ], + [ + -0.06284357607364655, + -0.12060044546444176, + 0.9907099650936508, + 8.458020210266113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9979286789894104, + -0.02538248188651108, + 0.059110406775559066, + 1.931589961051941 + ], + [ + 0.017995560541749, + 0.9923294158134005, + 0.12230495992861555, + -0.7592645883560181 + ], + [ + -0.06176140159368515, + -0.12098790357384463, + 0.9907307637829669, + 8.530505180358887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9979078173637392, + -0.029020515686083916, + 0.05777320716520958, + 1.9407860040664673 + ], + [ + 0.02172893658280373, + 0.9921613793082396, + 0.12305977292467046, + -0.7702794075012207 + ], + [ + -0.060891602188348784, + -0.12154695864422266, + 0.9907161796784739, + 8.600215911865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9980111122131348, + -0.026576667384116036, + 0.05716172979880913, + 1.9507004022598267 + ], + [ + 0.01930769719183445, + 0.9920752900416282, + 0.12415224650985549, + -0.7824719548225403 + ], + [ + -0.06000829115509987, + -0.12280166816275728, + 0.9906153584186453, + 8.658482551574707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9981309175491335, + -0.02373206491871347, + 0.05631604190718767, + 1.964260220527649 + ], + [ + 0.01650883257389069, + 0.9919657686676796, + 0.12542465682582965, + -0.7923373579978943 + ], + [ + -0.05884017050266267, + -0.12426051690328255, + 0.9905034982361112, + 8.727593421936035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9982412457466125, + -0.02049181021615398, + 0.05562796780343528, + 1.9765653610229492 + ], + [ + 0.013205197639763355, + 0.99164391210364, + 0.12832765174397415, + -0.8015949130058289 + ], + [ + -0.05779280140995979, + -0.12736737674952117, + 0.9901704500289853, + 8.793974876403809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9983158707618713, + -0.018218865198260728, + 0.055076723607122395, + 1.9901509284973145 + ], + [ + 0.010721663944423199, + 0.9909946319279243, + 0.13347181870002284, + -0.8081430196762085 + ], + [ + -0.05701243877410889, + -0.13265652300407343, + 0.9895210220730861, + 8.861431121826172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9983153939247131, + -0.01935198668696293, + 0.05469837673572814, + 2.00480580329895 + ], + [ + 0.011752449907362461, + 0.9906410177390251, + 0.13598612318888756, + -0.8136903047561646 + ], + [ + -0.05681806057691574, + -0.13511420007873573, + 0.9891996099006979, + 8.924605369567871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9983342289924624, + -0.01906493450832134, + 0.05445429461311513, + 2.021327018737793 + ], + [ + 0.011366648599505426, + 0.9903209246836387, + 0.13833046458934287, + -0.8190765380859375 + ], + [ + -0.05656448751688005, + -0.13748107057350212, + 0.9888879498146732, + 8.994943618774414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9983739852905273, + -0.017690812709149607, + 0.054188555005540734, + 2.039592742919922 + ], + [ + 0.009913013316690922, + 0.9900208550325181, + 0.14057171437347324, + -0.8210352063179016 + ], + [ + -0.056134629994630814, + -0.1398059760563351, + 0.9885864750259306, + 9.072378158569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9984042048454285, + -0.016588330305317308, + 0.05398039415775912, + 2.0580966472625732 + ], + [ + 0.008717818185687065, + 0.9896993872332602, + 0.14289546933204103, + -0.8214752674102783 + ], + [ + -0.05579476058483124, + -0.14219684358863677, + 0.9882646242588492, + 9.148383140563965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.998447060585022, + -0.012968797948249795, + 0.05417780742714183, + 2.075676202774048 + ], + [ + 0.005000563804060221, + 0.9894634048029198, + 0.144696752404918, + -0.819397509098053 + ], + [ + -0.05548350140452385, + -0.14420113552544558, + 0.987991735736057, + 9.227105140686035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9984697103500366, + -0.010228007966493336, + 0.054346985754680395, + 2.093003511428833 + ], + [ + 0.0021738496143370867, + 0.9892472592337904, + 0.14623636920345381, + -0.8190657496452332 + ], + [ + -0.055258315056562424, + -0.14589445174183344, + 0.9877557218069399, + 9.307929992675781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9984811544418335, + -0.009899464326552209, + 0.054197555260253695, + 2.1110923290252686 + ], + [ + 0.0017925468273460865, + 0.9890411323730864, + 0.147629409948929, + -0.8212298154830933 + ], + [ + -0.05506506562232971, + -0.1473080331471533, + 0.9875566816112149, + 9.384567260742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9985043406486511, + -0.010593359036144145, + 0.05363639168180646, + 2.129556894302368 + ], + [ + 0.002497106557711959, + 0.9888616327474716, + 0.14881676716010298, + -0.8271339535713196 + ], + [ + -0.05461543798446655, + -0.14846024981799774, + 0.9874090712503978, + 9.459247589111328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9985615015029907, + -0.012155468316768862, + 0.05222187931488153, + 2.1514711380004883 + ], + [ + 0.004264224320650101, + 0.9888822716693462, + 0.14863955782767846, + -0.8336057662963867 + ], + [ + -0.05344807356595993, + -0.1482030542413289, + 0.9875116004538609, + 9.54255485534668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9986550211906433, + -0.008163207766694642, + 0.05120098953843134, + 2.1719353199005127 + ], + [ + 0.0005889573367312551, + 0.9892499615296665, + 0.14623326283884988, + -0.8440083265304565 + ], + [ + -0.05184430629014969, + -0.14600642511061865, + 0.9879242360000726, + 9.61967658996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9987298846244812, + -0.0009954812913452666, + 0.05037535978239201, + 2.1870839595794678 + ], + [ + -0.006466985214501619, + 0.9890025900928926, + 0.14775685631186009, + -0.8593703508377075 + ], + [ + -0.04996844753623009, + -0.14789495426171798, + 0.9877399350960971, + 9.687225341796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9988917708396912, + -0.0011687259436682057, + 0.04705162323386725, + 2.2039082050323486 + ], + [ + -0.005821628496050835, + 0.988946860496479, + 0.14815610227599713, + -0.8713033199310303 + ], + [ + -0.04670470952987671, + -0.14826582957462703, + 0.9878440844797699, + 9.763270378112793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9989554882049563, + 0.001488860602189358, + 0.045669646986008484, + 2.221268892288208 + ], + [ + -0.008290850557386877, + 0.9887850889144719, + 0.14911496087499168, + -0.8821808695793152 + ], + [ + -0.0449354536831379, + -0.149337847151733, + 0.9877646244494835, + 9.829607009887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9988858699798584, + 0.009483151763166624, + 0.04622882734981562, + 2.2342536449432373 + ], + [ + -0.01634223945438862, + 0.9884995910368098, + 0.15033776554015452, + -0.8933658599853516 + ], + [ + -0.044271498918533325, + -0.15092575867378466, + 0.987553293188782, + 9.898536682128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9988095760345459, + 0.015606216264860995, + 0.0462155804810038, + 2.247809886932373 + ], + [ + -0.022460060194134712, + 0.9881685657434177, + 0.1517183147184616, + -0.9068438410758972 + ], + [ + -0.04330103471875191, + -0.1525757101186929, + 0.9873427424431792, + 9.955357551574707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9988896846771242, + 0.015081681868468843, + 0.04463073140994355, + 2.263301134109497 + ], + [ + -0.021746683865785602, + 0.9880105652510409, + 0.15284707137630218, + -0.9171766638755798 + ], + [ + -0.041790440678596504, + -0.1536479362221556, + 0.9872415584159254, + 10.03873062133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9990049004554749, + 0.014325680522435044, + 0.042237772003319456, + 2.281667709350586 + ], + [ + -0.0206887386739254, + 0.9878080211138567, + 0.15429618848559928, + -0.9257765412330627 + ], + [ + -0.03951241075992584, + -0.15501648683384023, + 0.9871213847275125, + 10.111905097961426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9990421533584595, + 0.01849300309720163, + 0.03965776325682998, + 2.297581195831299 + ], + [ + -0.024463923647999763, + 0.9874846431460994, + 0.1558064243722573, + -0.9313123822212219 + ], + [ + -0.03628010302782059, + -0.15662736763363272, + 0.9869911787475228, + 10.188965797424316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9990186691284182, + 0.02243057124266011, + 0.03819197224776381, + 2.312424659729004 + ], + [ + -0.028171015903353698, + 0.9871790570008088, + 0.15711103502250995, + -0.9345951676368713 + ], + [ + -0.03417822718620301, + -0.15803276132704475, + 0.9868421842418567, + 10.26244831085205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9990718960762024, + 0.022440107836546683, + 0.036766446807672847, + 2.324373722076416 + ], + [ + -0.02799016237258911, + 0.9870145283316569, + 0.15817336668132423, + -0.9367090463638306 + ], + [ + -0.03273959085345268, + -0.1590556739608035, + 0.9867266407400506, + 10.324885368347168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9991108179092407, + 0.02193792813788252, + 0.03600343103383708, + 2.339770793914795 + ], + [ + -0.027394380420446396, + 0.9869234163133626, + 0.15884507886812693, + -0.9378066062927246 + ], + [ + -0.03204789757728577, + -0.15969013056832618, + 0.9866468516855993, + 10.402603149414062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9990968704223635, + 0.02278146701291806, + 0.03586628739952327, + 2.353529214859009 + ], + [ + -0.028230855241417892, + 0.9867737465145642, + 0.15962639535512782, + -0.938954770565033 + ], + [ + -0.031755384057760246, + -0.16049477128448086, + 0.9865257237603551, + 10.472664833068848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9990859627723694, + 0.0233988306022079, + 0.03577399273755062, + 2.368685483932495 + ], + [ + -0.02885228767991066, + 0.9866213340675095, + 0.16045534534142433, + -0.9420353174209595 + ], + [ + -0.031540919095277786, + -0.1613408400310527, + 0.9863946065956855, + 10.547106742858887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9990869760513306, + 0.02325867894312863, + 0.035835682460408864, + 2.382050037384033 + ], + [ + -0.02875780127942562, + 0.9864511721697737, + 0.16151482406630505, + -0.9474633932113647 + ], + [ + -0.031593531370162964, + -0.16239792076383638, + 0.986219436870459, + 10.617253303527832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9990562796592712, + 0.023881767352927918, + 0.03627890653147093, + 2.3976292610168457 + ], + [ + -0.02947382628917694, + 0.9862842460386109, + 0.16240294684469717, + -0.9537354707717896 + ], + [ + -0.03190284222364426, + -0.16331896378678218, + 0.9860573672828497, + 10.69892406463623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9990488290786743, + 0.023764279358524387, + 0.036560931106852795, + 2.4126393795013428 + ], + [ + -0.029434986412525177, + 0.9861284038269288, + 0.1633535290493273, + -0.9631901383399963 + ], + [ + -0.03217179700732231, + -0.16427431920116456, + 0.9858899096360116, + 10.776283264160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9989447593688965, + 0.026035357288531576, + 0.037835070919210505, + 2.425809621810913 + ], + [ + -0.031927689909935, + 0.9858457210424104, + 0.16458681676920534, + -0.9750538468360901 + ], + [ + -0.03301446884870529, + -0.16562112585508332, + 0.9856366733239313, + 10.851889610290527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9989441633224487, + 0.024688570411171597, + 0.03874381588443402, + 2.438631057739258 + ], + [ + -0.030786024406552315, + 0.9857040063512171, + 0.1656495521290044, + -0.9891929030418396 + ], + [ + -0.03410028666257858, + -0.1666674173936501, + 0.98542330408958, + 10.920961380004883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.998995840549469, + 0.021402832255830038, + 0.03936020756264486, + 2.4508209228515625 + ], + [ + -0.027677197009325027, + 0.985652184947349, + 0.16650462434588167, + -1.0039780139923096 + ], + [ + -0.035231802612543106, + -0.16742680010937586, + 0.9852547613080758, + 10.992484092712402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9989539980888367, + 0.021504497740721735, + 0.04035461526506022, + 2.464959144592285 + ], + [ + -0.027975033968687057, + 0.9855017935421558, + 0.16734272462539254, + -1.0189920663833618 + ], + [ + -0.036170922219753265, + -0.16829660950016398, + 0.9850725698426838, + 11.054421424865723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9988880753517151, + 0.022442982282120535, + 0.04146057082397885, + 2.4767541885375977 + ], + [ + -0.029140550643205643, + 0.9852270415141301, + 0.16875590546236377, + -1.0329382419586182 + ], + [ + -0.0370606891810894, + -0.1697764328445983, + 0.9847854711046135, + 11.11484432220459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.998953640460968, + 0.020038058449726635, + 0.04111154974559095, + 2.494069814682007 + ], + [ + -0.026873428374528885, + 0.9845343819791613, + 0.17311807036444737, + -1.044398546218872 + ], + [ + -0.03700678423047066, + -0.17404172879948898, + 0.9840426615063076, + 11.184446334838867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9989449977874756, + 0.020295261738953935, + 0.04119500948533141, + 2.5104405879974365 + ], + [ + -0.027469255030155182, + 0.9829431264256422, + 0.18184694052516615, + -1.053218960762024 + ], + [ + -0.03680172190070152, + -0.1827866826736536, + 0.9824635832540102, + 11.261632919311523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9989355206489563, + 0.02049944078488324, + 0.04132323620267687, + 2.5278818607330322 + ], + [ + -0.027818899601697922, + 0.9823096105540795, + 0.18518613301937667, + -1.0606515407562256 + ], + [ + -0.036796003580093384, + -0.18613857985063922, + 0.981834273272255, + 11.34394645690918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9988865256309509, + 0.021748755808320516, + 0.04186574703155161, + 2.5406405925750732 + ], + [ + -0.02923358604311943, + 0.981841455990418, + 0.18743735093097344, + -1.068686604499817 + ], + [ + -0.037028998136520386, + -0.18845252681951208, + 0.9813839735817855, + 11.414203643798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9989085197448733, + 0.020621868896718354, + 0.04191087240932434, + 2.55729341506958 + ], + [ + -0.02819591015577317, + 0.9815614090230317, + 0.18905608103678367, + -1.0711573362350464 + ], + [ + -0.03723940253257752, + -0.19003143812153264, + 0.9810714694928395, + 11.491814613342285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9989668726921082, + 0.01773999978175501, + 0.04183921884457683, + 2.573275327682495 + ], + [ + -0.025415735319256783, + 0.9813085051041263, + 0.1907556103747216, + -1.0746572017669678 + ], + [ + -0.03767317533493042, + -0.19162189936322044, + 0.9807455095859665, + 11.565296173095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.998975396156311, + 0.017294917545412156, + 0.04182191615578435, + 2.593311309814453 + ], + [ + -0.02501777373254299, + 0.9811029433655234, + 0.19186221248335894, + -1.0780411958694458 + ], + [ + -0.03771336376667023, + -0.1927119249273611, + 0.980530402716704, + 11.645293235778809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9989914894104004, + 0.016613506062114793, + 0.04171320483217891, + 2.6116838455200195 + ], + [ + -0.02430664747953415, + 0.9812269990343145, + 0.19131861653571944, + -1.0786460638046265 + ], + [ + -0.03775165230035782, + -0.1921395779008516, + 0.9806412378031011, + 11.725963592529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9989848732948303, + 0.016795569147158178, + 0.04179914007646707, + 2.6299400329589844 + ], + [ + -0.02449437603354454, + 0.9812609069426844, + 0.19112059222735145, + -1.0817822217941284 + ], + [ + -0.03780588135123253, + -0.19195041480123393, + 0.98067615068744, + 11.803387641906738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999041736125946, + 0.014771039075243558, + 0.04119929358818441, + 2.6468665599823 + ], + [ + -0.022411605343222618, + 0.981203195203013, + 0.19167170065352557, + -1.0887086391448975 + ], + [ + -0.03759368881583214, + -0.19241137638564285, + 0.9805940163463495, + 11.881158828735352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9991551041603088, + 0.010581775880453826, + 0.039713411281264675, + 2.664579391479492 + ], + [ + -0.018030673265457153, + 0.9811912360013054, + 0.19219439028585064, + -1.0965250730514526 + ], + [ + -0.03693269565701485, + -0.19274806068465875, + 0.9805530004144137, + 11.95718765258789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9991850256919863, + 0.011291345089196162, + 0.03875349482560763, + 2.6815645694732666 + ], + [ + -0.018512083217501644, + 0.9813430912012344, + 0.19137139726887448, + -1.1082628965377808 + ], + [ + -0.03586963564157487, + -0.19193283621916682, + 0.9807523148036976, + 12.032194137573242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9992206692695618, + 0.012644955857088606, + 0.03739223710845378, + 2.698854923248291 + ], + [ + -0.019581550732254982, + 0.9813128226334141, + 0.19142031359505357, + -1.1229904890060425 + ], + [ + -0.03427297994494438, + -0.19200332873228046, + 0.980795648836512, + 12.099417686462402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.999293327331543, + 0.013094231092128088, + 0.03523333195863097, + 2.714872360229492 + ], + [ + -0.019608024507761, + 0.9813106829589747, + 0.19142834063233463, + -1.1357301473617554 + ], + [ + -0.03206823766231537, + -0.19198392511727014, + 0.9808739995132798, + 12.169693946838379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9994325041770935, + 0.009297801961220464, + 0.03237683364630981, + 2.731231689453125 + ], + [ + -0.01526403333991766, + 0.9818141960020156, + 0.18922966325642757, + -1.1485835313796997 + ], + [ + -0.03002861514687538, + -0.1896164807403391, + 0.9813989606972074, + 12.23295783996582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9995042085647585, + 0.009142650597180746, + 0.03012840399206584, + 2.744744300842285 + ], + [ + -0.014679322950541977, + 0.9818612155526449, + 0.1890319903443784, + -1.16330087184906 + ], + [ + -0.027853658422827728, + -0.18938053912816666, + 0.9815086493843075, + 12.293747901916504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9995535612106323, + 0.010326343018584103, + 0.028036650364309756, + 2.754666566848755 + ], + [ + -0.015468135476112366, + 0.9816824037935921, + 0.18989570872528744, + -1.1765015125274658 + ], + [ + -0.025562159717082977, + -0.19024460990699346, + 0.9814038891276893, + 12.353214263916016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9996675252914431, + 0.009027681118877444, + 0.024152373381741296, + 2.769604444503784 + ], + [ + -0.013476114720106128, + 0.9815158952191609, + 0.19090550111660656, + -1.187345027923584 + ], + [ + -0.021982505917549137, + -0.19116751878943064, + 0.9813112691643493, + 12.417943000793457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9997672438621521, + 0.010337637785765841, + 0.018937831295183387, + 2.7817060947418213 + ], + [ + -0.013785668648779392, + 0.9812739000369182, + 0.19212362495071422, + -1.1974714994430542 + ], + [ + -0.016597094014286995, + -0.19233996867260297, + 0.9811879678792021, + 12.47219181060791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9997966289520266, + 0.011992486458877176, + 0.01621370239243461, + 2.793100357055664 + ], + [ + -0.014905702322721485, + 0.9809749980697797, + 0.19356110499077744, + -1.2046862840652466 + ], + [ + -0.013583958148956302, + -0.19376340825225893, + 0.9809542090910178, + 12.536639213562012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998296499252319, + 0.012498093170236386, + 0.013582989095376927, + 2.803605556488037 + ], + [ + -0.014909233897924423, + 0.980667389412604, + 0.19511336166892485, + -1.2092646360397339 + ], + [ + -0.010881849564611912, + -0.19528263462308743, + 0.9806866625380534, + 12.59933853149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998962879180908, + 0.009974587922805719, + 0.010388053653519021, + 2.815342903137207 + ], + [ + -0.011822947300970554, + 0.9804072206347655, + 0.19662619186120137, + -1.2116332054138184 + ], + [ + -0.008223257027566433, + -0.19672861581605094, + 0.9804234649795277, + 12.666193008422852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9999180436134338, + 0.010294865007106094, + 0.00761397445434727, + 2.8274784088134766 + ], + [ + -0.011599103920161724, + 0.9801244434270442, + 0.19804441405362483, + -1.214301347732544 + ], + [ + -0.005423801485449076, + -0.19811648742369034, + 0.9801634732263784, + 12.734267234802246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9999082088470459, + 0.012394411911355985, + 0.0054697943139027875, + 2.8379762172698975 + ], + [ + -0.013236328959465027, + 0.9798262835028853, + 0.19941223927495408, + -1.2178692817687988 + ], + [ + -0.0028878506273031235, + -0.19946634477059502, + 0.979900448918425, + 12.804043769836426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.999895513057709, + 0.013992943344341901, + 0.0036329502365123312, + 2.8462562561035156 + ], + [ + -0.014437261037528518, + 0.979577916849647, + 0.20054603126958256, + -1.2213512659072876 + ], + [ + -0.0007525285473093393, + -0.2005775141645657, + 0.9796775223056506, + 12.87857723236084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.999945878982544, + 0.010372003555648381, + 0.000798694970592602, + 2.8548197746276855 + ], + [ + -0.010320005938410759, + 0.9794059145897887, + 0.20163732673847942, + -1.2287434339523315 + ], + [ + 0.0013091363944113255, + -0.20163465715298762, + 0.9794599505759665, + 12.948776245117188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9999775886535647, + 0.006166194145883221, + -0.0026114648615933106, + 2.8673629760742188 + ], + [ + -0.005512158852070571, + 0.9794000466428527, + 0.20185439578938585, + -1.2329246997833252 + ], + [ + 0.003802342340350152, + -0.20183547064873086, + 0.9794120547570826, + 13.024913787841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9999616742134094, + 0.007223781806727215, + -0.004947414312640278, + 2.8790557384490967 + ], + [ + -0.0060769254341721535, + 0.9794095713810779, + 0.2017919494920405, + -1.244519591331482 + ], + [ + 0.006303245667368174, + -0.20175414650498436, + 0.9794159131912389, + 13.101818084716797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9999279379844666, + 0.010221031119859348, + -0.006299235147455885, + 2.8861467838287354 + ], + [ + -0.008767376653850079, + 0.9800593057853151, + 0.19851181000968707, + -1.2544413805007935 + ], + [ + 0.008202618919312954, + -0.19844226728423464, + 0.9800782442122795, + 13.174144744873047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9999051690101624, + 0.0108041786490584, + -0.008536097552346734, + 2.89664888381958 + ], + [ + -0.008922138251364231, + 0.9805667733711055, + 0.19598255029958594, + -1.2636313438415527 + ], + [ + 0.01048764493316412, + -0.19588781108642628, + 0.9805702127703017, + 13.24050521850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9999057054519653, + 0.008092477580426511, + -0.011096339319516636, + 2.905750274658203 + ], + [ + -0.005763334222137928, + 0.9806230291618426, + 0.19581949437790933, + -1.2733588218688965 + ], + [ + 0.012465990148484707, + -0.19573707359437575, + 0.9805771828541209, + 13.30538272857666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9998809695243835, + 0.006812606399070487, + -0.01384134612142271, + 2.9176104068756104 + ], + [ + -0.003965840209275484, + 0.9805676848332608, + 0.196140859330891, + -1.2841672897338867 + ], + [ + 0.014908607117831707, + -0.196062625299472, + 0.980478008780432, + 13.371150016784668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9998461008071902, + 0.0080618655664795, + -0.015581997581963892, + 2.924028158187866 + ], + [ + -0.004835740663111211, + 0.980401658749119, + 0.1969497037744431, + -1.2976584434509277 + ], + [ + 0.016864396631717685, + -0.19684404498378394, + 0.9802897690180457, + 13.436388969421387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9998111128807068, + 0.0097242866225529, + -0.01682639286496782, + 2.9344913959503174 + ], + [ + -0.006209643557667732, + 0.9802738686923637, + 0.19754639824421522, + -1.3065025806427002 + ], + [ + 0.01841547153890133, + -0.19740460786742473, + 0.9801491356775383, + 13.500993728637695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9997602701187134, + 0.012764074468250028, + -0.017788818859639444, + 2.941925048828125 + ], + [ + -0.008975086733698845, + 0.9800047026241807, + 0.1987719094630585, + -1.3167831897735596 + ], + [ + 0.01997026428580284, + -0.19856459851737718, + 0.9798843137802031, + 13.55769157409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9997073411941528, + 0.01316602619163284, + -0.020294707698621194, + 2.9505481719970703 + ], + [ + -0.008839807473123074, + 0.9797263987993097, + 0.20014493734104757, + -1.3269810676574707 + ], + [ + 0.022518375888466835, + -0.19990696234301922, + 0.9795560591386333, + 13.624747276306152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9996473789215088, + 0.012569788310999403, + -0.023391831452764165, + 2.961528778076172 + ], + [ + -0.007600320503115654, + 0.9794550747509169, + 0.2015191692773023, + -1.3354268074035645 + ], + [ + 0.02544430084526539, + -0.20127032386403262, + 0.9792052263031508, + 13.683183670043945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9995606541633606, + 0.013859595417501775, + -0.026200329012630284, + 2.972078561782837 + ], + [ + -0.008261810056865215, + 0.9791888696720324, + 0.20278298224197522, + -1.3408172130584717 + ], + [ + 0.02846556156873703, + -0.20247742447274505, + 0.9788731509215068, + 13.748075485229492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9994656443595888, + 0.014542888394734724, + -0.029273083115675547, + 2.982755661010742 + ], + [ + -0.008272998034954073, + 0.9789599706132726, + 0.2038844936700169, + -1.34579598903656 + ], + [ + 0.031622245907783515, + -0.20353337830019047, + 0.9785572027010985, + 13.811012268066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9993538856506348, + 0.014895779796747595, + -0.032710292146597, + 2.9945037364959717 + ], + [ + -0.007883665151894093, + 0.9787607717004981, + 0.20485398410232802, + -1.3487610816955566 + ], + [ + 0.035067010670900345, + -0.2044637505994654, + 0.9782458235595006, + 13.878515243530273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9991592764854433, + 0.01627568347267717, + -0.03762751872225295, + 3.0059540271759033 + ], + [ + -0.008182737976312639, + 0.9785233107580882, + 0.2059736367520088, + -1.35232675075531 + ], + [ + 0.040171768516302116, + -0.2054925779955583, + 0.9778338437076312, + 13.946322441101074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9988681674003601, + 0.021182031022506643, + -0.04258817969870315, + 3.0175113677978516 + ], + [ + -0.01191735453903675, + 0.9782589404332187, + 0.20704441639460708, + -1.355702519416809 + ], + [ + 0.046047892421483994, + -0.20630253252517897, + 0.9774041180944381, + 14.010797500610352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9986879229545593, + 0.02263585845444026, + -0.04593557509445001, + 3.0302488803863525 + ], + [ + -0.012608805671334267, + 0.9780807387995811, + 0.20784401697916904, + -1.357719898223877 + ], + [ + 0.04963342845439911, + -0.2069921091064963, + 0.9770827965554536, + 14.075943946838379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9985008239746094, + 0.0224004215093848, + -0.04994263660772003, + 3.044161796569824 + ], + [ + -0.01150058675557375, + 0.977914924871133, + 0.20868664452996927, + -1.3608561754226685 + ], + [ + 0.05351431667804718, + -0.20779942133595927, + 0.9767064967979936, + 14.14223861694336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9982212781906128, + 0.02321465423103616, + -0.054911864344313284, + 3.0580389499664307 + ], + [ + -0.011227843351662159, + 0.9777939169493909, + 0.2092676144212983, + -1.3684606552124023 + ], + [ + 0.05855056643486023, + -0.2082788510060085, + 0.9763153779612042, + 14.197954177856445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.997978687286377, + 0.027522260692089722, + -0.05728030620735301, + 3.072032928466797 + ], + [ + -0.014923978596925735, + 0.9776460941641226, + 0.2097268566375138, + -1.3754526376724243 + ], + [ + 0.061772026121616364, + -0.20844809109183393, + 0.9760807464970945, + 14.256299018859863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9977265000343323, + 0.03117909794476759, + -0.05974719573409426, + 3.086352586746216 + ], + [ + -0.017990121617913246, + 0.9775922318099205, + 0.20973740881684824, + -1.380126714706421 + ], + [ + 0.06494781374931335, + -0.20818570950302298, + 0.9759305835194796, + 14.314718246459961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9975706934928896, + 0.029611917081669083, + -0.06305441188102966, + 3.103027820587158 + ], + [ + -0.015762949362397197, + 0.9776306766256865, + 0.2097372989711718, + -1.3875269889831543 + ], + [ + 0.0678546577692032, + -0.20823386221419352, + 0.9757224910605179, + 14.367574691772461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.99745112657547, + 0.030350387616456805, + -0.06457679773346546, + 3.1196374893188477 + ], + [ + -0.016195649281144142, + 0.9777058989058638, + 0.20935358013480196, + -1.3920073509216309 + ], + [ + 0.06949108093976974, + -0.20777408991782834, + 0.9757053438860217, + 14.423192977905273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9973624944686892, + 0.029775508329490278, + -0.06619265321227169, + 3.1325843334198 + ], + [ + -0.015303411521017555, + 0.9777455884470321, + 0.20923506359672844, + -1.3968442678451538 + ], + [ + 0.07094965130090715, + -0.20767023350705693, + 0.9756224539043291, + 14.47366714477539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.997215211391449, + 0.0321990239469013, + -0.06726889864214074, + 3.147613286972046 + ], + [ + -0.017365489155054092, + 0.9774530422079301, + 0.21043756245586379, + -1.4042655229568481 + ], + [ + 0.07252807915210724, + -0.20868337206213816, + 0.9752901513334911, + 14.529616355895996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9970679283142092, + 0.03405676057382988, + -0.068525021034864, + 3.1633384227752686 + ], + [ + -0.018852664157748226, + 0.9772255065886079, + 0.2113643855462921, + -1.412304162979126 + ], + [ + 0.07416278868913652, + -0.20945276905425658, + 0.9750022568415323, + 14.590572357177734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9968582987785339, + 0.03794658592000387, + -0.06952402111234653, + 3.1786580085754395 + ], + [ + -0.022352855652570724, + 0.9768669559186791, + 0.2126766418714455, + -1.4194221496582031 + ], + [ + 0.07598606497049332, + -0.21045441416130964, + 0.9746461495475925, + 14.647237777709961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9967167377471926, + 0.039904498874219256, + -0.07045154723430395, + 3.1936211585998535 + ], + [ + -0.023909538984298713, + 0.9763727528120152, + 0.21476641485271716, + -1.4266040325164795 + ], + [ + 0.07735712081193925, + -0.21237680330683753, + 0.9741211135905411, + 14.709858894348145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9966174960136414, + 0.042132678605939576, + -0.07055788032202542, + 3.2059566974639893 + ], + [ + -0.02596733532845974, + 0.976038292666807, + 0.21604398149302134, + -1.4304313659667969 + ], + [ + 0.07796970009803772, + -0.21348100330066624, + 0.9738308782802169, + 14.774808883666992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9966540336608887, + 0.03960974518356919, + -0.07149714271677447, + 3.2219009399414062 + ], + [ + -0.02329205349087715, + 0.9760984259642761, + 0.21607705561311513, + -1.428423285484314 + ], + [ + 0.07834700495004654, + -0.21368875716575222, + 0.973755033254935, + 14.840888023376465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9967775940895083, + 0.03430612905578915, + -0.07250849387929971, + 3.2374095916748047 + ], + [ + -0.017908489331603054, + 0.9762897908535676, + 0.2157256383045694, + -1.4253216981887817 + ], + [ + 0.07819001376628877, + -0.21373196442558431, + 0.9737581568358746, + 14.903244018554688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9972068667411804, + 0.028483212163022954, + -0.0690444705429225, + 3.2531654834747314 + ], + [ + -0.01300082542002201, + 0.9765112343323257, + 0.21507391028884373, + -1.4237020015716553 + ], + [ + 0.07354869693517685, + -0.21357554246454363, + 0.974154006985053, + 14.974122047424316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.99750816822052, + 0.02609259595709026, + -0.06554849605696725, + 3.2699460983276367 + ], + [ + -0.011480415239930153, + 0.9767441086036104, + 0.2141007363256793, + -1.423122525215149 + ], + [ + 0.06961055099964142, + -0.2128147153293818, + 0.9746098008210489, + 15.050881385803223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9978479743003845, + 0.022978613706431325, + -0.06141132920695675, + 3.2872142791748047 + ], + [ + -0.009428493678569794, + 0.9771330860547244, + 0.212419444713592, + -1.4226298332214355 + ], + [ + 0.06488814949989319, + -0.21138329917640417, + 0.9752469312462123, + 15.122584342956543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9982084631919861, + 0.01805122677635492, + -0.057043621501460015, + 3.303205728530884 + ], + [ + -0.005679569207131863, + 0.9776853995545768, + 0.2099976571377226, + -1.423162817955017 + ], + [ + 0.05956143140792847, + -0.20929745327603766, + 0.9760363661882956, + 15.207277297973633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9982308149337771, + 0.006171828794306247, + -0.05913633754626968, + 3.32328724861145 + ], + [ + 0.005975984036922457, + 0.9791469747427858, + 0.20306530887623644, + -1.4261709451675415 + ], + [ + 0.05915645137429239, + -0.2030594521763416, + 0.9773778207962683, + 15.284479141235352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9983847141265869, + 0.0032119312764187454, + -0.056724134887065784, + 3.3418643474578857 + ], + [ + 0.008017899468541145, + 0.9804435938344586, + 0.1966370222353131, + -1.4311779737472534 + ], + [ + 0.056246399879455566, + -0.19677420679340002, + 0.9788341445903729, + 15.352753639221191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9988193511962893, + 0.001129103955576831, + -0.04856544999172421, + 3.358743190765381 + ], + [ + 0.008214237168431284, + 0.9814085093126795, + 0.19175462830978746, + -1.4322165250778198 + ], + [ + 0.04787905514240266, + -0.19192716768569754, + 0.9802405509217323, + 15.43122673034668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9990471005439758, + -0.003516818891732303, + -0.04350295850725392, + 3.3734028339385986 + ], + [ + 0.011726362630724907, + 0.981727092552934, + 0.1899326493869046, + -1.434222936630249 + ], + [ + 0.04204007610678673, + -0.1902617898465908, + 0.9808328327081902, + 15.498347282409668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9993362426757812, + -0.008928158344552151, + -0.03531758881202997, + 3.3898634910583496 + ], + [ + 0.015475176274776459, + 0.981718957461449, + 0.18970613206849285, + -1.4363101720809937 + ], + [ + 0.03297821804881096, + -0.19012676182480254, + 0.981205513030144, + 15.561871528625488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9995859265327454, + -0.01045452351464739, + -0.026807688445750735, + 3.4026317596435547 + ], + [ + 0.015393568202853203, + 0.9814211182344134, + 0.1912475367794369, + -1.4421886205673218 + ], + [ + 0.02431022934615612, + -0.19158101165073116, + 0.9811756646795026, + 15.61705207824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9996470212936401, + -0.011106704335616797, + -0.02413390329620341, + 3.412346601486206 + ], + [ + 0.015789272263646126, + 0.978951712172679, + 0.20348027401624602, + -1.451964259147644 + ], + [ + 0.021365931257605553, + -0.20378951738910356, + 0.978781566399592, + 15.667742729187012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9997124075889587, + -0.010536199794288716, + -0.02154348491884521, + 3.424661874771118 + ], + [ + 0.014922096394002438, + 0.9765303118092167, + 0.21486244491028358, + -1.45796799659729 + ], + [ + 0.01877403073012829, + -0.21512212814272808, + 0.9764066943835499, + 15.727204322814941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.999839246273041, + -0.00437568460237896, + -0.017388659248822703, + 3.4378349781036377 + ], + [ + 0.008142161183059217, + 0.9748146911229038, + 0.22286771159569888, + -1.4638454914093018 + ], + [ + 0.01597552187740803, + -0.22297345607446473, + 0.9746935789893844, + 15.782357215881348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9999350309371948, + -0.0033645391571957856, + -0.010889209802500353, + 3.4526238441467285 + ], + [ + 0.005767375696450472, + 0.9734489445332811, + 0.2288315060025643, + -1.4654873609542847 + ], + [ + 0.009830177761614323, + -0.2288794560791883, + 0.973405160122991, + 15.845739364624023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9999624490737915, + -0.00797421637587971, + -0.0033896338242337346, + 3.468005895614624 + ], + [ + 0.008542301133275032, + 0.9728000241489199, + 0.23148898102623247, + -1.4632569551467896 + ], + [ + 0.001451492658816278, + -0.23150924084222843, + 0.972831601147878, + 15.911409378051758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9999136328697205, + -0.012822271173625199, + 0.0028843979378842914, + 3.4834506511688232 + ], + [ + 0.01179409772157669, + 0.972272409947706, + 0.23355353953456096, + -1.46094810962677 + ], + [ + -0.0057991077192127705, + -0.2334993447006841, + 0.9723396404594056, + 15.975024223327637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9998735785484314, + -0.01482595188094349, + 0.005747210687665614, + 3.4994451999664307 + ], + [ + 0.013052739202976227, + 0.9717060965287685, + 0.2358324303308411, + -1.458778738975525 + ], + [ + -0.00908103957772255, + -0.23572759238133828, + 0.9717767399155187, + 16.039945602416992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9998562335968018, + -0.014386900790722922, + 0.008975865807896609, + 3.5151703357696533 + ], + [ + 0.011816331185400486, + 0.9707692118754732, + 0.23972376954021518, + -1.4555647373199463 + ], + [ + -0.012162377126514912, + -0.23958324445331422, + 0.9707996457085541, + 16.105451583862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1027.77197265625, + "fy": 1027.4170735677083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/boom_down/transforms.json b/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fdc9757f8789cfcb8b095d1937e1fe628742d3c8 --- /dev/null +++ b/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/boom_down/transforms.json @@ -0,0 +1,8168 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 233, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011583403829718009, + 2.0259854863979854e-05, + 5.35143385604897e-07 + ], + [ + -0.00011583510058699176, + 1.0, + 5.266969674266875e-05, + -0.00013285163731779903 + ], + [ + -2.025375397352036e-05, + -5.2672039601020515e-05, + 1.0, + 8.310859266202897e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999994695186615, + -0.0019044596701860428, + 0.0026426459662616253, + -0.009403166753753764 + ], + [ + 0.0019012053962796926, + 0.9999974370002747, + 0.0012333948398008943, + -0.0025246263802822296 + ], + [ + -0.0026449882425367832, + -0.001228364068083465, + 0.999995768070221, + 0.010517743871404773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999909400939941, + -0.0012916165869683027, + 0.004049115814268589, + -0.014594990360863699 + ], + [ + 0.0012890880461782217, + 0.9999989867210388, + 0.0006270076846703887, + -0.0029100481741901104 + ], + [ + -0.004049921408295631, + -0.0006217823829501867, + 0.9999915957450867, + 0.016881425356179282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999943375587463, + -0.001153903198428452, + 0.0031635400373488665, + -0.010965628686896926 + ], + [ + 0.0011596527183428407, + 0.9999976754188538, + -0.0018162016058340669, + -0.00028040513621065133 + ], + [ + -0.0031614371109753847, + 0.0018198598409071565, + 0.9999933242797852, + 0.01646444089826124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999956488609314, + -0.0005427984287962317, + 0.0029051187448203564, + -0.0077516291023569245 + ], + [ + 0.0005473603960126638, + 0.9999986290931702, + -0.0015697494382038713, + -0.003317242982829439 + ], + [ + -0.0029042628593742847, + 0.0015713326865807176, + 0.9999945759773254, + 0.015732617094382194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999989926815033, + -0.004473764915019274, + 0.0002901086409110576, + 0.0005356028710154753 + ], + [ + 0.004475146997720003, + 0.999977707862854, + -0.004953504074364901, + 0.0040718793612101985 + ], + [ + -0.0002679413591977209, + 0.00495475297793746, + 0.9999876618385315, + 0.0169240979363355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999706149101257, + -0.007611802313476801, + -0.0009158225730061531, + 0.0019903573163399667 + ], + [ + 0.00760663254186511, + 0.9999558329582214, + -0.005522328428924084, + 0.0034922446818733267 + ], + [ + 0.0009578169556334615, + 0.005515200085937977, + 0.9999843239784241, + 0.014815487210831509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999961256980896, + -0.008242839016020298, + -0.0030796986538916826, + 0.006788167039911937 + ], + [ + 0.008231381885707378, + 0.9999592304229736, + -0.00371439172886312, + 0.0009481063385590395 + ], + [ + 0.0031101901549845934, + 0.003688897704705596, + 0.9999883770942688, + 0.016321050993202992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999470710754395, + -0.0074718547984957695, + -0.007072167005389929, + 0.018895392328629208 + ], + [ + 0.0075189508497715, + 0.99994957447052, + 0.006656414829194546, + -0.02628164802645815 + ], + [ + 0.007022074889391661, + -0.0067092375829815865, + 0.9999528527259827, + 0.015272856372055308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999246597290039, + -0.009773909114301205, + -0.007424371782690287, + 0.020675001643871052 + ], + [ + 0.009803288616240025, + 0.9999442100524902, + 0.003931032028049231, + -0.011872271653907052 + ], + [ + 0.007385536562651396, + -0.0040035187266767025, + 0.999964714050293, + 0.015291566804155771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998265504837036, + -0.016649600118398666, + -0.008342928253114223, + 0.0205270707254009 + ], + [ + 0.01660718023777008, + 0.9998489618301392, + -0.0051283519715070724, + 0.01833952635783574 + ], + [ + 0.00842705275863409, + 0.00498890969902277, + 0.9999520182609558, + 0.016278277765477783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995790123939514, + -0.027702856808900833, + -0.008625689893960953, + 0.012578727935986786 + ], + [ + 0.027495529502630234, + 0.9993505477905273, + -0.023292068392038345, + 0.07534282551757221 + ], + [ + 0.009265344589948654, + 0.023045092821121216, + 0.9996914863586426, + 0.020597887193334514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9992921352386475, + -0.036437027156353, + -0.009357191622257233, + 0.0039899523273624225 + ], + [ + 0.03614019602537155, + 0.998892068862915, + -0.030141768977046013, + 0.09832766256455718 + ], + [ + 0.01044510118663311, + 0.029782263562083244, + 0.9995018243789673, + 0.028358936158875966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9989908337593079, + -0.04378186911344528, + -0.010023028589785099, + -0.006861975862933644 + ], + [ + 0.0433473214507103, + 0.9982550740242004, + -0.040097594261169434, + 0.12494574315075217 + ], + [ + 0.011761086992919445, + 0.039622657001018524, + 0.9991455078125, + 0.03859914459994641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.998826801776886, + -0.04495113343000412, + -0.018012216314673424, + 0.0024387041909684397 + ], + [ + 0.044256359338760376, + 0.9983246326446533, + -0.037274010479450226, + 0.11444592943479275 + ], + [ + 0.019657546654343605, + 0.03643312305212021, + 0.9991427659988403, + 0.03353425447411578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9988604187965393, + -0.043335363268852234, + -0.019998326897621155, + 0.00022029434932909647 + ], + [ + 0.04260700196027756, + 0.9984605312347412, + -0.035513103008270264, + 0.10561160820311513 + ], + [ + 0.02150651440024376, + 0.034620560705661774, + 0.999169111251831, + 0.035881808204255225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989010691642761, + -0.04078856483101845, + -0.023084642365574837, + -0.0005185037375636528 + ], + [ + 0.039851296693086624, + 0.9984166026115417, + -0.03970083221793175, + 0.11171799040046232 + ], + [ + 0.02466742880642414, + 0.03873724862933159, + 0.9989449381828308, + 0.03454289754916882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988201856613159, + -0.03799928352236748, + -0.030237268656492233, + 0.007173169010864763 + ], + [ + 0.036689598113298416, + 0.9984118938446045, + -0.04274934157729149, + 0.11688672067790196 + ], + [ + 0.031813692301511765, + 0.041589509695768356, + 0.9986281394958496, + 0.02745142541022907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9985761642456055, + -0.039357755333185196, + -0.036008428782224655, + 0.006249835865636324 + ], + [ + 0.037322234362363815, + 0.9977578520774841, + -0.055554166436195374, + 0.15029592508899756 + ], + [ + 0.03811417892575264, + 0.054131150245666504, + 0.9978061318397522, + 0.026851940322025068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9979066848754883, + -0.04508781060576439, + -0.046361055225133896, + 0.011801640450119458 + ], + [ + 0.04152402654290199, + 0.9963070154190063, + -0.07515352219343185, + 0.20909826154338904 + ], + [ + 0.04957835003733635, + 0.07307109981775284, + 0.9960936903953552, + 0.023427536913418565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9970780611038208, + -0.047619275748729706, + -0.05973086506128311, + 0.023953768585262627 + ], + [ + 0.04371371120214462, + 0.9969226717948914, + -0.06507119536399841, + 0.1856895294682733 + ], + [ + 0.06264569610357285, + 0.06227000057697296, + 0.996091365814209, + 0.014497100118676137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9960992336273193, + -0.04701117053627968, + -0.07467471063137054, + 0.04410926656444268 + ], + [ + 0.04305027052760124, + 0.9976235628128052, + -0.05379480868577957, + 0.15988436870533845 + ], + [ + 0.07702620327472687, + 0.05037020146846771, + 0.9957559108734131, + 0.006298024493173278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9957772493362427, + -0.042766038328409195, + -0.08123230934143066, + 0.04537545770470952 + ], + [ + 0.03946291282773018, + 0.9983445405960083, + -0.04184263199567795, + 0.13464505466921575 + ], + [ + 0.08288727700710297, + 0.038460277020931244, + 0.9958165287971497, + -0.0015923838420160885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9958478212356567, + -0.03856812044978142, + -0.08246012032032013, + 0.034493211635934384 + ], + [ + 0.0357649065554142, + 0.9987398982048035, + -0.03520628437399864, + 0.12196535681342256 + ], + [ + 0.08371405303478241, + 0.032110925763845444, + 0.9959723353385925, + -0.00721195421566994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9957869052886963, + -0.033848971128463745, + -0.08522110432386398, + 0.029601039981533742 + ], + [ + 0.031188897788524628, + 0.9989897012710571, + -0.03235437721014023, + 0.11945113164597544 + ], + [ + 0.08623016625642776, + 0.029560115188360214, + 0.995836615562439, + -0.013716552290936997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9961845278739929, + -0.031193021684885025, + -0.08150716871023178, + 0.008301655143692062 + ], + [ + 0.029046006500720978, + 0.99920254945755, + -0.027395952492952347, + 0.11133610726944332 + ], + [ + 0.08229673653841019, + 0.024923965334892273, + 0.9962961673736572, + -0.019871239935786558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9971837401390076, + -0.024987371638417244, + -0.07071253657341003, + -0.027073868436353475 + ], + [ + 0.024112114682793617, + 0.9996220469474792, + -0.013204454444348812, + 0.07460794366639237 + ], + [ + 0.07101576030254364, + 0.011462238617241383, + 0.9974093437194824, + -0.023056897603714002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9978672862052917, + -0.02001926489174366, + -0.06212979555130005, + -0.048836584577882855 + ], + [ + 0.019815562292933464, + 0.9997960925102234, + -0.003893179353326559, + 0.05081224929669808 + ], + [ + 0.0621950626373291, + 0.0026537394151091576, + 0.9980604648590088, + -0.027211739233261423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9985881447792053, + -0.01758120022714138, + -0.05012635141611099, + -0.07926511945973697 + ], + [ + 0.017777198925614357, + 0.9998359680175781, + 0.003466931637376547, + 0.03115301520146173 + ], + [ + 0.050057172775268555, + -0.004353142809122801, + 0.9987368583679199, + -0.028888337475504598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9988158345222473, + -0.018429700285196304, + -0.045025479048490524, + -0.08880036999471486 + ], + [ + 0.018766053020954132, + 0.9997989535331726, + 0.007059009280055761, + 0.024565429799258708 + ], + [ + 0.044886332005262375, + -0.007895600982010365, + 0.9989609122276306, + -0.033865970524493604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994482398033142, + -0.016379840672016144, + -0.028895188122987747, + -0.1268436344468902 + ], + [ + 0.01718684285879135, + 0.9994628429412842, + 0.027904892340302467, + -0.029267171076659496 + ], + [ + 0.028422590345144272, + -0.028386114165186882, + 0.9991928935050964, + -0.03288557532179202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9998964071273804, + -0.009026963263750076, + -0.011209449730813503, + -0.15779388841594857 + ], + [ + 0.009499209001660347, + 0.9990378022193909, + 0.042816419154405594, + -0.06900355289208478 + ], + [ + 0.010812162421643734, + -0.04291846230626106, + 0.9990200996398926, + -0.03034810244491131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999995768070221, + -0.002456910442560911, + 0.0015760515816509724, + -0.16626787503603205 + ], + [ + 0.00237747048959136, + 0.9988170862197876, + 0.04856688156723976, + -0.08472493958884272 + ], + [ + -0.0016935118474066257, + -0.048562925308942795, + 0.9988186955451965, + -0.034121833921506486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999841451644897, + 0.0009605493396520615, + 0.005545297171920538, + -0.1504221125321206 + ], + [ + -0.001264464110136032, + 0.9984819889068604, + 0.05506521463394165, + -0.09934878056419306 + ], + [ + -0.005483986344188452, + -0.055071353912353516, + 0.9984673857688904, + -0.04389297183731507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999834418296814, + 0.0015733768232166767, + 0.01812901720404625, + -0.15925937289781547 + ], + [ + -0.0026299632154405117, + 0.9982894659042358, + 0.05840593948960304, + -0.10378251707759396 + ], + [ + -0.018006112426519394, + -0.05844394490122795, + 0.9981282949447632, + -0.04564693794617879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9997446537017822, + 0.003995273262262344, + 0.022241273894906044, + -0.1430127786488497 + ], + [ + -0.005543991923332214, + 0.9975306987762451, + 0.07001254707574844, + -0.13392537472576932 + ], + [ + -0.02190663479268551, + -0.07011797279119492, + 0.9972981214523315, + -0.05097062084502701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995782971382141, + 0.004386836662888527, + 0.028704773634672165, + -0.1352164863351861 + ], + [ + -0.006566649302840233, + 0.997063934803009, + 0.0762912854552269, + -0.1450080128579304 + ], + [ + -0.028285816311836243, + -0.07644761353731155, + 0.9966722726821899, + -0.0550369217606454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995101690292358, + 0.004011321812868118, + 0.03103739395737648, + -0.1194858223183787 + ], + [ + -0.006235827691853046, + 0.9973915815353394, + 0.07191050797700882, + -0.12326307651297799 + ], + [ + -0.030667979270219803, + -0.07206883281469345, + 0.9969280362129211, + -0.06697485831983645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9993916749954224, + -0.0001769282971508801, + 0.03487538918852806, + -0.11593405871149273 + ], + [ + -0.002034316770732403, + 0.997988760471344, + 0.06335848569869995, + -0.08765552696482888 + ], + [ + -0.03481645509600639, + -0.06339089572429657, + 0.9973812699317932, + -0.07215915734654871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9991409182548523, + -0.0015113127883523703, + 0.0414140559732914, + -0.1254595510204973 + ], + [ + -0.0008117521647363901, + 0.9984293580055237, + 0.056019484996795654, + -0.05761713881430955 + ], + [ + -0.0414336733520031, + -0.056004978716373444, + 0.9975703954696655, + -0.07036242653005596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.99920254945755, + -0.0018751611933112144, + 0.039883557707071304, + -0.1149281435324971 + ], + [ + -0.00043583958176895976, + 0.9983248114585876, + 0.057856231927871704, + -0.058326511033650094 + ], + [ + -0.039925236254930496, + -0.057827480137348175, + 0.9975278973579407, + -0.0776519812643528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9992386102676392, + -0.006200321950018406, + 0.03851979598402977, + -0.11168370292530042 + ], + [ + 0.004375091753900051, + 0.9988716840744019, + 0.04728907346725464, + -0.02155543925433323 + ], + [ + -0.03876953944563866, + -0.047084540128707886, + 0.9981382489204407, + -0.08143381947844193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992372989654541, + -0.010742596350610256, + 0.037542976438999176, + -0.11686492264511641 + ], + [ + 0.009483409114181995, + 0.9993917346000671, + 0.033558521419763565, + 0.021152874779213092 + ], + [ + -0.03788064420223236, + -0.03317688778042793, + 0.9987313747406006, + -0.08085073027438645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9993781447410583, + -0.013117642141878605, + 0.0327296257019043, + -0.11601483958476255 + ], + [ + 0.012046555988490582, + 0.9993922710418701, + 0.032710570842027664, + 0.023017579464819925 + ], + [ + -0.03313881903886795, + -0.03229595348238945, + 0.9989288449287415, + -0.07917250117511841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9992964863777161, + -0.011617627926170826, + 0.03565919026732445, + -0.13468973913936522 + ], + [ + 0.010207402519881725, + 0.999168336391449, + 0.03947773948311806, + 0.0008373623906538404 + ], + [ + -0.03608817234635353, + -0.039085980504751205, + 0.998583972454071, + -0.07537199333952418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9994329214096069, + -0.01037613581866026, + 0.03203302249312401, + -0.13010922691519855 + ], + [ + 0.009109129197895527, + 0.9991800785064697, + 0.03944878280162811, + 0.00045426600965960476 + ], + [ + -0.03241608664393425, + -0.03913462162017822, + 0.9987080097198486, + -0.07369787657055361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995694160461426, + -0.00762321799993515, + 0.02833397500216961, + -0.12471646078830136 + ], + [ + 0.006433517672121525, + 0.9991034269332886, + 0.04184499755501747, + -0.006283742561936378 + ], + [ + -0.028627565130591393, + -0.04164469614624977, + 0.99872225522995, + -0.07632329635771698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996291995048523, + -0.004500454757362604, + 0.02685442566871643, + -0.12329375768975548 + ], + [ + 0.0032151341438293457, + 0.9988558292388916, + 0.047715168446302414, + -0.022931754845997385 + ], + [ + -0.027038440108299255, + -0.047611135989427567, + 0.9984999299049377, + -0.07004079090848822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996355175971985, + -0.002960499608889222, + 0.026834353804588318, + -0.12283283521357025 + ], + [ + 0.001540707191452384, + 0.9986051321029663, + 0.052776552736759186, + -0.03740186560256728 + ], + [ + -0.026953168213367462, + -0.0527159720659256, + 0.9982457160949707, + -0.06946106969282545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993476867675781, + 0.0002281098859384656, + 0.03611272573471069, + -0.14164493501719272 + ], + [ + -0.0024123992770910263, + 0.9981681108474731, + 0.06045331433415413, + -0.0598706827081483 + ], + [ + -0.0360327810049057, + -0.06050099804997444, + 0.9975175261497498, + -0.058481722872640036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988882541656494, + 0.0014271690743044019, + 0.047119785100221634, + -0.1591617892479227 + ], + [ + -0.004439687356352806, + 0.9979470372200012, + 0.06389062851667404, + -0.07289081811904907 + ], + [ + -0.04693186655640602, + -0.0640287920832634, + 0.9968438744544983, + -0.04533602807927748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.997776210308075, + 0.002260993467643857, + 0.06661436706781387, + -0.19511135662514476 + ], + [ + -0.0066228508949279785, + 0.9978416562080383, + 0.06533140689134598, + -0.08132746237619169 + ], + [ + -0.06632287055253983, + -0.06562729924917221, + 0.9956376552581787, + -0.02426706266364661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9979814887046814, + 0.00041107158176600933, + 0.06350438296794891, + -0.1598035496599362 + ], + [ + -0.004491581581532955, + 0.997931718826294, + 0.06412619352340698, + -0.08057701351313755 + ], + [ + -0.06334666907787323, + -0.06428198516368866, + 0.9959191679954529, + -0.029359212671888287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9982128739356995, + -0.007469631731510162, + 0.05928993970155716, + -0.12843350501217204 + ], + [ + 0.004527249373495579, + 0.9987585544586182, + 0.04960707202553749, + -0.03738231689765535 + ], + [ + -0.05958688259124756, + -0.04924999549984932, + 0.997007429599762, + -0.030796981553129595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9976314902305603, + -0.013090443797409534, + 0.06752783060073853, + -0.14075801508613572 + ], + [ + 0.009621095843613148, + 0.9986293315887451, + 0.051448315382003784, + -0.04693650968115905 + ], + [ + -0.06810875236988068, + -0.05067677050828934, + 0.9963900446891785, + -0.019160981624033943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9975109100341797, + -0.010127948597073555, + 0.06978105008602142, + -0.12697391193922095 + ], + [ + 0.005814824718981981, + 0.9980754852294922, + 0.06173747777938843, + -0.07944084549772329 + ], + [ + -0.07027202844619751, + -0.061178043484687805, + 0.9956501126289368, + -0.014526171963019618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9976512789726257, + -0.009982003830373287, + 0.06776626408100128, + -0.10132736772106125 + ], + [ + 0.006139256991446018, + 0.9983735680580139, + 0.05667911469936371, + -0.06211040878090365 + ], + [ + -0.06822182238101959, + -0.056129954755306244, + 0.9960899353027344, + -0.015661514267839235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9983373880386353, + -0.01307822484523058, + 0.05613726004958153, + -0.05863171169927729 + ], + [ + 0.010419786907732487, + 0.9988220930099487, + 0.04739023745059967, + -0.032755837024285875 + ], + [ + -0.05669091269373894, + -0.04672650992870331, + 0.9972977638244629, + -0.01644365885134401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9981211423873901, + -0.015012085437774658, + 0.05940410494804382, + -0.06366413980722427 + ], + [ + 0.012626789510250092, + 0.999106764793396, + 0.04032736271619797, + -0.011205114424228668 + ], + [ + -0.05995643883943558, + -0.03950151056051254, + 0.9974191188812256, + -0.01313252244144678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9983848333358765, + -0.016613639891147614, + 0.054329413920640945, + -0.044686531760440816 + ], + [ + 0.014459110796451569, + 0.9991025328636169, + 0.03981218487024307, + -0.007457387832732039 + ], + [ + -0.05494208261370659, + -0.03896232694387436, + 0.9977290630340576, + -0.008979387147801703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9986727833747864, + -0.021830080077052116, + 0.04664915055036545, + -0.023200768543856925 + ], + [ + 0.02040630765259266, + 0.9993177652359009, + 0.030782176181674004, + 0.021851220633834604 + ], + [ + -0.04728930443525314, + -0.029789382591843605, + 0.9984369277954102, + -0.006553460265798816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9986212253570557, + -0.02645290642976761, + 0.04534151405096054, + -0.026446788183188644 + ], + [ + 0.025353852659463882, + 0.9993746876716614, + 0.024645622819662094, + 0.040694334576356 + ], + [ + -0.04596511274576187, + -0.02346206083893776, + 0.9986674785614014, + 0.004258453831526226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.998756468296051, + -0.027625182643532753, + 0.04150111973285675, + -0.019095590124549023 + ], + [ + 0.02652338705956936, + 0.9992870092391968, + 0.02686876431107521, + 0.033033418899466246 + ], + [ + -0.04221378266811371, + -0.02573460340499878, + 0.9987770915031433, + 0.009848324646209848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9989625811576843, + -0.028442954644560814, + 0.035564273595809937, + -0.005290137656065154 + ], + [ + 0.027439290657639503, + 0.9992200136184692, + 0.028397811576724052, + 0.026735220784883433 + ], + [ + -0.0363442525267601, + -0.027392493560910225, + 0.9989638328552246, + 0.01009322462105674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9993360042572021, + -0.027233881875872612, + 0.024204175919294357, + 0.025889580863816986 + ], + [ + 0.02635239250957966, + 0.999003529548645, + 0.036020565778017044, + 0.0024211762408758025 + ], + [ + -0.02516103908419609, + -0.03535881265997887, + 0.9990578889846802, + 0.009046138784494893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993400573730469, + -0.027828838676214218, + 0.02334488555788994, + 0.02898613656549875 + ], + [ + 0.02690006047487259, + 0.9988692998886108, + 0.039197616279125214, + -0.007186550004728908 + ], + [ + -0.02440931275486946, + -0.03854376822710037, + 0.9989587664604187, + 0.012684483900023946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9993374943733215, + -0.02921484410762787, + 0.02170371264219284, + 0.03444699602651185 + ], + [ + 0.028380166739225388, + 0.9988815188407898, + 0.03781859949231148, + -0.0032716334123035935 + ], + [ + -0.02278430387377739, + -0.037177588790655136, + 0.9990488886833191, + 0.016992479116366855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9992954730987549, + -0.030223757028579712, + 0.022250059992074966, + 0.03430576793335635 + ], + [ + 0.02926378697156906, + 0.9986773729324341, + 0.04227461665868759, + -0.017173213768621968 + ], + [ + -0.023498330265283585, + -0.04159371554851532, + 0.9988582730293274, + 0.02087537726580069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9994776844978333, + -0.02994612790644169, + 0.01215006411075592, + 0.06789364587065988 + ], + [ + 0.029390299692749977, + 0.998616635799408, + 0.04360097646713257, + -0.02098430857576173 + ], + [ + -0.013438936322927475, + -0.04322110861539841, + 0.9989751577377319, + 0.021003552128014892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9993091225624084, + -0.03288298472762108, + 0.01732095144689083, + 0.05502680713021807 + ], + [ + 0.03229553624987602, + 0.9989278316497803, + 0.03316826373338699, + 0.012318245732578743 + ], + [ + -0.018393052741885185, + -0.032585956156253815, + 0.9992997050285339, + 0.027829065671640223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9994710087776184, + -0.031623274087905884, + 0.007591982372105122, + 0.08624671463822496 + ], + [ + 0.031256504356861115, + 0.9985268712043762, + 0.04435176029801369, + -0.018603972062982362 + ], + [ + -0.00898334663361311, + -0.04409099742770195, + 0.9989871382713318, + 0.02788833443653481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995148181915283, + -0.030744895339012146, + 0.0049871657975018024, + 0.10001773062836507 + ], + [ + 0.030444182455539703, + 0.998180627822876, + 0.05204356834292412, + -0.03799592569984239 + ], + [ + -0.006578166503459215, + -0.05186649039387703, + 0.9986323714256287, + 0.02952761820453251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9994274973869324, + -0.033024631440639496, + 0.0073526883497834206, + 0.09796964328350692 + ], + [ + 0.03261622041463852, + 0.9982134103775024, + 0.05006149411201477, + -0.028298084103855592 + ], + [ + -0.00899281445890665, + -0.04979301989078522, + 0.9987190961837769, + 0.033869700596250336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9994532465934753, + -0.03225911036133766, + 0.007252799347043037, + 0.1061468597485459 + ], + [ + 0.03183281049132347, + 0.9981012344360352, + 0.05273143947124481, + -0.03427242256444076 + ], + [ + -0.008940096944570541, + -0.05247172713279724, + 0.9985823631286621, + 0.03914575513837666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9995248913764954, + -0.03057173267006874, + 0.003921165131032467, + 0.12563981029429827 + ], + [ + 0.030318263918161392, + 0.9981052279472351, + 0.05354224517941475, + -0.03440492579649235 + ], + [ + -0.005550614558160305, + -0.05339791998267174, + 0.9985578656196594, + 0.04413710600407473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.999451220035553, + -0.03192034736275673, + 0.008849159814417362, + 0.11841937662744574 + ], + [ + 0.031395021826028824, + 0.9980351328849792, + 0.05422353371977806, + -0.034969890554403436 + ], + [ + -0.01056260708719492, + -0.05391595885157585, + 0.9984896183013916, + 0.04844430573124053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994112253189087, + -0.03147612512111664, + 0.013653024099767208, + 0.1129450512086523 + ], + [ + 0.030688844621181488, + 0.9980433583259583, + 0.0544760599732399, + -0.03524199349099192 + ], + [ + -0.01534100528806448, + -0.05402499437332153, + 0.9984217286109924, + 0.055517685207827336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9993094801902771, + -0.032433390617370605, + 0.01812962256371975, + 0.1092895859274371 + ], + [ + 0.03144562244415283, + 0.9981339573860168, + 0.052343014627695084, + -0.02952273516305562 + ], + [ + -0.019793452695012093, + -0.051736775785684586, + 0.9984645843505859, + 0.05908452558074275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9992747902870178, + -0.034272000193595886, + 0.01659267209470272, + 0.11832948664909806 + ], + [ + 0.03341120481491089, + 0.9982082843780518, + 0.04963763430714607, + -0.02340267616613157 + ], + [ + -0.018264124169945717, + -0.049047257751226425, + 0.9986294507980347, + 0.06573681245268932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993144869804382, + -0.03405611217021942, + 0.014517265371978283, + 0.12543529135271392 + ], + [ + 0.03331959247589111, + 0.9982784986495972, + 0.04826883599162102, + -0.02320879553926402 + ], + [ + -0.01613612286746502, + -0.04775203391909599, + 0.99872887134552, + 0.0715573409813103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9992921948432922, + -0.03519406169652939, + 0.013283230364322662, + 0.12866432168360414 + ], + [ + 0.03459577262401581, + 0.998481810092926, + 0.04286201670765877, + -0.011455375444272463 + ], + [ + -0.014771552756428719, + -0.04237213358283043, + 0.9989926815032959, + 0.0756389826279262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992258548736572, + -0.03779832273721695, + 0.010909713804721832, + 0.1302806375194983 + ], + [ + 0.03748031705617905, + 0.9989046454429626, + 0.02801351435482502, + 0.026492985710501668 + ], + [ + -0.011956628412008286, + -0.0275829266756773, + 0.9995480179786682, + 0.07802119871103687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9992828965187073, + -0.037548284977674484, + 0.004878607112914324, + 0.1407196715377785 + ], + [ + 0.03745231404900551, + 0.9991278052330017, + 0.018464459106326103, + 0.048450146602659394 + ], + [ + -0.0055676610209047794, + -0.01826850138604641, + 0.9998176097869873, + 0.0856486112730385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9992669820785522, + -0.038281671702861786, + 0.00021541706519201398, + 0.1467744320213538 + ], + [ + 0.03827250748872757, + 0.999123215675354, + 0.01697123795747757, + 0.0490685231662516 + ], + [ + -0.0008649154915474355, + -0.01695055142045021, + 0.9998559355735779, + 0.08806657497771084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.99922776222229, + -0.039125774055719376, + -0.003619454801082611, + 0.14963793828441152 + ], + [ + 0.039182502776384354, + 0.9990836977958679, + 0.017218265682458878, + 0.04366007185830125 + ], + [ + 0.0029424605891108513, + -0.017346788197755814, + 0.9998452067375183, + 0.0951534987973242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9992874264717102, + -0.03774343803524971, + 0.0001614931970834732, + 0.13302774845365564 + ], + [ + 0.03772952780127525, + 0.9990184903144836, + 0.023206232115626335, + 0.020212222468750228 + ], + [ + -0.001037217560224235, + -0.023183604702353477, + 0.9997307062149048, + 0.1018210988820948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9993435740470886, + -0.03497904911637306, + -0.00943010114133358, + 0.15733993281128592 + ], + [ + 0.03518383577466011, + 0.9991274476051331, + 0.022503675892949104, + 0.016472712981289835 + ], + [ + 0.008634716272354126, + -0.022820690646767616, + 0.9997022747993469, + 0.10490300458984385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9993839263916016, + -0.034324437379837036, + -0.007322764024138451, + 0.1512494195252657 + ], + [ + 0.03450042009353638, + 0.9990808963775635, + 0.025438228622078896, + 0.00472042933106423 + ], + [ + 0.006442881189286709, + -0.025675194337964058, + 0.9996495842933655, + 0.10739685979206115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9993591904640198, + -0.03443566709756851, + -0.00976923294365406, + 0.15901863145931014 + ], + [ + 0.03466721624135971, + 0.9990957379341125, + 0.024615013971924782, + 0.002901704275402532 + ], + [ + 0.008912764489650726, + -0.024937910959124565, + 0.9996492862701416, + 0.11058945703994612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9993379712104797, + -0.03539703041315079, + -0.008409306406974792, + 0.15780890957484472 + ], + [ + 0.03561323136091232, + 0.9989974498748779, + 0.027125656604766846, + -0.007318290040410791 + ], + [ + 0.007440708111971617, + -0.02740718051791191, + 0.9995966553688049, + 0.11526070533416652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9992644786834717, + -0.03777605667710304, + -0.00659458851441741, + 0.1556882155448969 + ], + [ + 0.0378982312977314, + 0.9990912079811096, + 0.019504988566040993, + 0.012155308420288155 + ], + [ + 0.005851774010807276, + -0.01974056474864483, + 0.9997879862785339, + 0.11840307983120196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9993270039558411, + -0.03659025579690933, + -0.002584687899798155, + 0.1476619829680642 + ], + [ + 0.036645375192165375, + 0.9989866614341736, + 0.02612905576825142, + -0.010175031577718666 + ], + [ + 0.0016259998083114624, + -0.026206187903881073, + 0.9996552467346191, + 0.1210180935771044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9993235468864441, + -0.03657438978552818, + -0.0038449305575340986, + 0.15432078745216132 + ], + [ + 0.036634381860494614, + 0.9991858005523682, + 0.01690240204334259, + 0.013443972003357167 + ], + [ + 0.003223604755476117, + -0.017031826078891754, + 0.9998497366905212, + 0.1212791453790048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9993105530738831, + -0.035874634981155396, + -0.009562729857861996, + 0.1713697495517032 + ], + [ + 0.0360497385263443, + 0.9991728663444519, + 0.018815189599990845, + 0.007402549709739359 + ], + [ + 0.008879831992089748, + -0.019146952778100967, + 0.9997772574424744, + 0.11984682113157007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.999286413192749, + -0.03608221188187599, + -0.011167289689183235, + 0.17459900800845232 + ], + [ + 0.0362069346010685, + 0.9992818236351013, + 0.011175543069839478, + 0.028573937116768852 + ], + [ + 0.010756030678749084, + -0.01157190091907978, + 0.9998751878738403, + 0.11964720841015464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.999219536781311, + -0.03724939003586769, + -0.01314676646143198, + 0.17438514476866815 + ], + [ + 0.03729134425520897, + 0.9993000626564026, + 0.002960347104817629, + 0.05195199759227449 + ], + [ + 0.013027292676270008, + -0.003448297269642353, + 0.9999092221260071, + 0.12094089546409467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9992285370826721, + -0.03500817343592644, + -0.01779928430914879, + 0.1806334131236734 + ], + [ + 0.03517647460103035, + 0.9993384480476379, + 0.009231754578649998, + 0.03385836207468448 + ], + [ + 0.017464321106672287, + -0.00985074881464243, + 0.9997989535331726, + 0.12442783673518691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9991273283958435, + -0.03524845466017723, + -0.02240852266550064, + 0.18542507750881387 + ], + [ + 0.03519592806696892, + 0.9993767142295837, + -0.002734115347266197, + 0.06689308064764943 + ], + [ + 0.022490929812192917, + 0.0019430406391620636, + 0.9997451305389404, + 0.12716571793506115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9987300038337708, + -0.03997081145644188, + -0.030670633539557457, + 0.19476692234968832 + ], + [ + 0.03891947492957115, + 0.9986588954925537, + -0.03414205089211464, + 0.1524817236538591 + ], + [ + 0.03199418634176254, + 0.032905008643865585, + 0.9989462494850159, + 0.13453059142198542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9985266923904419, + -0.04104002192616463, + -0.03549918532371521, + 0.19083866184288314 + ], + [ + 0.03927866742014885, + 0.9980277419090271, + -0.04896688833832741, + 0.1887741426198647 + ], + [ + 0.0374387726187706, + 0.047500383108854294, + 0.9981693625450134, + 0.13602712325398522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9983162879943848, + -0.040009547024965286, + -0.041997697204351425, + 0.1909659720379217 + ], + [ + 0.037887100130319595, + 0.9980217218399048, + -0.05017147585749626, + 0.1855610018146449 + ], + [ + 0.043921951204538345, + 0.048495832830667496, + 0.9978572130203247, + 0.13826833938344799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9980204105377197, + -0.04016001522541046, + -0.048398207873106, + 0.188472144607583 + ], + [ + 0.03794129192829132, + 0.9982242584228516, + -0.04592151939868927, + 0.16784403868790332 + ], + [ + 0.05015647038817406, + 0.043994322419166565, + 0.9977719187736511, + 0.13811003563861396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9977675676345825, + -0.03815183416008949, + -0.05481114983558655, + 0.18735633689332112 + ], + [ + 0.03581096604466438, + 0.9984298944473267, + -0.043073490262031555, + 0.15449277845949963 + ], + [ + 0.056368425488471985, + 0.04101449251174927, + 0.9975672364234924, + 0.1411165933670669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9974610805511475, + -0.03858819603919983, + -0.059852275997400284, + 0.1832068301095017 + ], + [ + 0.035760074853897095, + 0.9982249736785889, + -0.047624215483665466, + 0.16255358806971845 + ], + [ + 0.06158376857638359, + 0.04536297917366028, + 0.9970705509185791, + 0.14123799737928242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9970628023147583, + -0.04025484621524811, + -0.06515651941299438, + 0.18026174908054285 + ], + [ + 0.03712774068117142, + 0.9981322288513184, + -0.04851352423429489, + 0.15920343275727897 + ], + [ + 0.06698772311210632, + 0.04595191776752472, + 0.9966951012611389, + 0.1425779679212077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9961999654769897, + -0.033826619386672974, + -0.08025812357664108, + 0.21258635735460396 + ], + [ + 0.03226243704557419, + 0.9992648959159851, + -0.020707134157419205, + 0.07625295664986659 + ], + [ + 0.08089957386255264, + 0.018039125949144363, + 0.9965590238571167, + 0.13689335314396384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9962016940116882, + -0.031866829842329025, + -0.08103495836257935, + 0.20893887484703086 + ], + [ + 0.0302327461540699, + 0.999315619468689, + -0.021313101053237915, + 0.07357734696104609 + ], + [ + 0.08165867626667023, + 0.01878223940730095, + 0.9964833855628967, + 0.13409626100790398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962863326072693, + -0.02960379235446453, + -0.0808526948094368, + 0.20630155641441073 + ], + [ + 0.02789582870900631, + 0.9993649125099182, + -0.022173143923282623, + 0.0706461098173569 + ], + [ + 0.08145775645971298, + 0.019835349172353745, + 0.9964793920516968, + 0.13664750054253844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9962467551231384, + -0.027741864323616028, + -0.08199264109134674, + 0.20961309211521312 + ], + [ + 0.026005014777183533, + 0.9994158148765564, + -0.022175710648298264, + 0.06400103025652212 + ], + [ + 0.08255994319915771, + 0.019960258156061172, + 0.9963861703872681, + 0.13230130838808316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9963443279266357, + -0.025441866368055344, + -0.08155211806297302, + 0.20924102998145952 + ], + [ + 0.02412545680999756, + 0.9995629191398621, + -0.01708703674376011, + 0.04126186144120734 + ], + [ + 0.08195120096206665, + 0.015057088807225227, + 0.9965226054191589, + 0.12794991421818347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9964069724082947, + -0.024731187149882317, + -0.08100295066833496, + 0.20797057728411567 + ], + [ + 0.023121124133467674, + 0.9995172023773193, + -0.020754775032401085, + 0.042184324357016335 + ], + [ + 0.08147713541984558, + 0.018807323649525642, + 0.9964977502822876, + 0.12872367733607776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.995768129825592, + -0.025754867121577263, + -0.08821842074394226, + 0.22608861271853975 + ], + [ + 0.023628896102309227, + 0.9994066953659058, + -0.025059211999177933, + 0.04737430628798581 + ], + [ + 0.0888114720582962, + 0.02286865934729576, + 0.9957858920097351, + 0.1227470407856564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9952585101127625, + -0.025451844558119774, + -0.09387626498937607, + 0.23905409403659147 + ], + [ + 0.023502977564930916, + 0.9994859099388123, + -0.021807661280035973, + 0.03329398382198194 + ], + [ + 0.09438305348157883, + 0.019497888162732124, + 0.9953449964523315, + 0.11640821478233256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.994024395942688, + -0.02387099899351597, + -0.1065162718296051, + 0.2699894266291361 + ], + [ + 0.021898625418543816, + 0.9995670914649963, + -0.01964861899614334, + 0.026697048377887958 + ], + [ + 0.10693919658660889, + 0.01719864457845688, + 0.9941167831420898, + 0.10806204526010772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9934009313583374, + -0.022570475935935974, + -0.11245086044073105, + 0.28193923544524047 + ], + [ + 0.022325489670038223, + 0.9997448325157166, + -0.0034375335089862347, + -0.020308415694483398 + ], + [ + 0.11249975115060806, + 0.0009043283062055707, + 0.9936513304710388, + 0.10526964224339061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9924631714820862, + -0.02107447385787964, + -0.12071742862462997, + 0.3009095103319349 + ], + [ + 0.021435074508190155, + 0.9997687935829163, + 0.0016892398707568645, + -0.034500168957586945 + ], + [ + 0.1206539198756218, + -0.0042640953324735165, + 0.9926854968070984, + 0.10356536380252158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9922730922698975, + -0.021015983074903488, + -0.12228021025657654, + 0.3009756812825799 + ], + [ + 0.021161999553442, + 0.9997760653495789, + -0.00010461558122187853, + -0.027525085210800167 + ], + [ + 0.12225502729415894, + -0.002483886666595936, + 0.992495596408844, + 0.10098191290162503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9911162257194519, + -0.02294340170919895, + -0.13100481033325195, + 0.31873600263196716 + ], + [ + 0.023455338552594185, + 0.9997220635414124, + 0.002365885768085718, + -0.029764774518794022 + ], + [ + 0.1309141218662262, + -0.005417629610747099, + 0.991378903388977, + 0.09260473012831864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9912400841712952, + -0.0276247039437294, + -0.12915100157260895, + 0.3020873772751155 + ], + [ + 0.02840222418308258, + 0.9995878338813782, + 0.004181975964456797, + -0.029737288890213806 + ], + [ + 0.12898223102092743, + -0.00781351700425148, + 0.9916161298751831, + 0.09143978590145707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9908400774002075, + -0.025149691849946976, + -0.1326780468225479, + 0.3034067031718662 + ], + [ + 0.026950344443321228, + 0.9995672106742859, + 0.011793006211519241, + -0.045835030875329315 + ], + [ + 0.13232402503490448, + -0.01526070199906826, + 0.9910890460014343, + 0.08821750100429074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9916315674781799, + -0.024566369131207466, + -0.12674109637737274, + 0.28044698377750044 + ], + [ + 0.026527559384703636, + 0.9995527267456055, + 0.013809134252369404, + -0.046591608431832535 + ], + [ + 0.1263451725244522, + -0.017055705189704895, + 0.9918397068977356, + 0.08372244418695055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9915227890014648, + -0.02579697035253048, + -0.12734642624855042, + 0.2753786248741029 + ], + [ + 0.027265457436442375, + 0.9995802044868469, + 0.009801475331187248, + -0.030320822344771743 + ], + [ + 0.12704011797904968, + -0.01319054514169693, + 0.9918098449707031, + 0.0797425003497508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9901253581047058, + -0.02569849044084549, + -0.13780902326107025, + 0.2961609067266871 + ], + [ + 0.028185289353132248, + 0.9994726777076721, + 0.016123998910188675, + -0.044205729868905294 + ], + [ + 0.13732199370861053, + -0.01984896883368492, + 0.9903275966644287, + 0.0751497146031209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9906229376792908, + -0.023027438670396805, + -0.13466960191726685, + 0.28119936671653956 + ], + [ + 0.025919556617736816, + 0.9994686841964722, + 0.019761716946959496, + -0.04930655719905064 + ], + [ + 0.13414299488067627, + -0.023066988214850426, + 0.9906934499740601, + 0.07357303564966625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9915460348129272, + -0.020253144204616547, + -0.12816490232944489, + 0.2621663055928617 + ], + [ + 0.023581385612487793, + 0.9994215369224548, + 0.02450438402593136, + -0.05960987934778477 + ], + [ + 0.1275944858789444, + -0.02731953002512455, + 0.9914500713348389, + 0.06769036292580181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9919573068618774, + -0.01815701089799404, + -0.12526386976242065, + 0.2551221587606866 + ], + [ + 0.022370299324393272, + 0.9992274641990662, + 0.03231097757816315, + -0.07575596881837682 + ], + [ + 0.12458042800426483, + -0.03485330194234848, + 0.9915971755981445, + 0.06503217893748961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9923210144042969, + -0.01778855361044407, + -0.12240331619977951, + 0.24753273963960337 + ], + [ + 0.02140660025179386, + 0.9993700385093689, + 0.02830701693892479, + -0.0569923218981973 + ], + [ + 0.12182266265153885, + -0.0307098850607872, + 0.9920766949653625, + 0.06575113552269236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9933027625083923, + -0.013627252541482449, + -0.11473407596349716, + 0.23213871556518856 + ], + [ + 0.017970576882362366, + 0.9991571307182312, + 0.036906711757183075, + -0.07616574484212645 + ], + [ + 0.11413443833589554, + -0.03872137516736984, + 0.9927104115486145, + 0.0637884650475763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9939582943916321, + -0.009175588376820087, + -0.10937409847974777, + 0.22814337688273398 + ], + [ + 0.01377949770539999, + 0.9990471601486206, + 0.041412003338336945, + -0.08327126400224094 + ], + [ + 0.10888990014791489, + -0.04266892373561859, + 0.9931376576423645, + 0.061664720393460375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9938931465148926, + -0.011578964069485664, + -0.10973777621984482, + 0.2366286408597732 + ], + [ + 0.016093865036964417, + 0.9990561008453369, + 0.04034660756587982, + -0.07614146018850393 + ], + [ + 0.10916703194379807, + -0.04186631739139557, + 0.9931413531303406, + 0.05595746630610063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9942241311073303, + -0.011302890256047249, + -0.10672680288553238, + 0.23146782059961096 + ], + [ + 0.016001634299755096, + 0.9989351630210876, + 0.04327269271016121, + -0.0802833101358907 + ], + [ + 0.10612405091524124, + -0.04473055526614189, + 0.9933462738990784, + 0.05733241514977196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9941309094429016, + -0.00818494614213705, + -0.10787377506494522, + 0.24376288776181573 + ], + [ + 0.012888436205685139, + 0.998992919921875, + 0.0429769791662693, + -0.07531563115531 + ], + [ + 0.10741337388753891, + -0.04411507025361061, + 0.9932352304458618, + 0.05422841972864137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.994431734085083, + -0.009007275104522705, + -0.1049971953034401, + 0.24120095156390092 + ], + [ + 0.013656215742230415, + 0.9989538788795471, + 0.04364233836531639, + -0.07358609756519055 + ], + [ + 0.10449425131082535, + -0.04483318701386452, + 0.9935144186019897, + 0.05459306170072021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9944605827331543, + -0.00842396728694439, + -0.10477205365896225, + 0.2447243989132152 + ], + [ + 0.013125048950314522, + 0.9989337921142578, + 0.04426140338182449, + -0.07162293370427755 + ], + [ + 0.10428748279809952, + -0.04539135843515396, + 0.9935108423233032, + 0.0527355612319862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9949594140052795, + -0.009160881862044334, + -0.0998588278889656, + 0.23277801818471275 + ], + [ + 0.013925323262810707, + 0.9987921714782715, + 0.04711966589093208, + -0.0783112237165714 + ], + [ + 0.09930656105279922, + -0.04827272519469261, + 0.9938852787017822, + 0.05543631830027905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9940744042396545, + -0.009067852050065994, + -0.10832294076681137, + 0.2609229335192077 + ], + [ + 0.013617975637316704, + 0.9990523457527161, + 0.04133956879377365, + -0.05956330111828344 + ], + [ + 0.10784543305635452, + -0.04256974905729294, + 0.9932558536529541, + 0.05632250169934384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9945598244667053, + -0.009116176515817642, + -0.10376705974340439, + 0.2495845147119514 + ], + [ + 0.013853304088115692, + 0.9988899230957031, + 0.04502280429005623, + -0.06775269087018637 + ], + [ + 0.1032414361834526, + -0.04621538892388344, + 0.9935820698738098, + 0.05456348350592728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9945891499519348, + -0.006743715610355139, + -0.10366731882095337, + 0.25334074153055053 + ], + [ + 0.010935107246041298, + 0.9991431832313538, + 0.03991616889834404, + -0.051000518351793284 + ], + [ + 0.10330931842327118, + -0.04083380475640297, + 0.9938107132911682, + 0.06249069355524563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9946244359016418, + -0.004099700599908829, + -0.10346712917089462, + 0.25862024324657074 + ], + [ + 0.008437559008598328, + 0.9991019368171692, + 0.04152221977710724, + -0.053529643241701445 + ], + [ + 0.10320398956537247, + -0.04217202216386795, + 0.9937657713890076, + 0.06255405937674745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9949411153793335, + -0.007322357036173344, + -0.10019265115261078, + 0.2504013278766471 + ], + [ + 0.011523894034326077, + 0.9990753531455994, + 0.04142029955983162, + -0.05129593875387619 + ], + [ + 0.09979671239852905, + -0.04236536845564842, + 0.9941055178642273, + 0.05997963382477133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9944356083869934, + -0.005834181327372789, + -0.1051846295595169, + 0.2656819742084641 + ], + [ + 0.010524921119213104, + 0.9989718794822693, + 0.044095542281866074, + -0.05599708444085614 + ], + [ + 0.10481922328472137, + -0.0449572391808033, + 0.9934746026992798, + 0.06255499109754274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.99455726146698, + -0.007024132646620274, + -0.10395462065935135, + 0.2655240800853915 + ], + [ + 0.011441360227763653, + 0.9990538954734802, + 0.04195677116513252, + -0.04602947412379857 + ], + [ + 0.10356155782938004, + -0.04291779175400734, + 0.9936966896057129, + 0.06503719143280438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9945077300071716, + -0.009131173603236675, + -0.10426399111747742, + 0.27010144998785107 + ], + [ + 0.013384475372731686, + 0.999103307723999, + 0.04016706719994545, + -0.036750113809930866 + ], + [ + 0.10380372405052185, + -0.041341979056596756, + 0.9937382340431213, + 0.06853741072439427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9941378235816956, + -0.009607895277440548, + -0.1076926589012146, + 0.28242885182603616 + ], + [ + 0.014425071887671947, + 0.9989255666732788, + 0.04404141753911972, + -0.0423278854838733 + ], + [ + 0.10715380311012268, + -0.04533671587705612, + 0.9932082295417786, + 0.07188731241521651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.994127631187439, + -0.01111539639532566, + -0.1076418086886406, + 0.2862515475600958 + ], + [ + 0.01582981087267399, + 0.9989478588104248, + 0.04304230213165283, + -0.033877183496952054 + ], + [ + 0.10705011337995529, + -0.04449348896741867, + 0.9932575821876526, + 0.0767521978966121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9939274191856384, + -0.01345858909189701, + -0.10921173542737961, + 0.2929157403996214 + ], + [ + 0.018460096791386604, + 0.9988202452659607, + 0.044915370643138885, + -0.030875328928232193 + ], + [ + 0.10847838968038559, + -0.04665867239236832, + 0.993003249168396, + 0.07674537366256118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9941617250442505, + -0.01364788506180048, + -0.10703341662883759, + 0.28742262481406716 + ], + [ + 0.018861614167690277, + 0.9986763596534729, + 0.04785117506980896, + -0.03053826545846873 + ], + [ + 0.10623867809772491, + -0.04959063231945038, + 0.9931032657623291, + 0.0816501728034225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9942601919174194, + -0.010782529599964619, + -0.10644429177045822, + 0.288807824209477 + ], + [ + 0.016228120774030685, + 0.9985959529876709, + 0.050426241010427475, + -0.029364157596538806 + ], + [ + 0.10575111955404282, + -0.05186419561505318, + 0.9930391907691956, + 0.08355627693396447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9944637417793274, + -0.011750390753149986, + -0.10442139953374863, + 0.2846307397691597 + ], + [ + 0.01702713780105114, + 0.9986147284507751, + 0.049786318093538284, + -0.02000809101195171 + ], + [ + 0.10369173437356949, + -0.05128868296742439, + 0.9932861924171448, + 0.08442641655304309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9939253926277161, + -0.01338142342865467, + -0.10923950374126434, + 0.29612860002249863 + ], + [ + 0.019020115956664085, + 0.9985307455062866, + 0.05074000358581543, + -0.01647923979265936 + ], + [ + 0.10840003192424774, + -0.052509523928165436, + 0.9927195906639099, + 0.08751841608499145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9935848712921143, + -0.01897839829325676, + -0.11148522049188614, + 0.2926570171137051 + ], + [ + 0.02457277476787567, + 0.99849534034729, + 0.049022600054740906, + -0.008490233842668851 + ], + [ + 0.11038710922002792, + -0.05144761502742767, + 0.9925562143325806, + 0.09237468441755607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9944167137145996, + -0.021219249814748764, + -0.1033691018819809, + 0.2617607900150249 + ], + [ + 0.02618403360247612, + 0.9985557794570923, + 0.046911854296922684, + -0.00155829263144526 + ], + [ + 0.10222437977790833, + -0.049356553703546524, + 0.9935361742973328, + 0.10178812464923952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.994489848613739, + -0.017666585743427277, + -0.10333342105150223, + 0.2618488337716152 + ], + [ + 0.022807199507951736, + 0.9985491037368774, + 0.04877970740199089, + -0.00735961856513187 + ], + [ + 0.10232172161340714, + -0.05086767300963402, + 0.9934499263763428, + 0.10222038841196175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9940998554229736, + -0.013234937563538551, + -0.10765855759382248, + 0.2724106602844429 + ], + [ + 0.018780982121825218, + 0.9985390901565552, + 0.05066543444991112, + -0.016742381350747473 + ], + [ + 0.10683072358369827, + -0.05238843336701393, + 0.9928960800170898, + 0.10118355279435115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9937884211540222, + -0.010402044281363487, + -0.11079899221658707, + 0.2786615585731664 + ], + [ + 0.01588313654065132, + 0.9986870884895325, + 0.04870161414146423, + -0.015695638029739778 + ], + [ + 0.11014693230390549, + -0.05015893280506134, + 0.9926488399505615, + 0.10505671808174973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9938771724700928, + -0.007662056013941765, + -0.11022438853979111, + 0.27476809417491715 + ], + [ + 0.012697901576757431, + 0.9989036917686462, + 0.04505808278918266, + -0.012933180121512233 + ], + [ + 0.10975831001996994, + -0.0461818166077137, + 0.9928848743438721, + 0.11309467645458363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9946232438087463, + -0.004895689897239208, + -0.10344389826059341, + 0.25433603280288136 + ], + [ + 0.009205893613398075, + 0.9991072416305542, + 0.04123082011938095, + -0.010098151657088036 + ], + [ + 0.10314968973398209, + -0.0419614240527153, + 0.9937803745269775, + 0.11881805785514157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9945301413536072, + -0.002621506340801716, + -0.1044168546795845, + 0.25798837306772776 + ], + [ + 0.006739108823239803, + 0.9992125630378723, + 0.0391010157763958, + -0.013793189335485984 + ], + [ + 0.10423212498426437, + -0.03959081694483757, + 0.9937646985054016, + 0.11997365979959482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9945842027664185, + -0.0025796531699597836, + -0.1039019450545311, + 0.255282045824951 + ], + [ + 0.00596647011116147, + 0.9994604587554932, + 0.03229868412017822, + -0.002822337171127065 + ], + [ + 0.10376255959272385, + -0.03274369239807129, + 0.9940629601478577, + 0.12282960157969902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9945400953292847, + 0.001232737209647894, + -0.104347825050354, + 0.25871115465234995 + ], + [ + 0.0025132419541478157, + 0.9993572235107422, + 0.03575987368822098, + -0.019765347550655232 + ], + [ + 0.1043248325586319, + -0.035826876759529114, + 0.9938977360725403, + 0.12279460541261682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9946500062942505, + 0.0015395533991977572, + -0.1032906323671341, + 0.25790857310920695 + ], + [ + 0.001823113881982863, + 0.9994716048240662, + 0.03245309740304947, + -0.016731768846511827 + ], + [ + 0.103286013007164, + -0.032467782497406006, + 0.9941216707229614, + 0.12104876622043807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9944859147071838, + 0.0022805058397352695, + -0.10484515875577927, + 0.2649648278640535 + ], + [ + 0.0009783379500731826, + 0.9995182752609253, + 0.03102051466703415, + -0.016247171163558963 + ], + [ + 0.10486539453268051, + -0.03095204010605812, + 0.9940046668052673, + 0.12081481544461486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9944970011711121, + 0.0024018839467316866, + -0.10473736375570297, + 0.2668806813394346 + ], + [ + 0.0008404620457440615, + 0.9995220899581909, + 0.030901798978447914, + -0.018135346831946536 + ], + [ + 0.1047615334391594, + -0.03081977553665638, + 0.9940196871757507, + 0.11919257031785774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9946942329406738, + 0.002059854567050934, + -0.10285469889640808, + 0.26377770550998636 + ], + [ + 0.0014118755934759974, + 0.9994320273399353, + 0.03366953134536743, + -0.026718173278816815 + ], + [ + 0.10286563634872437, + -0.03363610804080963, + 0.9941263794898987, + 0.12291751132057659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.994803249835968, + 0.0012404605513438582, + -0.10180836915969849, + 0.2621236536481241 + ], + [ + 0.0020803427323698997, + 0.9994693994522095, + 0.03250552713871002, + -0.024234125943019463 + ], + [ + 0.10179467499256134, + -0.03254839777946472, + 0.9942728281021118, + 0.12585688495430453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9950680732727051, + 0.001982853515073657, + -0.09917446225881577, + 0.2571056160352249 + ], + [ + 0.001032042084261775, + 0.9995391368865967, + 0.030339384451508522, + -0.021374351248658927 + ], + [ + 0.0991889163851738, + -0.030292106792330742, + 0.9946074485778809, + 0.12950445657419363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9946049451828003, + 0.004641674924641848, + -0.10363128781318665, + 0.27388802447059224 + ], + [ + -0.0017221731832250953, + 0.9995995759963989, + 0.028243735432624817, + -0.01745775809575771 + ], + [ + 0.10372088849544525, + -0.027912888675928116, + 0.9942147135734558, + 0.12415869756569636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9946480393409729, + 0.004446097183972597, + -0.10322538018226624, + 0.2750390422030689 + ], + [ + -0.001791486400179565, + 0.9996656179428101, + 0.025795133784413338, + -0.01344002983693418 + ], + [ + 0.10330554842948914, + -0.02547215111553669, + 0.9943234324455261, + 0.13131553172374721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9944022297859192, + 0.005201350431889296, + -0.10553277283906937, + 0.28311146082003313 + ], + [ + -0.002863577101379633, + 0.9997473955154419, + 0.022291557863354683, + -0.00569302090283097 + ], + [ + 0.1056220605969429, + -0.021864572539925575, + 0.9941659569740295, + 0.12873147072848576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9944673180580139, + 0.008503071963787079, + -0.10470178723335266, + 0.28267776300359904 + ], + [ + -0.006184604950249195, + 0.9997288584709167, + 0.022448323667049408, + -0.00929859067345487 + ], + [ + 0.10486428439617157, + -0.02167658507823944, + 0.9942502975463867, + 0.13030647165944864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9949647784233093, + 0.009041471406817436, + -0.09981651604175568, + 0.2707269947638671 + ], + [ + -0.00680518476292491, + 0.9997186660766602, + 0.022721782326698303, + -0.012422212752802628 + ], + [ + 0.09999386966228485, + -0.021928101778030396, + 0.9947463870048523, + 0.1322600012966271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9949033260345459, + 0.009204518049955368, + -0.10041263699531555, + 0.2721938952819669 + ], + [ + -0.007065881043672562, + 0.9997410178184509, + 0.021633384749293327, + -0.008609278936838285 + ], + [ + 0.10058575868606567, + -0.020813623443245888, + 0.9947106838226318, + 0.13150497946711578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.994735598564148, + 0.010369810275733471, + -0.10194894671440125, + 0.27557028897010305 + ], + [ + -0.008208598010241985, + 0.9997330904006958, + 0.021595686674118042, + -0.00698559176305244 + ], + [ + 0.10214567184448242, + -0.0206451416015625, + 0.9945551753044128, + 0.13530777353664925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9945468306541443, + 0.01120169460773468, + -0.10368748009204865, + 0.27929556298487146 + ], + [ + -0.009031809866428375, + 0.9997307658195496, + 0.021373070776462555, + -0.00443701813447063 + ], + [ + 0.10389897227287292, + -0.02032003551721573, + 0.9943802356719971, + 0.13899004004317625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.994398832321167, + 0.0119312210008502, + -0.10501731187105179, + 0.2820284337038174 + ], + [ + -0.00986448023468256, + 0.9997477531433105, + 0.02017747238278389, + 0.0009490653872490096 + ], + [ + 0.10523156076669693, + -0.019028514623641968, + 0.9942656755447388, + 0.1397320084273815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9940701127052307, + 0.012129435315728188, + -0.10806217789649963, + 0.28640595534093805 + ], + [ + -0.009579416364431381, + 0.9996640086174011, + 0.02408565767109394, + -0.006075893111270048 + ], + [ + 0.1083180159330368, + -0.022907661274075508, + 0.9938523173332214, + 0.13704437514012358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.993952214717865, + 0.009160763584077358, + -0.1094304695725441, + 0.28192570217852964 + ], + [ + -0.006951169576495886, + 0.9997645616531372, + 0.020556211471557617, + 0.007199483339128829 + ], + [ + 0.10959301143884659, + -0.019671224057674408, + 0.9937818646430969, + 0.14341919807524517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9938933253288269, + 0.01159300934523344, + -0.10973465442657471, + 0.27928464938525177 + ], + [ + -0.00903977919369936, + 0.9996773600578308, + 0.02373628504574299, + 0.0007184089000882715 + ], + [ + 0.10997442901134491, + -0.0225993562489748, + 0.9936774373054504, + 0.14791966338144166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9938342571258545, + 0.011797558516263962, + -0.11024636030197144, + 0.27901816505232246 + ], + [ + -0.009195530787110329, + 0.9996677041053772, + 0.024080650880932808, + 0.002328489566671449 + ], + [ + 0.11049382388591766, + -0.022918401286005974, + 0.99361252784729, + 0.14531366731489784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9939876794815063, + 0.012737791985273361, + -0.10874850302934647, + 0.2745582712894498 + ], + [ + -0.009776422753930092, + 0.9995678663253784, + 0.027721239253878593, + -0.0057493973908753215 + ], + [ + 0.10905461758375168, + -0.026491397991776466, + 0.9936826825141907, + 0.15173704841993108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9940347075462341, + 0.012353243306279182, + -0.10836226493120193, + 0.27349021891131997 + ], + [ + -0.009363671764731407, + 0.9995625615119934, + 0.02805427461862564, + -0.00589483102847789 + ], + [ + 0.10866142064332962, + -0.02687225490808487, + 0.9937155246734619, + 0.15178232839138345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9945892691612244, + 0.012777491472661495, + -0.10309641063213348, + 0.2634418376283881 + ], + [ + -0.010059882886707783, + 0.999589204788208, + 0.026836926117539406, + -0.0031717693497394644 + ], + [ + 0.10339696705341339, + -0.025654582306742668, + 0.9943092465400696, + 0.1562902126629869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9963330030441284, + 0.013355733826756477, + -0.08451121300458908, + 0.21709452954056704 + ], + [ + -0.010817252099514008, + 0.9994785189628601, + 0.03042418695986271, + -0.013867880403995517 + ], + [ + 0.08487347513437271, + -0.029398443177342415, + 0.9959579706192017, + 0.15449992866126885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.997119128704071, + 0.011378824710845947, + -0.07499323785305023, + 0.19739958374150868 + ], + [ + -0.00929618626832962, + 0.9995629787445068, + 0.028061818331480026, + -0.010365574986770223 + ], + [ + 0.07527977228164673, + -0.02728382498025894, + 0.9967890977859497, + 0.15621310543461606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9983847141265869, + 0.008999750018119812, + -0.05609789863228798, + 0.15249907245923733 + ], + [ + -0.007573157548904419, + 0.9996438026428223, + 0.02559133619070053, + -0.006484414482938822 + ], + [ + 0.056308235973119736, + -0.025125160813331604, + 0.9980972409248352, + 0.1612073505233074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9987278580665588, + 0.0014678407460451126, + -0.050403594970703125, + 0.14317724011147973 + ], + [ + -0.002184896031394601, + 0.9998971819877625, + -0.014174121432006359, + 0.09689373394538617 + ], + [ + 0.050377607345581055, + 0.014266216196119785, + 0.9986283183097839, + 0.16618796533720312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9987577795982361, + -0.0016950946301221848, + -0.04979977384209633, + 0.14437849695858512 + ], + [ + 0.00012011796934530139, + 0.9995002150535583, + -0.03161216527223587, + 0.13463843809119586 + ], + [ + 0.04982846602797508, + 0.03156691789627075, + 0.9982588291168213, + 0.16440492637198548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9990556240081787, + -0.005690501071512699, + -0.043075717985630035, + 0.12616507572418978 + ], + [ + 0.002974357455968857, + 0.9980180263519287, + -0.0628584772348404, + 0.20868334091942886 + ], + [ + 0.0433480367064476, + 0.0626709908246994, + 0.9970924258232117, + 0.17217986717948625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9991444945335388, + -0.007713239639997482, + -0.04062937945127487, + 0.12018862938957996 + ], + [ + 0.00501147098839283, + 0.9977948069572449, + -0.06618478894233704, + 0.20178182351178137 + ], + [ + 0.04105028510093689, + 0.06592455506324768, + 0.996979832649231, + 0.17507708725230448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9986472129821777, + -0.013754349201917648, + -0.050145361572504044, + 0.1420067425191017 + ], + [ + 0.010577579960227013, + 0.9979527592658997, + -0.06307504326105118, + 0.17610589314637512 + ], + [ + 0.05091025307774544, + 0.062459297478199005, + 0.9967482089996338, + 0.16696816119204821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9978110194206238, + -0.01771395653486252, + -0.06371337175369263, + 0.1687356884559167 + ], + [ + 0.013852965086698532, + 0.998069703578949, + -0.06053866818547249, + 0.1552565048994689 + ], + [ + 0.06466276943683624, + 0.059523534029722214, + 0.9961303472518921, + 0.1636045489235428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9969363212585449, + -0.02019946463406086, + -0.07556449621915817, + 0.19045574605416762 + ], + [ + 0.01577986590564251, + 0.9981548190116882, + -0.058634307235479355, + 0.14248454683813555 + ], + [ + 0.07660944014787674, + 0.057262275367975235, + 0.9954155087471008, + 0.15753707234298103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9959527254104614, + -0.020188460126519203, + -0.0875820517539978, + 0.21056648467121453 + ], + [ + 0.015369926579296589, + 0.9983488917350769, + -0.055347032845020294, + 0.1295699780357295 + ], + [ + 0.08855481445789337, + 0.05377689749002457, + 0.9946185946464539, + 0.14902375823464886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9953665733337402, + -0.015566963702440262, + -0.09488458931446075, + 0.2220679868317755 + ], + [ + 0.010290250182151794, + 0.9983861446380615, + -0.05584964528679848, + 0.13184065718589158 + ], + [ + 0.09560087323188782, + 0.05461448058485985, + 0.9939203858375549, + 0.1499861883433086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.994416356086731, + -0.015560433268547058, + -0.10437428206205368, + 0.23583502590913197 + ], + [ + 0.008963584899902344, + 0.9979493618011475, + -0.06337758898735046, + 0.15682823128741363 + ], + [ + 0.10514643043279648, + 0.062088146805763245, + 0.9925166368484497, + 0.14846134783122047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9931773543357849, + -0.015361728146672249, + -0.11559759080410004, + 0.2510264872709803 + ], + [ + 0.008559249341487885, + 0.9982145428657532, + -0.059114109724760056, + 0.1557626224540431 + ], + [ + 0.11629928648471832, + 0.05772136524319649, + 0.9915355443954468, + 0.14213912249221627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9926142692565918, + -0.013363396748900414, + -0.12057517468929291, + 0.25535618754360695 + ], + [ + 0.006693143397569656, + 0.9984331130981445, + -0.05555661767721176, + 0.15676623474935006 + ], + [ + 0.12112867832183838, + 0.05433925986289978, + 0.9911483526229858, + 0.1423136251239941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9920554161071777, + -0.011017084121704102, + -0.1253184825181961, + 0.2593116983257491 + ], + [ + 0.00456578005105257, + 0.9986547827720642, + -0.051650457084178925, + 0.1586023198890275 + ], + [ + 0.12571893632411957, + 0.050667934119701385, + 0.9907711744308472, + 0.14670264141248732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.991469144821167, + -0.0131068155169487, + -0.12968102097511292, + 0.26658290770418686 + ], + [ + 0.0066132997162640095, + 0.9987083673477173, + -0.050377484411001205, + 0.16638011839883082 + ], + [ + 0.13017380237579346, + 0.04909009858965874, + 0.9902752041816711, + 0.1420850359963189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9912593364715576, + -0.015057242475450039, + -0.13106583058834076, + 0.26204871660507895 + ], + [ + 0.008780357427895069, + 0.9987924695014954, + -0.048337921500205994, + 0.17052151604459204 + ], + [ + 0.131635382771492, + 0.04676461219787598, + 0.9901944994926453, + 0.15169511889589243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9908087253570557, + -0.01628950610756874, + -0.13428588211536407, + 0.2690951404771928 + ], + [ + 0.011803348548710346, + 0.9993475079536438, + -0.034136246889829636, + 0.1389220218206274 + ], + [ + 0.13475431501865387, + 0.0322374664247036, + 0.9903544783592224, + 0.1439529762057395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9913266897201538, + -0.012380292639136314, + -0.1308361440896988, + 0.2646349494931577 + ], + [ + 0.008030746132135391, + 0.9993990659713745, + -0.0337197408080101, + 0.1455890304826457 + ], + [ + 0.1311749666929245, + 0.03237656503915787, + 0.9908304214477539, + 0.14620318941065463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9887370467185974, + -0.007635027170181274, + -0.14946810901165009, + 0.3291565742729039 + ], + [ + 0.004693486727774143, + 0.9997885227203369, + -0.02002291940152645, + 0.1163113926762137 + ], + [ + 0.14958937466144562, + 0.019095877185463905, + 0.9885637760162354, + 0.1428895757774469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9857107400894165, + -0.008533284068107605, + -0.16823068261146545, + 0.3906075408682227 + ], + [ + 0.004316766746342182, + 0.9996677041053772, + -0.02541371062397957, + 0.14270281568169596 + ], + [ + 0.1683916449546814, + 0.02432435378432274, + 0.9854199886322021, + 0.14821353894658387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9848726391792297, + -0.010255727916955948, + -0.17297595739364624, + 0.40687071447870854 + ], + [ + 0.005992967169731855, + 0.9996657967567444, + -0.025147954002022743, + 0.15574001844587 + ], + [ + 0.17317605018615723, + 0.023730894550681114, + 0.9846049547195435, + 0.15004893937308728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9824330806732178, + -0.011518580839037895, + -0.18625956773757935, + 0.4472978445902017 + ], + [ + 0.009007854387164116, + 0.9998568892478943, + -0.014320443384349346, + 0.13881780117236334 + ], + [ + 0.18639785051345825, + 0.012391078285872936, + 0.9823961853981018, + 0.15474452947643746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9790278673171997, + -0.011369592510163784, + -0.20340889692306519, + 0.49595494304928156 + ], + [ + 0.009961136616766453, + 0.9999188184738159, + -0.007946750149130821, + 0.12845759553642108 + ], + [ + 0.2034827470779419, + 0.005753905512392521, + 0.9790616035461426, + 0.17308557625008938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9782428741455078, + -0.009830388240516186, + -0.20722989737987518, + 0.5097332341094694 + ], + [ + 0.00911689456552267, + 0.9999487400054932, + -0.004397762008011341, + 0.11957627321625579 + ], + [ + 0.20726250112056732, + 0.0024127867072820663, + 0.9782823920249939, + 0.178725914905201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9792150259017944, + -0.004804989788681269, + -0.20276781916618347, + 0.5055221024997019 + ], + [ + 0.0040883212350308895, + 0.9999838471412659, + -0.003953122533857822, + 0.11455280275951173 + ], + [ + 0.2027835249900818, + 0.003041977295652032, + 0.9792188405990601, + 0.1822244455411645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9798454642295837, + 0.0011787766125053167, + -0.19975349307060242, + 0.5098703860023244 + ], + [ + -0.002506325952708721, + 0.999976396560669, + -0.006393196061253548, + 0.11303733006633561 + ], + [ + 0.19974124431610107, + 0.006764991208910942, + 0.9798253178596497, + 0.18297903710446353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9800313711166382, + 0.005474922712892294, + -0.19876742362976074, + 0.5201093177291051 + ], + [ + -0.007691715378314257, + 0.9999164938926697, + -0.010382271371781826, + 0.11668485191104741 + ], + [ + 0.19869399070739746, + 0.011703814379870892, + 0.9799916744232178, + 0.17678658557847013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9802844524383545, + 0.01022831629961729, + -0.19732670485973358, + 0.5277863125288699 + ], + [ + -0.012453439645469189, + 0.999872088432312, + -0.010038704611361027, + 0.11291068085822566 + ], + [ + 0.1971987932920456, + 0.01229818258434534, + 0.9802863597869873, + 0.1737978929858494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9813520908355713, + 0.01095312274992466, + -0.19190648198127747, + 0.5209777431273511 + ], + [ + -0.013764632865786552, + 0.9998164772987366, + -0.013323360122740269, + 0.11593436684844823 + ], + [ + 0.19172534346580505, + 0.01571642979979515, + 0.9813227653503418, + 0.17709545541297772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9816268086433411, + 0.009100669994950294, + -0.1905936598777771, + 0.5206890679646989 + ], + [ + -0.012508774176239967, + 0.9997825026512146, + -0.01668606325984001, + 0.11752842375687485 + ], + [ + 0.1904003620147705, + 0.018763579428195953, + 0.9815272092819214, + 0.17634206735689578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9817869663238525, + 0.009981454350054264, + -0.18972273170948029, + 0.52321373433244 + ], + [ + -0.013455021195113659, + 0.9997644424438477, + -0.017029384151101112, + 0.1123430062470765 + ], + [ + 0.18950806558132172, + 0.01927194930613041, + 0.981689989566803, + 0.1748612745681071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9818082451820374, + 0.010675506666302681, + -0.1895747035741806, + 0.5309377979479152 + ], + [ + -0.014357773587107658, + 0.9997338056564331, + -0.018061039969325066, + 0.10910526534606671 + ], + [ + 0.18933142721652985, + 0.020454348996281624, + 0.9817001819610596, + 0.1718657533598036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9821311235427856, + 0.00010936497710645199, + -0.18819774687290192, + 0.5319107669542126 + ], + [ + -0.004712085239589214, + 0.9997006058692932, + -0.02400960773229599, + 0.12095442434837078 + ], + [ + 0.18813876807689667, + 0.024467386305332184, + 0.9818376302719116, + 0.17206483871258538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9824004173278809, + -0.0029513512272387743, + -0.1867636889219284, + 0.5301538465820566 + ], + [ + -0.0013272769283503294, + 0.9997396469116211, + -0.022780124098062515, + 0.11313333769553695 + ], + [ + 0.18678228557109833, + 0.0226270891726017, + 0.9821407198905945, + 0.17397861298462697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9828898906707764, + 0.0001840982586145401, + -0.18419404327869415, + 0.5345082418431111 + ], + [ + -0.004188611637800932, + 0.9997632503509521, + -0.021351881325244904, + 0.10309932109867703 + ], + [ + 0.18414650857448578, + 0.0217580646276474, + 0.9826579689979553, + 0.17267462008729062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9835984110832214, + -0.006003898102790117, + -0.18027247488498688, + 0.5355574225487011 + ], + [ + 0.0011033178307116032, + 0.999627411365509, + -0.027272270992398262, + 0.11505727187312884 + ], + [ + 0.1803690642118454, + 0.026626063510775566, + 0.9832385778427124, + 0.17485329500833077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9834912419319153, + -0.014383573085069656, + -0.1803831309080124, + 0.5405625436647699 + ], + [ + 0.009091069921851158, + 0.999504566192627, + -0.03013286367058754, + 0.11944497389526204 + ], + [ + 0.18072716891765594, + 0.027995530515909195, + 0.9831347465515137, + 0.17494571449813143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9836903214454651, + -0.01663028821349144, + -0.17909982800483704, + 0.5409181057330992 + ], + [ + 0.011451254598796368, + 0.9994869232177734, + -0.0299121905118227, + 0.1145514398941706 + ], + [ + 0.1795053780078888, + 0.0273734163492918, + 0.9833760857582092, + 0.17585714130164606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9838314056396484, + -0.0132325179874897, + -0.17860765755176544, + 0.5508664510277068 + ], + [ + 0.008493749424815178, + 0.9995920062065125, + -0.027270395308732986, + 0.1040688242377906 + ], + [ + 0.17889563739299774, + 0.025312423706054688, + 0.9835423827171326, + 0.17440867228754636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9840983152389526, + -0.015855316072702408, + -0.17691563069820404, + 0.5571296287523904 + ], + [ + 0.010718753561377525, + 0.9994938373565674, + -0.029952043667435646, + 0.10894922836972722 + ], + [ + 0.17730097472667694, + 0.02757943980395794, + 0.9837701916694641, + 0.17337533181035442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.984249472618103, + -0.019032882526516914, + -0.17575766146183014, + 0.5631951225471907 + ], + [ + 0.013648600317537785, + 0.9994012713432312, + -0.03179298713803291, + 0.11255570427867873 + ], + [ + 0.17625753581523895, + 0.02889338508248329, + 0.9839199185371399, + 0.17341579512275498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9836452603340149, + -0.028113815933465958, + -0.17790886759757996, + 0.5723079437438142 + ], + [ + 0.02205026149749756, + 0.9991096258163452, + -0.03596869483590126, + 0.12387286081653218 + ], + [ + 0.17876169085502625, + 0.03145750239491463, + 0.9833893775939941, + 0.17336109422693222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9835265278816223, + -0.02994253672659397, + -0.17826659977436066, + 0.5747647849698391 + ], + [ + 0.024077164009213448, + 0.9990980625152588, + -0.03497571498155594, + 0.12221905002049331 + ], + [ + 0.17915306985378265, + 0.030107391998171806, + 0.9833604097366333, + 0.17379245052660078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.983069658279419, + -0.03427523002028465, + -0.1799979954957962, + 0.5807652487114457 + ], + [ + 0.028044644743204117, + 0.9989199042320251, + -0.03704691678285599, + 0.12950440932964458 + ], + [ + 0.1810733824968338, + 0.031371720135211945, + 0.9829691052436829, + 0.17641813637817214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9826047420501709, + -0.03647387772798538, + -0.18209227919578552, + 0.58695829149721 + ], + [ + 0.03016240894794464, + 0.9988483786582947, + -0.03731156513094902, + 0.1321478644064788 + ], + [ + 0.18324348330497742, + 0.031170178204774857, + 0.9825732707977295, + 0.17494396837749357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9820839166641235, + -0.03765537589788437, + -0.1846437007188797, + 0.5904512812897306 + ], + [ + 0.031612105667591095, + 0.9988672137260437, + -0.03556569293141365, + 0.13181728494578393 + ], + [ + 0.18577377498149872, + 0.029091518372297287, + 0.982161819934845, + 0.17405084298184975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9817280173301697, + -0.0380125567317009, + -0.18645426630973816, + 0.5910940344670209 + ], + [ + 0.032307080924510956, + 0.998914897441864, + -0.03354467824101448, + 0.13193017552638875 + ], + [ + 0.18752706050872803, + 0.02690795809030533, + 0.9818907976150513, + 0.17701273498221717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9814364910125732, + -0.0401606559753418, + -0.1875355839729309, + 0.586953283794995 + ], + [ + 0.03461378067731857, + 0.9988636374473572, + -0.03276066854596138, + 0.13393769467185285 + ], + [ + 0.18863818049430847, + 0.025661200284957886, + 0.9817113280296326, + 0.18028454658543241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9800819158554077, + -0.043195124715566635, + -0.19383902847766876, + 0.5948206547647714 + ], + [ + 0.03736621513962746, + 0.9987356662750244, + -0.03362870588898659, + 0.13967037349939349 + ], + [ + 0.195046529173851, + 0.02571585774421692, + 0.9804568290710449, + 0.17859170138835906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/boom_up/transforms.json b/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..de8eb61b57f0bdf4919e02f486613e92b27b8b1c --- /dev/null +++ b/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/boom_up/transforms.json @@ -0,0 +1,8168 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 233, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011583403829718009, + 2.0259854863979854e-05, + 5.35143385604897e-07 + ], + [ + -0.00011583510058699176, + 1.0, + 5.266969674266875e-05, + -0.00013285163731779903 + ], + [ + -2.025375397352036e-05, + -5.2672039601020515e-05, + 1.0, + 8.310859266202897e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999994695186615, + -0.0019044596701860428, + 0.0026426459662616253, + -0.009401524978176016 + ], + [ + 0.0019012053962796926, + 0.9999974370002747, + 0.0012333948398008943, + -0.0033866931363169487 + ], + [ + -0.0026449882425367832, + -0.001228364068083465, + 0.999995768070221, + 0.010518802805946225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999909400939941, + -0.0012916165869683027, + 0.004049115814268589, + -0.014592763435713755 + ], + [ + 0.0012890880461782217, + 0.9999989867210388, + 0.0006270076846703887, + -0.004634184358191901 + ], + [ + -0.004049921408295631, + -0.0006217823829501867, + 0.9999915957450867, + 0.016882497394770577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999943375587463, + -0.001153903198428452, + 0.0031635400373488665, + -0.010962644454487198 + ], + [ + 0.0011596527183428407, + 0.9999976754188538, + -0.0018162016058340669, + -0.0028666060209145833 + ], + [ + -0.0031614371109753847, + 0.0018198598409071565, + 0.9999933242797852, + 0.016459734364189932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999956488609314, + -0.0005427984287962317, + 0.0029051187448203564, + -0.007749757383636938 + ], + [ + 0.0005473603960126638, + 0.9999986290931702, + -0.0015697494382038713, + -0.006765514117633474 + ], + [ + -0.0029042628593742847, + 0.0015713326865807176, + 0.9999945759773254, + 0.015727198705807778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999989926815033, + -0.004473764915019274, + 0.0002901086409110576, + 0.0005548863404767651 + ], + [ + 0.004475146997720003, + 0.999977707862854, + -0.004953504074364901, + -0.00023836937957796584 + ], + [ + -0.0002679413591977209, + 0.00495475297793746, + 0.9999876618385315, + 0.01690274124246508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999706149101257, + -0.007611802313476801, + -0.0009158225730061531, + 0.0020297287076165705 + ], + [ + 0.00760663254186511, + 0.9999558329582214, + -0.005522328428924084, + -0.0016799406610140256 + ], + [ + 0.0009578169556334615, + 0.005515200085937977, + 0.9999843239784241, + 0.014786960313835277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999961256980896, + -0.008242839016020298, + -0.0030796986538916826, + 0.006837908309836198 + ], + [ + 0.008231381885707378, + 0.9999592304229736, + -0.00371439172886312, + -0.0050861303967520075 + ], + [ + 0.0031101901549845934, + 0.003688897704705596, + 0.9999883770942688, + 0.016298790403605632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999470710754395, + -0.0074718547984957695, + -0.007072167005389929, + 0.01894692236172228 + ], + [ + 0.0075189508497715, + 0.99994957447052, + 0.006656414829194546, + -0.033177851988323806 + ], + [ + 0.007022074889391661, + -0.0067092375829815865, + 0.9999528527259827, + 0.015319126976075872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999246597290039, + -0.009773909114301205, + -0.007424371782690287, + 0.02075083369734408 + ], + [ + 0.009803288616240025, + 0.9999442100524902, + 0.003931032028049231, + -0.019630459490521203 + ], + [ + 0.007385536562651396, + -0.0040035187266767025, + 0.999964714050293, + 0.015322628587379988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998265504837036, + -0.016649600118398666, + -0.008342928253114223, + 0.020670601760904336 + ], + [ + 0.01660718023777008, + 0.9998489618301392, + -0.0051283519715070724, + 0.009720138755851777 + ], + [ + 0.00842705275863409, + 0.00498890969902277, + 0.9999520182609558, + 0.016235269923244828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995790123939514, + -0.027702856808900833, + -0.008625689893960953, + 0.012841427440209122 + ], + [ + 0.027495529502630234, + 0.9993505477905273, + -0.023292068392038345, + 0.06586622549542065 + ], + [ + 0.009265344589948654, + 0.023045092821121216, + 0.9996914863586426, + 0.020379356140720433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9992921352386475, + -0.036437027156353, + -0.009357191622257233, + 0.004366887091048832 + ], + [ + 0.03614019602537155, + 0.998892068862915, + -0.030141768977046013, + 0.08799429633494081 + ], + [ + 0.01044510118663311, + 0.029782263562083244, + 0.9995018243789673, + 0.028050843777199245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9989908337593079, + -0.04378186911344528, + -0.010023028589785099, + -0.006371316984938136 + ], + [ + 0.0433473214507103, + 0.9982550740242004, + -0.040097594261169434, + 0.11375840180392922 + ], + [ + 0.011761086992919445, + 0.039622657001018524, + 0.9991455078125, + 0.03815509758183155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.998826801776886, + -0.04495113343000412, + -0.018012216314673424, + 0.002981217870296075 + ], + [ + 0.044256359338760376, + 0.9983246326446533, + -0.037274010479450226, + 0.10239718386839176 + ], + [ + 0.019657546654343605, + 0.03643312305212021, + 0.9991427659988403, + 0.033094544368314334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9988604187965393, + -0.043335363268852234, + -0.019998326897621155, + 0.0007806654260814961 + ], + [ + 0.04260700196027756, + 0.9984605312347412, + -0.035513103008270264, + 0.09270048064404521 + ], + [ + 0.02150651440024376, + 0.034620560705661774, + 0.999169111251831, + 0.03543412853995788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989010691642761, + -0.04078856483101845, + -0.023084642365574837, + 4.4097156657291355e-05 + ], + [ + 0.039851296693086624, + 0.9984166026115417, + -0.03970083221793175, + 0.09794672691616518 + ], + [ + 0.02466742880642414, + 0.03873724862933159, + 0.9989449381828308, + 0.03400859067152286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988201856613159, + -0.03799928352236748, + -0.030237268656492233, + 0.007730055062485666 + ], + [ + 0.036689598113298416, + 0.9984118938446045, + -0.04274934157729149, + 0.10225482223362758 + ], + [ + 0.031813692301511765, + 0.041589509695768356, + 0.9986281394958496, + 0.026841923975032465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9985761642456055, + -0.039357755333185196, + -0.036008428782224655, + 0.0068605596552891975 + ], + [ + 0.037322234362363815, + 0.9977578520774841, + -0.055554166436195374, + 0.134813475660209 + ], + [ + 0.03811417892575264, + 0.054131150245666504, + 0.9978061318397522, + 0.02601197419752335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9979066848754883, + -0.04508781060576439, + -0.046361055225133896, + 0.012540147692800083 + ], + [ + 0.04152402654290199, + 0.9963070154190063, + -0.07515352219343185, + 0.19277943973911219 + ], + [ + 0.04957835003733635, + 0.07307109981775284, + 0.9960936903953552, + 0.022230682692265715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9970780611038208, + -0.047619275748729706, + -0.05973086506128311, + 0.02477479058093038 + ], + [ + 0.04371371120214462, + 0.9969226717948914, + -0.06507119536399841, + 0.16850120754077516 + ], + [ + 0.06264569610357285, + 0.06227000057697296, + 0.996091365814209, + 0.013423479419073153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9960992336273193, + -0.04701117053627968, + -0.07467471063137054, + 0.04496033085863395 + ], + [ + 0.04305027052760124, + 0.9976235628128052, + -0.05379480868577957, + 0.14182394213717558 + ], + [ + 0.07702620327472687, + 0.05037020146846771, + 0.9957559108734131, + 0.005386150156244122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9957772493362427, + -0.042766038328409195, + -0.08123230934143066, + 0.046186537741972455 + ], + [ + 0.03946291282773018, + 0.9983445405960083, + -0.04184263199567795, + 0.11571093407170525 + ], + [ + 0.08288727700710297, + 0.038460277020931244, + 0.9958165287971497, + -0.0023218028889647846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9958478212356567, + -0.03856812044978142, + -0.08246012032032013, + 0.03525792436899039 + ], + [ + 0.0357649065554142, + 0.9987398982048035, + -0.03520628437399864, + 0.10216275538349974 + ], + [ + 0.08371405303478241, + 0.032110925763845444, + 0.9959723353385925, + -0.007848636364435842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9957869052886963, + -0.033848971128463745, + -0.08522110432386398, + 0.030301363522122645 + ], + [ + 0.031188897788524628, + 0.9989897012710571, + -0.03235437721014023, + 0.0987823792058846 + ], + [ + 0.08623016625642776, + 0.029560115188360214, + 0.995836615562439, + -0.014328140881041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9961845278739929, + -0.031193021684885025, + -0.08150716871023178, + 0.008973918542073205 + ], + [ + 0.029046006500720978, + 0.99920254945755, + -0.027395952492952347, + 0.0898015695656168 + ], + [ + 0.08229673653841019, + 0.024923965334892273, + 0.9962961673736572, + -0.020408394361107515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9971837401390076, + -0.024987371638417244, + -0.07071253657341003, + -0.026513806658251017 + ], + [ + 0.024112114682793617, + 0.9996220469474792, + -0.013204454444348812, + 0.0522026219244661 + ], + [ + 0.07101576030254364, + 0.011462238617241383, + 0.9974093437194824, + -0.02331380984858321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9978672862052917, + -0.02001926489174366, + -0.06212979555130005, + -0.048370618929540546 + ], + [ + 0.019815562292933464, + 0.9997960925102234, + -0.003893179353326559, + 0.027541133350339426 + ], + [ + 0.0621950626373291, + 0.0026537394151091576, + 0.9980604648590088, + -0.027273507305854483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9985881447792053, + -0.01758120022714138, + -0.05012635141611099, + -0.07884074566115079 + ], + [ + 0.017777198925614357, + 0.9998359680175781, + 0.003466931637376547, + 0.007019043559658116 + ], + [ + 0.050057172775268555, + -0.004353142809122801, + 0.9987368583679199, + -0.028783261614594737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9988158345222473, + -0.018429700285196304, + -0.045025479048490524, + -0.08833962748758495 + ], + [ + 0.018766053020954132, + 0.9997989535331726, + 0.007059009280055761, + -0.0004295440390706066 + ], + [ + 0.044886332005262375, + -0.007895600982010365, + 0.9989609122276306, + -0.03366858049994335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994482398033142, + -0.016379840672016144, + -0.028895188122987747, + -0.1264200178777863 + ], + [ + 0.01718684285879135, + 0.9994628429412842, + 0.027904892340302467, + -0.05511534804927892 + ], + [ + 0.028422590345144272, + -0.028386114165186882, + 0.9991928935050964, + -0.032151451679588904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9998964071273804, + -0.009026963263750076, + -0.011209449730813503, + -0.15755265060458976 + ], + [ + 0.009499209001660347, + 0.9990378022193909, + 0.042816419154405594, + -0.09570197691691333 + ], + [ + 0.010812162421643734, + -0.04291846230626106, + 0.9990200996398926, + -0.029201143538450887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999995768070221, + -0.002456910442560911, + 0.0015760515816509724, + -0.16620009819623724 + ], + [ + 0.00237747048959136, + 0.9988170862197876, + 0.04856688156723976, + -0.11227851438111272 + ], + [ + -0.0016935118474066257, + -0.048562925308942795, + 0.9988186955451965, + -0.032782167016432204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999841451644897, + 0.0009605493396520615, + 0.005545297171920538, + -0.15044943850471412 + ], + [ + -0.001264464110136032, + 0.9984819889068604, + 0.05506521463394165, + -0.1277538716279227 + ], + [ + -0.005483986344188452, + -0.055071353912353516, + 0.9984673857688904, + -0.0423262867691188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999834418296814, + 0.0015733768232166767, + 0.01812901720404625, + -0.1593054891150477 + ], + [ + -0.0026299632154405117, + 0.9982894659042358, + 0.05840593948960304, + -0.13304272556099397 + ], + [ + -0.018006112426519394, + -0.05844394490122795, + 0.9981282949447632, + -0.04393392576803935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9997446537017822, + 0.003995273262262344, + 0.022241273894906044, + -0.1431333256869352 + ], + [ + -0.005543991923332214, + 0.9975306987762451, + 0.07001254707574844, + -0.1640232837405698 + ], + [ + -0.02190663479268551, + -0.07011797279119492, + 0.9972981214523315, + -0.04885499235563751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995782971382141, + 0.004386836662888527, + 0.028704773634672165, + -0.1353526295419654 + ], + [ + -0.006566649302840233, + 0.997063934803009, + 0.0762912854552269, + -0.1759513763518169 + ], + [ + -0.028285816311836243, + -0.07644761353731155, + 0.9966722726821899, + -0.052664409616384016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995101690292358, + 0.004011321812868118, + 0.03103739395737648, + -0.11961376965206502 + ], + [ + -0.006235827691853046, + 0.9973915815353394, + 0.07191050797700882, + -0.15507642868263968 + ], + [ + -0.030667979270219803, + -0.07206883281469345, + 0.9969280362129211, + -0.06467611106626432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9993916749954224, + -0.0001769282971508801, + 0.03487538918852806, + -0.1159282627845171 + ], + [ + -0.002034316770732403, + 0.997988760471344, + 0.06335848569869995, + -0.12034826222164878 + ], + [ + -0.03481645509600639, + -0.06339089572429657, + 0.9973812699317932, + -0.07008255903833899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9991409182548523, + -0.0015113127883523703, + 0.0414140559732914, + -0.1254087396422682 + ], + [ + -0.0008117521647363901, + 0.9984293580055237, + 0.056019484996795654, + -0.09118502240242629 + ], + [ + -0.0414336733520031, + -0.056004978716373444, + 0.9975703954696655, + -0.06847950052148823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.99920254945755, + -0.0018751611933112144, + 0.039883557707071304, + -0.11486348280169327 + ], + [ + -0.00043583958176895976, + 0.9983248114585876, + 0.057856231927871704, + -0.0927515045322221 + ], + [ + -0.039925236254930496, + -0.057827480137348175, + 0.9975278973579407, + -0.0756579302251339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9992386102676392, + -0.006200321950018406, + 0.03851979598402977, + -0.11146455361499805 + ], + [ + 0.004375091753900051, + 0.9988716840744019, + 0.04728907346725464, + -0.056860386708687094 + ], + [ + -0.03876953944563866, + -0.047084540128707886, + 0.9981382489204407, + -0.07976962452561691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992372989654541, + -0.010742596350610256, + 0.037542976438999176, + -0.11647596657035295 + ], + [ + 0.009483409114181995, + 0.9993917346000671, + 0.033558521419763565, + -0.015031998370099685 + ], + [ + -0.03788064420223236, + -0.03317688778042793, + 0.9987313747406006, + -0.07964949813061233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9993781447410583, + -0.013117642141878605, + 0.0327296257019043, + -0.11552858216053774 + ], + [ + 0.012046555988490582, + 0.9993922710418701, + 0.032710570842027664, + -0.01402885816862871 + ], + [ + -0.03313881903886795, + -0.03229595348238945, + 0.9989288449287415, + -0.0779753235891333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9992964863777161, + -0.011617627926170826, + 0.03565919026732445, + -0.1342490704938898 + ], + [ + 0.010207402519881725, + 0.999168336391449, + 0.03947773948311806, + -0.03706212623109077 + ], + [ + -0.03608817234635353, + -0.039085980504751205, + 0.998583972454071, + -0.07388942166520604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9994329214096069, + -0.01037613581866026, + 0.03203302249312401, + -0.12970670440499188 + ], + [ + 0.009109129197895527, + 0.9991800785064697, + 0.03944878280162811, + -0.03830703013929827 + ], + [ + -0.03241608664393425, + -0.03913462162017822, + 0.9987080097198486, + -0.07217972314563291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995694160461426, + -0.00762321799993515, + 0.02833397500216961, + -0.12441416076416599 + ], + [ + 0.006433517672121525, + 0.9991034269332886, + 0.04184499755501747, + -0.045903361216187474 + ], + [ + -0.028627565130591393, + -0.04164469614624977, + 0.99872225522995, + -0.07467186875191742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996291995048523, + -0.004500454757362604, + 0.02685442566871643, + -0.12311141167803474 + ], + [ + 0.0032151341438293457, + 0.9988558292388916, + 0.047715168446302414, + -0.06340263758240075 + ], + [ + -0.027038440108299255, + -0.047611135989427567, + 0.9984999299049377, + -0.06811171901926141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996355175971985, + -0.002960499608889222, + 0.026834353804588318, + -0.12271033178147828 + ], + [ + 0.001540707191452384, + 0.9986051321029663, + 0.052776552736759186, + -0.07872345727579347 + ], + [ + -0.026953168213367462, + -0.0527159720659256, + 0.9982457160949707, + -0.06727971912458025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993476867675781, + 0.0002281098859384656, + 0.03611272573471069, + -0.1416545706934091 + ], + [ + -0.0024123992770910263, + 0.9981681108474731, + 0.06045331433415413, + -0.10203468049394673 + ], + [ + -0.0360327810049057, + -0.06050099804997444, + 0.9975175261497498, + -0.05592607726535664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988882541656494, + 0.0014271690743044019, + 0.047119785100221634, + -0.15922330515629787 + ], + [ + -0.004439687356352806, + 0.9979470372200012, + 0.06389062851667404, + -0.1159057766199112 + ], + [ + -0.04693186655640602, + -0.0640287920832634, + 0.9968438744544983, + -0.042576166351550614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.997776210308075, + 0.002260993467643857, + 0.06661436706781387, + -0.1952107623724291 + ], + [ + -0.0066228508949279785, + 0.9978416562080383, + 0.06533140689134598, + -0.1251980869163727 + ], + [ + -0.06632287055253983, + -0.06562729924917221, + 0.9956376552581787, + -0.021381724507001966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9979814887046814, + 0.00041107158176600933, + 0.06350438296794891, + -0.15982197700670503 + ], + [ + -0.004491581581532955, + 0.997931718826294, + 0.06412619352340698, + -0.1253118836674197 + ], + [ + -0.06334666907787323, + -0.06428198516368866, + 0.9959191679954529, + -0.026477606440412586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9982128739356995, + -0.007469631731510162, + 0.05928993970155716, + -0.12809222011409443 + ], + [ + 0.004527249373495579, + 0.9987585544586182, + 0.04960707202553749, + -0.08301525085136809 + ], + [ + -0.05958688259124756, + -0.04924999549984932, + 0.997007429599762, + -0.028546766241498548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9976314902305603, + -0.013090443797409534, + 0.06752783060073853, + -0.14014863235763564 + ], + [ + 0.009621095843613148, + 0.9986293315887451, + 0.051448315382003784, + -0.09342442684132478 + ], + [ + -0.06810875236988068, + -0.05067677050828934, + 0.9963900446891785, + -0.01680189058313082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9975109100341797, + -0.010127948597073555, + 0.06978105008602142, + -0.12649370747987695 + ], + [ + 0.005814824718981981, + 0.9980754852294922, + 0.06173747777938843, + -0.12676339005601817 + ], + [ + -0.07027202844619751, + -0.061178043484687805, + 0.9956501126289368, + -0.011625488866762868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9976512789726257, + -0.009982003830373287, + 0.06776626408100128, + -0.10084547788097427 + ], + [ + 0.006139256991446018, + 0.9983735680580139, + 0.05667911469936371, + -0.11030775344577329 + ], + [ + -0.06822182238101959, + -0.056129954755306244, + 0.9960899353027344, + -0.012951792314134795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9983373880386353, + -0.01307822484523058, + 0.05613726004958153, + -0.05798907478877889 + ], + [ + 0.010419786907732487, + 0.9988220930099487, + 0.04739023745059967, + -0.08183588814632646 + ], + [ + -0.05669091269373894, + -0.04672650992870331, + 0.9972977638244629, + -0.014147614828985314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9981211423873901, + -0.015012085437774658, + 0.05940410494804382, + -0.06291353553533555 + ], + [ + 0.012626789510250092, + 0.999106764793396, + 0.04032736271619797, + -0.06116045266389847 + ], + [ + -0.05995643883943558, + -0.03950151056051254, + 0.9974191188812256, + -0.011157446913421154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9983848333358765, + -0.016613639891147614, + 0.054329413920640945, + -0.043841527662529 + ], + [ + 0.014459110796451569, + 0.9991025328636169, + 0.03981218487024307, + -0.058273809762864275 + ], + [ + -0.05494208261370659, + -0.03896232694387436, + 0.9977290630340576, + -0.006997682587725335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9986727833747864, + -0.021830080077052116, + 0.04664915055036545, + -0.022071626470905954 + ], + [ + 0.02040630765259266, + 0.9993177652359009, + 0.030782176181674004, + -0.029837629292160276 + ], + [ + -0.04728930443525314, + -0.029789382591843605, + 0.9984369277954102, + -0.005012630131737939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9986212253570557, + -0.02645290642976761, + 0.04534151405096054, + -0.02505573017265776 + ], + [ + 0.025353852659463882, + 0.9993746876716614, + 0.024645622819662094, + -0.011858989516722745 + ], + [ + -0.04596511274576187, + -0.02346206083893776, + 0.9986674785614014, + 0.005492234617022091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.998756468296051, + -0.027625182643532753, + 0.04150111973285675, + -0.017619071741877445 + ], + [ + 0.02652338705956936, + 0.9992870092391968, + 0.02686876431107521, + -0.020376748835732195 + ], + [ + -0.04221378266811371, + -0.02573460340499878, + 0.9987770915031433, + 0.011223794828201163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9989625811576843, + -0.028442954644560814, + 0.035564273595809937, + -0.003745390981403661 + ], + [ + 0.027439290657639503, + 0.9992200136184692, + 0.028397811576724052, + -0.02753276271336102 + ], + [ + -0.0363442525267601, + -0.027392493560910225, + 0.9989638328552246, + 0.011580920392037208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9993360042572021, + -0.027233881875872612, + 0.024204175919294357, + 0.027392139863865128 + ], + [ + 0.02635239250957966, + 0.999003529548645, + 0.036020565778017044, + -0.05269625987215289 + ], + [ + -0.02516103908419609, + -0.03535881265997887, + 0.9990578889846802, + 0.010996969827804072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993400573730469, + -0.027828838676214218, + 0.02334488555788994, + 0.030545511146493513 + ], + [ + 0.02690006047487259, + 0.9988692998886108, + 0.039197616279125214, + -0.06315767456745279 + ], + [ + -0.02440931275486946, + -0.03854376822710037, + 0.9989587664604187, + 0.014844264016197673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9993374943733215, + -0.02921484410762787, + 0.02170371264219284, + 0.036109219915394127 + ], + [ + 0.028380166739225388, + 0.9988815188407898, + 0.03781859949231148, + -0.060104547415314055 + ], + [ + -0.02278430387377739, + -0.037177588790655136, + 0.9990488886833191, + 0.019107755719973096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9992954730987549, + -0.030223757028579712, + 0.022250059992074966, + 0.036051450451386385 + ], + [ + 0.02926378697156906, + 0.9986773729324341, + 0.04227461665868759, + -0.07485544134316774 + ], + [ + -0.023498330265283585, + -0.04159371554851532, + 0.9988582730293274, + 0.023277772905240798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9994776844978333, + -0.02994612790644169, + 0.01215006411075592, + 0.06964910854103751 + ], + [ + 0.029390299692749977, + 0.998616635799408, + 0.04360097646713257, + -0.07952390446745117 + ], + [ + -0.013438936322927475, + -0.04322110861539841, + 0.9989751577377319, + 0.023537203322710663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9993091225624084, + -0.03288298472762108, + 0.01732095144689083, + 0.05698277777349897 + ], + [ + 0.03229553624987602, + 0.9989278316497803, + 0.03316826373338699, + -0.047100737356934055 + ], + [ + -0.018393052741885185, + -0.032585956156253815, + 0.9992997050285339, + 0.029767368236107046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9994710087776184, + -0.031623274087905884, + 0.007591982372105122, + 0.08815501566077101 + ], + [ + 0.031256504356861115, + 0.9985268712043762, + 0.04435176029801369, + -0.07885990394600506 + ], + [ + -0.00898334663361311, + -0.04409099742770195, + 0.9989871382713318, + 0.030548998074413372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995148181915283, + -0.030744895339012146, + 0.0049871657975018024, + 0.10189953025687358 + ], + [ + 0.030444182455539703, + 0.998180627822876, + 0.05204356834292412, + -0.0990914641269322 + ], + [ + -0.006578166503459215, + -0.05186649039387703, + 0.9986323714256287, + 0.032702205116571535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9994274973869324, + -0.033024631440639496, + 0.0073526883497834206, + 0.10001944799361558 + ], + [ + 0.03261622041463852, + 0.9982134103775024, + 0.05006149411201477, + -0.09025615785142471 + ], + [ + -0.00899281445890665, + -0.04979301989078522, + 0.9987190961837769, + 0.0369603018308508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9994532465934753, + -0.03225911036133766, + 0.007252799347043037, + 0.10817695893507837 + ], + [ + 0.03183281049132347, + 0.9981012344360352, + 0.05273143947124481, + -0.09708396576601883 + ], + [ + -0.008940096944570541, + -0.05247172713279724, + 0.9985823631286621, + 0.04244785520794063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9995248913764954, + -0.03057173267006874, + 0.003921165131032467, + 0.12759007599911298 + ], + [ + 0.030318263918161392, + 0.9981052279472351, + 0.05354224517941475, + -0.09807715585519527 + ], + [ + -0.005550614558160305, + -0.05339791998267174, + 0.9985578656196594, + 0.047543525037452065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.999451220035553, + -0.03192034736275673, + 0.008849159814417362, + 0.12048319218969293 + ], + [ + 0.031395021826028824, + 0.9980351328849792, + 0.05422353371977806, + -0.09949802414610467 + ], + [ + -0.01056260708719492, + -0.05391595885157585, + 0.9984896183013916, + 0.05193025134664414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994112253189087, + -0.03147612512111664, + 0.013653024099767208, + 0.11500728009589788 + ], + [ + 0.030688844621181488, + 0.9980433583259583, + 0.0544760599732399, + -0.10063104110545126 + ], + [ + -0.01534100528806448, + -0.05402499437332153, + 0.9984217286109924, + 0.05905725380470013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9993094801902771, + -0.032433390617370605, + 0.01812962256371975, + 0.11144249202876255 + ], + [ + 0.03144562244415283, + 0.9981339573860168, + 0.052343014627695084, + -0.09577817888609294 + ], + [ + -0.019793452695012093, + -0.051736775785684586, + 0.9984645843505859, + 0.06251877707686147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9992747902870178, + -0.034272000193595886, + 0.01659267209470272, + 0.12063398321383986 + ], + [ + 0.03341120481491089, + 0.9982082843780518, + 0.04963763430714607, + -0.09052357804672473 + ], + [ + -0.018264124169945717, + -0.049047257751226425, + 0.9986294507980347, + 0.0690348177152718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993144869804382, + -0.03405611217021942, + 0.014517265371978283, + 0.12775463002637544 + ], + [ + 0.03331959247589111, + 0.9982784986495972, + 0.04826883599162102, + -0.0911950036369521 + ], + [ + -0.01613612286746502, + -0.04775203391909599, + 0.99872887134552, + 0.07480941915338667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9992921948432922, + -0.03519406169652939, + 0.013283230364322662, + 0.1310914983523303 + ], + [ + 0.03459577262401581, + 0.998481810092926, + 0.04286201670765877, + -0.08031618993343978 + ], + [ + -0.014771552756428719, + -0.04237213358283043, + 0.9989926815032959, + 0.07856119873708692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992258548736572, + -0.03779832273721695, + 0.010909713804721832, + 0.13292000315890745 + ], + [ + 0.03748031705617905, + 0.9989046454429626, + 0.02801351435482502, + -0.043258114531636235 + ], + [ + -0.011956628412008286, + -0.0275829266756773, + 0.9995480179786682, + 0.07994724790132123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9992828965187073, + -0.037548284977674484, + 0.004878607112914324, + 0.14337394685516583 + ], + [ + 0.03745231404900551, + 0.9991278052330017, + 0.018464459106326103, + -0.022177853422432114 + ], + [ + -0.0055676610209047794, + -0.01826850138604641, + 0.9998176097869873, + 0.08694000533653487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9992669820785522, + -0.038281671702861786, + 0.00021541706519201398, + 0.14951355163457578 + ], + [ + 0.03827250748872757, + 0.999123215675354, + 0.01697123795747757, + -0.022420465541553913 + ], + [ + -0.0008649154915474355, + -0.01695055142045021, + 0.9998559355735779, + 0.08927941615693272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.99922776222229, + -0.039125774055719376, + -0.003619454801082611, + 0.15247118399189463 + ], + [ + 0.039182502776384354, + 0.9990836977958679, + 0.017218265682458878, + -0.028687368326916783 + ], + [ + 0.0029424605891108513, + -0.017346788197755814, + 0.9998452067375183, + 0.09640964552888583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9992874264717102, + -0.03774343803524971, + 0.0001614931970834732, + 0.13579343141313513 + ], + [ + 0.03772952780127525, + 0.9990184903144836, + 0.023206232115626335, + -0.052991718631880035 + ], + [ + -0.001037217560224235, + -0.023183604702353477, + 0.9997307062149048, + 0.10351989750252587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9993435740470886, + -0.03497904911637306, + -0.00943010114133358, + 0.15993320714232737 + ], + [ + 0.03518383577466011, + 0.9991274476051331, + 0.022503675892949104, + -0.057600528823918314 + ], + [ + 0.008634716272354126, + -0.022820690646767616, + 0.9997022747993469, + 0.10659488337917318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9993839263916016, + -0.034324437379837036, + -0.007322764024138451, + 0.15382375232875348 + ], + [ + 0.03450042009353638, + 0.9990808963775635, + 0.025438228622078896, + -0.07021063789725304 + ], + [ + 0.006442881189286709, + -0.025675194337964058, + 0.9996495842933655, + 0.10932249936740845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9993591904640198, + -0.03443566709756851, + -0.00976923294365406, + 0.16163099241153947 + ], + [ + 0.03466721624135971, + 0.9990957379341125, + 0.024615013971924782, + -0.07289176549890947 + ], + [ + 0.008912764489650726, + -0.024937910959124565, + 0.9996492862701416, + 0.11248129856098314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9993379712104797, + -0.03539703041315079, + -0.008409306406974792, + 0.1605247162186123 + ], + [ + 0.03561323136091232, + 0.9989974498748779, + 0.027125656604766846, + -0.08396550817736265 + ], + [ + 0.007440708111971617, + -0.02740718051791191, + 0.9995966553688049, + 0.11736349763252354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9992644786834717, + -0.03777605667710304, + -0.00659458851441741, + 0.1586191164939825 + ], + [ + 0.0378982312977314, + 0.9990912079811096, + 0.019504988566040993, + -0.06536038875066001 + ], + [ + 0.005851774010807276, + -0.01974056474864483, + 0.9997879862785339, + 0.11993467537204511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9993270039558411, + -0.03659025579690933, + -0.002584687899798155, + 0.15053242544868384 + ], + [ + 0.036645375192165375, + 0.9989866614341736, + 0.02612905576825142, + -0.08854381277643401 + ], + [ + 0.0016259998083114624, + -0.026206187903881073, + 0.9996552467346191, + 0.12307392383508127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9993235468864441, + -0.03657438978552818, + -0.0038449305575340986, + 0.1572215149179101 + ], + [ + 0.036634381860494614, + 0.9991858005523682, + 0.01690240204334259, + -0.06580179838527894 + ], + [ + 0.003223604755476117, + -0.017031826078891754, + 0.9998497366905212, + 0.12262994537836519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9993105530738831, + -0.035874634981155396, + -0.009562729857861996, + 0.17424590563208892 + ], + [ + 0.0360497385263443, + 0.9991728663444519, + 0.018815189599990845, + -0.07270355078166929 + ], + [ + 0.008879831992089748, + -0.019146952778100967, + 0.9997772574424744, + 0.121381878552573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.999286413192749, + -0.03608221188187599, + -0.011167289689183235, + 0.1775229113850871 + ], + [ + 0.0362069346010685, + 0.9992818236351013, + 0.011175543069839478, + -0.052402348591592804 + ], + [ + 0.010756030678749084, + -0.01157190091907978, + 0.9998751878738403, + 0.12058493141566629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.999219536781311, + -0.03724939003586769, + -0.01314676646143198, + 0.17743574136643317 + ], + [ + 0.03729134425520897, + 0.9993000626564026, + 0.002960347104817629, + -0.029887231676999873 + ], + [ + 0.013027292676270008, + -0.003448297269642353, + 0.9999092221260071, + 0.12122329911979815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9992285370826721, + -0.03500817343592644, + -0.01779928430914879, + 0.1835306412700949 + ], + [ + 0.03517647460103035, + 0.9993384480476379, + 0.009231754578649998, + -0.048845509487878656 + ], + [ + 0.017464321106672287, + -0.00985074881464243, + 0.9997989535331726, + 0.12524307111984698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9991273283958435, + -0.03524845466017723, + -0.02240852266550064, + 0.18837257759677695 + ], + [ + 0.03519592806696892, + 0.9993767142295837, + -0.002734115347266197, + -0.016675489421548513 + ], + [ + 0.022490929812192917, + 0.0019430406391620636, + 0.9997451305389404, + 0.12700323953678638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9987300038337708, + -0.03997081145644188, + -0.030670633539557457, + 0.19814376676583598 + ], + [ + 0.03891947492957115, + 0.9986588954925537, + -0.03414205089211464, + 0.06811226524155715 + ], + [ + 0.03199418634176254, + 0.032905008643865585, + 0.9989462494850159, + 0.13175068551931401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9985266923904419, + -0.04104002192616463, + -0.03549918532371521, + 0.19434121543830582 + ], + [ + 0.03927866742014885, + 0.9980277419090271, + -0.04896688833832741, + 0.10359763706038738 + ], + [ + 0.0374387726187706, + 0.047500383108854294, + 0.9981693625450134, + 0.13197321124728126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9983162879943848, + -0.040009547024965286, + -0.041997697204351425, + 0.1944150709193842 + ], + [ + 0.037887100130319595, + 0.9980217218399048, + -0.05017147585749626, + 0.09952464648361864 + ], + [ + 0.043921951204538345, + 0.048495832830667496, + 0.9978572130203247, + 0.13408766413942494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9980204105377197, + -0.04016001522541046, + -0.048398207873106, + 0.19196883558841615 + ], + [ + 0.03794129192829132, + 0.9982242584228516, + -0.04592151939868927, + 0.08092968515281018 + ], + [ + 0.05015647038817406, + 0.043994322419166565, + 0.9977719187736511, + 0.13427949549694512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9977675676345825, + -0.03815183416008949, + -0.05481114983558655, + 0.19071106713843242 + ], + [ + 0.03581096604466438, + 0.9984298944473267, + -0.043073490262031555, + 0.06669980498223468 + ], + [ + 0.056368425488471985, + 0.04101449251174927, + 0.9975672364234924, + 0.1375101466117234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9974610805511475, + -0.03858819603919983, + -0.059852275997400284, + 0.18663319579229273 + ], + [ + 0.035760074853897095, + 0.9982249736785889, + -0.047624215483665466, + 0.07391809471722308 + ], + [ + 0.06158376857638359, + 0.04536297917366028, + 0.9970705509185791, + 0.13721007767679363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9970628023147583, + -0.04025484621524811, + -0.06515651941299438, + 0.18387080425846167 + ], + [ + 0.03712774068117142, + 0.9981322288513184, + -0.04851352423429489, + 0.06971571568785043 + ], + [ + 0.06698772311210632, + 0.04595191776752472, + 0.9966951012611389, + 0.13845814081101582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9961999654769897, + -0.033826619386672974, + -0.08025812357664108, + 0.2156482496266735 + ], + [ + 0.03226243704557419, + 0.9992648959159851, + -0.020707134157419205, + -0.014197745135632052 + ], + [ + 0.08089957386255264, + 0.018039125949144363, + 0.9965590238571167, + 0.13526050122615335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9962016940116882, + -0.031866829842329025, + -0.08103495836257935, + 0.21185084378089883 + ], + [ + 0.0302327461540699, + 0.999315619468689, + -0.021313101053237915, + -0.017739425162816874 + ], + [ + 0.08165867626667023, + 0.01878223940730095, + 0.9964833855628967, + 0.13237995292413338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962863326072693, + -0.02960379235446453, + -0.0808526948094368, + 0.20903225105400358 + ], + [ + 0.02789582870900631, + 0.9993649125099182, + -0.022173143923282623, + -0.021536688146920044 + ], + [ + 0.08145775645971298, + 0.019835349172353745, + 0.9964793920516968, + 0.13481786057577821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9962467551231384, + -0.027741864323616028, + -0.08199264109134674, + 0.2121959553453429 + ], + [ + 0.026005014777183533, + 0.9994158148765564, + -0.022175710648298264, + -0.0290480283699159 + ], + [ + 0.08255994319915771, + 0.019960258156061172, + 0.9963861703872681, + 0.13044293952527744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9963443279266357, + -0.025441866368055344, + -0.08155211806297302, + 0.2116316881143199 + ], + [ + 0.02412545680999756, + 0.9995629191398621, + -0.01708703674376011, + -0.052662585271072794 + ], + [ + 0.08195120096206665, + 0.015057088807225227, + 0.9965226054191589, + 0.12653506708026319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9964069724082947, + -0.024731187149882317, + -0.08100295066833496, + 0.21031577606557 + ], + [ + 0.023121124133467674, + 0.9995172023773193, + -0.020754775032401085, + -0.052597479316694985 + ], + [ + 0.08147713541984558, + 0.018807323649525642, + 0.9964977502822876, + 0.12694022423138135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.995768129825592, + -0.025754867121577263, + -0.08821842074394226, + 0.22855308707241484 + ], + [ + 0.023628896102309227, + 0.9994066953659058, + -0.025059211999177933, + -0.04825857576857931 + ], + [ + 0.0888114720582962, + 0.02286865934729576, + 0.9957858920097351, + 0.12055874665845828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9952585101127625, + -0.025451844558119774, + -0.09387626498937607, + 0.24151151351116854 + ], + [ + 0.023502977564930916, + 0.9994859099388123, + -0.021807661280035973, + -0.06320810403417924 + ], + [ + 0.09438305348157883, + 0.019497888162732124, + 0.9953449964523315, + 0.1145256600631722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.994024395942688, + -0.02387099899351597, + -0.1065162718296051, + 0.27231479118626306 + ], + [ + 0.021898625418543816, + 0.9995670914649963, + -0.01964861899614334, + -0.07067457346309876 + ], + [ + 0.10693919658660889, + 0.01719864457845688, + 0.9941167831420898, + 0.10638666005548218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9934009313583374, + -0.022570475935935974, + -0.11245086044073105, + 0.2841573684251514 + ], + [ + 0.022325489670038223, + 0.9997448325157166, + -0.0034375335089862347, + -0.11855920095895899 + ], + [ + 0.11249975115060806, + 0.0009043283062055707, + 0.9936513304710388, + 0.1051807685995049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9924631714820862, + -0.02107447385787964, + -0.12071742862462997, + 0.30299879006784536 + ], + [ + 0.021435074508190155, + 0.9997687935829163, + 0.0016892398707568645, + -0.13361517866623812 + ], + [ + 0.1206539198756218, + -0.0042640953324735165, + 0.9926854968070984, + 0.1039880973915168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9922730922698975, + -0.021015983074903488, + -0.12228021025657654, + 0.30307727959007025 + ], + [ + 0.021161999553442, + 0.9997760653495789, + -0.00010461558122187853, + -0.12750269174575807 + ], + [ + 0.12225502729415894, + -0.002483886666595936, + 0.992495596408844, + 0.10123030156828464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9911162257194519, + -0.02294340170919895, + -0.13100481033325195, + 0.321050121597464 + ], + [ + 0.023455338552594185, + 0.9997220635414124, + 0.002365885768085718, + -0.13059881023805717 + ], + [ + 0.1309141218662262, + -0.005417629610747099, + 0.991378903388977, + 0.09315116345974746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9912400841712952, + -0.0276247039437294, + -0.12915100157260895, + 0.30489747646939136 + ], + [ + 0.02840222418308258, + 0.9995878338813782, + 0.004181975964456797, + -0.13141949957814708 + ], + [ + 0.12898223102092743, + -0.00781351700425148, + 0.9916161298751831, + 0.09223460918292403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9908400774002075, + -0.025149691849946976, + -0.1326780468225479, + 0.3059867146633694 + ], + [ + 0.026950344443321228, + 0.9995672106742859, + 0.011793006211519241, + -0.14837683955657072 + ], + [ + 0.13232402503490448, + -0.01526070199906826, + 0.9910890460014343, + 0.08978303853695377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9916315674781799, + -0.024566369131207466, + -0.12674109637737274, + 0.282988332308315 + ], + [ + 0.026527559384703636, + 0.9995527267456055, + 0.013809134252369404, + -0.1499936146468952 + ], + [ + 0.1263451725244522, + -0.017055705189704895, + 0.9918397068977356, + 0.08548682748243727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9915227890014648, + -0.02579697035253048, + -0.12734642624855042, + 0.2780695157470824 + ], + [ + 0.027265457436442375, + 0.9995802044868469, + 0.009801475331187248, + -0.1345873781576239 + ], + [ + 0.12704011797904968, + -0.01319054514169693, + 0.9918098449707031, + 0.08111841066194506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9901253581047058, + -0.02569849044084549, + -0.13780902326107025, + 0.29886367899718985 + ], + [ + 0.028185289353132248, + 0.9994726777076721, + 0.016123998910188675, + -0.1493226839036777 + ], + [ + 0.13732199370861053, + -0.01984896883368492, + 0.9903275966644287, + 0.07723727856666364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9906229376792908, + -0.023027438670396805, + -0.13466960191726685, + 0.28364106926521093 + ], + [ + 0.025919556617736816, + 0.9994686841964722, + 0.019761716946959496, + -0.15528470216126278 + ], + [ + 0.13414299488067627, + -0.023066988214850426, + 0.9906934499740601, + 0.0760189318138271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9915460348129272, + -0.020253144204616547, + -0.12816490232944489, + 0.26433129686990686 + ], + [ + 0.023581385612487793, + 0.9994215369224548, + 0.02450438402593136, + -0.16644459536363337 + ], + [ + 0.1275944858789444, + -0.02731953002512455, + 0.9914500713348389, + 0.07061072648021167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9919573068618774, + -0.01815701089799404, + -0.12526386976242065, + 0.2570787332109015 + ], + [ + 0.022370299324393272, + 0.9992274641990662, + 0.03231097757816315, + -0.18343134211568995 + ], + [ + 0.12458042800426483, + -0.03485330194234848, + 0.9915971755981445, + 0.06878792268127717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9923210144042969, + -0.01778855361044407, + -0.12240331619977951, + 0.24946494460073781 + ], + [ + 0.02140660025179386, + 0.9993700385093689, + 0.02830701693892479, + -0.16554458470180117 + ], + [ + 0.12182266265153885, + -0.0307098850607872, + 0.9920766949653625, + 0.06908686441722615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9933027625083923, + -0.013627252541482449, + -0.11473407596349716, + 0.23363066476585087 + ], + [ + 0.017970576882362366, + 0.9991571307182312, + 0.036906711757183075, + -0.1855562238086914 + ], + [ + 0.11413443833589554, + -0.03872137516736984, + 0.9927104115486145, + 0.06802778801848662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9939582943916321, + -0.009175588376820087, + -0.10937409847974777, + 0.22915585560017618 + ], + [ + 0.01377949770539999, + 0.9990471601486206, + 0.041412003338336945, + -0.1935109506393301 + ], + [ + 0.10888990014791489, + -0.04266892373561859, + 0.9931376576423645, + 0.06637301542635622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9938931465148926, + -0.011578964069485664, + -0.10973777621984482, + 0.2379163015192246 + ], + [ + 0.016093865036964417, + 0.9990561008453369, + 0.04034660756587982, + -0.18724338864458018 + ], + [ + 0.10916703194379807, + -0.04186631739139557, + 0.9931413531303406, + 0.06061328953324721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9942241311073303, + -0.011302890256047249, + -0.10672680288553238, + 0.23273452381796106 + ], + [ + 0.016001634299755096, + 0.9989351630210876, + 0.04327269271016121, + -0.19223294047446088 + ], + [ + 0.10612405091524124, + -0.04473055526614189, + 0.9933462738990784, + 0.062345322205460275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9941309094429016, + -0.00818494614213705, + -0.10787377506494522, + 0.24468722219683295 + ], + [ + 0.012888436205685139, + 0.998992919921875, + 0.0429769791662693, + -0.18813293504303902 + ], + [ + 0.10741337388753891, + -0.04411507025361061, + 0.9932352304458618, + 0.05921038024866118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.994431734085083, + -0.009007275104522705, + -0.1049971953034401, + 0.24222591735165694 + ], + [ + 0.013656215742230415, + 0.9989538788795471, + 0.04364233836531639, + -0.18726015964458728 + ], + [ + 0.10449425131082535, + -0.04483318701386452, + 0.9935144186019897, + 0.0596947691885048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9944605827331543, + -0.00842396728694439, + -0.10477205365896225, + 0.24569025033490796 + ], + [ + 0.013125048950314522, + 0.9989337921142578, + 0.04426140338182449, + -0.18615585986910196 + ], + [ + 0.10428748279809952, + -0.04539135843515396, + 0.9935108423233032, + 0.05793991525946506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9949594140052795, + -0.009160881862044334, + -0.0998588278889656, + 0.23383625798601784 + ], + [ + 0.013925323262810707, + 0.9987921714782715, + 0.04711966589093208, + -0.19368894007699244 + ], + [ + 0.09930656105279922, + -0.04827272519469261, + 0.9938852787017822, + 0.06101265034863147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9940744042396545, + -0.009067852050065994, + -0.10832294076681137, + 0.26197824388710333 + ], + [ + 0.013617975637316704, + 0.9990523457527161, + 0.04133956879377365, + -0.17583232411536676 + ], + [ + 0.10784543305635452, + -0.04256974905729294, + 0.9932558536529541, + 0.061276739736183965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9945598244667053, + -0.009116176515817642, + -0.10376705974340439, + 0.25065330782070244 + ], + [ + 0.013853304088115692, + 0.9988899230957031, + 0.04502280429005623, + -0.1848639232331309 + ], + [ + 0.1032414361834526, + -0.04621538892388344, + 0.9935820698738098, + 0.05998183944872741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9945891499519348, + -0.006743715610355139, + -0.10366731882095337, + 0.2541371975983252 + ], + [ + 0.010935107246041298, + 0.9991431832313538, + 0.03991616889834404, + -0.16900277361273766 + ], + [ + 0.10330931842327118, + -0.04083380475640297, + 0.9938107132911682, + 0.06731330670320011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9946244359016418, + -0.004099700599908829, + -0.10346712917089462, + 0.2591079662489737 + ], + [ + 0.008437559008598328, + 0.9991019368171692, + 0.04152221977710724, + -0.17238832193201986 + ], + [ + 0.10320398956537247, + -0.04217202216386795, + 0.9937657713890076, + 0.0675710758065869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9949411153793335, + -0.007322357036173344, + -0.10019265115261078, + 0.25127874824563684 + ], + [ + 0.011523894034326077, + 0.9990753531455994, + 0.04142029955983162, + -0.1710127267601161 + ], + [ + 0.09979671239852905, + -0.04236536845564842, + 0.9941055178642273, + 0.06505617366557748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9944356083869934, + -0.005834181327372789, + -0.1051846295595169, + 0.2663860995410781 + ], + [ + 0.010524921119213104, + 0.9989718794822693, + 0.044095542281866074, + -0.17656265610250935 + ], + [ + 0.10481922328472137, + -0.0449572391808033, + 0.9934746026992798, + 0.06798086479177763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.99455726146698, + -0.007024132646620274, + -0.10395462065935135, + 0.2663778755191617 + ], + [ + 0.011441360227763653, + 0.9990538954734802, + 0.04195677116513252, + -0.16746619762531642 + ], + [ + 0.10356155782938004, + -0.04291779175400734, + 0.9936966896057129, + 0.07025392301669665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9945077300071716, + -0.009131173603236675, + -0.10426399111747742, + 0.2712192315841094 + ], + [ + 0.013384475372731686, + 0.999103307723999, + 0.04016706719994545, + -0.1590541394106273 + ], + [ + 0.10380372405052185, + -0.041341979056596756, + 0.9937382340431213, + 0.07359823919511561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9941378235816956, + -0.009607895277440548, + -0.1076926589012146, + 0.283613273399031 + ], + [ + 0.014425071887671947, + 0.9989255666732788, + 0.04404141753911972, + -0.16547129585825165 + ], + [ + 0.10715380311012268, + -0.04533671587705612, + 0.9932082295417786, + 0.07747623514833635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.994127631187439, + -0.01111539639532566, + -0.1076418086886406, + 0.28763138987123965 + ], + [ + 0.01582981087267399, + 0.9989478588104248, + 0.04304230213165283, + -0.15788450390100478 + ], + [ + 0.10705011337995529, + -0.04449348896741867, + 0.9932575821876526, + 0.08227552756153304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9939274191856384, + -0.01345858909189701, + -0.10921173542737961, + 0.29459806403610855 + ], + [ + 0.018460096791386604, + 0.9988202452659607, + 0.044915370643138885, + -0.15572785958647728 + ], + [ + 0.10847838968038559, + -0.04665867239236832, + 0.993003249168396, + 0.08257770771160722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9941617250442505, + -0.01364788506180048, + -0.10703341662883759, + 0.28914037586494895 + ], + [ + 0.018861614167690277, + 0.9986763596534729, + 0.04785117506980896, + -0.15623373831140586 + ], + [ + 0.10623867809772491, + -0.04959063231945038, + 0.9931032657623291, + 0.08789175238845677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9942601919174194, + -0.010782529599964619, + -0.10644429177045822, + 0.29017423097774836 + ], + [ + 0.016228120774030685, + 0.9985959529876709, + 0.050426241010427475, + -0.15591036888032123 + ], + [ + 0.10575111955404282, + -0.05186419561505318, + 0.9930391907691956, + 0.09012872241276862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9944637417793274, + -0.011750390753149986, + -0.10442139953374863, + 0.28612992755490646 + ], + [ + 0.01702713780105114, + 0.9986147284507751, + 0.049786318093538284, + -0.1474175563660161 + ], + [ + 0.10369173437356949, + -0.05128868296742439, + 0.9932861924171448, + 0.09097014506957654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9939253926277161, + -0.01338142342865467, + -0.10923950374126434, + 0.29784742079048965 + ], + [ + 0.019020115956664085, + 0.9985307455062866, + 0.05074000358581543, + -0.14473879244820825 + ], + [ + 0.10840003192424774, + -0.052509523928165436, + 0.9927195906639099, + 0.09426317389990235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9935848712921143, + -0.01897839829325676, + -0.11148522049188614, + 0.29511112034128145 + ], + [ + 0.02457277476787567, + 0.99849534034729, + 0.049022600054740906, + -0.137606010611715 + ], + [ + 0.11038710922002792, + -0.05144761502742767, + 0.9925562143325806, + 0.09902739325730965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9944167137145996, + -0.021219249814748764, + -0.1033691018819809, + 0.26452295098228956 + ], + [ + 0.02618403360247612, + 0.9985557794570923, + 0.046911854296922684, + -0.13154270875042884 + ], + [ + 0.10222437977790833, + -0.049356553703546524, + 0.9935361742973328, + 0.1082129863813391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.994489848613739, + -0.017666585743427277, + -0.10333342105150223, + 0.264163765696616 + ], + [ + 0.022807199507951736, + 0.9985491037368774, + 0.04877970740199089, + -0.1382039838823779 + ], + [ + 0.10232172161340714, + -0.05086767300963402, + 0.9934499263763428, + 0.1088858076339138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9940998554229736, + -0.013234937563538551, + -0.10765855759382248, + 0.2741563029113579 + ], + [ + 0.018780982121825218, + 0.9985390901565552, + 0.05066543444991112, + -0.1484462441041552 + ], + [ + 0.10683072358369827, + -0.05238843336701393, + 0.9928960800170898, + 0.10809340650569005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9937884211540222, + -0.010402044281363487, + -0.11079899221658707, + 0.28004251962431287 + ], + [ + 0.01588313654065132, + 0.9986870884895325, + 0.04870161414146423, + -0.1482799583981777 + ], + [ + 0.11014693230390549, + -0.05015893280506134, + 0.9926488399505615, + 0.11171574881621475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9938771724700928, + -0.007662056013941765, + -0.11022438853979111, + 0.2757919033836766 + ], + [ + 0.012697901576757431, + 0.9989036917686462, + 0.04505808278918266, + -0.14640738031473655 + ], + [ + 0.10975831001996994, + -0.0461818166077137, + 0.9928848743438721, + 0.11926552263923504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9946232438087463, + -0.004895689897239208, + -0.10344389826059341, + 0.2549944186856135 + ], + [ + 0.009205893613398075, + 0.9991072416305542, + 0.04123082011938095, + -0.14446084966947292 + ], + [ + 0.10314968973398209, + -0.0419614240527153, + 0.9937803745269775, + 0.12446114591740329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9945301413536072, + -0.002621506340801716, + -0.1044168546795845, + 0.2583431803914397 + ], + [ + 0.006739108823239803, + 0.9992125630378723, + 0.0391010157763958, + -0.1490314414018187 + ], + [ + 0.10423212498426437, + -0.03959081694483757, + 0.9937646985054016, + 0.12533207209299094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9945842027664185, + -0.0025796531699597836, + -0.1039019450545311, + 0.25563341237741105 + ], + [ + 0.00596647011116147, + 0.9994604587554932, + 0.03229868412017822, + -0.13895574448437525 + ], + [ + 0.10376255959272385, + -0.03274369239807129, + 0.9940629601478577, + 0.1272895183028846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9945400953292847, + 0.001232737209647894, + -0.104347825050354, + 0.25854218463826895 + ], + [ + 0.0025132419541478157, + 0.9993572235107422, + 0.03575987368822098, + -0.15674620835945524 + ], + [ + 0.1043248325586319, + -0.035826876759529114, + 0.9938977360725403, + 0.12770535834775917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9946500062942505, + 0.0015395533991977572, + -0.1032906323671341, + 0.2576962209162142 + ], + [ + 0.001823113881982863, + 0.9994716048240662, + 0.03245309740304947, + -0.1545899212360382 + ], + [ + 0.103286013007164, + -0.032467782497406006, + 0.9941216707229614, + 0.1255270810476665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9944859147071838, + 0.0022805058397352695, + -0.10484515875577927, + 0.2646483093811247 + ], + [ + 0.0009783379500731826, + 0.9995182752609253, + 0.03102051466703415, + -0.15497341454029084 + ], + [ + 0.10486539453268051, + -0.03095204010605812, + 0.9940046668052673, + 0.12511074514899018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9944970011711121, + 0.0024018839467316866, + -0.10473736375570297, + 0.2665452458227358 + ], + [ + 0.0008404620457440615, + 0.9995220899581909, + 0.030901798978447914, + -0.1577237766364525 + ], + [ + 0.1047615334391594, + -0.03081977553665638, + 0.9940196871757507, + 0.12349671138418389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9946942329406738, + 0.002059854567050934, + -0.10285469889640808, + 0.26348826042858176 + ], + [ + 0.0014118755934759974, + 0.9994320273399353, + 0.03366953134536743, + -0.167155604706756 + ], + [ + 0.10286563634872437, + -0.03363610804080963, + 0.9941263794898987, + 0.1276439644332076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.994803249835968, + 0.0012404605513438582, + -0.10180836915969849, + 0.26194827819086514 + ], + [ + 0.0020803427323698997, + 0.9994693994522095, + 0.03250552713871002, + -0.16553842034833186 + ], + [ + 0.10179467499256134, + -0.03254839777946472, + 0.9942728281021118, + 0.13045855498519437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9950680732727051, + 0.001982853515073657, + -0.09917446225881577, + 0.25682357221627045 + ], + [ + 0.001032042084261775, + 0.9995391368865967, + 0.030339384451508522, + -0.16355017675408 + ], + [ + 0.0991889163851738, + -0.030292106792330742, + 0.9946074485778809, + 0.133813247626551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9946049451828003, + 0.004641674924641848, + -0.10363128781318665, + 0.2732237847831004 + ], + [ + -0.0017221731832250953, + 0.9995995759963989, + 0.028243735432624817, + -0.16050390431593203 + ], + [ + 0.10372088849544525, + -0.027912888675928116, + 0.9942147135734558, + 0.12815312818656194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9946480393409729, + 0.004446097183972597, + -0.10322538018226624, + 0.2743989575222729 + ], + [ + -0.001791486400179565, + 0.9996656179428101, + 0.025795133784413338, + -0.15735740759249392 + ], + [ + 0.10330554842948914, + -0.02547215111553669, + 0.9943234324455261, + 0.13498264313434605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9944022297859192, + 0.005201350431889296, + -0.10553277283906937, + 0.2823581617919664 + ], + [ + -0.002863577101379633, + 0.9997473955154419, + 0.022291557863354683, + -0.15048402301196395 + ], + [ + 0.1056220605969429, + -0.021864572539925575, + 0.9941659569740295, + 0.13189806399288875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9944673180580139, + 0.008503071963787079, + -0.10470178723335266, + 0.28143895338128866 + ], + [ + -0.006184604950249195, + 0.9997288584709167, + 0.022448323667049408, + -0.15494874332999362 + ], + [ + 0.10486428439617157, + -0.02167658507823944, + 0.9942502975463867, + 0.13346452586481283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9949647784233093, + 0.009041471406817436, + -0.09981651604175568, + 0.2694019515404542 + ], + [ + -0.00680518476292491, + 0.9997186660766602, + 0.022721782326698303, + -0.1589327069192097 + ], + [ + 0.09999386966228485, + -0.021928101778030396, + 0.9947463870048523, + 0.1354736024192695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9949033260345459, + 0.009204518049955368, + -0.10041263699531555, + 0.2708370223625338 + ], + [ + -0.007065881043672562, + 0.9997410178184509, + 0.021633384749293327, + -0.1559848944945582 + ], + [ + 0.10058575868606567, + -0.020813623443245888, + 0.9947106838226318, + 0.1345731946471115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.994735598564148, + 0.010369810275733471, + -0.10194894671440125, + 0.27403269641197703 + ], + [ + -0.008208598010241985, + 0.9997330904006958, + 0.021595686674118042, + -0.15522187758108666 + ], + [ + 0.10214567184448242, + -0.0206451416015625, + 0.9945551753044128, + 0.13836894970515679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9945468306541443, + 0.01120169460773468, + -0.10368748009204865, + 0.2776249654269938 + ], + [ + -0.009031809866428375, + 0.9997307658195496, + 0.021373070776462555, + -0.1535347961403173 + ], + [ + 0.10389897227287292, + -0.02032003551721573, + 0.9943802356719971, + 0.142020528098761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.994398832321167, + 0.0119312210008502, + -0.10501731187105179, + 0.2802387505536899 + ], + [ + -0.00986448023468256, + 0.9997477531433105, + 0.02017747238278389, + -0.1490130975842476 + ], + [ + 0.10523156076669693, + -0.019028514623641968, + 0.9942656755447388, + 0.14258628562092782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9940701127052307, + 0.012129435315728188, + -0.10806217789649963, + 0.2845760836338239 + ], + [ + -0.009579416364431381, + 0.9996640086174011, + 0.02408565767109394, + -0.15688727372165384 + ], + [ + 0.1083180159330368, + -0.022907661274075508, + 0.9938523173332214, + 0.14050027231509188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.993952214717865, + 0.009160763584077358, + -0.1094304695725441, + 0.28053579322094546 + ], + [ + -0.006951169576495886, + 0.9997645616531372, + 0.020556211471557617, + -0.14448893291169201 + ], + [ + 0.10959301143884659, + -0.019671224057674408, + 0.9937818646430969, + 0.14640379758744404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9938933253288269, + 0.01159300934523344, + -0.10973465442657471, + 0.2775157160627463 + ], + [ + -0.00903977919369936, + 0.9996773600578308, + 0.02373628504574299, + -0.15181856759149454 + ], + [ + 0.10997442901134491, + -0.0225993562489748, + 0.9936774373054504, + 0.1513680134297766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9938342571258545, + 0.011797558516263962, + -0.11024636030197144, + 0.2772078500386199 + ], + [ + -0.009195530787110329, + 0.9996677041053772, + 0.024080650880932808, + -0.15106879606329163 + ], + [ + 0.11049382388591766, + -0.022918401286005974, + 0.99361252784729, + 0.14883045647775048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9939876794815063, + 0.012737791985273361, + -0.10874850302934647, + 0.27259269821586024 + ], + [ + -0.009776422753930092, + 0.9995678663253784, + 0.027721239253878593, + -0.15999305952211906 + ], + [ + 0.10905461758375168, + -0.026491397991776466, + 0.9936826825141907, + 0.1558249451790069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9940347075462341, + 0.012353243306279182, + -0.10836226493120193, + 0.27157333632931113 + ], + [ + -0.009363671764731407, + 0.9995625615119934, + 0.02805427461862564, + -0.16099936643551138 + ], + [ + 0.10866142064332962, + -0.02687225490808487, + 0.9937155246734619, + 0.15595216104953452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9945892691612244, + 0.012777491472661495, + -0.10309641063213348, + 0.26144810835549864 + ], + [ + -0.010059882886707783, + 0.999589204788208, + 0.026836926117539406, + -0.1591421538899685 + ], + [ + 0.10339696705341339, + -0.025654582306742668, + 0.9943092465400696, + 0.16029321214360795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9963330030441284, + 0.013355733826756477, + -0.08451121300458908, + 0.21499906095740354 + ], + [ + -0.010817252099514008, + 0.9994785189628601, + 0.03042418695986271, + -0.17068261355161668 + ], + [ + 0.08487347513437271, + -0.029398443177342415, + 0.9959579706192017, + 0.15911244302185187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.997119128704071, + 0.011378824710845947, + -0.07499323785305023, + 0.19560447605005626 + ], + [ + -0.00929618626832962, + 0.9995629787445068, + 0.028061818331480026, + -0.16805525180594677 + ], + [ + 0.07527977228164673, + -0.02728382498025894, + 0.9967890977859497, + 0.16051736403063968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9983847141265869, + 0.008999750018119812, + -0.05609789863228798, + 0.15107152590463901 + ], + [ + -0.007573157548904419, + 0.9996438026428223, + 0.02559133619070053, + -0.16504860386766237 + ], + [ + 0.056308235973119736, + -0.025125160813331604, + 0.9980972409248352, + 0.1651927208592152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9987278580665588, + 0.0014678407460451126, + -0.050403594970703125, + 0.1429431448200846 + ], + [ + -0.002184896031394601, + 0.9998971819877625, + -0.014174121432006359, + -0.06257262697507596 + ], + [ + 0.050377607345581055, + 0.014266216196119785, + 0.9986283183097839, + 0.16391274982316675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9987577795982361, + -0.0016950946301221848, + -0.04979977384209633, + 0.1446502966147944 + ], + [ + 0.00012011796934530139, + 0.9995002150535583, + -0.03161216527223587, + -0.025626251563943672 + ], + [ + 0.04982846602797508, + 0.03156691789627075, + 0.9982588291168213, + 0.15934333436447998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9990556240081787, + -0.005690501071512699, + -0.043075717985630035, + 0.1270824237417526 + ], + [ + 0.002974357455968857, + 0.9980180263519287, + -0.0628584772348404, + 0.04779595218855759 + ], + [ + 0.0433480367064476, + 0.0626709908246994, + 0.9970924258232117, + 0.1620768712448149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9991444945335388, + -0.007713239639997482, + -0.04062937945127487, + 0.12143870615882092 + ], + [ + 0.00501147098839283, + 0.9977948069572449, + -0.06618478894233704, + 0.04007025134974514 + ], + [ + 0.04105028510093689, + 0.06592455506324768, + 0.996979832649231, + 0.1643927628110195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9986472129821777, + -0.013754349201917648, + -0.050145361572504044, + 0.14424775286320726 + ], + [ + 0.010577579960227013, + 0.9979527592658997, + -0.06307504326105118, + 0.01350841771425873 + ], + [ + 0.05091025307774544, + 0.062459297478199005, + 0.9967482089996338, + 0.1567916032408589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9978110194206238, + -0.01771395653486252, + -0.06371337175369263, + 0.17163711237110968 + ], + [ + 0.013852965086698532, + 0.998069703578949, + -0.06053866818547249, + -0.008220429307427904 + ], + [ + 0.06466276943683624, + 0.059523534029722214, + 0.9961303472518921, + 0.15385500455660553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9969363212585449, + -0.02019946463406086, + -0.07556449621915817, + 0.19378169238615525 + ], + [ + 0.01577986590564251, + 0.9981548190116882, + -0.058634307235479355, + -0.02186680698189243 + ], + [ + 0.07660944014787674, + 0.057262275367975235, + 0.9954155087471008, + 0.14810854251946098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9959527254104614, + -0.020188460126519203, + -0.0875820517539978, + 0.2139080228990522 + ], + [ + 0.015369926579296589, + 0.9983488917350769, + -0.055347032845020294, + -0.035673976458352186 + ], + [ + 0.08855481445789337, + 0.05377689749002457, + 0.9946185946464539, + 0.14012275451216205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9953665733337402, + -0.015566963702440262, + -0.09488458931446075, + 0.2246580075167505 + ], + [ + 0.010290250182151794, + 0.9983861446380615, + -0.05584964528679848, + -0.03427014101682038 + ], + [ + 0.09560087323188782, + 0.05461448058485985, + 0.9939203858375549, + 0.14089946872875866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.994416356086731, + -0.015560433268547058, + -0.10437428206205368, + 0.23843737423163036 + ], + [ + 0.008963584899902344, + 0.9979493618011475, + -0.06337758898735046, + -0.01007019646208862 + ], + [ + 0.10514643043279648, + 0.062088146805763245, + 0.9925166368484497, + 0.13807764052060142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9931773543357849, + -0.015361728146672249, + -0.11559759080410004, + 0.25360884674391226 + ], + [ + 0.008559249341487885, + 0.9982145428657532, + -0.059114109724760056, + -0.012040684320803366 + ], + [ + 0.11629928648471832, + 0.05772136524319649, + 0.9915355443954468, + 0.13243596195564444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9926142692565918, + -0.013363396748900414, + -0.12057517468929291, + 0.2576141407873867 + ], + [ + 0.006693143397569656, + 0.9984331130981445, + -0.05555661767721176, + -0.011934532636198508 + ], + [ + 0.12112867832183838, + 0.05433925986289978, + 0.9911483526229858, + 0.13313216397474553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9920554161071777, + -0.011017084121704102, + -0.1253184825181961, + 0.26118270312917646 + ], + [ + 0.00456578005105257, + 0.9986547827720642, + -0.051650457084178925, + -0.010996811323124786 + ], + [ + 0.12571893632411957, + 0.050667934119701385, + 0.9907711744308472, + 0.13809782846284838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.991469144821167, + -0.0131068155169487, + -0.12968102097511292, + 0.26882010552518326 + ], + [ + 0.0066132997162640095, + 0.9987083673477173, + -0.050377484411001205, + -0.0040890684415554185 + ], + [ + 0.13017380237579346, + 0.04909009858965874, + 0.9902752041816711, + 0.13370586399567025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9912593364715576, + -0.015057242475450039, + -0.13106583058834076, + 0.2646318125125053 + ], + [ + 0.008780357427895069, + 0.9987924695014954, + -0.048337921500205994, + -0.0008230541543713943 + ], + [ + 0.131635382771492, + 0.04676461219787598, + 0.9901944994926453, + 0.1436725690447051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9908087253570557, + -0.01628950610756874, + -0.13428588211536407, + 0.27190367601298054 + ], + [ + 0.011803348548710346, + 0.9993475079536438, + -0.034136246889829636, + -0.03337927265413877 + ], + [ + 0.13475431501865387, + 0.0322374664247036, + 0.9903544783592224, + 0.13839479233941127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9913266897201538, + -0.012380292639136314, + -0.1308361440896988, + 0.26678015537287014 + ], + [ + 0.008030746132135391, + 0.9993990659713745, + -0.0337197408080101, + -0.02758270422446317 + ], + [ + 0.1311749666929245, + 0.03237656503915787, + 0.9908304214477539, + 0.14059311219266263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9887370467185974, + -0.007635027170181274, + -0.14946810901165009, + 0.33048612210771133 + ], + [ + 0.004693486727774143, + 0.9997885227203369, + -0.02002291940152645, + -0.05778971214232774 + ], + [ + 0.14958937466144562, + 0.019095877185463905, + 0.9885637760162354, + 0.13956425923308166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9857107400894165, + -0.008533284068107605, + -0.16823068261146545, + 0.39210086558014157 + ], + [ + 0.004316766746342182, + 0.9996677041053772, + -0.02541371062397957, + -0.03223903253674508 + ], + [ + 0.1683916449546814, + 0.02432435378432274, + 0.9854199886322021, + 0.14395677703432738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9848726391792297, + -0.010255727916955948, + -0.17297595739364624, + 0.40867430800893184 + ], + [ + 0.005992967169731855, + 0.9996657967567444, + -0.025147954002022743, + -0.020063276845833367 + ], + [ + 0.17317605018615723, + 0.023730894550681114, + 0.9846049547195435, + 0.14587557515900196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9824330806732178, + -0.011518580839037895, + -0.18625956773757935, + 0.4493334558591696 + ], + [ + 0.009007854387164116, + 0.9998568892478943, + -0.014320443384349346, + -0.03788104563437658 + ], + [ + 0.18639785051345825, + 0.012391078285872936, + 0.9823961853981018, + 0.1525547268483306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9790278673171997, + -0.011369592510163784, + -0.20340889692306519, + 0.497974025857121 + ], + [ + 0.009961136616766453, + 0.9999188184738159, + -0.007946750149130821, + -0.04911419464082553 + ], + [ + 0.2034827470779419, + 0.005753905512392521, + 0.9790616035461426, + 0.17206376199530246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9782428741455078, + -0.009830388240516186, + -0.20722989737987518, + 0.5114874499420443 + ], + [ + 0.00911689456552267, + 0.9999487400054932, + -0.004397762008011341, + -0.05886285538817275 + ], + [ + 0.20726250112056732, + 0.0024127867072820663, + 0.9782823920249939, + 0.1782953572772636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9792150259017944, + -0.004804989788681269, + -0.20276781916618347, + 0.5063836868756033 + ], + [ + 0.0040883212350308895, + 0.9999838471412659, + -0.003953122533857822, + -0.06475464569340493 + ], + [ + 0.2027835249900818, + 0.003041977295652032, + 0.9792188405990601, + 0.18167898754332343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9798454642295837, + 0.0011787766125053167, + -0.19975349307060242, + 0.5096580029747264 + ], + [ + -0.002506325952708721, + 0.999976396560669, + -0.006393196061253548, + -0.06713083103812974 + ], + [ + 0.19974124431610107, + 0.006764991208910942, + 0.9798253178596497, + 0.1817601723090649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9800313711166382, + 0.005474922712892294, + -0.19876742362976074, + 0.5191181679276332 + ], + [ + -0.007691715378314257, + 0.9999164938926697, + -0.010382271371781826, + -0.06433451336262555 + ], + [ + 0.19869399070739746, + 0.011703814379870892, + 0.9799916744232178, + 0.1746677915959073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9802844524383545, + 0.01022831629961729, + -0.19732670485973358, + 0.5259258170640256 + ], + [ + -0.012453439645469189, + 0.999872088432312, + -0.010038704611361027, + -0.0689626041928242 + ], + [ + 0.1971987932920456, + 0.01229818258434534, + 0.9802863597869873, + 0.17156089598128316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9813520908355713, + 0.01095312274992466, + -0.19190648198127747, + 0.5189759655213305 + ], + [ + -0.013764632865786552, + 0.9998164772987366, + -0.013323360122740269, + -0.0667907134854588 + ], + [ + 0.19172534346580505, + 0.01571642979979515, + 0.9813227653503418, + 0.17422314238060138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9816268086433411, + 0.009100669994950294, + -0.1905936598777771, + 0.5190179966639021 + ], + [ + -0.012508774176239967, + 0.9997825026512146, + -0.01668606325984001, + -0.06605232888511543 + ], + [ + 0.1904003620147705, + 0.018763579428195953, + 0.9815272092819214, + 0.17289668596189084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9817869663238525, + 0.009981454350054264, + -0.18972273170948029, + 0.5213723280988954 + ], + [ + -0.013455021195113659, + 0.9997644424438477, + -0.017029384151101112, + -0.07209629606584023 + ], + [ + 0.18950806558132172, + 0.01927194930613041, + 0.981689989566803, + 0.1713059321961141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9818082451820374, + 0.010675506666302681, + -0.1895747035741806, + 0.528959148005454 + ], + [ + -0.014357773587107658, + 0.9997338056564331, + -0.018061039969325066, + -0.07619022449542737 + ], + [ + 0.18933142721652985, + 0.020454348996281624, + 0.9817001819610596, + 0.16807464557169968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9821311235427856, + 0.00010936497710645199, + -0.18819774687290192, + 0.5318904024412342 + ], + [ + -0.004712085239589214, + 0.9997006058692932, + -0.02400960773229599, + -0.06519672295142864 + ], + [ + 0.18813876807689667, + 0.024467386305332184, + 0.9818376302719116, + 0.16750884264193733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9824004173278809, + -0.0029513512272387743, + -0.1867636889219284, + 0.5307059528030142 + ], + [ + -0.0013272769283503294, + 0.9997396469116211, + -0.022780124098062515, + -0.07388692383879218 + ], + [ + 0.18678228557109833, + 0.0226270891726017, + 0.9821407198905945, + 0.169745786820442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9828898906707764, + 0.0001840982586145401, + -0.18419404327869415, + 0.5344736440669231 + ], + [ + -0.004188611637800932, + 0.9997632503509521, + -0.021351881325244904, + -0.08478722077762257 + ], + [ + 0.18414650857448578, + 0.0217580646276474, + 0.9826579689979553, + 0.16858560449347415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9835984110832214, + -0.006003898102790117, + -0.18027247488498688, + 0.536690917104314 + ], + [ + 0.0011033178307116032, + 0.999627411365509, + -0.027272270992398262, + -0.07366548941053194 + ], + [ + 0.1803690642118454, + 0.026626063510775566, + 0.9832385778427124, + 0.16982647784552055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9834912419319153, + -0.014383573085069656, + -0.1803831309080124, + 0.5432904626981452 + ], + [ + 0.009091069921851158, + 0.999504566192627, + -0.03013286367058754, + -0.07011623693437413 + ], + [ + 0.18072716891765594, + 0.027995530515909195, + 0.9831347465515137, + 0.1696362173313211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9836903214454651, + -0.01663028821349144, + -0.17909982800483704, + 0.5440864623668764 + ], + [ + 0.011451254598796368, + 0.9994869232177734, + -0.0299121905118227, + -0.07586805151197418 + ], + [ + 0.1795053780078888, + 0.0273734163492918, + 0.9833760857582092, + 0.17064203353165167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9838314056396484, + -0.0132325179874897, + -0.17860765755176544, + 0.553398881194278 + ], + [ + 0.008493749424815178, + 0.9995920062065125, + -0.027270395308732986, + -0.08723240453621436 + ], + [ + 0.17889563739299774, + 0.025312423706054688, + 0.9835423827171326, + 0.16956439809552554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9840983152389526, + -0.015855316072702408, + -0.17691563069820404, + 0.5601776765836082 + ], + [ + 0.010718753561377525, + 0.9994938373565674, + -0.029952043667435646, + -0.08319484553588875 + ], + [ + 0.17730097472667694, + 0.02757943980395794, + 0.9837701916694641, + 0.16807342226183491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.984249472618103, + -0.019032882526516914, + -0.17575766146183014, + 0.5668704377936906 + ], + [ + 0.013648600317537785, + 0.9994012713432312, + -0.03179298713803291, + -0.0804321274289797 + ], + [ + 0.17625753581523895, + 0.02889338508248329, + 0.9839199185371399, + 0.1678363828309651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9836452603340149, + -0.028113815933465958, + -0.17790886759757996, + 0.5777610545929778 + ], + [ + 0.02205026149749756, + 0.9991096258163452, + -0.03596869483590126, + -0.06991995453577618 + ], + [ + 0.17876169085502625, + 0.03145750239491463, + 0.9833893775939941, + 0.16725942350378067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9835265278816223, + -0.02994253672659397, + -0.17826659977436066, + 0.5805984171251927 + ], + [ + 0.024077164009213448, + 0.9990980625152588, + -0.03497571498155594, + -0.07243281388334159 + ], + [ + 0.17915306985378265, + 0.030107391998171806, + 0.9833604097366333, + 0.1679267000166121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.983069658279419, + -0.03427523002028465, + -0.1799979954957962, + 0.5874725566550704 + ], + [ + 0.028044644743204117, + 0.9989199042320251, + -0.03704691678285599, + -0.06597388227438104 + ], + [ + 0.1810733824968338, + 0.031371720135211945, + 0.9829691052436829, + 0.17027901528274705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9826047420501709, + -0.03647387772798538, + -0.18209227919578552, + 0.5941272950506415 + ], + [ + 0.03016240894794464, + 0.9988483786582947, + -0.03731156513094902, + -0.064177506571186 + ], + [ + 0.18324348330497742, + 0.031170178204774857, + 0.9825732707977295, + 0.16881741610965853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9820839166641235, + -0.03765537589788437, + -0.1846437007188797, + 0.5978849718764682 + ], + [ + 0.031612105667591095, + 0.9988672137260437, + -0.03556569293141365, + -0.0653728805225471 + ], + [ + 0.18577377498149872, + 0.029091518372297287, + 0.982161819934845, + 0.16830777599283592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9817280173301697, + -0.0380125567317009, + -0.18645426630973816, + 0.5986310069224444 + ], + [ + 0.032307080924510956, + 0.998914897441864, + -0.03354467824101448, + -0.0661305368974291 + ], + [ + 0.18752706050872803, + 0.02690795809030533, + 0.9818907976150513, + 0.1716775363953463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9814364910125732, + -0.0401606559753418, + -0.1875355839729309, + 0.5949507937349122 + ], + [ + 0.03461378067731857, + 0.9988636374473572, + -0.03276066854596138, + -0.06497394347499157 + ], + [ + 0.18863818049430847, + 0.025661200284957886, + 0.9817113280296326, + 0.17517442825282442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9800819158554077, + -0.043195124715566635, + -0.19383902847766876, + 0.6034596797078848 + ], + [ + 0.03736621513962746, + 0.9987356662750244, + -0.03362870588898659, + -0.06007675975561143 + ], + [ + 0.195046529173851, + 0.02571585774421692, + 0.9804568290710449, + 0.1734485298395157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/pan_left/transforms.json b/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..026db3618de553c732c84599fb02f38e4805c4d1 --- /dev/null +++ b/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/pan_left/transforms.json @@ -0,0 +1,8168 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 233, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011583403829718009, + 2.0259854863979854e-05, + 5.35143385604897e-07 + ], + [ + -0.00011583510058699176, + 1.0, + 5.266969674266875e-05, + -0.00013285163731779903 + ], + [ + -2.025375397352036e-05, + -5.2672039601020515e-05, + 1.0, + 8.310859266202897e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999970405769603, + -0.0019044596701860428, + 0.001514204872321667, + -0.00940234586596489 + ], + [ + 0.0019025960045226378, + 0.9999974370002747, + 0.0012312486480256504, + -0.002955659758299589 + ], + [ + -0.0015165459364149428, + -0.001228364068083465, + 0.999998116103014, + 0.010518273338675499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999975317454284, + -0.0012916165869683027, + 0.0017922365910782725, + -0.014593876898288727 + ], + [ + 0.0012904998501281463, + 0.9999989867210388, + 0.0006240967587277943, + -0.0037721162661910057 + ], + [ + -0.001793040703321672, + -0.0006217823829501867, + 0.9999981892129878, + 0.01688196137547493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999993169720673, + -0.0011539031984284522, + -0.0002217893662044498, + -0.010964136570692062 + ], + [ + 0.001153497630655374, + 0.999997675418854, + -0.0018201170062022449, + -0.0015735055785626173 + ], + [ + 0.0002238888502435265, + 0.001819859840907157, + 0.9999982965798118, + 0.016462087631225586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999985748358695, + -0.0005427984287962317, + -0.0016086584306841062, + -0.007750693242996931 + ], + [ + 0.0005402693364390038, + 0.9999986290931702, + -0.0015722041044241896, + -0.005041378550231457 + ], + [ + 0.0016095094646643355, + 0.0015713326865807176, + 0.9999974980999254, + 0.015729907900094986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999756464986165, + -0.004473764915019275, + -0.005352037390833831, + 0.0005452446057461202 + ], + [ + 0.004447127113326594, + 0.9999777078628542, + -0.004978674894373755, + 0.0019167549908161163 + ], + [ + 0.005374191540256841, + 0.004954752977937461, + 0.9999732564859694, + 0.01691341958940029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999414939706712, + -0.007611802313476801, + -0.007686224718445847, + 0.0020100430119782686 + ], + [ + 0.007569068591953666, + 0.9999558329582214, + -0.005573703486387213, + 0.0009061520104296505 + ], + [ + 0.00772831095744377, + 0.005515200085937977, + 0.9999549183966503, + 0.014801223762333393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999057336531151, + -0.008242839016020298, + -0.010978333855284147, + 0.006813037674874067 + ], + [ + 0.00820178496516227, + 0.9999592304229736, + -0.0037792958403697987, + -0.002069012029096484 + ], + [ + 0.011009038627894301, + 0.003688897704705596, + 0.9999326120668929, + 0.016309920698404312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998424814623197, + -0.0074718547984957695, + -0.016098843491782866, + 0.018921157345175743 + ], + [ + 0.007578734868115858, + 0.99994957447052, + 0.006588266696059407, + -0.029729750007390976 + ], + [ + 0.01604880561046531, + -0.0067092375829815865, + 0.999848715080967, + 0.01529599167406559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999797691077407, + -0.009773909114301205, + -0.01757905989573095, + 0.020712917670607567 + ], + [ + 0.009842705959826952, + 0.9999442100524902, + 0.0038312687046508608, + -0.015751365572214127 + ], + [ + 0.017540633463619476, + -0.0040035187266767025, + 0.9998381377371526, + 0.01530709769576788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996687493130413, + -0.016649600118398666, + -0.019624656707269223, + 0.02059883624315262 + ], + [ + 0.016548253442611766, + 0.9998489618301392, + -0.005315424479054269, + 0.014029832556843758 + ], + [ + 0.0197101916622926, + 0.00498890969902277, + 0.9997932598227451, + 0.016256773844361305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9993949386536446, + -0.027702856808900833, + -0.021032383081619074, + 0.012710077688097954 + ], + [ + 0.027204296534461537, + 0.9993505477905273, + -0.02363156454140278, + 0.07060452550649643 + ], + [ + 0.02167338459164796, + 0.023045092821121216, + 0.9994994641862821, + 0.020488621667027473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9990738123781558, + -0.036437027156353, + -0.02288768238700487, + 0.0041784197092056274 + ], + [ + 0.03572873489799997, + 0.998892068862915, + -0.030628377502021457, + 0.09316097944974899 + ], + [ + 0.02397833159572121, + 0.029782263562083244, + 0.9992687509822213, + 0.028204889968037605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9987363123735012, + -0.04378186911344529, + -0.02467641351187882, + -0.00661664642393589 + ], + [ + 0.042754454979877995, + 0.9982550740242007, + -0.04072915321803491, + 0.1193520724773407 + ], + [ + 0.02641655385582264, + 0.03962265700101853, + 0.9988654737408518, + 0.03837712109088898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9984176091388858, + -0.04495113343000412, + -0.03378901664447023, + 0.0027099610306322575 + ], + [ + 0.04366199737809201, + 0.9983246326446533, + -0.037968502526424905, + 0.10842155665159225 + ], + [ + 0.035439133134686815, + 0.03643312305212021, + 0.9987075416912315, + 0.03331439942121506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9983788399332614, + -0.043335363268852234, + -0.03690204995142457, + 0.0005004798877052963 + ], + [ + 0.041999807995555465, + 0.9984605312347412, + -0.03622917649706636, + 0.09915604442358017 + ], + [ + 0.038415246292114305, + 0.034620560705661774, + 0.9986619607723818, + 0.03565796837210655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.99832148526437, + -0.040788564831018455, + -0.04111518880198646, + -0.00023720329045318067 + ], + [ + 0.03912803660250631, + 0.998416602611542, + -0.04041384266003063, + 0.10483235865831375 + ], + [ + 0.04269850928317594, + 0.038737248629331596, + 0.9983367712701032, + 0.03427574411034584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.998056380239278, + -0.03799928352236748, + -0.04939147258363821, + 0.007451612036675215 + ], + [ + 0.035862812321617886, + 0.9984118938446045, + -0.04344527025340855, + 0.10957077145576477 + ], + [ + 0.05096392226183402, + 0.041589509695768356, + 0.9978341298224306, + 0.027146674692630768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9976388222558052, + -0.039357755333185196, + -0.05628270667692536, + 0.006555197760462761 + ], + [ + 0.03618619562719671, + 0.9977578520774841, + -0.05630074450884248, + 0.14255470037460327 + ], + [ + 0.058372382602805854, + 0.054131150245666504, + 0.9968261795927437, + 0.026431957259774208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9966834014637321, + -0.04508781060576439, + -0.06774434594458728, + 0.01217089407145977 + ], + [ + 0.03990327957284302, + 0.9963070154190063, + -0.07602647537368686, + 0.2009388506412506 + ], + [ + 0.07092203282973204, + 0.07307109981775284, + 0.9948018486599032, + 0.02282910980284214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9954761918803041, + -0.047619275748729706, + -0.0822167110447251, + 0.024364279583096504 + ], + [ + 0.0422341172968615, + 0.9969226717948914, + -0.06604111105454766, + 0.17709536850452423 + ], + [ + 0.0851085330259447, + 0.06227000057697296, + 0.9944239688865555, + 0.013960289768874645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9940501318243614, + -0.04701117053627968, + -0.098256455567976, + 0.044534798711538315 + ], + [ + 0.041763507784755585, + 0.9976235628128052, + -0.05479978696630068, + 0.15085415542125702 + ], + [ + 0.10059915290359578, + 0.05037020146846771, + 0.9936511865163444, + 0.0058420873247087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9934539558611147, + -0.042766038328409195, + -0.10592570962942884, + 0.04578099772334099 + ], + [ + 0.03841208226889397, + 0.9983445405960083, + -0.042809336329152375, + 0.1251779943704605 + ], + [ + 0.10758114237004164, + 0.038460277020931244, + 0.9934521415355717, + -0.0019570933654904366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9933724767509602, + -0.03856812044978142, + -0.1082759296275456, + 0.03487556800246239 + ], + [ + 0.03483921108848858, + 0.9987398982048035, + -0.03612257425865584, + 0.11206405609846115 + ], + [ + 0.10953267133401379, + 0.032110925763845444, + 0.9934644076894527, + -0.007530295290052891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9931140014453427, + -0.03384897112846375, + -0.11215514923461159, + 0.029951201751828194 + ], + [ + 0.030301323763594845, + 0.9989897012710574, + -0.0331870885751203, + 0.10911675542593002 + ], + [ + 0.11316518725388817, + 0.02956011518836022, + 0.9931363687134092, + -0.014022346585988998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9934890330048671, + -0.031193021684885032, + -0.10957451083962344, + 0.008637786842882633 + ], + [ + 0.028261680303479652, + 0.9992025494575503, + -0.0282043637237208, + 0.10056883841753006 + ], + [ + 0.11036691355248188, + 0.02492396533489228, + 0.9935783564275191, + -0.020139817148447037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9946801984404708, + -0.024987371638417244, + -0.09993486507066077, + -0.026793837547302246 + ], + [ + 0.023714379781386984, + 0.9996220469474792, + -0.013906109564979665, + 0.06340528279542923 + ], + [ + 0.10024457646612812, + 0.011462238617241383, + 0.9948968097443089, + -0.023185353726148605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9955114816902649, + -0.02001926489174366, + -0.09249930916938215, + -0.0486036017537117 + ], + [ + 0.019687766438772344, + 0.9997960925102234, + -0.004495020257423101, + 0.03917669132351875 + ], + [ + 0.09257043082686045, + 0.0026537394151091576, + 0.9957025824349213, + -0.027242623269557953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9965061696612131, + -0.01758120022714138, + -0.08164795053768373, + -0.07905293256044388 + ], + [ + 0.01787785044523504, + 0.9998359680175781, + 0.002903597781531727, + 0.01908602938055992 + ], + [ + 0.08158350446959461, + -0.004353142809122801, + 0.9966569944606496, + -0.028835799545049667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9968078636375621, + -0.018429700285196304, + -0.07768170985656019, + -0.0885699987411499 + ], + [ + 0.01898696975042136, + 0.9997989535331726, + 0.006441221755052328, + 0.012067942880094051 + ], + [ + 0.07754738412385964, + -0.007895600982010365, + 0.9969574164301569, + -0.033767275512218475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9978975727343532, + -0.016379840672016144, + -0.06270685985992477, + -0.12663182616233826 + ], + [ + 0.01812148949348698, + 0.9994628429412842, + 0.027307182251453548, + -0.04219125956296921 + ], + [ + 0.06222589018526309, + -0.028386114165186882, + 0.9976583687132918, + -0.03251851350069046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.998892622294968, + -0.009026963263750076, + -0.04617364913231551, + -0.15767326951026917 + ], + [ + 0.010990887952792008, + 0.9990378022193909, + 0.04245799221433047, + -0.08235276490449905 + ], + [ + 0.04574595630965175, + -0.04291846230626106, + 0.9980307459302286, + -0.0297746229916811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999400765484185, + -0.002456910442560911, + -0.034527236300699995, + -0.16623398661613464 + ], + [ + 0.004129302233248161, + 0.9988170862197876, + 0.048449388171179865, + -0.09850172698497772 + ], + [ + 0.03436735744913308, + -0.048562925308942795, + 0.9982287008972187, + -0.033452000468969345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994973276325728, + 0.0009605493396520617, + -0.031688056999856856, + -0.15043577551841736 + ], + [ + 0.0007864959656472078, + 0.9984819889068606, + 0.055074115120117055, + -0.11355132609605789 + ], + [ + 0.03169285621801018, + -0.05507135391235353, + 0.9979793371684257, + -0.043109629303216934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9997939993897378, + 0.0015733768232166767, + -0.020235712490193857, + -0.15928243100643158 + ], + [ + -0.0003877079451453265, + 0.9982894659042358, + 0.05846383631551228, + -0.11841262131929398 + ], + [ + 0.020293083783679958, + -0.05844394490122795, + 0.9980844172737119, + -0.04479043185710907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998432071494404, + 0.003995273262262344, + -0.01725131841008166, + -0.14307305216789246 + ], + [ + -0.002775199925293204, + 0.9975306987762451, + 0.07017685416043183, + -0.14897432923316956 + ], + [ + 0.017489094411144032, + -0.07011797279119492, + 0.9973853694921375, + -0.04991280660033226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999193853469323, + 0.004386836662888527, + -0.011914652599328045, + -0.13528455793857574 + ], + [ + -0.0034628234671210643, + 0.997063934803009, + 0.07649503234271467, + -0.16047969460487366 + ], + [ + 0.012215242270558997, + -0.07644761353731155, + 0.9969987434265802, + -0.05385066568851471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999345993427734, + 0.004011321812868119, + -0.010709568325780855, + -0.11954979598522186 + ], + [ + -0.0032288227211512647, + 0.9973915815353396, + 0.07210812303998287, + -0.13916975259780884 + ], + [ + 0.01097088191505067, + -0.07206883281469346, + 0.9973392973757107, + -0.06582548469305038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999680188070408, + -0.0001769282971508801, + -0.007998386357829963, + -0.11593116074800491 + ], + [ + 0.0006835917820766677, + 0.997988760471344, + 0.06338745031180483, + -0.10400189459323883 + ], + [ + 0.0079710846452319, + -0.06339089572429657, + 0.9979569354264679, + -0.07112085819244385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999955122348797, + -0.0015113127883523703, + -0.002583422808821021, + -0.12543414533138275 + ], + [ + 0.0016536208545362232, + 0.9984293580055237, + 0.05600095694675771, + -0.07440108060836792 + ], + [ + 0.0024947290002914936, + -0.056004978716373444, + 0.9984273731885362, + -0.0694209635257721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999984468813025, + -0.0018751611933112144, + -0.005243581845776681, + -0.11489581316709518 + ], + [ + 0.002175222137870582, + 0.9983248114585876, + 0.0578169692882949, + -0.0755390077829361 + ], + [ + 0.0051263812604903265, + -0.057827480137348175, + 0.9983134030516361, + -0.07665495574474335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999508635923127, + -0.006200321950018406, + -0.007735976553897087, + -0.11157412827014923 + ], + [ + 0.006557518622162298, + 0.9988716840744019, + 0.04703612278628465, + -0.03920791298151016 + ], + [ + 0.0074356088852409845, + -0.047084540128707886, + 0.9988632303109852, + -0.08060172200202942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9998939087166131, + -0.010742596350610258, + -0.009840022108176055, + -0.11667044460773468 + ], + [ + 0.011062661250153424, + 0.9993917346000674, + 0.03307154266695212, + 0.0030604382045567036 + ], + [ + 0.009478764359119537, + -0.03317688778042794, + 0.9994045502811415, + -0.08025011420249939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997893808015019, + -0.013117642141878605, + -0.015782858461506597, + -0.11577171087265015 + ], + [ + 0.013618974542432782, + 0.9993922710418701, + 0.03208776228420605, + 0.004494360648095608 + ], + [ + 0.015352353858811691, + -0.03229595348238945, + 0.9993604573871003, + -0.07857391238212585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9998347742515367, + -0.011617627926170826, + -0.013981049129034327, + -0.1344694048166275 + ], + [ + 0.012154151006531076, + 0.999168336391449, + 0.038922481860876566, + -0.018112381920218468 + ], + [ + 0.013517232794378265, + -0.039085980504751205, + 0.9991444293209243, + -0.07463070750236511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997705621065197, + -0.01037613581866026, + -0.018737717913349702, + -0.12990796566009521 + ], + [ + 0.011099737758746514, + 0.9991800785064697, + 0.03893556884085604, + -0.018926382064819336 + ], + [ + 0.018318352307381467, + -0.03913462162017822, + 0.9990660285089424, + -0.07293879985809326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9996931660657151, + -0.00762321799993515, + -0.023567039605275626, + -0.12456531077623367 + ], + [ + 0.008595987788087572, + 0.9991034269332886, + 0.04145483040568334, + -0.026093551889061928 + ], + [ + 0.023229889825232785, + -0.04164469614624977, + 0.9988623793073854, + -0.0754975825548172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996472008513616, + -0.004500454757362605, + -0.02617576189428381, + -0.12320258468389511 + ], + [ + 0.005740093752618785, + 0.9988558292388918, + 0.04747763379880023, + -0.043167196214199066 + ], + [ + 0.02593214126823243, + -0.04761113598942758, + 0.9985292741391714, + -0.06907625496387482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996222486207412, + -0.002960499608889222, + -0.027324176992946782, + -0.12277158349752426 + ], + [ + 0.004395712575694799, + 0.9986051321029663, + 0.05261573916973509, + -0.058062661439180374 + ], + [ + 0.02713029449925286, + -0.0527159720659256, + 0.9982409178645618, + -0.06837039440870285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9998161627819104, + 0.0002281098859384656, + -0.019172079901681075, + -0.1416497528553009 + ], + [ + 0.0009322802191814986, + 0.9981681108474731, + 0.06049424549367549, + -0.08095268160104752 + ], + [ + 0.019150757408000655, + -0.06050099804997444, + 0.9979843810268597, + -0.05720390006899834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999559040046186, + 0.0014271690743044019, + -0.009284853488140501, + -0.1591925472021103 + ], + [ + -0.0008296797224661668, + 0.9979470372200012, + 0.06403932282305873, + -0.09439829736948013 + ], + [ + 0.009357185617918748, + -0.0640287920832634, + 0.9979041803766712, + -0.04395609721541405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999558952714366, + 0.002260993467643857, + 0.009113027405245397, + -0.19516105949878693 + ], + [ + -0.002854091359150252, + 0.9978416562080383, + 0.06560418464467553, + -0.1032627746462822 + ], + [ + -0.008945020958307466, + -0.06562729924917221, + 0.9978041142059839, + -0.022824393585324287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999880806583027, + 0.00041107158176600933, + 0.004867955903256179, + -0.15981276333332062 + ], + [ + -0.0007231380231556067, + 0.997931718826294, + 0.06427923515649885, + -0.10294444859027863 + ], + [ + -0.004831459297438771, + -0.06428198516368866, + 0.9979200602578715, + -0.027918409556150436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999720031433007, + -0.007469631731510162, + -0.0004812175783476951, + -0.12826286256313324 + ], + [ + 0.0074842673482008295, + 0.9987585544586182, + 0.04924777481366377, + -0.06019878387451172 + ], + [ + 0.00011275382242833055, + -0.04924999549984932, + 0.9987864629342166, + -0.02967187389731407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998921928438282, + -0.013090443797409534, + 0.006648375384334437, + -0.14045332372188568 + ], + [ + 0.012736356859464898, + 0.9986293315887451, + 0.05076691693245197, + -0.07018046826124191 + ], + [ + -0.007303820944247658, + -0.05067677050828934, + 0.9986884286426368, + -0.017981436103582382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999184657132141, + -0.010127948597073555, + 0.007776407529010605, + -0.12673380970954895 + ], + [ + 0.009632875776721532, + 0.9980754852294922, + 0.0612579468586992, + -0.10310211777687073 + ], + [ + -0.008381855916740889, + -0.061178043484687805, + 0.9980917038285354, + -0.013075830414891243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999394575217169, + -0.009982003830373287, + 0.004628420290587376, + -0.10108642280101776 + ], + [ + 0.009706340385232234, + 0.9983735680580139, + 0.05617828295557506, + -0.08620908111333847 + ], + [ + -0.0051816695579896665, + -0.056129954755306244, + 0.9984099992292668, + -0.014306653290987015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9998812558706983, + -0.01307822484523058, + -0.00814901712566224, + -0.05831039324402809 + ], + [ + 0.013444344799068683, + 0.9988220930099487, + 0.04662248553810198, + -0.05729586258530617 + ], + [ + 0.007529685398163182, + -0.04672650992870331, + 0.9988793686672721, + -0.015295636840164661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.999869302757084, + -0.015012085437774658, + -0.006003329863492491, + -0.06328883767127991 + ], + [ + 0.015237290299897, + 0.999106764793396, + 0.03941518719093721, + -0.03618278354406357 + ], + [ + 0.005406264027263845, + -0.03950151056051254, + 0.9992049067020112, + -0.012144984677433968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997873837400348, + -0.016613639891147614, + -0.012212615048486888, + -0.04426402971148491 + ], + [ + 0.017075745906999115, + 0.9991025328636169, + 0.038762028467123295, + -0.03286559879779816 + ], + [ + 0.011557675913616937, + -0.03896232694387436, + 0.9991738266148817, + -0.00798853486776352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9995406478210772, + -0.021830080077052116, + -0.021022960163470026, + -0.02263619750738144 + ], + [ + 0.022442120936320482, + 0.9993177652359009, + 0.029331058118851523, + -0.003993204329162836 + ], + [ + 0.020368316201719715, + -0.029789382591843605, + 0.9993486422638567, + -0.005783045198768377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9993749119060089, + -0.02645290642976761, + -0.023451867365262093, + -0.025751259177923203 + ], + [ + 0.026988956072090068, + 0.9993746876716614, + 0.022843397711059657, + 0.014417672529816628 + ], + [ + 0.022832926814689326, + -0.02346206083893776, + 0.9994639472132013, + 0.0048753442242741585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.999214254752188, + -0.027625182643532753, + -0.02842004578306453, + -0.018357330933213234 + ], + [ + 0.028336801787475403, + 0.9992870092391968, + 0.02494887214230678, + 0.006328335031867027 + ], + [ + 0.027710568044298365, + -0.02573460340499878, + 0.9992846473239202, + 0.010536059737205505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9989654330349591, + -0.028442954644560814, + -0.03548407686409666, + -0.004517764318734407 + ], + [ + 0.029387138832224605, + 0.9992200136184692, + 0.02637700599759384, + -0.00039877096423879266 + ], + [ + 0.03470615705315925, + -0.027392493560910225, + 0.9990220851948827, + 0.010837072506546974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9984774856736663, + -0.02723388187587262, + -0.04796876212158068, + 0.026640860363841057 + ], + [ + 0.02888286111256926, + 0.9990035295486452, + 0.03402513899897307, + -0.025137541815638542 + ], + [ + 0.04699432510349979, + -0.035358812659978874, + 0.9982691404818587, + 0.010021554306149483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9983637904780455, + -0.027828838676214218, + -0.04995273580480906, + 0.029765823855996132 + ], + [ + 0.029700258084644767, + 0.9988692998886108, + 0.03712089768880647, + -0.03517211228609085 + ], + [ + 0.04886322844777189, + -0.03854376822710037, + 0.9980615294374127, + 0.01376437395811081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9981821126523687, + -0.02921484410762787, + -0.05271573563612066, + 0.03527810797095299 + ], + [ + 0.03111552057432237, + 0.9988815188407898, + 0.03560203240118488, + -0.03168809041380882 + ], + [ + 0.05161666523801907, + -0.037177588790655136, + 0.9979747122808743, + 0.018050117418169975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9981213567737142, + -0.030223757028579712, + -0.05329413548895686, + 0.03517860919237137 + ], + [ + 0.03237335177609272, + 0.9986773729324341, + 0.039943441718731695, + -0.04601432755589485 + ], + [ + 0.052016407822794916, + -0.04159371554851532, + 0.9977796923377421, + 0.022076575085520744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9974680011687425, + -0.02994612790644169, + -0.0645046704625294, + 0.0687713772058487 + ], + [ + 0.032646223043079035, + 0.998616635799408, + 0.041219643204892534, + -0.050254106521606445 + ], + [ + 0.06318106771765405, + -0.04322110861539841, + 0.9970657568428851, + 0.022270377725362778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9976287376617209, + -0.03288298472762108, + -0.06046188540690523, + 0.05600479245185852 + ], + [ + 0.034777651579470395, + 0.9989278316497803, + 0.030555692290824173, + -0.017391245812177658 + ], + [ + 0.05939229980075063, + -0.032585956156253815, + 0.9977027410925855, + 0.028798216953873634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.996953552019118, + -0.031623274087905884, + -0.07129902313322767, + 0.08720086514949799 + ], + [ + 0.03465879722904532, + 0.9985268712043762, + 0.04174704158115712, + -0.04873193800449371 + ], + [ + 0.0698738156256425, + -0.04409099742770195, + 0.996580981575606, + 0.02921866625547409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9967076553268673, + -0.030744895339012153, + -0.07502395230827621, + 0.10095863044261932 + ], + [ + 0.034511774122062376, + 0.9981806278228762, + 0.049440051559424485, + -0.0685436949133873 + ], + [ + 0.073367429611569, + -0.05186649039387704, + 0.9959553734007934, + 0.031114911660552025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9967273103404207, + -0.033024631440639496, + -0.07378382872029886, + 0.09899454563856125 + ], + [ + 0.03657155274635876, + 0.9982134103775024, + 0.04724925985223336, + -0.05927712097764015 + ], + [ + 0.07209162013749676, + -0.04979301989078522, + 0.9961543565632704, + 0.03541500121355057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.996660857391296, + -0.03225911036133767, + -0.07501020309700494, + 0.10716190934181213 + ], + [ + 0.03606378648633531, + 0.9981012344360354, + 0.04993331389717779, + -0.0656781941652298 + ], + [ + 0.07325696792361791, + -0.052471727132797255, + 0.9959317636945013, + 0.040796805173158646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.996369088215945, + -0.030571732670068748, + -0.07946083352763413, + 0.12661494314670563 + ], + [ + 0.034678469082800735, + 0.9981052279472353, + 0.050826891779225336, + -0.06624104082584381 + ], + [ + 0.0777564042929242, + -0.05339791998267175, + 0.995541341132702, + 0.0458403155207634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9966219543027182, + -0.031920347362756736, + -0.07566854737476732, + 0.11945128440856934 + ], + [ + 0.035866297246254814, + 0.9980351328849795, + 0.051375555727992184, + -0.06723395735025406 + ], + [ + 0.07387994646904693, + -0.053915958851575865, + 0.9958086362518996, + 0.05018727853894234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9969075677371351, + -0.03147612512111664, + -0.07200349817155376, + 0.11397616565227509 + ], + [ + 0.03524229770956327, + 0.9980433583259583, + 0.05164713686683476, + -0.06793651729822159 + ], + [ + 0.07023696371519272, + -0.05402499437332153, + 0.9960662947484377, + 0.05728746950626373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9971128034873117, + -0.03243339061737061, + -0.06865986843956744, + 0.11036603897809982 + ], + [ + 0.03586937120672639, + 0.9981339573860171, + 0.04941666278138761, + -0.06265045702457428 + ], + [ + 0.0669289943330645, + -0.0517367757856846, + 0.9964154839671767, + 0.06080165132880211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9968650282397218, + -0.034272000193595886, + -0.0713129633588771, + 0.11948173493146896 + ], + [ + 0.03764526881018813, + 0.9982082843780518, + 0.046508462488052286, + -0.056963127106428146 + ], + [ + 0.06959125306057223, + -0.049047257751226425, + 0.996369116206609, + 0.06738581508398056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9966386880692744, + -0.03405611217021942, + -0.07450852519284439, + 0.12659496068954468 + ], + [ + 0.03748461557131473, + 0.9982784986495972, + 0.04511074557371245, + -0.05720189958810806 + ], + [ + 0.07284395927412216, + -0.04775203391909599, + 0.9961995234477682, + 0.07318338006734848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9964205212924377, + -0.03519406169652939, + -0.0768601303078702, + 0.12987791001796722 + ], + [ + 0.038319038741367425, + 0.998481810092926, + 0.03956856365396402, + -0.045885782688856125 + ], + [ + 0.07535086643307826, + -0.04237213358283043, + 0.9962564044440396, + 0.07710009068250656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9960504442075796, + -0.03779832273721695, + -0.08034204065852038, + 0.13160032033920288 + ], + [ + 0.039880843483883974, + 0.9989046454429626, + 0.024475487250586923, + -0.008382564410567284 + ], + [ + 0.07932890238177552, + -0.0275829266756773, + 0.9964668215525139, + 0.07898422330617905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9954586684584698, + -0.037548284977674484, + -0.08747655384770293, + 0.14204680919647217 + ], + [ + 0.03899821617186725, + 0.9991278052330017, + 0.014924852197822133, + 0.01313614659011364 + ], + [ + 0.08683985556916626, + -0.01826850138604641, + 0.996054763140127, + 0.08629430830478668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9949073567560023, + -0.038281671702861786, + -0.09324108187743362, + 0.14814399182796478 + ], + [ + 0.03969197958859536, + 0.999123215675354, + 0.013317451093304766, + 0.013324028812348843 + ], + [ + 0.09264951154405099, + -0.01695055142045021, + 0.995554472638826, + 0.08867299556732178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9943995008169745, + -0.039125774055719376, + -0.09817766560564893, + 0.15105456113815308 + ], + [ + 0.04063627307938645, + 0.9990836977958679, + 0.013432442337514105, + 0.007486351765692234 + ], + [ + 0.09756215013634391, + -0.017346788197755814, + 0.995078249370914, + 0.09578157216310501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9947095742252486, + -0.03774343803524972, + -0.09554187421822523, + 0.13441058993339539 + ], + [ + 0.0397785814933103, + 0.9990184903144839, + 0.019486172828228766, + -0.016389748081564903 + ], + [ + 0.09471262849060282, + -0.02318360470235348, + 0.9952346852745944, + 0.10267049819231033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9937276419171509, + -0.03497904911637307, + -0.10621619220497212, + 0.15863656997680664 + ], + [ + 0.037198757937314586, + 0.9991274476051333, + 0.018988684431371933, + -0.02056390792131424 + ], + [ + 0.10545930583485992, + -0.02282069064676762, + 0.9941617229489993, + 0.10574894398450851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9938538632376588, + -0.034324437379837036, + -0.1052442574700801, + 0.15253658592700958 + ], + [ + 0.03682767356544772, + 0.9990808963775635, + 0.021934104080551495, + -0.032745104283094406 + ], + [ + 0.10439465053941145, + -0.025675194337964058, + 0.9942044855233112, + 0.1083596795797348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9934673108447535, + -0.03443566709756851, + -0.10879766431363512, + 0.1603248119354248 + ], + [ + 0.036936762406404276, + 0.9990957379341125, + 0.021056836839755556, + -0.034995030611753464 + ], + [ + 0.10797417538761223, + -0.024937910959124565, + 0.9938408878490645, + 0.11153537780046463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9934591439519306, + -0.03539703041315079, + -0.10856346731576562, + 0.15916681289672852 + ], + [ + 0.03815347285110219, + 0.9989974498748779, + 0.023418283532441235, + -0.04564189910888672 + ], + [ + 0.10762568623571005, + -0.02740718051791191, + 0.9938136390812925, + 0.11631210148334503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9934468759182914, + -0.03777605667710304, + -0.10787164448738082, + 0.1571536660194397 + ], + [ + 0.03968047454954293, + 0.9990912079811096, + 0.015562148115887263, + -0.02660254016518593 + ], + [ + 0.10718573369138883, + -0.01974056474864483, + 0.9940429966852532, + 0.11916887760162354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.993797759624533, + -0.03659025579690933, + -0.10501025860436715, + 0.14909720420837402 + ], + [ + 0.03913077509042343, + 0.9989866614341736, + 0.022234961640121162, + -0.04935942217707634 + ], + [ + 0.10409026829425713, + -0.026206187903881073, + 0.9942225466392616, + 0.12204600870609283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9935445903647393, + -0.03657438978552819, + -0.10738473732173573, + 0.1557711511850357 + ], + [ + 0.038188743223401385, + 0.9991858005523684, + 0.013014953713035017, + -0.026178913190960884 + ], + [ + 0.10682128619880482, + -0.017031826078891758, + 0.9941323354576882, + 0.121954545378685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9928109015084775, + -0.035874634981155396, + -0.11419081019543068, + 0.17280782759189606 + ], + [ + 0.03782234885298693, + 0.9991728663444519, + 0.014935358540870542, + -0.032650500535964966 + ], + [ + 0.11356055808541561, + -0.019146952778100967, + 0.9933465737408734, + 0.12061434984207153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.992487524188952, + -0.03608221188187599, + -0.11690405587453336, + 0.17606095969676971 + ], + [ + 0.03718664283697645, + 0.9992818236351013, + 0.007279318005626404, + -0.011914205737411976 + ], + [ + 0.11655744493951536, + -0.01157190091907978, + 0.9931165317075744, + 0.12011606991291046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9920766816253969, + -0.03724939003586769, + -0.11998490708831004, + 0.17591044306755066 + ], + [ + 0.037394015588381485, + 0.9993000626564026, + -0.0010467136749808315, + 0.01103238295763731 + ], + [ + 0.11993991350767566, + -0.003448297269642353, + 0.9927751910653697, + 0.12108209729194641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9914465754375532, + -0.03500817343592644, + -0.12573055275247663, + 0.18208202719688416 + ], + [ + 0.0359683968431349, + 0.9993384480476379, + 0.005374391732291395, + -0.00749357370659709 + ], + [ + 0.12545922598536574, + -0.00985074881464243, + 0.9920498639750409, + 0.12483545392751694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9906999443469788, + -0.03524845466017723, + -0.13141986343912843, + 0.1868988275527954 + ], + [ + 0.034686614729053544, + 0.9993767142295837, + -0.006562583170186337, + 0.02510879561305046 + ], + [ + 0.13156926659322518, + 0.0019430406391620636, + 0.9913050469195953, + 0.12708447873592377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9892442895579135, + -0.03997081145644188, + -0.1407055219121845, + 0.19645534455776215 + ], + [ + 0.03491373315624755, + 0.9986588954925537, + -0.03822873794683266, + 0.11029699444770813 + ], + [ + 0.1420448550660661, + 0.032905008643865585, + 0.9893131437866935, + 0.13314063847064972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9883445314549517, + -0.041040021926164634, + -0.1465975263022401, + 0.19258993864059448 + ], + [ + 0.03357479479131668, + 0.9980277419090273, + -0.053040579017973245, + 0.14618588984012604 + ], + [ + 0.1484851861601018, + 0.04750038310885431, + 0.9877731963916204, + 0.13400016725063324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9872376423060283, + -0.040009547024965286, + -0.1541462132502468, + 0.19269052147865295 + ], + [ + 0.03199656051785331, + 0.9980217218399048, + -0.054118660931619, + 0.14254282414913177 + ], + [ + 0.15600653438065515, + 0.048495832830667496, + 0.986564806084649, + 0.13617800176143646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9860412031473073, + -0.04016001522541046, + -0.16158549461822957, + 0.19022049009799957 + ], + [ + 0.03247264273623196, + 0.9982242584228516, + -0.04993851270109134, + 0.12438686192035675 + ], + [ + 0.16330408963035822, + 0.043994322419166565, + 0.9855943626690715, + 0.13619476556777954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9848705548792873, + -0.03815183416008949, + -0.16903955543450458, + 0.18903370201587677 + ], + [ + 0.030627128314293782, + 0.9984298944473267, + -0.04690127784640005, + 0.11059629172086716 + ], + [ + 0.1705635192753558, + 0.04101449251174927, + 0.984492700059304, + 0.13931336998939514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9837901454977274, + -0.03858819603919983, + -0.17512239085248893, + 0.18492001295089722 + ], + [ + 0.029995895236520447, + 0.9982249736785889, + -0.05144992830850801, + 0.11823584139347076 + ], + [ + 0.1767969118001609, + 0.04536297917366028, + 0.9832014524191237, + 0.13922403752803802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.98257529514561, + -0.04025484621524811, + -0.18145355645809827, + 0.18206627666950226 + ], + [ + 0.031191947524508545, + 0.9981322288513184, + -0.05252707465058505, + 0.1144595742225647 + ], + [ + 0.18322911025837785, + 0.04595191776752472, + 0.9819957092979681, + 0.14051805436611176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9797279651558176, + -0.033826619386672974, + -0.19745594928499896, + 0.21411730349063873 + ], + [ + 0.029588448719720398, + 0.9992648959159851, + -0.024375683610792773, + 0.03102760575711727 + ], + [ + 0.19813534633700805, + 0.018039125949144363, + 0.9800086803769168, + 0.1360769271850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9794135394420256, + -0.031866829842329025, + -0.19933288335401694, + 0.21039485931396484 + ], + [ + 0.02747342511512737, + 0.999315619468689, + -0.024768490647704963, + 0.02791896089911461 + ], + [ + 0.19998575886859193, + 0.01878223940730095, + 0.979618789816871, + 0.13323810696601868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9792939556877642, + -0.02960379235446453, + -0.20026722934969118, + 0.20766690373420715 + ], + [ + 0.025021962003855164, + 0.9993649125099182, + -0.02537177542629712, + 0.02455471083521843 + ], + [ + 0.2008911398561826, + 0.019835349172353745, + 0.9794127295468713, + 0.13573268055915833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9788894735898315, + -0.027741864323616028, + -0.20249886118578428, + 0.21090452373027802 + ], + [ + 0.023116214022902547, + 0.9994158148765564, + -0.025172675375612075, + 0.017476500943303108 + ], + [ + 0.2030789042947233, + 0.019960258156061172, + 0.9789588874873698, + 0.1313721239566803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9788112251265395, + -0.025441866368055344, + -0.20317813198870405, + 0.2104363590478897 + ], + [ + 0.021846768241089578, + 0.9995629191398621, + -0.01991791174781597, + -0.005700361914932728 + ], + [ + 0.20359607278443598, + 0.015057088807225227, + 0.9789391919814369, + 0.12724249064922333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9787114816729724, + -0.024731187149882324, + -0.20374535165823104, + 0.20914317667484283 + ], + [ + 0.020373568316503075, + 0.9995172023773196, + -0.023457723288793034, + -0.005206577479839325 + ], + [ + 0.20422712722953634, + 0.018807323649525646, + 0.9787428520390099, + 0.12783195078372955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9769456754158556, + -0.02575486712157727, + -0.21192877440586141, + 0.2273208498954773 + ], + [ + 0.020313124320487645, + 0.999406695365906, + -0.027814848864839824, + -0.00044213474029675126 + ], + [ + 0.21251939851334664, + 0.022868659347295765, + 0.9768892084316988, + 0.12165289372205734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9754871787679256, + -0.025451844558119774, + -0.21857954876800517, + 0.24028280377388 + ], + [ + 0.020566666676368292, + 0.9994859099388123, + -0.024596265300764433, + -0.014957060106098652 + ], + [ + 0.2190931966559581, + 0.019497888162732124, + 0.9755090947429821, + 0.11546693742275238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.972408390142308, + -0.02387099899351597, + -0.2320606357712335, + 0.2711521089076996 + ], + [ + 0.01922213495250355, + 0.9995670914649963, + -0.022273920883962926, + -0.0219887625426054 + ], + [ + 0.23249187561992352, + 0.01719864457845688, + 0.9724462443045869, + 0.10722435265779495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.970766252256116, + -0.022570475935935978, + -0.23896336522171846, + 0.2830483019351959 + ], + [ + 0.021700017097033477, + 0.9997448325157168, + -0.006273227528221944, + -0.06943380832672119 + ], + [ + 0.23904397521481874, + 0.0009043283062055709, + 0.9710083101958046, + 0.10522520542144775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9684963479064628, + -0.02107447385787964, + -0.24813437571982458, + 0.30195415019989014 + ], + [ + 0.021473438152289383, + 0.9997687935829163, + -0.001098819563177076, + -0.08405767381191254 + ], + [ + 0.24810017150671945, + -0.0042640953324735165, + 0.9687250223106891, + 0.1037767305970192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9678232881818326, + -0.02101598307490349, + -0.2507517144829976, + 0.3020264804363251 + ], + [ + 0.02096730064019117, + 0.9997760653495791, + -0.0028659158018952834, + -0.07751388847827911 + ], + [ + 0.2507557895823244, + -0.0024838866665959363, + 0.9680471758032188, + 0.10110610723495483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9652443649770319, + -0.02294340170919895, + -0.26034006432915646, + 0.3198930621147156 + ], + [ + 0.023562662093930153, + 0.9997220635414124, + -0.0007424803914640917, + -0.0801817923784256 + ], + [ + 0.2602847453051112, + -0.005417629610747099, + 0.9655166952208487, + 0.09287794679403305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9653188509202223, + -0.0276247039437294, + -0.25960816961949795, + 0.3034924268722534 + ], + [ + 0.028706014205090214, + 0.9995878338813782, + 0.00037417906212674893, + -0.08057839423418045 + ], + [ + 0.25949081818807085, + -0.00781351700425148, + 0.9657139743339419, + 0.09183719754219055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.964156669818464, + -0.025149691849946976, + -0.26413905265156257, + 0.3046967089176178 + ], + [ + 0.028286587784575403, + 0.9995672106742859, + 0.008078676415360154, + -0.09710593521595001 + ], + [ + 0.2638215503814424, + -0.01526070199906826, + 0.9644507941102041, + 0.08900026977062225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9654437222975681, + -0.024566369131207473, + -0.259451132598004, + 0.2817176580429077 + ], + [ + 0.028148948719688215, + 0.9995527267456057, + 0.010101498982096831, + -0.09829261153936386 + ], + [ + 0.25908693201628064, + -0.0170557051897049, + 0.9657034060505384, + 0.08460463583469391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9649601688160131, + -0.02579697035253048, + -0.2611253070579184, + 0.27672407031059265 + ], + [ + 0.028345845256141367, + 0.9995802044868469, + 0.005998928621113172, + -0.08245410025119781 + ], + [ + 0.2608609232109527, + -0.01319054514169693, + 0.9652862471300782, + 0.08043045550584793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.961844835919147, + -0.02569849044084549, + -0.27238587200846387, + 0.2975122928619385 + ], + [ + 0.030131402707303283, + 0.9994726777076721, + 0.012103406448842073, + -0.0967642068862915 + ], + [ + 0.27193120492875694, + -0.01984896883368492, + 0.9621119989155344, + 0.07619349658489227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9624639954177725, + -0.023027438670396805, + -0.2704307006635177, + 0.28242021799087524 + ], + [ + 0.028404389914504963, + 0.9994686841964722, + 0.015985603070781507, + -0.10229562968015671 + ], + [ + 0.26991891368833393, + -0.023066988214850426, + 0.9626066875574739, + 0.07479598373174667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9639795087666954, + -0.020253144204616547, + -0.26520423831506884, + 0.2632488012313843 + ], + [ + 0.026768557574173905, + 0.9994215369224548, + 0.020975960271065144, + -0.11302723735570908 + ], + [ + 0.26462601290235255, + -0.02731953002512455, + 0.9639640398230492, + 0.06915054470300674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.964494665414191, + -0.018157010897994045, + -0.26347746790208404, + 0.25610044598579407 + ], + [ + 0.02669066941536239, + 0.9992274641990664, + 0.02884506422387288, + -0.1295936554670334 + ], + [ + 0.2627501837173161, + -0.03485330194234849, + 0.9642341949197095, + 0.06691005080938339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9649621250513463, + -0.01778855361044407, + -0.261785531803165, + 0.2484988421201706 + ], + [ + 0.02520184477240178, + 0.9993700385093689, + 0.024987932335198144, + -0.11126845329999924 + ], + [ + 0.26117611629309834, + -0.0307098850607872, + 0.964802552912751, + 0.06741899996995926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9667331237995533, + -0.013627252541482449, + -0.2554238703464475, + 0.23288469016551971 + ], + [ + 0.023057458064578866, + 0.9991571307182312, + 0.03396175251386299, + -0.13086098432540894 + ], + [ + 0.2547457789536068, + -0.03872137516736984, + 0.9662324871978742, + 0.06590812653303146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9678644933921982, + -0.009175588376820087, + -0.25130480862658305, + 0.22864961624145508 + ], + [ + 0.019596820505693325, + 0.9990471601486206, + 0.03899734867366231, + -0.13839110732078552 + ], + [ + 0.2507075305949406, + -0.04266892373561859, + 0.9671220975060864, + 0.0640188679099083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9674630809576257, + -0.011578964069485664, + -0.2527472120576791, + 0.2372724711894989 + ], + [ + 0.021776161776406847, + 0.9990561008453369, + 0.03758536965616933, + -0.13169242441654205 + ], + [ + 0.2520734522030379, + -0.04186631739139557, + 0.96680202878119, + 0.05828537791967392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9679448040878798, + -0.011302890256047249, + -0.25090852829182514, + 0.232101172208786 + ], + [ + 0.022155033547609684, + 0.9989351630210876, + 0.04046891057534695, + -0.13625812530517578 + ], + [ + 0.25018393195726674, + -0.04473055526614189, + 0.9671644814829821, + 0.05983886867761612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9673999103915564, + -0.008184946142137052, + -0.25312137371415755, + 0.24422505497932434 + ], + [ + 0.01907788697557734, + 0.9989929199218752, + 0.04060993418651474, + -0.1317242830991745 + ], + [ + 0.25253407059681066, + -0.04411507025361062, + 0.9665818118899993, + 0.056719399988651276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9678380520342104, + -0.009007275104522705, + -0.251412787685271, + 0.24171343445777893 + ], + [ + 0.0199817209995641, + 0.9989538788795471, + 0.04113242944790264, + -0.13042312860488892 + ], + [ + 0.25077927908106407, + -0.04483318701386452, + 0.9670055334436517, + 0.0571439154446125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9676159178472019, + -0.00842396728694439, + -0.25228648272667753, + 0.24520732462406158 + ], + [ + 0.019595491118248237, + 0.9989337921142578, + 0.04180138116272465, + -0.12888939678668976 + ], + [ + 0.25166535347646546, + -0.04539135843515396, + 0.9667493070811527, + 0.05533773824572563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9685638588205143, + -0.009160881862044336, + -0.24859620353457215, + 0.2333071380853653 + ], + [ + 0.020864349428393356, + 0.9987921714782717, + 0.04448433954299814, + -0.13600008189678192 + ], + [ + 0.2478884348761443, + -0.048272725194692626, + 0.9675851715187188, + 0.05822448432445526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.966123512019802, + -0.009067852050065994, + -0.2579208021531377, + 0.2614505887031555 + ], + [ + 0.019733607154006662, + 0.9990523457527161, + 0.038794251600011986, + -0.1176978126168251 + ], + [ + 0.25732460825604114, + -0.04256974905729294, + 0.9653869039058103, + 0.0587996207177639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9670080056710374, + -0.009116176515817644, + -0.25458272545315863, + 0.2501189112663269 + ], + [ + 0.020572979105638208, + 0.9988899230957033, + 0.042375930326277005, + -0.12630830705165863 + ], + [ + 0.2539138133594282, + -0.046215388923883445, + 0.966122093270421, + 0.05727266147732735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9667644413204755, + -0.006743715610355139, + -0.25557974331301464, + 0.25373896956443787 + ], + [ + 0.016951061726392297, + 0.9991431832313538, + 0.037756305650203534, + -0.11000164598226547 + ], + [ + 0.2551061473402604, + -0.04083380475640297, + 0.9660504141682208, + 0.06490200012922287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.966541325751422, + -0.004099700599908829, + -0.2564782270022335, + 0.2588641047477722 + ], + [ + 0.01477542423324203, + 0.9991019368171692, + 0.039711131637989096, + -0.11295898258686066 + ], + [ + 0.2560850954097079, + -0.04217202216386795, + 0.9657338638339237, + 0.06506256759166718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9670755917736755, + -0.007322357036173344, + -0.25438394252164637, + 0.25084003806114197 + ], + [ + 0.017852751561591416, + 0.9990753531455994, + 0.0391116429087383, + -0.11115433275699615 + ], + [ + 0.2538623344783104, + -0.04236536845564842, + 0.9663121025770508, + 0.06251790374517441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9655033376716841, + -0.00583418132737279, + -0.26032535502409465, + 0.2660340368747711 + ], + [ + 0.017331228478863436, + 0.9989718794822695, + 0.041890563771700785, + -0.11627987027168274 + ], + [ + 0.2598133080350536, + -0.044957239180803306, + 0.9646117875842005, + 0.06526792794466019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9655239594406297, + -0.007024132646620274, + -0.260219509720577, + 0.2659509778022766 + ], + [ + 0.01794448420127493, + 0.9990538954734802, + 0.03961402349187648, + -0.1067478358745575 + ], + [ + 0.25969506254825836, + -0.04291779175400734, + 0.9647365348536648, + 0.06764555722475052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9651314428437, + -0.009131173603236675, + -0.261606389299269, + 0.2706603407859802 + ], + [ + 0.019621842005295848, + 0.999103307723999, + 0.037516939970730585, + -0.09790212661027908 + ], + [ + 0.26102924216527, + -0.041341979056596756, + 0.9644452424376011, + 0.07106782495975494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9639196407825708, + -0.009607895277440548, + -0.2660200127256664, + 0.28302106261253357 + ], + [ + 0.021313728226019367, + 0.9989255666732788, + 0.041151599567051715, + -0.10389959067106247 + ], + [ + 0.2653388011962688, + -0.04533671587705612, + 0.9630887006554507, + 0.07468177378177643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9636170065249464, + -0.011115396395325662, + -0.2670557447500659, + 0.2869414687156677 + ], + [ + 0.02258474679105703, + 0.998947858810425, + 0.03991430692672683, + -0.09588084369897842 + ], + [ + 0.2663310858619077, + -0.04449348896741868, + 0.9628541447444365, + 0.07951386272907257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9628617633731551, + -0.01345858909189701, + -0.2696593080129484, + 0.293756902217865 + ], + [ + 0.025530041972470583, + 0.9988202452659607, + 0.04130838474743106, + -0.09330159425735474 + ], + [ + 0.26878521420910817, + -0.04665867239236832, + 0.9620693958905486, + 0.0796615406870842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9631452509427986, + -0.01364788506180048, + -0.2686352795232522, + 0.28828150033950806 + ], + [ + 0.026454217950858682, + 0.9986763596534729, + 0.04410974719017088, + -0.09338600188493729 + ], + [ + 0.26767770606164754, + -0.04959063231945038, + 0.9622314684468232, + 0.08477096259593964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9630358900638832, + -0.01078252959996462, + -0.26915718628905805, + 0.28949102759361267 + ], + [ + 0.02433183217088794, + 0.9985959529876711, + 0.04705443262335641, + -0.09263726323843002 + ], + [ + 0.2682719152098032, + -0.05186419561505319, + 0.9619461072223001, + 0.08684249967336655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9632685402209188, + -0.011750390753149986, + -0.2682828392107622, + 0.2853803336620331 + ], + [ + 0.02506643735498357, + 0.9986147284507751, + 0.04626310202889174, + -0.08371282368898392 + ], + [ + 0.26736757693823127, + -0.05128868296742439, + 0.9622286706527338, + 0.08769828081130981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9616281303280504, + -0.01338142342865467, + -0.2740297324189028, + 0.29698801040649414 + ], + [ + 0.027243096659916484, + 0.9985307455062866, + 0.046841503597471745, + -0.08060901612043381 + ], + [ + 0.2730003111323749, + -0.052509523928165436, + 0.9605798159084572, + 0.0908907949924469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9606043228759107, + -0.01897839829325676, + -0.27727096083218844, + 0.2938840687274933 + ], + [ + 0.03247992728259645, + 0.99849534034729, + 0.044182472765080465, + -0.07304812222719193 + ], + [ + 0.27601525591382825, + -0.05144761502742767, + 0.959775354442383, + 0.09570103883743286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.962486887537292, + -0.021219249814748764, + -0.2704972514788412, + 0.2631418704986572 + ], + [ + 0.03375976516528545, + 0.9985557794570923, + 0.04179239099711909, + -0.06655050069093704 + ], + [ + 0.26921979268624785, + -0.049356553703546524, + 0.9618132129911356, + 0.1050005555152893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9622591851980994, + -0.017666585743427277, + -0.27156051886066657, + 0.2630062997341156 + ], + [ + 0.030798434730420106, + 0.9985491037368774, + 0.04417108354767191, + -0.07278180122375488 + ], + [ + 0.270386167260568, + -0.05086767300963402, + 0.9614072037826805, + 0.10555309802293777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.960824896442713, + -0.013234937563538551, + -0.2768400367559025, + 0.2732834815979004 + ], + [ + 0.02720586158214112, + 0.9985390901565552, + 0.04668567910004026, + -0.08259431272745132 + ], + [ + 0.2758177070458136, + -0.05238843336701393, + 0.959781236373534, + 0.1046384796500206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9596621383975114, + -0.010402044281363489, + -0.2809633834191413, + 0.2793520390987396 + ], + [ + 0.024064769162312673, + 0.9986870884895327, + 0.04522176612559098, + -0.08198779821395874 + ], + [ + 0.2801241028974559, + -0.050158932805061354, + 0.9586524673347753, + 0.10838623344898224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9595318644567897, + -0.007662056013941765, + -0.2814957386501514, + 0.2752799987792969 + ], + [ + 0.02034510609745741, + 0.9989036917686462, + 0.0421609319983923, + -0.07967028021812439 + ], + [ + 0.2808640930557877, + -0.0461818166077137, + 0.9586358127835807, + 0.11618009954690933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.961135607378966, + -0.004895689897239209, + -0.27603329770201174, + 0.25466522574424744 + ], + [ + 0.016284361760272485, + 0.9991072416305544, + 0.038981387443221265, + -0.07727950066328049 + ], + [ + 0.27559602460137933, + -0.04196142405271531, + 0.9603572889873397, + 0.12163960188627243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9605603873577975, + -0.0026215063408017163, + -0.2780590294182906, + 0.25816577672958374 + ], + [ + 0.0135248092442361, + 0.9992125630378725, + 0.037301267503724964, + -0.08141231536865234 + ], + [ + 0.2777422891601755, + -0.03959081694483758, + 0.959839482771121, + 0.12265286594629288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9603905256337837, + -0.002579653169959784, + -0.2786456331103935, + 0.25545772910118103 + ], + [ + 0.011600100303091393, + 0.9994604587554934, + 0.03072851175115149, + -0.07088904082775116 + ], + [ + 0.27841601419506784, + -0.032743692398071296, + 0.9599022661453024, + 0.1250595599412918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9599525058889913, + 0.001232737209647894, + -0.280160054696897, + 0.25862666964530945 + ], + [ + 0.008854665240257187, + 0.9993572235107422, + 0.034737297747530524, + -0.08825577795505524 + ], + [ + 0.2800227947663132, + -0.035826876759529114, + 0.9593245617984411, + 0.125249981880188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9599337158553408, + 0.0015395533991977572, + -0.28022285938180064, + 0.25780239701271057 + ], + [ + 0.007621144577286905, + 0.9994716048240662, + 0.031598187141204555, + -0.08566084504127502 + ], + [ + 0.28012344086614926, + -0.032467782497406006, + 0.959414797968656, + 0.12328792363405228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9591746227489939, + 0.0022805058397352695, + -0.2828052067056653, + 0.2648065686225891 + ], + [ + 0.006567082486215113, + 0.9995182752609253, + 0.030333198034026693, + -0.0856102928519249 + ], + [ + 0.2827381566343535, + -0.03095204010605812, + 0.9586976391877436, + 0.12296278029680252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9588853797794843, + 0.0024018839467316866, + -0.28378341944162944, + 0.2667129635810852 + ], + [ + 0.006444147650360139, + 0.9995220899581909, + 0.03023409528355527, + -0.08792956173419952 + ], + [ + 0.2837204146707372, + -0.03081977553665638, + 0.958411625388886, + 0.12134464085102081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.959102781581347, + 0.002059854567050934, + -0.2830504557378938, + 0.26363298296928406 + ], + [ + 0.007546257223626462, + 0.9994320273399353, + 0.03284333624379531, + -0.09693688899278641 + ], + [ + 0.2829573476043341, + -0.03363610804080963, + 0.9585425066087796, + 0.1252807378768921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9590824549599267, + 0.0012404605513438582, + -0.28312416799560025, + 0.26203596591949463 + ], + [ + 0.008026177905186121, + 0.9994693994522095, + 0.0315676668235687, + -0.09488627314567566 + ], + [ + 0.2830131044940873, + -0.03254839777946472, + 0.9585636104315829, + 0.12815771996974945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9595101880856584, + 0.001982853515073657, + -0.2816669014470878, + 0.2569645941257477 + ], + [ + 0.006630617963819164, + 0.9995391368865967, + 0.029623947494856306, + -0.09246226400136948 + ], + [ + 0.2815958351046864, + -0.030292106792330742, + 0.9590548490842228, + 0.13165885210037231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9579067176554258, + 0.004641674924641848, + -0.28704208936410197, + 0.2735559046268463 + ], + [ + 0.0035677390544207113, + 0.9995995759963989, + 0.028070370672662794, + -0.08898083120584488 + ], + [ + 0.28705745041096536, + -0.027912888675928116, + 0.95750662637905, + 0.12615591287612915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9577005691513796, + 0.004446097183972597, + -0.28773220383846293, + 0.2747189998626709 + ], + [ + 0.003072612959540608, + 0.9996656179428101, + 0.02567406084122015, + -0.08539871871471405 + ], + [ + 0.28775014188939574, + -0.02547215111553669, + 0.9573666907142755, + 0.13314908742904663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9566990463977317, + 0.005201350431889296, + -0.29103246445711406, + 0.28273481130599976 + ], + [ + 0.0013884674957731276, + 0.9997473955154419, + 0.022431802954823252, + -0.07808852195739746 + ], + [ + 0.2910756280006301, + -0.021864572539925575, + 0.9564501808640484, + 0.13031476736068726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9565914474489374, + 0.008503071963787079, + -0.29130827932433406, + 0.28205835819244385 + ], + [ + -0.0018173237936679673, + 0.9997288584709167, + 0.023213657791916933, + -0.08212366700172424 + ], + [ + 0.2914266934970293, + -0.02167658507823944, + 0.956347559535961, + 0.13188549876213074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9576818799457385, + 0.009041471406817436, + -0.28768674630795105, + 0.27006447315216064 + ], + [ + -0.0023481851312072925, + 0.9997186660766602, + 0.02360245661682236, + -0.08567745983600616 + ], + [ + 0.2878192077412711, + -0.021928101778030396, + 0.9574336802538504, + 0.1338668018579483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9571820020984831, + 0.009204518049955368, + -0.2893405272022818, + 0.27151545882225037 + ], + [ + -0.0027861281678035065, + 0.9997410178184509, + 0.022586887799492437, + -0.08229708671569824 + ], + [ + 0.28947349298343245, + -0.020813623443245888, + 0.9569597359457241, + 0.13303908705711365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9563939918781642, + 0.010369810275733471, + -0.2918955825056276, + 0.27480149269104004 + ], + [ + -0.0038891696509276885, + 0.9997330904006958, + 0.022773430212568578, + -0.08110373467206955 + ], + [ + 0.2920538143726396, + -0.0206451416015625, + 0.9561790127961102, + 0.13683836162090302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9555415658170785, + 0.01120169460773468, + -0.2946435268046596, + 0.2784602642059326 + ], + [ + -0.00471422718497373, + 0.9997307658195496, + 0.022719106626965888, + -0.07898590713739395 + ], + [ + 0.29481868498329, + -0.02032003551721573, + 0.9553371093594027, + 0.14050528407096863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9548038764005692, + 0.0119312210008502, + -0.29699702208064144, + 0.28113359212875366 + ], + [ + -0.005738507428376415, + 0.9997477531433105, + 0.02171423253428309, + -0.0740320160984993 + ], + [ + 0.29718117664544086, + -0.019028514623641968, + 0.9546314803082194, + 0.14115914702415466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9535483993119988, + 0.012129435315728188, + -0.30099547078826583, + 0.285491019487381 + ], + [ + -0.0046677028610919435, + 0.9996640086174011, + 0.025496993417515254, + -0.08148158341646194 + ], + [ + 0.30120360569649146, + -0.022907661274075508, + 0.9532846422552481, + 0.13877232372760773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9528225863030021, + 0.009160763584077358, + -0.3033894392431521, + 0.28123074769973755 + ], + [ + -0.002758717491655295, + 0.9997645616531372, + 0.021523616479249812, + -0.06864472478628159 + ], + [ + 0.303515175300068, + -0.019671224057674408, + 0.9526235148327563, + 0.1449114978313446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9523615494471065, + 0.01159300934523344, + -0.3047509075458508, + 0.278400182723999 + ], + [ + -0.004150557163334535, + 0.9996773600578308, + 0.02505796701405552, + -0.07555007934570312 + ], + [ + 0.3049430809918342, + -0.0225993562489748, + 0.9521023798948863, + 0.14964383840560913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9518570745180763, + 0.011797558516263962, + -0.3063150343790205, + 0.2781130075454712 + ], + [ + -0.00420619185615166, + 0.9996677041053772, + 0.025431151829504447, + -0.07437015324831009 + ], + [ + 0.3065132842332793, + -0.022918401286005974, + 0.9515904303851227, + 0.14707206189632416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9519616134264833, + 0.012737791985273365, + -0.30595233359888047, + 0.27357548475265503 + ], + [ + -0.004016194837685917, + 0.9995678663253786, + 0.02911899254198343, + -0.08287122845649719 + ], + [ + 0.3061910357199553, + -0.026491397991776473, + 0.9516014043651246, + 0.153780996799469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9517397324848466, + 0.012353243306279182, + -0.3066575645198078, + 0.27253177762031555 + ], + [ + -0.0035118854498590673, + 0.9995625615119934, + 0.029366432093156283, + -0.08344709873199463 + ], + [ + 0.3068861825595139, + -0.02687225490808487, + 0.9513667638021255, + 0.15386724472045898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9530041956071686, + 0.012777491472661499, + -0.30268744171343065, + 0.26244497299194336 + ], + [ + -0.004407400853571217, + 0.9995892047882082, + 0.028319545632804293, + -0.08115696161985397 + ], + [ + 0.3029249532586992, + -0.025654582306742675, + 0.9526690313241744, + 0.15829171240329742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9581593078782534, + 0.01335573382675648, + -0.28592365905028727, + 0.2160467952489853 + ], + [ + -0.004385320539265194, + 0.9994785189628603, + 0.03199082773110161, + -0.09227524697780609 + ], + [ + 0.28620182518715537, + -0.029398443177342422, + 0.957718278660716, + 0.15680618584156036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9605570464631225, + 0.011378824710845947, + -0.27785014493660615, + 0.19650202989578247 + ], + [ + -0.003344851820511087, + 0.9995629787445068, + 0.02937169885286332, + -0.08921041339635849 + ], + [ + 0.2780629216263596, + -0.02728382498025894, + 0.9601752762888228, + 0.15836523473262787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9653764838469451, + 0.008999750018119812, + -0.2607053050244554, + 0.15178529918193817 + ], + [ + -0.0021349631378223552, + 0.9996438026428223, + 0.026602840744667223, + -0.0857665091753006 + ], + [ + 0.26085186336442207, + -0.025125160813331604, + 0.9650518251158754, + 0.1632000356912613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9665975119986643, + 0.0014678407460451126, + -0.25629496027464, + 0.14306019246578217 + ], + [ + -0.005075035645996251, + 0.9998971819877625, + -0.013413556658438255, + 0.017160553485155106 + ], + [ + 0.25624890733700234, + 0.014266216196119785, + 0.9665055193534515, + 0.16505035758018494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9664627546210169, + -0.0016950946301221852, + -0.25680121439175313, + 0.14451439678668976 + ], + [ + -0.006469013474417943, + 0.9995002150535586, + -0.030943420725471106, + 0.0545060932636261 + ], + [ + 0.2567253189674503, + 0.03156691789627076, + 0.9659687761710776, + 0.16187413036823273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9678719894943931, + -0.0056905010715127, + -0.25137913456473376, + 0.1266237497329712 + ], + [ + -0.01025775118905656, + 0.9980180263519289, + -0.062087144427024794, + 0.12823964655399323 + ], + [ + 0.2512342076134725, + 0.06267099082469942, + 0.965895300146528, + 0.16712836921215057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9681896848313088, + -0.007713239639997482, + -0.2500983838762809, + 0.12081366777420044 + ], + [ + -0.009036751496591125, + 0.9977948069572449, + -0.06575620313854853, + 0.12092603743076324 + ], + [ + 0.2500540619808354, + 0.06592455506324768, + 0.9659849267473284, + 0.169734925031662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9654066499607189, + -0.013754349201917648, + -0.26038589342729457, + 0.14312724769115448 + ], + [ + -0.0030127338484810364, + 0.9979527592658997, + -0.06388481599689155, + 0.09480715543031693 + ], + [ + 0.26073150563279307, + 0.062459297478199005, + 0.9633887730209828, + 0.16187988221645355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9614083484869862, + -0.01771395653486252, + -0.2745545695794812, + 0.17018640041351318 + ], + [ + 0.0006552207308047298, + 0.998069703578949, + -0.06209996516229257, + 0.07351803779602051 + ], + [ + 0.2751246396200025, + 0.059523534029722214, + 0.9595641589499788, + 0.15872977674007416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9577088775395103, + -0.02019946463406086, + -0.28702914070767616, + 0.19211871922016144 + ], + [ + 0.002874743401818595, + 0.9981548190116882, + -0.06065246906234193, + 0.06030886992812157 + ], + [ + 0.28772465376752754, + 0.057262275367975235, + 0.9559997724834336, + 0.152822807431221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9538403519311985, + -0.020188460126519203, + -0.29963482786507495, + 0.21223725378513336 + ], + [ + 0.0031126102220278475, + 0.9983488917350769, + -0.05735712985677065, + 0.04694800078868866 + ], + [ + 0.30029804923988973, + 0.05377689749002457, + 0.9523282971763863, + 0.14457325637340546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9513514409006218, + -0.015566963702440265, + -0.30771437486057873, + 0.223362997174263 + ], + [ + -0.0020203977956986894, + 0.9983861446380617, + -0.05675376745397281, + 0.0487852580845356 + ], + [ + 0.3081012571003649, + 0.05461448058485986, + 0.9497846470223388, + 0.14544282853603363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9480151432927465, + -0.015560433268547058, + -0.31784456593815547, + 0.23713620007038116 + ], + [ + -0.00501431544678386, + 0.9979493618011475, + -0.06381160772702274, + 0.0733790174126625 + ], + [ + 0.3181857157109293, + 0.062088146805763245, + 0.9459930742723437, + 0.14326949417591095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9439969713811558, + -0.015361728146672249, + -0.32959638679504155, + 0.2523176670074463 + ], + [ + -0.004550293464698428, + 0.9982145428657532, + -0.059556977317740484, + 0.07186096906661987 + ], + [ + 0.32992279592970725, + 0.05772136524319649, + 0.9422415871539285, + 0.13728754222393036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9419831054609287, + -0.013363396748900414, + -0.3353942296899814, + 0.2564851641654968 + ], + [ + -0.005657715378637034, + 0.9984331130981445, + -0.05567159233367268, + 0.07241585105657578 + ], + [ + 0.33561266248617655, + 0.05433925986289978, + 0.9404314724626105, + 0.1377228945493698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9400131389527219, + -0.011017084121704102, + -0.3409603632161662, + 0.26024720072746277 + ], + [ + -0.006934327779114237, + 0.9986547827720642, + -0.05138609892501087, + 0.07380275428295135 + ], + [ + 0.34106781655267165, + 0.050667934119701385, + 0.9386722087851229, + 0.14240023493766785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9380894452863393, + -0.013106815516948703, + -0.34614509237591745, + 0.26770150661468506 + ], + [ + -0.004713623405430017, + 0.9987083673477175, + -0.0505905961924703, + 0.0811455249786377 + ], + [ + 0.34636107376520847, + 0.04909009858965875, + 0.9368159933638168, + 0.13789544999599457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9371853349182717, + -0.015057242475450039, + -0.3485067748322423, + 0.2633402645587921 + ], + [ + -0.002203895857874599, + 0.9987924695014954, + -0.04907944757807806, + 0.08484923094511032 + ], + [ + 0.34882491084414774, + 0.04676461219787598, + 0.9360204070411392, + 0.14768384397029877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9356317067728535, + -0.01628950610756874, + -0.35260166996271036, + 0.27049940824508667 + ], + [ + 0.003865073802803224, + 0.9993475079536438, + -0.03591188651664836, + 0.052771374583244324 + ], + [ + 0.35295657295215754, + 0.0322374664247036, + 0.935084154411881, + 0.14117388427257538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.936513686396213, + -0.012380292639136318, + -0.3504123535841087, + 0.2657075524330139 + ], + [ + 0.00024223499589687847, + 0.9993990659713747, + -0.03466201272005064, + 0.05900316312909126 + ], + [ + 0.35063089822537485, + 0.032376565039157874, + 0.9359539353851185, + 0.14339815080165863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9293846148797245, + -0.007635027170181274, + -0.3690337393656557, + 0.3298213481903076 + ], + [ + 4.735615006647601e-05, + 0.9997885227203369, + -0.02056559934499521, + 0.029260840266942978 + ], + [ + 0.3691127129689188, + 0.019095877185463905, + 0.9291884229734056, + 0.14122691750526428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9217598032643726, + -0.008533284068107605, + -0.3876675002957688, + 0.39135420322418213 + ], + [ + -0.0015668506791576599, + 0.9996677041053772, + -0.025730062995859938, + 0.05523189157247543 + ], + [ + 0.38775823506198137, + 0.02432435378432274, + 0.9214400963861135, + 0.14608515799045563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9194230093939322, + -0.01025572791695595, + -0.3931362703149066, + 0.4077725112438202 + ], + [ + 9.673683795068623e-05, + 0.9996657967567446, + -0.025851999689956655, + 0.06783837080001831 + ], + [ + 0.3932700057583093, + 0.02373089455068112, + 0.9191167302291979, + 0.14796225726604462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9135586362144797, + -0.011518580839037897, + -0.40654397397181935, + 0.44831565022468567 + ], + [ + 0.005484603423101653, + 0.9998568892478945, + -0.016004238959600937, + 0.05046837776899338 + ], + [ + 0.40667011405972825, + 0.01239107828587294, + 0.913491019162984, + 0.15364962816238403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9058349468551916, + -0.011369592510163784, + -0.42347820886909276, + 0.4969644844532013 + ], + [ + 0.007862501052627025, + 0.9999188184738159, + -0.010027769334604536, + 0.039671700447797775 + ], + [ + 0.4235578445297398, + 0.005753905512392521, + 0.9058507626723348, + 0.17257466912269592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9037083774562269, + -0.009830388240516186, + -0.4280356523701867, + 0.5106103420257568 + ], + [ + 0.007851349644403153, + 0.9999487400054932, + -0.006388613774465885, + 0.03035670891404152 + ], + [ + 0.4280765178571978, + 0.0024127867072820663, + 0.9037392753311949, + 0.1785106360912323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9052080170008188, + -0.0048049897886812696, + -0.42494152703484717, + 0.5059528946876526 + ], + [ + 0.003056852915065222, + 0.9999838471412661, + -0.004795539442456526, + 0.024899078533053398 + ], + [ + 0.4249576893837075, + 0.0030419772956520328, + 0.9052080744366078, + 0.18195171654224396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.906045245323016, + 0.0011787766125053167, + -0.4231791644123695, + 0.5097641944885254 + ], + [ + -0.003930808807362971, + 0.999976396560669, + -0.005630574373792326, + 0.022953249514102936 + ], + [ + 0.4231625472398447, + 0.006764991208910942, + 0.9060285187637274, + 0.18236960470676422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9059793367046123, + 0.005474922712892294, + -0.42328644973993834, + 0.5196137428283691 + ], + [ + -0.00991411577081616, + 0.9999164938926697, + -0.008286395644740287, + 0.02617516927421093 + ], + [ + 0.42320574978392766, + 0.011703814379870892, + 0.9059579886682809, + 0.17572718858718872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9060868514134104, + 0.010228316299617292, + -0.42296814754647627, + 0.5268560647964478 + ], + [ + -0.014469810557346889, + 0.9998720884323122, + -0.0068182352344281485, + 0.02197403833270073 + ], + [ + 0.42284429456417405, + 0.012298182584345344, + 0.9061188739976604, + 0.17267939448356628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9079305601406988, + 0.01095312274992466, + -0.41897747191988094, + 0.5199768543243408 + ], + [ + -0.016529662415301443, + 0.9998164772987366, + -0.00968231910888542, + 0.024571826681494713 + ], + [ + 0.41879454329676624, + 0.01571642979979515, + 0.9079449915202881, + 0.17565929889678955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9080365281856011, + 0.009100669994950296, + -0.41879207026107457, + 0.5198535323143005 + ], + [ + -0.016121317513455104, + 0.9997825026512148, + -0.013228652997713579, + 0.025738047435879707 + ], + [ + 0.41858061945791986, + 0.018763579428195957, + 0.907985806844103, + 0.1746193766593933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9079271564447522, + 0.009981454350054264, + -0.41900911775383554, + 0.5222930312156677 + ], + [ + -0.01713712935664686, + 0.9997644424438477, + -0.013317519188658375, + 0.020123355090618134 + ], + [ + 0.4187774888075974, + 0.01927194930613041, + 0.9078843304100181, + 0.1730836033821106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9075099677944714, + 0.010675506666302683, + -0.41989481646758614, + 0.5299484729766846 + ], + [ + -0.01827630762677845, + 0.9997338056564333, + -0.014082734346836333, + 0.01645752042531967 + ], + [ + 0.4196327035826381, + 0.020454348996281627, + 0.9074635147917252, + 0.16997019946575165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9076812078884157, + 0.00010936497710645199, + -0.4196602919096327, + 0.5319005846977234 + ], + [ + -0.010367229511619388, + 0.9997006058692932, + -0.022162706581491578, + 0.02787885069847107 + ], + [ + 0.4195322254120114, + 0.024467386305332184, + 0.9074106237598835, + 0.16978684067726135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.907815989236552, + -0.002951351227238775, + -0.4193583016373734, + 0.5304298996925354 + ], + [ + -0.006810331755810491, + 0.9997396469116213, + -0.02177877635092153, + 0.019623206928372383 + ], + [ + 0.4193133843308955, + 0.022627089172601703, + 0.9075595306046593, + 0.17186219990253448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9084427048134698, + 0.0001840982586145401, + -0.4180093717051703, + 0.5344909429550171 + ], + [ + -0.00926227862977367, + 0.9997632503509521, + -0.019689019735987405, + 0.00915605016052723 + ], + [ + 0.4179067887858509, + 0.0217580646276474, + 0.9082293413791794, + 0.17063011229038239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9096167212273936, + -0.006003898102790117, + -0.41540512749618563, + 0.5361241698265076 + ], + [ + -0.0056015937987824145, + 0.999627411365509, + -0.02671359620552456, + 0.020695891231298447 + ], + [ + 0.41541075925698917, + 0.026626063510775566, + 0.9092441923797743, + 0.17233988642692566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9090163065933685, + -0.014383573085069656, + -0.4165122461828816, + 0.5419265031814575 + ], + [ + 0.0014082351191648476, + 0.999504566192627, + -0.03144286722236622, + 0.024664368480443954 + ], + [ + 0.41675814010760653, + 0.027995530515909195, + 0.9085862051098667, + 0.17229096591472626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9090553686059041, + -0.01663028821349144, + -0.4163432882917996, + 0.5425022840499878 + ], + [ + 0.0037143869526135805, + 0.9994869232177734, + -0.0318131058318468, + 0.019341694191098213 + ], + [ + 0.41665873586637375, + 0.0273734163492918, + 0.9086507605241562, + 0.17324958741664886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9088436598421804, + -0.0132325179874897, + -0.41692701042710834, + 0.5521326661109924 + ], + [ + 0.0014682074485918805, + 0.9995920062065125, + -0.028524771804065558, + 0.008418209850788116 + ], + [ + 0.4171343513418132, + 0.025312423706054688, + 0.908492267776554, + 0.17198653519153595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9090524127487639, + -0.015855316072702408, + -0.4163800491343689, + 0.5586536526679993 + ], + [ + 0.002923224983002102, + 0.9994938373565674, + -0.03167761596876046, + 0.012877191416919231 + ], + [ + 0.41667155514595466, + 0.02757943980395794, + 0.908638674495344, + 0.17072437703609467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.909017920825276, + -0.019032882526516914, + -0.4163222304057729, + 0.5650327801704407 + ], + [ + 0.005263822420017837, + 0.9994012713432312, + -0.0341960596460694, + 0.01606178842484951 + ], + [ + 0.41672380248403196, + 0.02889338508248329, + 0.9085738260972752, + 0.17062608897686005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9074223615530388, + -0.028113815933465958, + -0.41927821443634705, + 0.575034499168396 + ], + [ + 0.012308676756375522, + 0.9991096258163452, + -0.040354151172007996, + 0.026976453140378 + ], + [ + 0.4200394233716932, + 0.03145750239491463, + 0.9069604693125422, + 0.17031025886535645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9067435128156428, + -0.02994253672659397, + -0.4206181327626517, + 0.5776816010475159 + ], + [ + 0.01447497814569451, + 0.9990980625152588, + -0.03991848535301992, + 0.02489311806857586 + ], + [ + 0.4214340237451894, + 0.030107391998171806, + 0.90635913494893, + 0.17085957527160645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.90538765356362, + -0.03427523002028466, + -0.42320022233770244, + 0.5841189026832581 + ], + [ + 0.017743177946423383, + 0.9989199042320254, + -0.04294363489796758, + 0.03176526352763176 + ], + [ + 0.42421504365993457, + 0.03137172013521195, + 0.9050179160906215, + 0.1733485758304596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9039270016255826, + -0.03647387772798538, + -0.42612868123887515, + 0.5905427932739258 + ], + [ + 0.019675422001009378, + 0.9988483786582947, + -0.043758445757891104, + 0.03398517891764641 + ], + [ + 0.4272339845214159, + 0.031170178204774857, + 0.9036036349693621, + 0.17188069224357605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9022900213956373, + -0.03765537589788437, + -0.4294820518663948, + 0.5941681265830994 + ], + [ + 0.021473745564027556, + 0.9988672137260437, + -0.04246318393481533, + 0.03322220221161842 + ], + [ + 0.4305945116774396, + 0.029091518372297287, + 0.9020765502560582, + 0.17117930948734283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9009961598417074, + -0.0380125567317009, + -0.4321585512131225, + 0.5948625206947327 + ], + [ + 0.022616183273006286, + 0.998914897441864, + -0.04071242034463046, + 0.03289981931447983 + ], + [ + 0.4332371905156521, + 0.02690795809030533, + 0.9008781680217753, + 0.17434513568878174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.8999475542935735, + -0.0401606559753418, + -0.4341446540822038, + 0.5909520387649536 + ], + [ + 0.025001062223302697, + 0.9988636374473572, + -0.040574894997552395, + 0.034481875598430634 + ], + [ + 0.4352808353260792, + 0.025661200284957886, + 0.8999289355942162, + 0.17772948741912842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.8965172021494171, + -0.043195124715566635, + -0.44089798933330815, + 0.5991401672363281 + ], + [ + 0.02738924268781872, + 0.9987356662750244, + -0.04215392364438515, + 0.03979680687189102 + ], + [ + 0.44216138012148015, + 0.02571585774421692, + 0.8965668163298717, + 0.17602011561393738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/pull_out/transforms.json b/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b9480b7e293f2a7a5989d9884d3210156e8ec790 --- /dev/null +++ b/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/pull_out/transforms.json @@ -0,0 +1,8168 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 233, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011583403829718009, + 2.0259854863979854e-05, + 5.35143385604897e-07 + ], + [ + -0.00011583510058699176, + 1.0, + 5.266969674266875e-05, + -0.00013285163731779903 + ], + [ + -2.025375397352036e-05, + -5.2672039601020515e-05, + 1.0, + 8.310859266202897e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999994695186615, + -0.0019044596701860428, + 0.0026426459662616253, + -0.009403484937502071 + ], + [ + 0.0019012053962796926, + 0.9999974370002747, + 0.0012333948398008943, + -0.0029561913940064 + ], + [ + -0.0026449882425367832, + -0.001228364068083465, + 0.999995768070221, + 0.010087240680024541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999909400939941, + -0.0012916165869683027, + 0.004049115814268589, + -0.014597367515369993 + ], + [ + 0.0012890880461782217, + 0.9999989867210388, + 0.0006270076846703887, + -0.003772656790057101 + ], + [ + -0.004049921408295631, + -0.0006217823829501867, + 0.9999915957450867, + 0.016019899655005027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999943375587463, + -0.001153903198428452, + 0.0031635400373488665, + -0.010968227355223117 + ], + [ + 0.0011596527183428407, + 0.9999976754188538, + -0.0018162016058340669, + -0.001571157042003349 + ], + [ + -0.0031614371109753847, + 0.0018198598409071565, + 0.9999933242797852, + 0.015168992815346553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999956488609314, + -0.0005427984287962317, + 0.0029051187448203564, + -0.007755702068419035 + ], + [ + 0.0005473603960126638, + 0.9999986290931702, + -0.0015697494382038713, + -0.005038672085682829 + ], + [ + -0.0029042628593742847, + 0.0015713326865807176, + 0.9999945759773254, + 0.014005779320823735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999989926815033, + -0.004473764915019274, + 0.0002901086409110576, + 0.0005446193716062257 + ], + [ + 0.004475146997720003, + 0.999977707862854, + -0.004953504074364901, + 0.0019274306461487993 + ], + [ + -0.0002679413591977209, + 0.00495475297793746, + 0.9999876618385315, + 0.01475827376647242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999706149101257, + -0.007611802313476801, + -0.0009158225730061531, + 0.0020124115186325947 + ], + [ + 0.00760663254186511, + 0.9999558329582214, + -0.005522328428924084, + 0.0009204338942975577 + ], + [ + 0.0009578169556334615, + 0.005515200085937977, + 0.9999843239784241, + 0.012215057407216779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999961256980896, + -0.008242839016020298, + -0.0030796986538916826, + 0.006822329869088395 + ], + [ + 0.008231381885707378, + 0.9999592304229736, + -0.00371439172886312, + -0.0020578048126731903 + ], + [ + 0.0031101901549845934, + 0.003688897704705596, + 0.9999883770942688, + 0.013292714388206088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999470710754395, + -0.0074718547984957695, + -0.007072167005389929, + 0.01894554412795295 + ], + [ + 0.0075189508497715, + 0.99994957447052, + 0.006656414829194546, + -0.029752703161974405 + ], + [ + 0.007022074889391661, + -0.0067092375829815865, + 0.9999528527259827, + 0.01184787838880358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999246597290039, + -0.009773909114301205, + -0.007424371782690287, + 0.020741719112868002 + ], + [ + 0.009803288616240025, + 0.9999442100524902, + 0.003931032028049231, + -0.015766615265426387 + ], + [ + 0.007385536562651396, + -0.0040035187266767025, + 0.999964714050293, + 0.011427924236090018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998265504837036, + -0.016649600118398666, + -0.008342928253114223, + 0.02063479714079535 + ], + [ + 0.01660718023777008, + 0.9998489618301392, + -0.0051283519715070724, + 0.014051937522238185 + ], + [ + 0.00842705275863409, + 0.00498890969902277, + 0.9999520182609558, + 0.011946635834615804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995790123939514, + -0.027702856808900833, + -0.008625689893960953, + 0.012750975355698631 + ], + [ + 0.027495529502630234, + 0.9993505477905273, + -0.023292068392038345, + 0.07071496203766557 + ], + [ + 0.009265344589948654, + 0.023045092821121216, + 0.9996914863586426, + 0.01574870513687874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9992921352386475, + -0.036437027156353, + -0.009357191622257233, + 0.0042268189762173025 + ], + [ + 0.03614019602537155, + 0.998892068862915, + -0.030141768977046013, + 0.0933168851513544 + ], + [ + 0.01044510118663311, + 0.029782263562083244, + 0.9995018243789673, + 0.023035052945387775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9989908337593079, + -0.04378186911344528, + -0.010023028589785099, + -0.006560482901665543 + ], + [ + 0.0433473214507103, + 0.9982550740242004, + -0.040097594261169434, + 0.11957675727276966 + ], + [ + 0.011761086992919445, + 0.039622657001018524, + 0.9991455078125, + 0.03277846091780169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.998826801776886, + -0.04495113343000412, + -0.018012216314673424, + 0.0028186554394277006 + ], + [ + 0.044256359338760376, + 0.9983246326446533, + -0.037274010479450226, + 0.10864648602517514 + ], + [ + 0.019657546654343605, + 0.03643312305212021, + 0.9991427659988403, + 0.02728508962639447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9988604187965393, + -0.043335363268852234, + -0.019998326897621155, + 0.0006297794150606055 + ], + [ + 0.04260700196027756, + 0.9984605312347412, + -0.035513103008270264, + 0.09938565500337503 + ], + [ + 0.02150651440024376, + 0.034620560705661774, + 0.999169111251831, + 0.029197823256254196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989010691642761, + -0.04078856483101845, + -0.023084642365574837, + -7.799886034576801e-05 + ], + [ + 0.039851296693086624, + 0.9984166026115417, + -0.03970083221793175, + 0.10510615750119603 + ], + [ + 0.02466742880642414, + 0.03873724862933159, + 0.9989449381828308, + 0.02738646867460218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988201856613159, + -0.03799928352236748, + -0.030237268656492233, + 0.007673178229416753 + ], + [ + 0.036689598113298416, + 0.9984118938446045, + -0.04274934157729149, + 0.10988402094146044 + ], + [ + 0.031813692301511765, + 0.041589509695768356, + 0.9986281394958496, + 0.019829140911842215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9985761642456055, + -0.039357755333185196, + -0.036008428782224655, + 0.006834573501014504 + ], + [ + 0.037322234362363815, + 0.9977578520774841, + -0.055554166436195374, + 0.1429857240797117 + ], + [ + 0.03811417892575264, + 0.054131150245666504, + 0.9978061318397522, + 0.01869035796101751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9979066848754883, + -0.04508781060576439, + -0.046361055225133896, + 0.012550575127182849 + ], + [ + 0.04152402654290199, + 0.9963070154190063, + -0.07515352219343185, + 0.20155433207300716 + ], + [ + 0.04957835003733635, + 0.07307109981775284, + 0.9960936903953552, + 0.014671445959087075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9970780611038208, + -0.047619275748729706, + -0.05973086506128311, + 0.024879200833624805 + ], + [ + 0.04371371120214462, + 0.9969226717948914, + -0.06507119536399841, + 0.17765632708524837 + ], + [ + 0.06264569610357285, + 0.06227000057697296, + 0.996091365814209, + 0.005373295235993532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9960992336273193, + -0.04701117053627968, + -0.07467471063137054, + 0.045210733592253305 + ], + [ + 0.04305027052760124, + 0.9976235628128052, + -0.05379480868577957, + 0.15134109118953348 + ], + [ + 0.07702620327472687, + 0.05037020146846771, + 0.9957559108734131, + -0.0031712204892316784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9957772493362427, + -0.042766038328409195, + -0.08123230934143066, + 0.04655130410502697 + ], + [ + 0.03946291282773018, + 0.9983445405960083, + -0.04184263199567795, + 0.12557477794972988 + ], + [ + 0.08288727700710297, + 0.038460277020931244, + 0.9958165287971497, + -0.011400181138566856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9958478212356567, + -0.03856812044978142, + -0.08246012032032013, + 0.03569306057460349 + ], + [ + 0.0357649065554142, + 0.9987398982048035, + -0.03520628437399864, + 0.11241308391768613 + ], + [ + 0.08371405303478241, + 0.032110925763845444, + 0.9959723353385925, + -0.0174041589593579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9957869052886963, + -0.033848971128463745, + -0.08522110432386398, + 0.030832799382764717 + ], + [ + 0.031188897788524628, + 0.9989897012710571, + -0.03235437721014023, + 0.10945145587982802 + ], + [ + 0.08623016625642776, + 0.029560115188360214, + 0.995836615562439, + -0.024324104678014227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9961845278739929, + -0.031193021684885025, + -0.08150716871023178, + 0.009516096850535992 + ], + [ + 0.029046006500720978, + 0.99920254945755, + -0.027395952492952347, + 0.10086405342284205 + ], + [ + 0.08229673653841019, + 0.024923965334892273, + 0.9962961673736572, + -0.03087576722790455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9971837401390076, + -0.024987371638417244, + -0.07071253657341003, + -0.02600136946501403 + ], + [ + 0.024112114682793617, + 0.9996220469474792, + -0.013204454444348812, + 0.063553263750409 + ], + [ + 0.07101576030254364, + 0.011462238617241383, + 0.9974093437194824, + -0.03436321706093591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9978672862052917, + -0.02001926489174366, + -0.06212979555130005, + -0.04788053947789916 + ], + [ + 0.019815562292933464, + 0.9997960925102234, + -0.003893179353326559, + 0.03922199987633764 + ], + [ + 0.0621950626373291, + 0.0026537394151091576, + 0.9980604648590088, + -0.0388579821278309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9985881447792053, + -0.01758120022714138, + -0.05012635141611099, + -0.07844795935369771 + ], + [ + 0.017777198925614357, + 0.9998359680175781, + 0.003466931637376547, + 0.01904418710217779 + ], + [ + 0.050057172775268555, + -0.004353142809122801, + 0.9987368583679199, + -0.04088952024949008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9988158345222473, + -0.018429700285196304, + -0.045025479048490524, + -0.08800718025304377 + ], + [ + 0.018766053020954132, + 0.9997989535331726, + 0.007059009280055761, + 0.011979705264093355 + ], + [ + 0.044886332005262375, + -0.007895600982010365, + 0.9989609122276306, + -0.04625428691506386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994482398033142, + -0.016379840672016144, + -0.028895188122987747, + -0.1262581814883341 + ], + [ + 0.01718684285879135, + 0.9994628429412842, + 0.027904892340302467, + -0.04255209868805933 + ], + [ + 0.028422590345144272, + -0.028386114165186882, + 0.9991928935050964, + -0.045439111261532224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9998964071273804, + -0.009026963263750076, + -0.011209449730813503, + -0.15752348806990055 + ], + [ + 0.009499209001660347, + 0.9990378022193909, + 0.042816419154405594, + -0.08292488085009672 + ], + [ + 0.010812162421643734, + -0.04291846230626106, + 0.9990200996398926, + -0.043123598461007245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999995768070221, + -0.002456910442560911, + 0.0015760515816509724, + -0.16625572525864019 + ], + [ + 0.00237747048959136, + 0.9988170862197876, + 0.04856688156723976, + -0.09917161500659483 + ], + [ + -0.0016935118474066257, + -0.048562925308942795, + 0.9988186955451965, + -0.04722881006269619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999841451644897, + 0.0009605493396520615, + 0.005545297171920538, + -0.15051465259025934 + ], + [ + -0.001264464110136032, + 0.9984819889068604, + 0.05506521463394165, + -0.11433458130421309 + ], + [ + -0.005483986344188452, + -0.055071353912353516, + 0.9984673857688904, + -0.05731196711803305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999834418296814, + 0.0015733768232166767, + 0.01812901720404625, + -0.1595481148792495 + ], + [ + -0.0026299632154405117, + 0.9982894659042358, + 0.05840593948960304, + -0.11926857043250368 + ], + [ + -0.018006112426519394, + -0.05844394490122795, + 0.9981282949447632, + -0.05941817411060991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9997446537017822, + 0.003995273262262344, + 0.022241273894906044, + -0.14340858862751388 + ], + [ + -0.005543991923332214, + 0.9975306987762451, + 0.07001254707574844, + -0.15003055300370888 + ], + [ + -0.02190663479268551, + -0.07011797279119492, + 0.9972981214523315, + -0.0649582523981045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995782971382141, + 0.004386836662888527, + 0.028704773634672165, + -0.13572997683980342 + ], + [ + -0.006566649302840233, + 0.997063934803009, + 0.0762912854552269, + -0.16166352489642027 + ], + [ + -0.028285816311836243, + -0.07644761353731155, + 0.9966722726821899, + -0.06931626991979008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995101690292358, + 0.004011321812868118, + 0.03103739395737648, + -0.12004478890609381 + ], + [ + -0.006235827691853046, + 0.9973915815353394, + 0.07191050797700882, + -0.14031660121640768 + ], + [ + -0.030667979270219803, + -0.07206883281469345, + 0.9969280362129211, + -0.08172476802920473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9993916749954224, + -0.0001769282971508801, + 0.03487538918852806, + -0.11650239557092046 + ], + [ + -0.002034316770732403, + 0.997988760471344, + 0.06335848569869995, + -0.10503966289347616 + ], + [ + -0.03481645509600639, + -0.06339089572429657, + 0.9973812699317932, + -0.08745727554477495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9991409182548523, + -0.0015113127883523703, + 0.0414140559732914, + -0.12613032989300274 + ], + [ + -0.0008117521647363901, + 0.9984293580055237, + 0.056019484996795654, + -0.07534278746822785 + ], + [ + -0.0414336733520031, + -0.056004978716373444, + 0.9975703954696655, + -0.08619046586340871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.99920254945755, + -0.0018751611933112144, + 0.039883557707071304, + -0.11558346071376882 + ], + [ + -0.00043583958176895976, + 0.9983248114585876, + 0.057856231927871704, + -0.07653652902307181 + ], + [ + -0.039925236254930496, + -0.057827480137348175, + 0.9975278973579407, + -0.09385371259574232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9992386102676392, + -0.006200321950018406, + 0.03851979598402977, + -0.11225486604400493 + ], + [ + 0.004375091753900051, + 0.9988716840744019, + 0.04728907346725464, + -0.04004362505571596 + ], + [ + -0.03876953944563866, + -0.047084540128707886, + 0.9981382489204407, + -0.09824123415967514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992372989654541, + -0.010742596350610256, + 0.037542976438999176, + -0.11735010193982001 + ], + [ + 0.009483409114181995, + 0.9993917346000671, + 0.033558521419763565, + 0.0024529132478196044 + ], + [ + -0.03788064420223236, + -0.03317688778042793, + 0.9987313747406006, + -0.09833059598659646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9993781447410583, + -0.013117642141878605, + 0.0327296257019043, + -0.1163783375559182 + ], + [ + 0.012046555988490582, + 0.9993922710418701, + 0.032710570842027664, + 0.0038880871367994053 + ], + [ + -0.03313881903886795, + -0.03229595348238945, + 0.9989288449287415, + -0.0970885418355465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9992964863777161, + -0.011617627926170826, + 0.03565919026732445, + -0.13514569980445607 + ], + [ + 0.010207402519881725, + 0.999168336391449, + 0.03947773948311806, + -0.018861097669036223 + ], + [ + -0.03608817234635353, + -0.039085980504751205, + 0.998583972454071, + -0.09356936904890784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9994329214096069, + -0.01037613581866026, + 0.03203302249312401, + -0.13052929583776357 + ], + [ + 0.009109129197895527, + 0.9991800785064697, + 0.03944878280162811, + -0.019691552420885397 + ], + [ + -0.03241608664393425, + -0.03913462162017822, + 0.9987080097198486, + -0.09231029142593515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995694160461426, + -0.00762321799993515, + 0.02833397500216961, + -0.12512710510817324 + ], + [ + 0.006433517672121525, + 0.9991034269332886, + 0.04184499755501747, + -0.02692323718541141 + ], + [ + -0.028627565130591393, + -0.04164469614624977, + 0.99872225522995, + -0.09529983416713517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996291995048523, + -0.004500454757362604, + 0.02685442566871643, + -0.12374661830735617 + ], + [ + 0.0032151341438293457, + 0.9988558292388916, + 0.047715168446302414, + -0.04413383971289571 + ], + [ + -0.027038440108299255, + -0.047611135989427567, + 0.9984999299049377, + -0.08930448630246623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996355175971985, + -0.002960499608889222, + 0.026834353804588318, + -0.12332677702451575 + ], + [ + 0.001540707191452384, + 0.9986051321029663, + 0.052776552736759186, + -0.059154590116492635 + ], + [ + -0.026953168213367462, + -0.0527159720659256, + 0.9982457160949707, + -0.08902375405204707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993476867675781, + 0.0002281098859384656, + 0.03611272573471069, + -0.1424124785281461 + ], + [ + -0.0024123992770910263, + 0.9981681108474731, + 0.06045331433415413, + -0.08222949729172577 + ], + [ + -0.0360327810049057, + -0.06050099804997444, + 0.9975175261497498, + -0.07827215816440253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988882541656494, + 0.0014271690743044019, + 0.047119785100221634, + -0.16020805981202885 + ], + [ + -0.004439687356352806, + 0.9979470372200012, + 0.06389062851667404, + -0.09577525057027052 + ], + [ + -0.04693186655640602, + -0.0640287920832634, + 0.9968438744544983, + -0.06543980140624375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.997776210308075, + 0.002260993467643857, + 0.06661436706781387, + -0.1966254270507087 + ], + [ + -0.0066228508949279785, + 0.9978416562080383, + 0.06533140689134598, + -0.10469893919432471 + ], + [ + -0.06632287055253983, + -0.06562729924917221, + 0.9956376552581787, + -0.04471125583453425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9979814887046814, + 0.00041107158176600933, + 0.06350438296794891, + -0.16123613743432638 + ], + [ + -0.004491581581532955, + 0.997931718826294, + 0.06412619352340698, + -0.10438175982442395 + ], + [ + -0.06334666907787323, + -0.06428198516368866, + 0.9959191679954529, + -0.050240735735358866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9982128739356995, + -0.007469631731510162, + 0.05928993970155716, + -0.1296173310132119 + ], + [ + 0.004527249373495579, + 0.9987585544586182, + 0.04960707202553749, + -0.06133204888199167 + ], + [ + -0.05958688259124756, + -0.04924999549984932, + 0.997007429599762, + -0.05244833672868794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9976314902305603, + -0.013090443797409534, + 0.06752783060073853, + -0.14202509219276493 + ], + [ + 0.009621095843613148, + 0.9986293315887451, + 0.051448315382003784, + -0.07137797215375408 + ], + [ + -0.06810875236988068, + -0.05067677050828934, + 0.9963900446891785, + -0.04117327335065809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9975109100341797, + -0.010127948597073555, + 0.06978105008602142, + -0.12838810184520894 + ], + [ + 0.005814824718981981, + 0.9980754852294922, + 0.06173747777938843, + -0.10456572177595105 + ], + [ + -0.07027202844619751, + -0.061178043484687805, + 0.9956501126289368, + -0.036679604636697935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9976512789726257, + -0.009982003830373287, + 0.06776626408100128, + -0.10272216020986952 + ], + [ + 0.006139256991446018, + 0.9983735680580139, + 0.05667911469936371, + -0.08757719767504725 + ], + [ + -0.06822182238101959, + -0.056129954755306244, + 0.9960899353027344, + -0.038350203453466805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9983373880386353, + -0.01307822484523058, + 0.05613726004958153, + -0.05968962765041867 + ], + [ + 0.010419786907732487, + 0.9988220930099487, + 0.04739023745059967, + -0.05846019169508383 + ], + [ + -0.05669091269373894, + -0.04672650992870331, + 0.9972977638244629, + -0.03979821120998983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9981211423873901, + -0.015012085437774658, + 0.05940410494804382, + -0.064773940294981 + ], + [ + 0.012626789510250092, + 0.999106764793396, + 0.04032736271619797, + -0.037190967611968516 + ], + [ + -0.05995643883943558, + -0.03950151056051254, + 0.9974191188812256, + -0.03708046264946461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9983848333358765, + -0.016613639891147614, + 0.054329413920640945, + -0.0456456829103288 + ], + [ + 0.014459110796451569, + 0.9991025328636169, + 0.03981218487024307, + -0.03387806384406727 + ], + [ + -0.05494208261370659, + -0.03896232694387436, + 0.9977290630340576, + -0.03336181707423309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9986727833747864, + -0.021830080077052116, + 0.04664915055036545, + -0.023842641056097787 + ], + [ + 0.02040630765259266, + 0.9993177652359009, + 0.030782176181674004, + -0.0047892950924819915 + ], + [ + -0.04728930443525314, + -0.029789382591843605, + 0.9984369277954102, + -0.031604689883132434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9986212253570557, + -0.02645290642976761, + 0.04534151405096054, + -0.02694342829736656 + ], + [ + 0.025353852659463882, + 0.9993746876716614, + 0.024645622819662094, + 0.013769662619472064 + ], + [ + -0.04596511274576187, + -0.02346206083893776, + 0.9986674785614014, + -0.021382723099969584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.998756468296051, + -0.027625182643532753, + 0.04150111973285675, + -0.019466412581246473 + ], + [ + 0.02652338705956936, + 0.9992870092391968, + 0.02686876431107521, + 0.005610290468381397 + ], + [ + -0.04221378266811371, + -0.02573460340499878, + 0.9987770915031433, + -0.016155397018481944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9989625811576843, + -0.028442954644560814, + 0.035564273595809937, + -0.005483518299999936 + ], + [ + 0.027439290657639503, + 0.9992200136184692, + 0.028397811576724052, + -0.0011699184337791442 + ], + [ + -0.0363442525267601, + -0.027392493560910225, + 0.9989638328552246, + -0.01628996260978025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9993360042572021, + -0.027233881875872612, + 0.024204175919294357, + 0.025973158959170867 + ], + [ + 0.02635239250957966, + 0.999003529548645, + 0.036020565778017044, + -0.02613121259572177 + ], + [ + -0.02516103908419609, + -0.03535881265997887, + 0.9990578889846802, + -0.017538663321014107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993400573730469, + -0.027828838676214218, + 0.02334488555788994, + 0.029111764562348354 + ], + [ + 0.02690006047487259, + 0.9988692998886108, + 0.039197616279125214, + -0.03627032136287669 + ], + [ + -0.02440931275486946, + -0.03854376822710037, + 0.9989587664604187, + -0.014223694929788852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9993374943733215, + -0.02921484410762787, + 0.02170371264219284, + 0.034660674766476815 + ], + [ + 0.028380166739225388, + 0.9988815188407898, + 0.03781859949231148, + -0.0327639643648832 + ], + [ + -0.02278430387377739, + -0.037177588790655136, + 0.9990488886833191, + -0.010371100966786517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9992954730987549, + -0.030223757028579712, + 0.022250059992074966, + 0.0345360428046692 + ], + [ + 0.02926378697156906, + 0.9986773729324341, + 0.04227461665868759, + -0.04723518933008971 + ], + [ + -0.023498330265283585, + -0.04159371554851532, + 0.9988582730293274, + -0.006769762971791729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9994776844978333, + -0.02994612790644169, + 0.01215006411075592, + 0.06841525463708516 + ], + [ + 0.029390299692749977, + 0.998616635799408, + 0.04360097646713257, + -0.05153206617667757 + ], + [ + -0.013438936322927475, + -0.04322110861539841, + 0.9989751577377319, + -0.007009928622122467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9993091225624084, + -0.03288298472762108, + 0.01732095144689083, + 0.055489643464860475 + ], + [ + 0.03229553624987602, + 0.9989278316497803, + 0.03316826373338699, + -0.018377715724937876 + ], + [ + -0.018393052741885185, + -0.032585956156253815, + 0.9992997050285339, + -0.0009223346180956965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9994710087776184, + -0.031623274087905884, + 0.007591982372105122, + 0.08697179671585688 + ], + [ + 0.031256504356861115, + 0.9985268712043762, + 0.04435176029801369, + -0.05007013766865792 + ], + [ + -0.00898334663361311, + -0.04409099742770195, + 0.9989871382713318, + -0.0009231870544367839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995148181915283, + -0.030744895339012146, + 0.0049871657975018024, + 0.10080600597209233 + ], + [ + 0.030444182455539703, + 0.998180627822876, + 0.05204356834292412, + -0.07013640756526127 + ], + [ + -0.006578166503459215, + -0.05186649039387703, + 0.9986323714256287, + 0.0005533175350263229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9994274973869324, + -0.033024631440639496, + 0.0073526883497834206, + 0.09876635875874039 + ], + [ + 0.03261622041463852, + 0.9982134103775024, + 0.05006149411201477, + -0.060830753553530265 + ], + [ + -0.00899281445890665, + -0.04979301989078522, + 0.9987190961837769, + 0.004420270642329905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9994532465934753, + -0.03225911036133766, + 0.007252799347043037, + 0.10693369625890949 + ], + [ + 0.03183281049132347, + 0.9981012344360352, + 0.05273143947124481, + -0.067337416183075 + ], + [ + -0.008940096944570541, + -0.05247172713279724, + 0.9985823631286621, + 0.009375894609196432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9995248913764954, + -0.03057173267006874, + 0.003921165131032467, + 0.12648987150028476 + ], + [ + 0.030318263918161392, + 0.9981052279472351, + 0.05354224517941475, + -0.06794885381863548 + ], + [ + -0.005550614558160305, + -0.05339791998267174, + 0.9985578656196594, + 0.013989762910481159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.999451220035553, + -0.03192034736275673, + 0.008849159814417362, + 0.11916521243181015 + ], + [ + 0.031395021826028824, + 0.9980351328849792, + 0.05422353371977806, + -0.06898687331102274 + ], + [ + -0.01056260708719492, + -0.05391595885157585, + 0.9984896183013916, + 0.017908519326612866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994112253189087, + -0.03147612512111664, + 0.013653024099767208, + 0.11352891141452409 + ], + [ + 0.030688844621181488, + 0.9980433583259583, + 0.0544760599732399, + -0.06972107788355186 + ], + [ + -0.01534100528806448, + -0.05402499437332153, + 0.9984217286109924, + 0.02458055081038639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9993094801902771, + -0.032433390617370605, + 0.01812962256371975, + 0.10976432305680395 + ], + [ + 0.03144562244415283, + 0.9981339573860168, + 0.052343014627695084, + -0.0643877036307521 + ], + [ + -0.019793452695012093, + -0.051736775785684586, + 0.9984645843505859, + 0.0276629560723387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9992747902870178, + -0.034272000193595886, + 0.01659267209470272, + 0.11892387785242292 + ], + [ + 0.03341120481491089, + 0.9982082843780518, + 0.04963763430714607, + -0.05863197860468564 + ], + [ + -0.018264124169945717, + -0.049047257751226425, + 0.9986294507980347, + 0.03381120423818456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993144869804382, + -0.03405611217021942, + 0.014517265371978283, + 0.12610062277386094 + ], + [ + 0.03331959247589111, + 0.9982784986495972, + 0.04826883599162102, + -0.058845536675753776 + ], + [ + -0.01613612286746502, + -0.04775203391909599, + 0.99872887134552, + 0.03917494005170362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9992921948432922, + -0.03519406169652939, + 0.013283230364322662, + 0.12941986759161128 + ], + [ + 0.03459577262401581, + 0.998481810092926, + 0.04286201670765877, + -0.04736378326498229 + ], + [ + -0.014771552756428719, + -0.04237213358283043, + 0.9989926815032959, + 0.0426520671823929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992258548736572, + -0.03779832273721695, + 0.010909713804721832, + 0.131219420848607 + ], + [ + 0.03748031705617905, + 0.9989046454429626, + 0.02801351435482502, + -0.009360622454852122 + ], + [ + -0.011956628412008286, + -0.0275829266756773, + 0.9995480179786682, + 0.044086210609510026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9992828965187073, + -0.037548284977674484, + 0.004878607112914324, + 0.14187437566920535 + ], + [ + 0.03745231404900551, + 0.9991278052330017, + 0.018464459106326103, + 0.012483523466527976 + ], + [ + -0.0055676610209047794, + -0.01826850138604641, + 0.9998176097869873, + 0.05095592726921213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9992669820785522, + -0.038281671702861786, + 0.00021541706519201398, + 0.14813628509675317 + ], + [ + 0.03827250748872757, + 0.999123215675354, + 0.01697123795747757, + 0.012716868144042532 + ], + [ + -0.0008649154915474355, + -0.01695055142045021, + 0.9998559355735779, + 0.05290228752740498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.99922776222229, + -0.039125774055719376, + -0.003619454801082611, + 0.1511856103637095 + ], + [ + 0.039182502776384354, + 0.9990836977958679, + 0.017218265682458878, + 0.006862931801327344 + ], + [ + 0.0029424605891108513, + -0.017346788197755814, + 0.9998452067375183, + 0.05958028019502245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9992874264717102, + -0.03774343803524971, + 0.0001614931970834732, + 0.1344046731567781 + ], + [ + 0.03772952780127525, + 0.9990184903144836, + 0.023206232115626335, + -0.01723997641338742 + ], + [ + -0.001037217560224235, + -0.023183604702353477, + 0.9997307062149048, + 0.06604243352495391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9993435740470886, + -0.03497904911637306, + -0.00943010114133358, + 0.15898613407083884 + ], + [ + 0.03518383577466011, + 0.9991274476051331, + 0.022503675892949104, + -0.021398095907001147 + ], + [ + 0.008634716272354126, + -0.022820690646767616, + 0.9997022747993469, + 0.06869101483246376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9993839263916016, + -0.034324437379837036, + -0.007322764024138451, + 0.15281118957791479 + ], + [ + 0.03450042009353638, + 0.9990808963775635, + 0.025438228622078896, + -0.033699037856422365 + ], + [ + 0.006442881189286709, + -0.025675194337964058, + 0.9996495842933655, + 0.07087282016873359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9993591904640198, + -0.03443566709756851, + -0.00976923294365406, + 0.16069536904708065 + ], + [ + 0.03466721624135971, + 0.9990957379341125, + 0.024615013971924782, + -0.035928703555516125 + ], + [ + 0.008912764489650726, + -0.024937910959124565, + 0.9996492862701416, + 0.07361764625228684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9993379712104797, + -0.03539703041315079, + -0.008409306406974792, + 0.15948941128906505 + ], + [ + 0.03561323136091232, + 0.9989974498748779, + 0.027125656604766846, + -0.046682495418293724 + ], + [ + 0.007440708111971617, + -0.02740718051791191, + 0.9995966553688049, + 0.07796550565238655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9992644786834717, + -0.03777605667710304, + -0.00659458851441741, + 0.1574094905738783 + ], + [ + 0.0378982312977314, + 0.9990912079811096, + 0.019504988566040993, + -0.027359199204385794 + ], + [ + 0.005851774010807276, + -0.01974056474864483, + 0.9997879862785339, + 0.08038399882357697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9993270039558411, + -0.03659025579690933, + -0.002584687899798155, + 0.14919858636306438 + ], + [ + 0.036645375192165375, + 0.9989866614341736, + 0.02612905576825142, + -0.05038431186453793 + ], + [ + 0.0016259998083114624, + -0.026206187903881073, + 0.9996552467346191, + 0.08283539342469182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9993235468864441, + -0.03657438978552818, + -0.0038449305575340986, + 0.15592362256921377 + ], + [ + 0.036634381860494614, + 0.9991858005523682, + 0.01690240204334259, + -0.026849180858196882 + ], + [ + 0.003223604755476117, + -0.017031826078891754, + 0.9998497366905212, + 0.08230533168233674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9993105530738831, + -0.035874634981155396, + -0.009562729857861996, + 0.17319116115947414 + ], + [ + 0.0360497385263443, + 0.9991728663444519, + 0.018815189599990845, + -0.03340473011906805 + ], + [ + 0.008879831992089748, + -0.019146952778100967, + 0.9997772574424744, + 0.08053707184976544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.999286413192749, + -0.03608221188187599, + -0.011167289689183235, + 0.17651342746865903 + ], + [ + 0.0362069346010685, + 0.9992818236351013, + 0.011175543069839478, + -0.01236700791351754 + ], + [ + 0.010756030678749084, + -0.01157190091907978, + 0.9998751878738403, + 0.0796038855766428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.999219536781311, + -0.03724939003586769, + -0.01314676646143198, + 0.17644878048730758 + ], + [ + 0.03729134425520897, + 0.9993000626564026, + 0.002960347104817629, + 0.010911161847741761 + ], + [ + 0.013027292676270008, + -0.003448297269642353, + 0.9999092221260071, + 0.08013753862730388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9992285370826721, + -0.03500817343592644, + -0.01779928430914879, + 0.18281854930622823 + ], + [ + 0.03517647460103035, + 0.9993384480476379, + 0.009231754578649998, + -0.007875577344334332 + ], + [ + 0.017464321106672287, + -0.00985074881464243, + 0.9997989535331726, + 0.08346446274683393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9991273283958435, + -0.03524845466017723, + -0.02240852266550064, + 0.18783573561251676 + ], + [ + 0.03519592806696892, + 0.9993767142295837, + -0.002734115347266197, + 0.025223109918518057 + ], + [ + 0.022490929812192917, + 0.0019430406391620636, + 0.9997451305389404, + 0.08528479008839049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9987300038337708, + -0.03997081145644188, + -0.030670633539557457, + 0.1977509144227952 + ], + [ + 0.03891947492957115, + 0.9986588954925537, + -0.03414205089211464, + 0.11173920176987504 + ], + [ + 0.03199418634176254, + 0.032905008643865585, + 0.9989462494850159, + 0.0909437710355068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9985266923904419, + -0.04104002192616463, + -0.03549918532371521, + 0.19410477456604613 + ], + [ + 0.03927866742014885, + 0.9980277419090271, + -0.04896688833832741, + 0.14827542516145983 + ], + [ + 0.0374387726187706, + 0.047500383108854294, + 0.9981693625450134, + 0.09140587117651414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9983162879943848, + -0.040009547024965286, + -0.041997697204351425, + 0.19450076704780603 + ], + [ + 0.037887100130319595, + 0.9980217218399048, + -0.05017147585749626, + 0.14470538776367903 + ], + [ + 0.043921951204538345, + 0.048495832830667496, + 0.9978572130203247, + 0.09316691499331901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9980204105377197, + -0.04016001522541046, + -0.048398207873106, + 0.19232748104419944 + ], + [ + 0.03794129192829132, + 0.9982242584228516, + -0.04592151939868927, + 0.12638603151486866 + ], + [ + 0.05015647038817406, + 0.043994322419166565, + 0.9977719187736511, + 0.09275728117289214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9977675676345825, + -0.03815183416008949, + -0.05481114983558655, + 0.19144350256899306 + ], + [ + 0.03581096604466438, + 0.9984298944473267, + -0.043073490262031555, + 0.1124900399996289 + ], + [ + 0.056368425488471985, + 0.04101449251174927, + 0.9975672364234924, + 0.09545481045698297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9974610805511475, + -0.03858819603919983, + -0.059852275997400284, + 0.1875772476180232 + ], + [ + 0.035760074853897095, + 0.9982249736785889, + -0.047624215483665466, + 0.1203501923395128 + ], + [ + 0.06158376857638359, + 0.04536297917366028, + 0.9970705509185791, + 0.09495754324156663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9970628023147583, + -0.04025484621524811, + -0.06515651941299438, + 0.18498708616042958 + ], + [ + 0.03712774068117142, + 0.9981322288513184, + -0.04851352423429489, + 0.11663431841237791 + ], + [ + 0.06698772311210632, + 0.04595191776752472, + 0.9966951012611389, + 0.09583861879233656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9961999654769897, + -0.033826619386672974, + -0.08025812357664108, + 0.2177496754628574 + ], + [ + 0.03226243704557419, + 0.9992648959159851, + -0.020707134157419205, + 0.03196478208751771 + ], + [ + 0.08089957386255264, + 0.018039125949144363, + 0.9965590238571167, + 0.09097404032945633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9962016940116882, + -0.031866829842329025, + -0.08103495836257935, + 0.214097318618462 + ], + [ + 0.0302327461540699, + 0.999315619468689, + -0.021313101053237915, + 0.028892749136891858 + ], + [ + 0.08165867626667023, + 0.01878223940730095, + 0.9964833855628967, + 0.08770912469461047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962863326072693, + -0.02960379235446453, + -0.0808526948094368, + 0.21139588577929755 + ], + [ + 0.02789582870900631, + 0.9993649125099182, + -0.022173143923282623, + 0.02557735152478362 + ], + [ + 0.08145775645971298, + 0.019835349172353745, + 0.9964793920516968, + 0.08977436377056713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9962467551231384, + -0.027741864323616028, + -0.08199264109134674, + 0.21472142253970278 + ], + [ + 0.026005014777183533, + 0.9994158148765564, + -0.022175710648298264, + 0.01850881850796527 + ], + [ + 0.08255994319915771, + 0.019960258156061172, + 0.9963861703872681, + 0.08498862981796265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9963443279266357, + -0.025441866368055344, + -0.08155211806297302, + 0.21426790252584835 + ], + [ + 0.02412545680999756, + 0.9995629191398621, + -0.01708703674376011, + -0.004897565792057792 + ], + [ + 0.08195120096206665, + 0.015057088807225227, + 0.9965226054191589, + 0.08042310961875423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9964069724082947, + -0.024731187149882317, + -0.08100295066833496, + 0.2129838338186001 + ], + [ + 0.023121124133467674, + 0.9995172023773193, + -0.020754775032401085, + -0.004222514870544446 + ], + [ + 0.08147713541984558, + 0.018807323649525642, + 0.9964977502822876, + 0.0805842126237935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.995768129825592, + -0.025754867121577263, + -0.08821842074394226, + 0.23154164502589866 + ], + [ + 0.023628896102309227, + 0.9994066953659058, + -0.025059211999177933, + 0.0007568189372501239 + ], + [ + 0.0888114720582962, + 0.02286865934729576, + 0.9957858920097351, + 0.07400968940607433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9952585101127625, + -0.025451844558119774, + -0.09387626498937607, + 0.24481476139405678 + ], + [ + 0.023502977564930916, + 0.9994859099388123, + -0.021807661280035973, + -0.013904276458096915 + ], + [ + 0.09438305348157883, + 0.019497888162732124, + 0.9953449964523315, + 0.06741579966298465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.994024395942688, + -0.02387099899351597, + -0.1065162718296051, + 0.27634018594077947 + ], + [ + 0.021898625418543816, + 0.9995670914649963, + -0.01964861899614334, + -0.021031739289776006 + ], + [ + 0.10693919658660889, + 0.01719864457845688, + 0.9941167831420898, + 0.0588040093409604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9934009313583374, + -0.022570475935935974, + -0.11245086044073105, + 0.2885739045603008 + ], + [ + 0.022325489670038223, + 0.9997448325157166, + -0.0034375335089862347, + -0.06926489504222791 + ], + [ + 0.11249975115060806, + 0.0009043283062055707, + 0.9936513304710388, + 0.056399234872439814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9924631714820862, + -0.02107447385787964, + -0.12071742862462997, + 0.3079379882567145 + ], + [ + 0.021435074508190155, + 0.9997687935829163, + 0.0016892398707568645, + -0.08414140768481643 + ], + [ + 0.1206539198756218, + -0.0042640953324735165, + 0.9926854968070984, + 0.05457033743632251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9922730922698975, + -0.021015983074903488, + -0.12228021025657654, + 0.3081404909491539 + ], + [ + 0.021161999553442, + 0.9997760653495789, + -0.00010461558122187853, + -0.07750865769921803 + ], + [ + 0.12225502729415894, + -0.002483886666595936, + 0.992495596408844, + 0.05148132741451263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9911162257194519, + -0.02294340170919895, + -0.13100481033325195, + 0.3264997702220391 + ], + [ + 0.023455338552594185, + 0.9997220635414124, + 0.002365885768085718, + -0.0803011064451782 + ], + [ + 0.1309141218662262, + -0.005417629610747099, + 0.991378903388977, + 0.04288168313174412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9912400841712952, + -0.0276247039437294, + -0.12915100157260895, + 0.31006131402120507 + ], + [ + 0.02840222418308258, + 0.9995878338813782, + 0.004181975964456797, + -0.08079109818409679 + ], + [ + 0.12898223102092743, + -0.00781351700425148, + 0.9916161298751831, + 0.04140154955715969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9908400774002075, + -0.025149691849946976, + -0.1326780468225479, + 0.31150217769860195 + ], + [ + 0.026950344443321228, + 0.9995672106742859, + 0.011793006211519241, + -0.09771083510352363 + ], + [ + 0.13232402503490448, + -0.01526070199906826, + 0.9910890460014343, + 0.03816423680761765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9916315674781799, + -0.024566369131207466, + -0.12674109637737274, + 0.2882732319934615 + ], + [ + 0.026527559384703636, + 0.9995527267456055, + 0.013809134252369404, + -0.09900687710414159 + ], + [ + 0.1263451725244522, + -0.017055705189704895, + 0.9918397068977356, + 0.033302582029638615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9915227890014648, + -0.02579697035253048, + -0.12734642624855042, + 0.28336584512786617 + ], + [ + 0.027265457436442375, + 0.9995802044868469, + 0.009801475331187248, + -0.08296529788700542 + ], + [ + 0.12704011797904968, + -0.01319054514169693, + 0.9918098449707031, + 0.028702442039703492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9901253581047058, + -0.02569849044084549, + -0.13780902326107025, + 0.30475914667135684 + ], + [ + 0.028185289353132248, + 0.9994726777076721, + 0.016123998910188675, + -0.09761210682898246 + ], + [ + 0.13732199370861053, + -0.01984896883368492, + 0.9903275966644287, + 0.024115924691331794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9906229376792908, + -0.023027438670396805, + -0.13466960191726685, + 0.2895600287821786 + ], + [ + 0.025919556617736816, + 0.9994686841964722, + 0.019761716946959496, + -0.10334334139760326 + ], + [ + 0.13414299488067627, + -0.023066988214850426, + 0.9906934499740601, + 0.02227214996157021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9915460348129272, + -0.020253144204616547, + -0.12816490232944489, + 0.2700989942869236 + ], + [ + 0.023581385612487793, + 0.9994215369224548, + 0.02450438402593136, + -0.11433695443295713 + ], + [ + 0.1275944858789444, + -0.02731953002512455, + 0.9914500713348389, + 0.01615924778683433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9919573068618774, + -0.01815701089799404, + -0.12526386976242065, + 0.2628495768997176 + ], + [ + 0.022370299324393272, + 0.9992274641990662, + 0.03231097757816315, + -0.131334548655512 + ], + [ + 0.12458042800426483, + -0.03485330194234848, + 0.9915971755981445, + 0.01348347884827647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9923210144042969, + -0.01778855361044407, + -0.12240331619977951, + 0.25514660843102066 + ], + [ + 0.02140660025179386, + 0.9993700385093689, + 0.02830701693892479, + -0.11280581715099257 + ], + [ + 0.12182266265153885, + -0.0307098850607872, + 0.9920766949653625, + 0.013538972570978358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9933027625083923, + -0.013627252541482449, + -0.11473407596349716, + 0.23916539173765944 + ], + [ + 0.017970576882362366, + 0.9991571307182312, + 0.036906711757183075, + -0.13288130863280645 + ], + [ + 0.11413443833589554, + -0.03872137516736984, + 0.9927104115486145, + 0.011565789349120233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9939582943916321, + -0.009175588376820087, + -0.10937409847974777, + 0.23468404926102737 + ], + [ + 0.01377949770539999, + 0.9990471601486206, + 0.041412003338336945, + -0.14067590750496964 + ], + [ + 0.10888990014791489, + -0.04266892373561859, + 0.9931376576423645, + 0.009225066108950256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9938931465148926, + -0.011578964069485664, + -0.10973777621984482, + 0.24337426995344716 + ], + [ + 0.016093865036964417, + 0.9990561008453369, + 0.04034660756587982, + -0.13393583492343797 + ], + [ + 0.10916703194379807, + -0.04186631739139557, + 0.9931413531303406, + 0.0030632940602713585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9942241311073303, + -0.011302890256047249, + -0.10672680288553238, + 0.2380815534049581 + ], + [ + 0.016001634299755096, + 0.9989351630210876, + 0.04327269271016121, + -0.1386828882587624 + ], + [ + 0.10612405091524124, + -0.04473055526614189, + 0.9933462738990784, + 0.004177224019478107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9941309094429016, + -0.00818494614213705, + -0.10787377506494522, + 0.25031620348514666 + ], + [ + 0.012888436205685139, + 0.998992919921875, + 0.0429769791662693, + -0.13415100045726988 + ], + [ + 0.10741337388753891, + -0.04411507025361061, + 0.9932352304458618, + 0.0006358589591651045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.994431734085083, + -0.009007275104522705, + -0.1049971953034401, + 0.24768741281125053 + ], + [ + 0.013656215742230415, + 0.9989538788795471, + 0.04364233836531639, + -0.13290622716705347 + ], + [ + 0.10449425131082535, + -0.04483318701386452, + 0.9935144186019897, + 0.0006163709379475649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9944605827331543, + -0.00842396728694439, + -0.10477205365896225, + 0.2512136535622693 + ], + [ + 0.013125048950314522, + 0.9989337921142578, + 0.04426140338182449, + -0.13142679620469952 + ], + [ + 0.10428748279809952, + -0.04539135843515396, + 0.9935108423233032, + -0.0016178402150499455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9949594140052795, + -0.009160881862044334, + -0.0998588278889656, + 0.2390748462479176 + ], + [ + 0.013925323262810707, + 0.9987921714782715, + 0.04711966589093208, + -0.13872164880599955 + ], + [ + 0.09930656105279922, + -0.04827272519469261, + 0.9938852787017822, + 0.0008190415028868012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9940744042396545, + -0.009067852050065994, + -0.10832294076681137, + 0.2677538632736381 + ], + [ + 0.013617975637316704, + 0.9990523457527161, + 0.04133956879377365, + -0.12010334786991107 + ], + [ + 0.10784543305635452, + -0.04256974905729294, + 0.9932558536529541, + 0.0010024050957170016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9945598244667053, + -0.009116176515817642, + -0.10376705974340439, + 0.2562018078719748 + ], + [ + 0.013853304088115692, + 0.9988899230957031, + 0.04502280429005623, + -0.12894757488935157 + ], + [ + 0.1032414361834526, + -0.04621538892388344, + 0.9935820698738098, + -0.0009718046876890929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9945891499519348, + -0.006743715610355139, + -0.10366731882095337, + 0.25986070347757173 + ], + [ + 0.010935107246041298, + 0.9991431832313538, + 0.03991616889834404, + -0.11235876457669355 + ], + [ + 0.10330931842327118, + -0.04083380475640297, + 0.9938107132911682, + 0.006215764042632327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9946244359016418, + -0.004099700599908829, + -0.10346712917089462, + 0.26501861501742024 + ], + [ + 0.008437559008598328, + 0.9991019368171692, + 0.04152221977710724, + -0.11542883876325755 + ], + [ + 0.10320398956537247, + -0.04217202216386795, + 0.9937657713890076, + 0.00595063808663137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9949411153793335, + -0.007322357036173344, + -0.10019265115261078, + 0.25684295983278543 + ], + [ + 0.011523894034326077, + 0.9990753531455994, + 0.04142029955983162, + -0.11363598001510676 + ], + [ + 0.09979671239852905, + -0.04236536845564842, + 0.9941055178642273, + 0.00295727142486079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9944356083869934, + -0.005834181327372789, + -0.1051846295595169, + 0.27238138521025923 + ], + [ + 0.010524921119213104, + 0.9989718794822693, + 0.044095542281866074, + -0.11894080816800225 + ], + [ + 0.10481922328472137, + -0.0449572391808033, + 0.9934746026992798, + 0.00531687433349675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.99455726146698, + -0.007024132646620274, + -0.10395462065935135, + 0.272268909488901 + ], + [ + 0.011441360227763653, + 0.9990538954734802, + 0.04195677116513252, + -0.10929779481174874 + ], + [ + 0.10356155782938004, + -0.04291779175400734, + 0.9936966896057129, + 0.007252784278886072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9945077300071716, + -0.009131173603236675, + -0.10426399111747742, + 0.27704201610437756 + ], + [ + 0.013384475372731686, + 0.999103307723999, + 0.04016706719994545, + -0.1003606281371723 + ], + [ + 0.10380372405052185, + -0.041341979056596756, + 0.9937382340431213, + 0.01024419166918459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9941378235816956, + -0.009607895277440548, + -0.1076926589012146, + 0.2896590152948067 + ], + [ + 0.014425071887671947, + 0.9989255666732788, + 0.04404141753911972, + -0.10661421252799959 + ], + [ + 0.10715380311012268, + -0.04533671587705612, + 0.9932082295417786, + 0.013462473426399557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.994127631187439, + -0.01111539639532566, + -0.1076418086886406, + 0.29362268442737643 + ], + [ + 0.01582981087267399, + 0.9989478588104248, + 0.04304230213165283, + -0.09855243486577067 + ], + [ + 0.10705011337995529, + -0.04449348896741867, + 0.9932575821876526, + 0.017863392110528613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9939274191856384, + -0.01345858909189701, + -0.10921173542737961, + 0.3005826356820762 + ], + [ + 0.018460096791386604, + 0.9988202452659607, + 0.044915370643138885, + -0.09610880492255092 + ], + [ + 0.10847838968038559, + -0.04665867239236832, + 0.993003249168396, + 0.017598837614059448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9941617250442505, + -0.01364788506180048, + -0.10703341662883759, + 0.2950172239721849 + ], + [ + 0.018861614167690277, + 0.9986763596534729, + 0.04785117506980896, + -0.09639732583329595 + ], + [ + 0.10623867809772491, + -0.04959063231945038, + 0.9931032657623291, + 0.022273946733310304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9942601919174194, + -0.010782529599964619, + -0.10644429177045822, + 0.2962355581497581 + ], + [ + 0.016228120774030685, + 0.9985959529876709, + 0.050426241010427475, + -0.09583237419900452 + ], + [ + 0.10575111955404282, + -0.05186419561505318, + 0.9930391907691956, + 0.023921481982387346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9944637417793274, + -0.011750390753149986, + -0.10442139953374863, + 0.29204169880470326 + ], + [ + 0.01702713780105114, + 0.9986147284507751, + 0.049786318093538284, + -0.08688884742943377 + ], + [ + 0.10369173437356949, + -0.05128868296742439, + 0.9932861924171448, + 0.024333471984698846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9939253926277161, + -0.01338142342865467, + -0.10923950374126434, + 0.30400382336229087 + ], + [ + 0.019020115956664085, + 0.9985307455062866, + 0.05074000358581543, + -0.08386774910935041 + ], + [ + 0.10840003192424774, + -0.052509523928165436, + 0.9927195906639099, + 0.02713423507480786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9935848712921143, + -0.01897839829325676, + -0.11148522049188614, + 0.3010921648799859 + ], + [ + 0.02457277476787567, + 0.99849534034729, + 0.049022600054740906, + -0.07621768688590362 + ], + [ + 0.11038710922002792, + -0.05144761502742767, + 0.9925562143325806, + 0.03152714566937807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9944167137145996, + -0.021219249814748764, + -0.1033691018819809, + 0.2698697732504586 + ], + [ + 0.02618403360247612, + 0.9985557794570923, + 0.046911854296922684, + -0.06960381534560744 + ], + [ + 0.10222437977790833, + -0.049356553703546524, + 0.9935361742973328, + 0.04033505451576462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.994489848613739, + -0.017666585743427277, + -0.10333342105150223, + 0.26977642042369676 + ], + [ + 0.022807199507951736, + 0.9985491037368774, + 0.04877970740199089, + -0.07597771308802326 + ], + [ + 0.10232172161340714, + -0.05086767300963402, + 0.9934499263763428, + 0.040464999398280826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9940998554229736, + -0.013234937563538551, + -0.10765855759382248, + 0.2803833778530102 + ], + [ + 0.018780982121825218, + 0.9985390901565552, + 0.05066543444991112, + -0.08593561077522563 + ], + [ + 0.10683072358369827, + -0.05238843336701393, + 0.9928960800170898, + 0.03915869506268667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9937884211540222, + -0.010402044281363487, + -0.11079899221658707, + 0.2867067997889786 + ], + [ + 0.01588313654065132, + 0.9986870884895325, + 0.04870161414146423, + -0.08522057777334904 + ], + [ + 0.11014693230390549, + -0.05015893280506134, + 0.9926488399505615, + 0.04249488803847083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9938771724700928, + -0.007662056013941765, + -0.11022438853979111, + 0.28264412818605017 + ], + [ + 0.012697901576757431, + 0.9989036917686462, + 0.04505808278918266, + -0.08268062626653962 + ], + [ + 0.10975831001996994, + -0.0461818166077137, + 0.9928848743438721, + 0.049845118717900636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9946232438087463, + -0.004895689897239208, + -0.10344389826059341, + 0.2616209361445287 + ], + [ + 0.009205893613398075, + 0.9991072416305542, + 0.04123082011938095, + -0.08005191787820438 + ], + [ + 0.10314968973398209, + -0.0419614240527153, + 0.9937803745269775, + 0.05481643877152738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9945301413536072, + -0.002621506340801716, + -0.1044168546795845, + 0.2652319173264349 + ], + [ + 0.006739108823239803, + 0.9992125630378723, + 0.0391010157763958, + -0.08405837548800327 + ], + [ + 0.10423212498426437, + -0.03959081694483757, + 0.9937646985054016, + 0.055402410056056645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9945842027664185, + -0.0025796531699597836, + -0.1039019450545311, + 0.26253380984196373 + ], + [ + 0.00596647011116147, + 0.9994604587554932, + 0.03229868412017822, + -0.07308869259110813 + ], + [ + 0.10376255959272385, + -0.03274369239807129, + 0.9940629601478577, + 0.057360444551911846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9945400953292847, + 0.001232737209647894, + -0.104347825050354, + 0.2657780938621225 + ], + [ + 0.0025132419541478157, + 0.9993572235107422, + 0.03575987368822098, + -0.09070656240179108 + ], + [ + 0.1043248325586319, + -0.035826876759529114, + 0.9938977360725403, + 0.05713371462349234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9946500062942505, + 0.0015395533991977572, + -0.1032906323671341, + 0.2649258889000991 + ], + [ + 0.001823113881982863, + 0.9994716048240662, + 0.03245309740304947, + -0.08789898968976119 + ], + [ + 0.103286013007164, + -0.032467782497406006, + 0.9941216707229614, + 0.05472780841177906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9944859147071838, + 0.0022805058397352695, + -0.10484515875577927, + 0.27208246110521 + ], + [ + 0.0009783379500731826, + 0.9995182752609253, + 0.03102051466703415, + -0.08776300960252512 + ], + [ + 0.10486539453268051, + -0.03095204010605812, + 0.9940046668052673, + 0.053982284022816296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9944970011711121, + 0.0024018839467316866, + -0.10473736375570297, + 0.27402652087781965 + ], + [ + 0.0008404620457440615, + 0.9995220899581909, + 0.030901798978447914, + -0.09008735976631528 + ], + [ + 0.1047615334391594, + -0.03081977553665638, + 0.9940196871757507, + 0.05193464545340373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9946942329406738, + 0.002059854567050934, + -0.10285469889640808, + 0.2708594122451955 + ], + [ + 0.0014118755934759974, + 0.9994320273399353, + 0.03366953134536743, + -0.09930246382437903 + ], + [ + 0.10286563634872437, + -0.03363610804080963, + 0.9941263794898987, + 0.055434789662731104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.994803249835968, + 0.0012404605513438582, + -0.10180836915969849, + 0.2692327644290595 + ], + [ + 0.0020803427323698997, + 0.9994693994522095, + 0.03250552713871002, + -0.0971840776503086 + ], + [ + 0.10179467499256134, + -0.03254839777946472, + 0.9942728281021118, + 0.057872916603910515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9950680732727051, + 0.001982853515073657, + -0.09917446225881577, + 0.2640179502777755 + ], + [ + 0.001032042084261775, + 0.9995391368865967, + 0.030339384451508522, + -0.09462002194727417 + ], + [ + 0.0991889163851738, + -0.030292106792330742, + 0.9946074485778809, + 0.06092168442134199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9946049451828003, + 0.004641674924641848, + -0.10363128781318665, + 0.28097090194451396 + ], + [ + -0.0017221731832250953, + 0.9995995759963989, + 0.028243735432624817, + -0.09100171917214475 + ], + [ + 0.10372088849544525, + -0.027912888675928116, + 0.9942147135734558, + 0.05501813595664912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9946480393409729, + 0.004446097183972597, + -0.10322538018226624, + 0.2821494474878599 + ], + [ + -0.001791486400179565, + 0.9996656179428101, + 0.025795133784413338, + -0.08725552360350587 + ], + [ + 0.10330554842948914, + -0.02547215111553669, + 0.9943234324455261, + 0.061574943800424706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9944022297859192, + 0.005201350431889296, + -0.10553277283906937, + 0.29037683968400135 + ], + [ + -0.002863577101379633, + 0.9997473955154419, + 0.022291557863354683, + -0.07970273821646798 + ], + [ + 0.1056220605969429, + -0.021864572539925575, + 0.9941659569740295, + 0.05832343944187822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9944673180580139, + 0.008503071963787079, + -0.10470178723335266, + 0.28968534183142514 + ], + [ + -0.006184604950249195, + 0.9997288584709167, + 0.022448323667049408, + -0.08375891126884982 + ], + [ + 0.10486428439617157, + -0.02167658507823944, + 0.9942502975463867, + 0.05945950725982928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9949647784233093, + 0.009041471406817436, + -0.09981651604175568, + 0.27737861441384104 + ], + [ + -0.00680518476292491, + 0.9997186660766602, + 0.022721782326698303, + -0.08734241802373836 + ], + [ + 0.09999386966228485, + -0.021928101778030396, + 0.9947463870048523, + 0.060975902810178964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9949033260345459, + 0.009204518049955368, + -0.10041263699531555, + 0.2789165626697499 + ], + [ + -0.007065881043672562, + 0.9997410178184509, + 0.021633384749293327, + -0.08389161636747805 + ], + [ + 0.10058575868606567, + -0.020813623443245888, + 0.9947106838226318, + 0.05972204958570415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.994735598564148, + 0.010369810275733471, + -0.10194894671440125, + 0.28235977667159046 + ], + [ + -0.008208598010241985, + 0.9997330904006958, + 0.021595686674118042, + -0.08270479420135761 + ], + [ + 0.10214567184448242, + -0.0206451416015625, + 0.9945551753044128, + 0.06310409862419654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9945468306541443, + 0.01120169460773468, + -0.10368748009204865, + 0.2861921323334862 + ], + [ + -0.009031809866428375, + 0.9997307658195496, + 0.021373070776462555, + -0.08057967491512155 + ], + [ + 0.10389897227287292, + -0.02032003551721573, + 0.9943802356719971, + 0.06635537856611712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.994398832321167, + 0.0119312210008502, + -0.10501731187105179, + 0.28900989051908255 + ], + [ + -0.00986448023468256, + 0.9997477531433105, + 0.02017747238278389, + -0.07554532652720809 + ], + [ + 0.10523156076669693, + -0.019028514623641968, + 0.9942656755447388, + 0.06658922135829924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9940701127052307, + 0.012129435315728188, + -0.10806217789649963, + 0.29364226135457383 + ], + [ + -0.009579416364431381, + 0.9996640086174011, + 0.02408565767109394, + -0.08329838949079015 + ], + [ + 0.1083180159330368, + -0.022907661274075508, + 0.9938523173332214, + 0.06380501530807595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.993952214717865, + 0.009160763584077358, + -0.1094304695725441, + 0.28953236952937883 + ], + [ + -0.006951169576495886, + 0.9997645616531372, + 0.020556211471557617, + -0.07020416151860664 + ], + [ + 0.10959301143884659, + -0.019671224057674408, + 0.9937818646430969, + 0.06952114947910967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9938933253288269, + 0.01159300934523344, + -0.10973465442657471, + 0.2867721800660265 + ], + [ + -0.00903977919369936, + 0.9996773600578308, + 0.02373628504574299, + -0.07736099419617576 + ], + [ + 0.10997442901134491, + -0.0225993562489748, + 0.9936774373054504, + 0.07383310288704675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9938342571258545, + 0.011797558516263962, + -0.11024636030197144, + 0.2865715644996742 + ], + [ + -0.009195530787110329, + 0.9996677041053772, + 0.024080650880932808, + -0.07621772042796787 + ], + [ + 0.11049382388591766, + -0.022918401286005974, + 0.99361252784729, + 0.07083799725976482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9939876794815063, + 0.012737791985273361, + -0.10874850302934647, + 0.2819659942536262 + ], + [ + -0.009776422753930092, + 0.9995678663253784, + 0.027721239253878593, + -0.0850100654506542 + ], + [ + 0.10905461758375168, + -0.026491397991776466, + 0.9936826825141907, + 0.07711323810548618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9940347075462341, + 0.012353243306279182, + -0.10836226493120193, + 0.28093919472704676 + ], + [ + -0.009363671764731407, + 0.9995625615119934, + 0.02805427461862564, + -0.085623723486888 + ], + [ + 0.10866142064332962, + -0.02687225490808487, + 0.9937155246734619, + 0.07676862642682832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9945892691612244, + 0.012777491472661495, + -0.10309641063213348, + 0.270488270545571 + ], + [ + -0.010059882886707783, + 0.999589204788208, + 0.026836926117539406, + -0.08325070456264476 + ], + [ + 0.10339696705341339, + -0.025654582306742668, + 0.9943092465400696, + 0.08071844791030061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9963330030441284, + 0.013355733826756477, + -0.08451121300458908, + 0.22267655420020738 + ], + [ + -0.010817252099514008, + 0.9994785189628601, + 0.03042418695986271, + -0.09466197198931256 + ], + [ + 0.08487347513437271, + -0.029398443177342415, + 0.9959579706192017, + 0.07867500021539885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.997119128704071, + 0.011378824710845947, + -0.07499323785305023, + 0.20241744477815668 + ], + [ + -0.00929618626832962, + 0.9995629787445068, + 0.028061818331480026, + -0.09142391027336748 + ], + [ + 0.07527977228164673, + -0.02728382498025894, + 0.9967890977859497, + 0.07973919814002925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9983847141265869, + 0.008999750018119812, + -0.05609789863228798, + 0.1562344428665679 + ], + [ + -0.007573157548904419, + 0.9996438026428223, + 0.02559133619070053, + -0.08779616687318374 + ], + [ + 0.056308235973119736, + -0.025125160813331604, + 0.9980972409248352, + 0.08404059934205022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9987278580665588, + 0.0014678407460451126, + -0.050403594970703125, + 0.147079444650946 + ], + [ + -0.002184896031394601, + 0.9998971819877625, + -0.014174121432006359, + 0.018290817478655613 + ], + [ + 0.050377607345581055, + 0.014266216196119785, + 0.9986283183097839, + 0.08541835805979267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9987577795982361, + -0.0016950946301221848, + -0.04979977384209633, + 0.14850696486196127 + ], + [ + 0.00012011796934530139, + 0.9995002150535583, + -0.03161216527223587, + 0.05704051685872777 + ], + [ + 0.04982846602797508, + 0.03156691789627075, + 0.9982588291168213, + 0.08184131044765998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9990556240081787, + -0.005690501071512699, + -0.043075717985630035, + 0.13009580113957153 + ], + [ + 0.002974357455968857, + 0.9980180263519287, + -0.0628584772348404, + 0.13330625657249115 + ], + [ + 0.0433480367064476, + 0.0626709908246994, + 0.9970924258232117, + 0.08675928144105549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9991444945335388, + -0.007713239639997482, + -0.04062937945127487, + 0.12410604852283823 + ], + [ + 0.00501147098839283, + 0.9977948069572449, + -0.06618478894233704, + 0.126289287569194 + ], + [ + 0.04105028510093689, + 0.06592455506324768, + 0.996979832649231, + 0.08894517997215534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9986472129821777, + -0.013754349201917648, + -0.050145361572504044, + 0.1472123655089145 + ], + [ + 0.010577579960227013, + 0.9979527592658997, + -0.06307504326105118, + 0.09994559645460084 + ], + [ + 0.05091025307774544, + 0.062459297478199005, + 0.9967482089996338, + 0.08067927381087994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9978110194206238, + -0.01771395653486252, + -0.06371337175369263, + 0.1754043058588587 + ], + [ + 0.013852965086698532, + 0.998069703578949, + -0.06053866818547249, + 0.07847594596638248 + ], + [ + 0.06466276943683624, + 0.059523534029722214, + 0.9961303472518921, + 0.07715013623237608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9969363212585449, + -0.02019946463406086, + -0.07556449621915817, + 0.1983397617968249 + ], + [ + 0.01577986590564251, + 0.9981548190116882, + -0.058634307235479355, + 0.06513609091173216 + ], + [ + 0.07660944014787674, + 0.057262275367975235, + 0.9954155087471008, + 0.07087265132316227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9959527254104614, + -0.020188460126519203, + -0.0875820517539978, + 0.21948542358546422 + ], + [ + 0.015369926579296589, + 0.9983488917350769, + -0.055347032845020294, + 0.05152844488620758 + ], + [ + 0.08855481445789337, + 0.05377689749002457, + 0.9946185946464539, + 0.06225999336818169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9953665733337402, + -0.015566963702440262, + -0.09488458931446075, + 0.2312564134405091 + ], + [ + 0.010290250182151794, + 0.9983861446380615, + -0.05584964528679848, + 0.05343137081744599 + ], + [ + 0.09560087323188782, + 0.05461448058485985, + 0.9939203858375549, + 0.06275893436937496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.994416356086731, + -0.015560433268547058, + -0.10437428206205368, + 0.24586404951867358 + ], + [ + 0.008963584899902344, + 0.9979493618011475, + -0.06337758898735046, + 0.0786786951124668 + ], + [ + 0.10514643043279648, + 0.062088146805763245, + 0.9925166368484497, + 0.06027456850841127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9931773543357849, + -0.015361728146672249, + -0.11559759080410004, + 0.2620338438207219 + ], + [ + 0.008559249341487885, + 0.9982145428657532, + -0.059114109724760056, + 0.07682961190986479 + ], + [ + 0.11629928648471832, + 0.05772136524319649, + 0.9915355443954468, + 0.05394727017345098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9926142692565918, + -0.013363396748900414, + -0.12057517468929291, + 0.26667168754441983 + ], + [ + 0.006693143397569656, + 0.9984331130981445, + -0.05555661767721176, + 0.0771094273775816 + ], + [ + 0.12112867832183838, + 0.05433925986289978, + 0.9911483526229858, + 0.0539879475174279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9920554161071777, + -0.011017084121704102, + -0.1253184825181961, + 0.27088846842405095 + ], + [ + 0.00456578005105257, + 0.9986547827720642, + -0.051650457084178925, + 0.07818859050949586 + ], + [ + 0.12571893632411957, + 0.050667934119701385, + 0.9907711744308472, + 0.05827009641918643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.991469144821167, + -0.0131068155169487, + -0.12968102097511292, + 0.2787691109910094 + ], + [ + 0.0066132997162640095, + 0.9987083673477173, + -0.050377484411001205, + 0.08544498269992142 + ], + [ + 0.13017380237579346, + 0.04909009858965874, + 0.9902752041816711, + 0.05338058343221401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9912593364715576, + -0.015057242475450039, + -0.13106583058834076, + 0.274582549165292 + ], + [ + 0.008780357427895069, + 0.9987924695014954, + -0.048337921500205994, + 0.08899545783241247 + ], + [ + 0.131635382771492, + 0.04676461219787598, + 0.9901944994926453, + 0.06274905716036927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9908087253570557, + -0.01628950610756874, + -0.13428588211536407, + 0.28207577739296286 + ], + [ + 0.011803348548710346, + 0.9993475079536438, + -0.034136246889829636, + 0.05571415448753998 + ], + [ + 0.13475431501865387, + 0.0322374664247036, + 0.9903544783592224, + 0.055798498207125166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9913266897201538, + -0.012380292639136314, + -0.1308361440896988, + 0.2770429252614749 + ], + [ + 0.008030746132135391, + 0.9993990659713745, + -0.0337197408080101, + 0.06192457170771628 + ], + [ + 0.1311749666929245, + 0.03237656503915787, + 0.9908304214477539, + 0.057554653081400634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9887370467185974, + -0.007635027170181274, + -0.14946810901165009, + 0.34283538181977025 + ], + [ + 0.004693486727774143, + 0.9997885227203369, + -0.02002291940152645, + 0.03100421514586899 + ], + [ + 0.14958937466144562, + 0.019095877185463905, + 0.9885637760162354, + 0.05515369217971275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9857107400894165, + -0.008533284068107605, + -0.16823068261146545, + 0.40607438795268536 + ], + [ + 0.004316766746342182, + 0.9996677041053772, + -0.02541371062397957, + 0.05745559125207365 + ], + [ + 0.1683916449546814, + 0.02432435378432274, + 0.9854199886322021, + 0.059860908985137934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9848726391792297, + -0.010255727916955948, + -0.17297595739364624, + 0.4229824661180891 + ], + [ + 0.005992967169731855, + 0.9996657967567444, + -0.025147954002022743, + 0.070049656410541 + ], + [ + 0.17317605018615723, + 0.023730894550681114, + 0.9846049547195435, + 0.061384925040705446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9824330806732178, + -0.011518580839037895, + -0.18625956773757935, + 0.46477393099460107 + ], + [ + 0.009007854387164116, + 0.9998568892478943, + -0.014320443384349346, + 0.05173376177493804 + ], + [ + 0.18639785051345825, + 0.012391078285872936, + 0.9823961853981018, + 0.0668430686767759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9790278673171997, + -0.011369592510163784, + -0.20340889692306519, + 0.5150257916799907 + ], + [ + 0.009961136616766453, + 0.9999188184738159, + -0.007946750149130821, + 0.04037731705586715 + ], + [ + 0.2034827470779419, + 0.005753905512392521, + 0.9790616035461426, + 0.08564075087678844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9782428741455078, + -0.009830388240516186, + -0.20722989737987518, + 0.5291002509730129 + ], + [ + 0.00911689456552267, + 0.9999487400054932, + -0.004397762008011341, + 0.030749095438032188 + ], + [ + 0.20726250112056732, + 0.0024127867072820663, + 0.9782823920249939, + 0.09122423300969189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9792150259017944, + -0.004804989788681269, + -0.20276781916618347, + 0.5241320784749656 + ], + [ + 0.0040883212350308895, + 0.9999838471412659, + -0.003953122533857822, + 0.02525349641539927 + ], + [ + 0.2027835249900818, + 0.003041977295652032, + 0.9792188405990601, + 0.09415968255750062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9798454642295837, + 0.0011787766125053167, + -0.19975349307060242, + 0.5277592289935926 + ], + [ + -0.002506325952708721, + 0.999976396560669, + -0.006393196061253548, + 0.02352918829720724 + ], + [ + 0.19974124431610107, + 0.006764991208910942, + 0.9798253178596497, + 0.09410085839958027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9800313711166382, + 0.005474922712892294, + -0.19876742362976074, + 0.5376056216914078 + ], + [ + -0.007691715378314257, + 0.9999164938926697, + -0.010382271371781826, + 0.027114943838036008 + ], + [ + 0.19869399070739746, + 0.011703814379870892, + 0.9799916744232178, + 0.0870210456437078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9802844524383545, + 0.01022831629961729, + -0.19732670485973358, + 0.5448025883849839 + ], + [ + -0.012453439645469189, + 0.999872088432312, + -0.010038704611361027, + 0.022887041208992615 + ], + [ + 0.1971987932920456, + 0.01229818258434534, + 0.9802863597869873, + 0.08352404020983598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9813520908355713, + 0.01095312274992466, + -0.19190648198127747, + 0.5375131362984921 + ], + [ + -0.013764632865786552, + 0.9998164772987366, + -0.013323360122740269, + 0.025789306140986495 + ], + [ + 0.19172534346580505, + 0.01571642979979515, + 0.9813227653503418, + 0.08598670137339624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9816268086433411, + 0.009100669994950294, + -0.1905936598777771, + 0.537352001949631 + ], + [ + -0.012508774176239967, + 0.9997825026512146, + -0.01668606325984001, + 0.027270000657580534 + ], + [ + 0.1904003620147705, + 0.018763579428195953, + 0.9815272092819214, + 0.08450502511756174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9817869663238525, + 0.009981454350054264, + -0.18972273170948029, + 0.5397933176750767 + ], + [ + -0.013455021195113659, + 0.9997644424438477, + -0.017029384151101112, + 0.021694168973521426 + ], + [ + 0.18950806558132172, + 0.01927194930613041, + 0.981689989566803, + 0.08253116468931067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9818082451820374, + 0.010675506666302681, + -0.1895747035741806, + 0.547516818351016 + ], + [ + -0.014357773587107658, + 0.9997338056564331, + -0.018061039969325066, + 0.018131280594890744 + ], + [ + 0.18933142721652985, + 0.020454348996281624, + 0.9817001819610596, + 0.07899367398229139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9821311235427856, + 0.00010936497710645199, + -0.18819774687290192, + 0.5494224438893384 + ], + [ + -0.004712085239589214, + 0.9997006058692932, + -0.02400960773229599, + 0.030114227970098627 + ], + [ + 0.18813876807689667, + 0.024467386305332184, + 0.9818376302719116, + 0.07837437165194544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9824004173278809, + -0.0029513512272387743, + -0.1867636889219284, + 0.54789874473394 + ], + [ + -0.0013272769283503294, + 0.9997396469116211, + -0.022780124098062515, + 0.021753934053061853 + ], + [ + 0.18678228557109833, + 0.0226270891726017, + 0.9821407198905945, + 0.07999817567138835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9828898906707764, + 0.0001840982586145401, + -0.18419404327869415, + 0.5517988315044806 + ], + [ + -0.004188611637800932, + 0.9997632503509521, + -0.021351881325244904, + 0.011162390733330415 + ], + [ + 0.18414650857448578, + 0.0217580646276474, + 0.9826579689979553, + 0.07829414796212625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9835984110832214, + -0.006003898102790117, + -0.18027247488498688, + 0.5531412698264266 + ], + [ + 0.0011033178307116032, + 0.999627411365509, + -0.027272270992398262, + 0.023270299570667077 + ], + [ + 0.1803690642118454, + 0.026626063510775566, + 0.9832385778427124, + 0.07952555515642823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9834912419319153, + -0.014383573085069656, + -0.1803831309080124, + 0.559031800077907 + ], + [ + 0.009091069921851158, + 0.999504566192627, + -0.03013286367058754, + 0.027521795207827257 + ], + [ + 0.18072716891765594, + 0.027995530515909195, + 0.9831347465515137, + 0.07906267098311719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9836903214454651, + -0.01663028821349144, + -0.17909982800483704, + 0.559563086631483 + ], + [ + 0.011451254598796368, + 0.9994869232177734, + -0.0299121905118227, + 0.022191088201060635 + ], + [ + 0.1795053780078888, + 0.0273734163492918, + 0.9833760857582092, + 0.07957453786812979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9838314056396484, + -0.0132325179874897, + -0.17860765755176544, + 0.5692235712732734 + ], + [ + 0.008493749424815178, + 0.9995920062065125, + -0.027270395308732986, + 0.011027704574296186 + ], + [ + 0.17889563739299774, + 0.025312423706054688, + 0.9835423827171326, + 0.07787170374187931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9840983152389526, + -0.015855316072702408, + -0.17691563069820404, + 0.5756589051014904 + ], + [ + 0.010718753561377525, + 0.9994938373565674, + -0.029952043667435646, + 0.015756202510814984 + ], + [ + 0.17730097472667694, + 0.02757943980395794, + 0.9837701916694641, + 0.07616370775062463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.984249472618103, + -0.019032882526516914, + -0.17575766146183014, + 0.5820024854150312 + ], + [ + 0.013648600317537785, + 0.9994012713432312, + -0.03179298713803291, + 0.019131456148521655 + ], + [ + 0.17625753581523895, + 0.02889338508248329, + 0.9839199185371399, + 0.07562692442844654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9836452603340149, + -0.028113815933465958, + -0.17790886759757996, + 0.5922885919310923 + ], + [ + 0.02205026149749756, + 0.9991096258163452, + -0.03596869483590126, + 0.030464796389549458 + ], + [ + 0.17876169085502625, + 0.03145750239491463, + 0.9833893775939941, + 0.07493844422800786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9835265278816223, + -0.02994253672659397, + -0.17826659977436066, + 0.5950472267151906 + ], + [ + 0.024077164009213448, + 0.9990980625152588, + -0.03497571498155594, + 0.028300235131434325 + ], + [ + 0.17915306985378265, + 0.030107391998171806, + 0.9833604097366333, + 0.07506670777139993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.983069658279419, + -0.03427523002028465, + -0.1799979954957962, + 0.601730775518407 + ], + [ + 0.028044644743204117, + 0.9989199042320251, + -0.03704691678285599, + 0.035390112712850856 + ], + [ + 0.1810733824968338, + 0.031371720135211945, + 0.9829691052436829, + 0.07717013320532339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9826047420501709, + -0.03647387772798538, + -0.18209227919578552, + 0.6084380689879944 + ], + [ + 0.03016240894794464, + 0.9988483786582947, + -0.03731156513094902, + 0.03765200514603278 + ], + [ + 0.18324348330497742, + 0.031170178204774857, + 0.9825732707977295, + 0.07531745701000608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9820839166641235, + -0.03765537589788437, + -0.1846437007188797, + 0.6123937332488854 + ], + [ + 0.031612105667591095, + 0.9988672137260437, + -0.03556569293141365, + 0.03673278138458986 + ], + [ + 0.18577377498149872, + 0.029091518372297287, + 0.982161819934845, + 0.07423316432998098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9817280173301697, + -0.0380125567317009, + -0.18645426630973816, + 0.6133472108892326 + ], + [ + 0.032307080924510956, + 0.998914897441864, + -0.03354467824101448, + 0.036225369312511434 + ], + [ + 0.18752706050872803, + 0.02690795809030533, + 0.9818907976150513, + 0.07700251351142752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9814364910125732, + -0.0401606559753418, + -0.1875355839729309, + 0.6096247628588101 + ], + [ + 0.03461378067731857, + 0.9988636374473572, + -0.03276066854596138, + 0.03774382147520523 + ], + [ + 0.18863818049430847, + 0.025661200284957886, + 0.9817113280296326, + 0.07998150605066069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9800819158554077, + -0.043195124715566635, + -0.19383902847766876, + 0.618524070084095 + ], + [ + 0.03736621513962746, + 0.9987356662750244, + -0.03362870588898659, + 0.04315967746078968 + ], + [ + 0.195046529173851, + 0.02571585774421692, + 0.9804568290710449, + 0.07797443270683288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/tilt_up/transforms.json b/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..404be255017f1692743e2fa36c1dfaed17740ff7 --- /dev/null +++ b/dynpose_eval/camera_controls/59abba32-ca4d-4725-8c45-71f4b6737fed/tilt_up/transforms.json @@ -0,0 +1,8168 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 233, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011583403829718009, + 2.0259854863979854e-05, + 5.35143385604897e-07 + ], + [ + -0.00011583510058699176, + 1.0, + 5.266969674266875e-05, + -0.00013285163731779903 + ], + [ + -2.025375397352036e-05, + -5.2672039601020515e-05, + 1.0, + 8.310859266202897e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999994695186615, + -0.0019014763759486008, + 0.0026447933624526034, + -0.00940234586596489 + ], + [ + 0.0019012053962796926, + 0.9999981921259266, + 0.00010495154913666824, + -0.002955659758299589 + ], + [ + -0.0026449882425367832, + -9.99226639187428e-05, + 0.9999965175199843, + 0.010518273338675499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999909400939941, + -0.0012824748911162268, + 0.004052020537799389, + -0.014593876898288727 + ], + [ + 0.0012890880461782217, + 0.9999978550325599, + -0.001629880983517072, + -0.0037721162661910057 + ], + [ + -0.004049921408295631, + 0.001635089591314617, + 0.999990452282503, + 0.01688196137547493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999943375587466, + -0.001143186957875339, + 0.0031674282531095176, + -0.010964136570692062 + ], + [ + 0.0011596527183428409, + 0.9999857967420555, + -0.0052015137739945825, + -0.0015735055785626173 + ], + [ + -0.0031614371109753856, + 0.005205157258061521, + 0.9999814332435855, + 0.016462087631225586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999956488609314, + -0.0005296798694919153, + 0.0029075392158430624, + -0.007750693242996931 + ], + [ + 0.0005473603960126638, + 0.9999813565244265, + -0.006083494479857059, + -0.005041378550231457 + ], + [ + -0.0029042628593742847, + 0.006085059417283755, + 0.9999772963034566, + 0.015729907900094986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999899268150332, + -0.004472056854173476, + 0.00031534589172639067, + 0.0005452446057461202 + ], + [ + 0.004475146997720004, + 0.9999338422384506, + -0.010595497700059795, + 0.0019167549908161163 + ], + [ + -0.00026794135919772094, + 0.010596802746057286, + 0.9999437890091258, + 0.01691341958940029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999706149101257, + -0.007617828532476505, + -0.0008642649446004727, + 0.0020100430119782686 + ], + [ + 0.00760663254186511, + 0.9998955234472666, + -0.01229252490598098, + 0.0009061520104296505 + ], + [ + 0.0009578169556334615, + 0.012285589628313899, + 0.9999240620777452, + 0.014801223762333393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999961256980896, + -0.008266908511485201, + -0.0030144920808557853, + 0.006813037674874067 + ], + [ + 0.008231381885707378, + 0.999898693694135, + -0.011612991121319343, + -0.002069012029096484 + ], + [ + 0.0031101901549845934, + 0.011587728123165515, + 0.9999280408343638, + 0.016309920698404312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999470710754395, + -0.007535393914774308, + -0.0070044270880003125, + 0.018921157345175743 + ], + [ + 0.0075189508497715, + 0.9999689187381969, + -0.0023708436713014212, + -0.029729750007390976 + ], + [ + 0.007022074889391661, + 0.002318052664208552, + 0.999972673714448, + 0.01529599167406559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999246597290039, + -0.009848805759189713, + -0.0073247266747626435, + 0.020712917670607567 + ], + [ + 0.009803288616240025, + 0.999932564013109, + -0.006224440253870587, + -0.015751365572214127 + ], + [ + 0.007385536562651396, + 0.006152165528757086, + 0.9999538031165168, + 0.01530709769576788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998265504837036, + -0.01674268347012814, + -0.008154519370158514, + 0.02059883624315262 + ], + [ + 0.01660718023777008, + 0.9997274332085133, + -0.016410537988377133, + 0.014029832556843758 + ], + [ + 0.00842705275863409, + 0.01627226750513154, + 0.9998320565746955, + 0.016256773844361305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995790123939514, + -0.02780778970019624, + -0.008281161362448079, + 0.012710077688097954 + ], + [ + 0.027495529502630234, + 0.99898444400689, + -0.035694795859496746, + 0.07060452550649643 + ], + [ + 0.009265344589948654, + 0.03545207124370882, + 0.9993284219142459, + 0.020488621667027473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9992921352386475, + -0.03656039162562709, + -0.008862942357322604, + 0.0041784197092056274 + ], + [ + 0.03614019602537155, + 0.9983923400954059, + -0.04366493688441221, + 0.09316097944974899 + ], + [ + 0.01044510118663311, + 0.04331372108893866, + 0.9990069077464855, + 0.028204889968037605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9989908337593081, + -0.04392418869052863, + -0.009379702183829764, + -0.00661664642393589 + ], + [ + 0.043347321450710304, + 0.9975594599682929, + -0.05473695011930767, + 0.1193520724773407 + ], + [ + 0.011761086992919449, + 0.05427512597325949, + 0.9984567649279091, + 0.03837712109088898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.998826801776886, + -0.0452300734568372, + -0.01729984937211108, + 0.0027099610306322575 + ], + [ + 0.044256359338760376, + 0.9976112129039361, + -0.05304047408009977, + 0.10842155665159225 + ], + [ + 0.019657546654343605, + 0.052212616115314095, + 0.9984425281514901, + 0.03331439942121506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9988604187965393, + -0.043667644559119034, + -0.019261973081850865, + 0.0005004798877052963 + ], + [ + 0.04260700196027756, + 0.9977164084755156, + -0.052407835077932605, + 0.09915604442358017 + ], + [ + 0.02150651440024376, + 0.05152741397230715, + 0.9984399940470509, + 0.03565796837210655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989010691642763, + -0.041198690304531445, + -0.02234447697557485, + -0.00023720329045318067 + ], + [ + 0.03985129669308663, + 0.9975371065029954, + -0.05771992375949155, + 0.10483235865831375 + ], + [ + 0.024667428806424148, + 0.05676603587409485, + 0.998082752643092, + 0.03427574411034584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988201856613159, + -0.03857231504552513, + -0.029502787597901863, + 0.007451612036675215 + ], + [ + 0.036689598113298416, + 0.9974081519699705, + -0.06189341127705141, + 0.10957077145576477 + ], + [ + 0.031813692301511765, + 0.060737940914019815, + 0.9976466061903893, + 0.027146674692630768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9985761642456055, + -0.04008099022198851, + -0.03520162029021213, + 0.006555197760462761 + ], + [ + 0.037322234362363815, + 0.9964236927472346, + -0.07580779196533691, + 0.14255470037460327 + ], + [ + 0.03811417892575264, + 0.07438604990959194, + 0.9965008648981573, + 0.026431957259774208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9979066848754883, + -0.04607137423820421, + -0.0453837700352508, + 0.01217089407145977 + ], + [ + 0.04152402654290199, + 0.9944668230267711, + -0.09649590027688956, + 0.2009388506412506 + ], + [ + 0.04957835003733635, + 0.0944093830832888, + 0.9942981917210987, + 0.02282910980284214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9970780611038208, + -0.04895509492983241, + -0.058641029528938744, + 0.024364279583096504 + ], + [ + 0.04371371120214462, + 0.9952003269267704, + -0.08755217467095673, + 0.17709536850452423 + ], + [ + 0.06264569610357285, + 0.08473293317663551, + 0.994432447206323, + 0.013960289768874645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9960992336273193, + -0.04876739900555967, + -0.07353980797705849, + 0.044534798711538315 + ], + [ + 0.04305027052760124, + 0.9960687852354457, + -0.07741853525118012, + 0.15085415542125702 + ], + [ + 0.07702620327472687, + 0.07395063528317196, + 0.9942828042244973, + 0.0058420873247087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9957772493362427, + -0.04476931045781818, + -0.08014568582512936, + 0.04578099772334099 + ], + [ + 0.03946291282773018, + 0.9969982359894858, + -0.06661189851696345, + 0.1251779943704605 + ], + [ + 0.08288727700710297, + 0.06316783231715503, + 0.9945549642400279, + -0.0019570933654904366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9958478212356567, + -0.040695081267996834, + -0.08143145411241072, + 0.03487556800246239 + ], + [ + 0.0357649065554142, + 0.9974898798569158, + -0.06111306168569542, + 0.11206405609846115 + ], + [ + 0.08371405303478241, + 0.05794692361607486, + 0.9948035777763637, + -0.007530295290052891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9957869052886965, + -0.036144293310934175, + -0.08427324326076244, + 0.029951201751828194 + ], + [ + 0.031188897788524635, + 0.9977472213583736, + -0.05939453882249584, + 0.10911675542593002 + ], + [ + 0.08623016625642778, + 0.05651591787427448, + 0.9946709588258976, + -0.014022346585988998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9961845278739931, + -0.03347971496731748, + -0.08059486235920423, + 0.008637786842882633 + ], + [ + 0.029046006500720985, + 0.9980321903610382, + -0.05556995643882266, + 0.10056883841753006 + ], + [ + 0.0822967365384102, + 0.05301697142471227, + 0.9951966930775066, + -0.020139817148447037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9971837401390076, + -0.02705099665333751, + -0.06994908970174918, + -0.026793837547302246 + ], + [ + 0.024112114682793617, + 0.9988044771580659, + -0.04252306162124208, + 0.06340528279542923 + ], + [ + 0.07101576030254364, + 0.04071668511556691, + 0.9966438347806337, + -0.023185353726148605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9978672862052917, + -0.021902653409214858, + -0.061491106964242814, + -0.0486036017537117 + ], + [ + 0.019815562292933464, + 0.9992134733957798, + -0.034348479275353026, + 0.03917669132351875 + ], + [ + 0.0621950626373291, + 0.03305674160135211, + 0.9975164087282802, + -0.027242623269557953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9985881447792053, + -0.019155977606546495, + -0.04954592041385222, + -0.07905293256044388 + ], + [ + 0.017777198925614357, + 0.9994464473141429, + -0.028120837607794266, + 0.01908602938055992 + ], + [ + 0.050057172775268555, + 0.027200346552530875, + 0.9983758827527642, + -0.028835799545049667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9988158345222473, + -0.01989302517093449, + -0.04439836895311348, + -0.0885699987411499 + ], + [ + 0.018766053020954132, + 0.9994946129616082, + -0.025657274967694217, + 0.012067942880094051 + ], + [ + 0.044886332005262375, + 0.02479371124452991, + 0.9986843928670609, + -0.033767275512218475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994482398033142, + -0.01734846814071883, + -0.02832422514869472, + -0.12663182616233826 + ], + [ + 0.01718684285879135, + 0.999834674330546, + -0.005939818442444606, + -0.04219125956296921 + ], + [ + 0.028422590345144272, + 0.005449735391069834, + 0.9995811674359684, + -0.03251851350069046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9998964071273804, + -0.009413487478746123, + -0.010886876619132704, + -0.15767326951026917 + ], + [ + 0.009499209001660347, + 0.9999240801847469, + 0.007849196089058399, + -0.08235276490449905 + ], + [ + 0.010812162421643734, + -0.00795179595284385, + 0.9999099573623413, + -0.0297746229916811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999995768070221, + -0.0023984095058437968, + 0.0016637245424250674, + -0.16623398661613464 + ], + [ + 0.00237747048959136, + 0.9999193343840415, + 0.012475513405409257, + -0.09850172698497772 + ], + [ + -0.0016935118474066257, + -0.012471501625684386, + 0.9999207998298518, + -0.033452000468969345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.99998414516449, + 0.001166335377787647, + 0.005505691377596177, + -0.15043577551841736 + ], + [ + -0.0012644641101360323, + 0.9998398442698011, + 0.017853454697112397, + -0.11355132609605789 + ], + [ + -0.005483986344188453, + -0.017860133395569276, + 0.9998254798218511, + -0.043109629303216934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.999834418296814, + 0.002267607046660478, + 0.018055324358603363, + -0.15928243100643158 + ], + [ + -0.0026299632154405117, + 0.9997951156597672, + 0.020070829726251047, + -0.11841262131929398 + ], + [ + -0.018006112426519394, + -0.020114989322252867, + 0.9996355211123319, + -0.04479043185710907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9997446537017822, + 0.004870361586361659, + 0.0220661743609188, + -0.14307305216789246 + ], + [ + -0.005543991923332214, + 0.999517243256681, + 0.03057011909729153, + -0.14897432923316956 + ], + [ + -0.02190663479268551, + -0.03068464598888209, + 0.9992890100772815, + -0.04991280660033226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995782971382141, + 0.005549000577819694, + 0.02850292893567238, + -0.13528455793857574 + ], + [ + -0.006566649302840233, + 0.9993397222929931, + 0.03573471377572873, + -0.16047969460487366 + ], + [ + -0.028285816311836243, + -0.03590681940327633, + 0.9989547322423434, + -0.05385066568851471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995101690292361, + 0.005303337867014734, + 0.030842910592550593, + -0.11954979598522186 + ], + [ + -0.006235827691853048, + 0.9995239166542731, + 0.030216355028011992, + -0.13916975259780884 + ], + [ + -0.03066797927021981, + -0.030393890432257688, + 0.9990673838510673, + -0.06582548469305038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9993916749954224, + 0.0013182653437103706, + 0.03485091463874664, + -0.11593116074800491 + ], + [ + -0.002034316770732403, + 0.9997874014213731, + 0.020518667019572667, + -0.10400189459323883 + ], + [ + -0.03481645509600639, + -0.020577089031689918, + 0.9991818586616088, + -0.07112085819244385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9991409182548523, + 0.0003121691820056583, + 0.041440447016229884, + -0.12543414533138275 + ], + [ + -0.0008117521647363901, + 0.9999272093613715, + 0.01203916963118481, + -0.07440108060836792 + ], + [ + -0.0414336733520031, + -0.012062467603479513, + 0.9990684403151975, + -0.0694209635257721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.99920254945755, + -7.360545367760587e-05, + 0.039927546720420676, + -0.11489581316709518 + ], + [ + -0.00043583958176895976, + 0.9999185968089385, + 0.012750392243371147, + -0.0755390077829361 + ], + [ + -0.039925236254930496, + -0.012757628493820828, + 0.9991211970434835, + -0.07665495574474335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9992386102676392, + -0.004412155444620965, + 0.03876533966403052, + -0.11157412827014923 + ], + [ + 0.004375091753900051, + 0.9999899070834575, + 0.0010408872376219314, + -0.03920791298151016 + ], + [ + -0.03876953944563866, + -0.0008704939736581434, + 0.999247797154108, + -0.08060172200202942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992372989654543, + -0.008951860614429395, + 0.03800977042539484, + -0.11667044460773468 + ], + [ + 0.009483409114181997, + 0.9998593995055108, + -0.013827319598945871, + 0.0030604382045567036 + ], + [ + -0.03788064420223237, + 0.014177238841738913, + 0.999181700529423, + -0.08025011420249939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9993781447410583, + -0.011514680642641736, + 0.033327362086536576, + -0.11577171087265015 + ], + [ + 0.012046555988490582, + 0.999802566236134, + -0.015802576077313515, + 0.004494360648095608 + ], + [ + -0.03313881903886795, + 0.016194227347631093, + 0.9993195749321734, + -0.07857391238212585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9992964863777161, + -0.009833501753370527, + 0.03619184124106771, + -0.1344694048166275 + ], + [ + 0.010207402519881725, + 0.9998963014125413, + -0.010160845608163091, + -0.018112381920218468 + ], + [ + -0.03608817234635353, + 0.010523119098412043, + 0.9992932141661981, + -0.07463070750236511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9994329214096069, + -0.008736821056704768, + 0.032518405286781724, + -0.12990796566009521 + ], + [ + 0.009109129197895527, + 0.999894456013497, + -0.011318682882655638, + -0.018926382064819336 + ], + [ + -0.03241608664393425, + 0.011608477723586008, + 0.9994070494712737, + -0.07293879985809326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995694160461426, + -0.006142836242311709, + 0.028691342858051267, + -0.12456531077623367 + ], + [ + 0.006433517672121525, + 0.999928826603354, + -0.010050037704415293, + -0.026093551889061928 + ], + [ + -0.028627565130591393, + 0.010230292151734852, + 0.999537775639921, + -0.0754975825548172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996291995048525, + -0.003070517476195081, + 0.027055243363312487, + -0.12320258468389511 + ], + [ + 0.0032151341438293466, + 0.9999807894856009, + -0.00530335404506851, + -0.043167196214199066 + ], + [ + -0.027038440108299262, + 0.005388373253604292, + 0.9996198756147506, + -0.06907625496387482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996355175971985, + -0.0015033751535937145, + 0.026955277130677288, + -0.12277158349752426 + ], + [ + 0.001540707191452384, + 0.9999978566120964, + -0.0013642405843212499, + -0.058062661439180374 + ], + [ + -0.026953168213367462, + 0.001405274017981096, + 0.9996356879472396, + -0.06837039440870285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993476867675781, + 0.0022235550487077703, + 0.03604492748024145, + -0.1416497528553009 + ], + [ + -0.0024123992770910263, + 0.9999835884295402, + 0.00519649866521862, + -0.08095268160104752 + ], + [ + -0.0360327810049057, + -0.005280064500980678, + 0.9993366333022248, + -0.05720390006899834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9988882541656494, + 0.004082093419098548, + 0.04696432127451085, + -0.1591925472021103 + ], + [ + -0.004439687356352806, + 0.9999619321054525, + 0.007512379673899637, + -0.09439829736948013 + ], + [ + -0.04693186655640602, + -0.007712533319706853, + 0.9988683161873191, + -0.04395609721541405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.997776210308075, + 0.006088839574390964, + 0.06637403124674215, + -0.19516105949878693 + ], + [ + -0.0066228508949279785, + 0.9999474382799746, + 0.007828426899438258, + -0.1032627746462822 + ], + [ + -0.06632287055253983, + -0.008250601233112907, + 0.9977641056652801, + -0.022824393585324287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9979814887046814, + 0.004134610649185115, + 0.06337097624910713, + -0.15981276333332062 + ], + [ + -0.004491581581532955, + 0.9999748628339862, + 0.005491615022322126, + -0.10294444859027863 + ], + [ + -0.06334666907787323, + -0.005765165583859123, + 0.9979749123415531, + -0.027918409556150436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9982128739356995, + -0.0039123999428417626, + 0.059630407299513896, + -0.12826286256313324 + ], + [ + 0.004527249373495579, + 0.9999379439414514, + -0.010179389242902244, + -0.06019878387451172 + ], + [ + -0.05958688259124756, + 0.010431159153176956, + 0.9981686068258111, + -0.02967187389731407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9976314902305603, + -0.008953813430885539, + 0.0681996836466275, + -0.14045332372188568 + ], + [ + 0.009621095843613148, + 0.9999089660735299, + -0.009462062713507342, + -0.07018046826124191 + ], + [ + -0.06810875236988068, + 0.010095806678786599, + 0.997626849534613, + -0.017981436103582382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9975109100341797, + -0.005780301649951701, + 0.07027487749351372, + -0.12673380970954895 + ], + [ + 0.005814824718981981, + 0.9999830539486108, + -0.0002866954073932056, + -0.10310211777687073 + ], + [ + -0.07027202844619751, + 0.000694619635852299, + 0.9975276523917472, + -0.013075830414891243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9976512789726257, + -0.0056825787087338275, + 0.0682613744894185, + -0.10108642280101776 + ], + [ + 0.006139256991446018, + 0.9999601413879144, + -0.0064822122346695245, + -0.08620908111333847 + ], + [ + -0.06822182238101959, + 0.006886062573459065, + 0.9976463868397822, + -0.014306653290987015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9983373880386353, + -0.009442842340575554, + 0.05686180316792445, + -0.05831039324402809 + ], + [ + 0.010419786907732487, + 0.999802725635249, + -0.016909107094289024, + -0.05729586258530617 + ], + [ + -0.05669091269373894, + 0.017473482692686778, + 0.9982388861700289, + -0.015295636840164661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9981211423873901, + -0.01109472905778585, + 0.06025875356330874, + -0.06328883767127991 + ], + [ + 0.012626789510250092, + 0.9996051362323813, + -0.02510369011545472, + -0.03618278354406357 + ], + [ + -0.05995643883943558, + 0.025817396734592844, + 0.9978670903843916, + -0.012144984677433968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9983848333358765, + -0.012962344177221983, + 0.0553143370277933, + -0.04426402971148491 + ], + [ + 0.014459110796451569, + 0.9995376747644978, + -0.0267454288621078, + -0.03286559879779816 + ], + [ + -0.05494208261370659, + 0.027502028179836633, + 0.9981107075819272, + -0.00798853486776352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9986727833747864, + -0.01862401322989953, + 0.04801918131802849, + -0.02263619750738144 + ], + [ + 0.02040630765259266, + 0.9991106714173299, + -0.03689721597311661, + -0.003993204329162836 + ], + [ + -0.04728930443525314, + 0.03782814177422733, + 0.998164684704207, + -0.005783045198768377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9986212253570557, + -0.023271633228260077, + 0.04705358904382145, + -0.025751259177923203 + ], + [ + 0.025353852659463882, + 0.9987031091526464, + -0.044150570232298035, + 0.014417672529816628 + ], + [ + -0.04596511274576187, + 0.04528268686021603, + 0.9979161684759481, + 0.0048753442242741585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.998756468296051, + -0.024656398074611504, + 0.04333077069653561, + -0.018357330933213234 + ], + [ + 0.02652338705956936, + 0.9987206000319787, + -0.04305369207846571, + 0.006328335031867027 + ], + [ + -0.04221378266811371, + 0.044149431711365726, + 0.9981326444934333, + 0.010536059737205505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9989625811576843, + -0.025844899572790656, + 0.03749480485857384, + -0.004517764318734407 + ], + [ + 0.027439290657639503, + 0.9987131656203229, + -0.04265072255747225, + -0.00039877096423879266 + ], + [ + -0.0363442525267601, + 0.043635304077906056, + 0.9983862220074524, + 0.010837072506546974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9993360042572024, + -0.025416370435615118, + 0.02610621703427599, + 0.026640860363841057 + ], + [ + 0.026352392509579665, + 0.9989985218235711, + -0.036159184226683384, + -0.025137541815638542 + ], + [ + -0.025161039084196098, + 0.03682313476246145, + 0.99900498893725, + 0.010021554306149483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993400573730469, + -0.026043223434720215, + 0.025321501869102755, + 0.029765823855996132 + ], + [ + 0.02690006047487259, + 0.999056037832806, + -0.03410813175393495, + -0.03517211228609085 + ], + [ + -0.02440931275486946, + 0.03476677811785788, + 0.9990973477577495, + 0.01376437395811081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9993374943733215, + -0.027518913465769988, + 0.023817381475538895, + 0.03527810797095299 + ], + [ + 0.028380166739225388, + 0.9989264869756719, + -0.036611593350820246, + -0.03168809041380882 + ], + [ + -0.02278430387377739, + 0.03726328081982238, + 0.9990456961471808, + 0.018050117418169975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9992954730987549, + -0.028456782309660197, + 0.02446941354332316, + 0.03517860919237137 + ], + [ + 0.02926378697156906, + 0.9990175541915816, + -0.03328009672367529, + -0.04601432755589485 + ], + [ + -0.023498330265283585, + 0.03397271674209589, + 0.9991465064190649, + 0.022076575085520744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9994776844978333, + -0.028926595434974507, + 0.014409951805115687, + 0.0687713772058487 + ], + [ + 0.029390299692749977, + 0.9990204823896375, + -0.033080299427163985, + -0.050254106521606445 + ], + [ + -0.013438936322927475, + 0.03348653340848622, + 0.9993488290318616, + 0.022270377725362778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9993091225624084, + -0.031436062181226375, + 0.019826246194390402, + 0.05600479245185852 + ], + [ + 0.03229553624987602, + 0.9984812708592569, + -0.04463292850466799, + -0.017391245812177658 + ], + [ + -0.018393052741885185, + 0.045242397657395406, + 0.9988067232768022, + 0.028798216953873634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9994710087776184, + -0.030925590643590305, + 0.010063672476897009, + 0.08720086514949799 + ], + [ + 0.031256504356861115, + 0.9989130384951042, + -0.03457936788335161, + -0.04873193800449371 + ], + [ + -0.00898334663361311, + 0.03487563689571913, + 0.9993512938085549, + 0.02921866625547409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995148181915285, + -0.030247127379374458, + 0.0074318031052012425, + 0.10095863044261932 + ], + [ + 0.03044418245553971, + 0.999143854671394, + -0.02801171967452056, + -0.0685436949133873 + ], + [ + -0.006578166503459217, + 0.028224384407331538, + 0.999579976895186, + 0.031114911660552025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9994274973869324, + -0.03231895462600451, + 0.010008670223430166, + 0.09899454563856125 + ], + [ + 0.03261622041463852, + 0.9989834206183537, + -0.03111737745802163, + -0.05927712097764015 + ], + [ + -0.00899281445890665, + 0.031426006849241926, + 0.9994656492373791, + 0.03541500121355057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9994532465934756, + -0.031552933841572955, + 0.009882594075583158, + 0.10716190934181213 + ], + [ + 0.03183281049132348, + 0.999055566933059, + -0.02957453417234717, + -0.0656781941652298 + ], + [ + -0.008940096944570543, + 0.02987295472201566, + 0.999513694091331, + 0.040796805173158646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9995248913764956, + -0.030138148609821183, + 0.006457427723738553, + 0.12661494314670563 + ], + [ + 0.0303182639181614, + 0.9990931648410645, + -0.02989424764600596, + -0.06624104082584381 + ], + [ + -0.005550614558160306, + 0.030075823525722776, + 0.9995321874200028, + 0.0458403155207634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994512200355532, + -0.031058054868965485, + 0.011515790591031042, + 0.11945128440856934 + ], + [ + 0.03139502182602883, + 0.999046541495838, + -0.030336875366507372, + -0.06723395735025406 + ], + [ + -0.010562607087194921, + 0.030681768094564, + 0.9994734001368597, + 0.05018727853894234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994112253189087, + -0.03019096703334207, + 0.01629898859747642, + 0.11397616565227509 + ], + [ + 0.030688844621181488, + 0.9990414976955633, + -0.03121333194279509, + -0.06793651729822159 + ], + [ + -0.01534100528806448, + 0.031695149722048586, + 0.999379840532966, + 0.05728746950626373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9993094801902773, + -0.030737725641171318, + 0.02087582965177575, + 0.11036603897809982 + ], + [ + 0.03144562244415284, + 0.9989107884878838, + -0.03447353637067851, + -0.06265045702457428 + ], + [ + -0.019793452695012096, + 0.035106180267804044, + 0.9991875581081319, + 0.06080165132880211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9992747902870178, + -0.0326807467431949, + 0.019541124758296773, + 0.11948173493146896 + ], + [ + 0.03341120481491089, + 0.9987074733749074, + -0.03830217181430036, + -0.056963127106428146 + ], + [ + -0.018264124169945717, + 0.038927285631865136, + 0.9990751122550471, + 0.06738581508398056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9993144869804382, + -0.03262841585221087, + 0.017491605100910586, + 0.12659496068954468 + ], + [ + 0.03331959247589111, + 0.9986116880630042, + -0.040798748241059134, + -0.05720189958810806 + ], + [ + -0.01613612286746502, + 0.041353594411121804, + 0.9990142618760692, + 0.07318338006734848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9992921948432922, + -0.03385322451961652, + 0.01640199308728106, + 0.12987791001796722 + ], + [ + 0.03459577262401581, + 0.9982800552179599, + -0.04732873246475777, + -0.045885782688856125 + ], + [ + -0.014771552756428719, + 0.047862677378040175, + 0.9987446818460224, + 0.07710009068250656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9992258548736572, + -0.03664473107510856, + 0.014314284525631136, + 0.13160032033920288 + ], + [ + 0.03748031705617905, + 0.9972917570961446, + -0.0632803200222903, + -0.008382564410567284 + ], + [ + -0.011956628412008286, + 0.06376783526992034, + 0.9978931412100537, + 0.07898422330617905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9992828965187073, + -0.036936864356843895, + 0.008327218239661344, + 0.14204680919647217 + ], + [ + 0.03745231404900551, + 0.9965595808710391, + -0.07393449272121104, + 0.01313614659011364 + ], + [ + -0.0055676610209047794, + 0.07419335043893992, + 0.9972283277834124, + 0.08629430830478668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9992669820785522, + -0.038093737027753864, + 0.003794732156292263, + 0.14814399182796478 + ], + [ + 0.03827250748872757, + 0.9963312937086923, + -0.0765452558688827, + 0.013324028812348843 + ], + [ + -0.0008649154915474355, + 0.07663437871321555, + 0.9970588674167696, + 0.08867299556732178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.99922776222229, + -0.0392927048965534, + 9.99521318052316e-05, + 0.15105456113815308 + ], + [ + 0.039182502776384354, + 0.996228322299391, + -0.07741985354621894, + 0.007486351765692234 + ], + [ + 0.0029424605891108513, + 0.07736398294374773, + 0.9969985770500619, + 0.09578157216310501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9992874264717104, + -0.03755448043057869, + 0.0037754727336747206, + 0.13441058993339539 + ], + [ + 0.03772952780127526, + 0.9966488889277505, + -0.07257730635890926, + -0.016389748081564903 + ], + [ + -0.0010372175602242353, + 0.07266803929876534, + 0.9973556640138064, + 0.10267049819231033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9993435740470888, + -0.03572818304294864, + -0.005996467382632642, + 0.15863656997680664 + ], + [ + 0.03518383577466012, + 0.9966067259240412, + -0.07441173180088004, + -0.02056390792131424 + ], + [ + 0.008634716272354128, + 0.07415190604083788, + 0.9972095652324517, + 0.10574894398450851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9993839263916016, + -0.034876912220984296, + -0.003923119718454518, + 0.15253658592700958 + ], + [ + 0.03450042009353638, + 0.9967634312095047, + -0.0726113158225344, + -0.032745104283094406 + ], + [ + 0.006442881189286709, + 0.07243123232458742, + 0.9973526074393811, + 0.1083596795797348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9993591904640198, + -0.0352345419321599, + -0.00630714956163279, + 0.1603248119354248 + ], + [ + 0.03466721624135971, + 0.99661401353563, + -0.0745566931626552, + -0.034995030611753464 + ], + [ + 0.008912764489650726, + 0.07429026576356906, + 0.9971968468442864, + 0.11153537780046463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9993379712104797, + -0.03606180556201587, + -0.004817922365841006, + 0.15916681289672852 + ], + [ + 0.03561323136091232, + 0.996683177398596, + -0.07317342409227365, + -0.04564189910888672 + ], + [ + 0.007440708111971617, + 0.07295339687225084, + 0.9973075898905225, + 0.11631210148334503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9992644786834717, + -0.038250000713417866, + -0.0027306594752403972, + 0.1571536660194397 + ], + [ + 0.0378982312977314, + 0.9959206195307424, + -0.08188898605805638, + -0.02660254016518593 + ], + [ + 0.005851774010807276, + 0.08172526704275684, + 0.9966376915059311, + 0.11916887760162354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9993270039558411, + -0.036662455896625624, + 0.0011797281257142447, + 0.14909720420837402 + ], + [ + 0.036645375192165375, + 0.9964026034047174, + -0.07641288639384147, + -0.04935942217707634 + ], + [ + 0.0016259998083114624, + 0.07640469603612475, + 0.9970755733805403, + 0.12204600870609283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9993235468864443, + -0.03677592042356988, + -3.400257731168372e-05, + 0.1557711511850357 + ], + [ + 0.03663438186049462, + 0.9955576444037367, + -0.08673483665514588, + -0.026178913190960884 + ], + [ + 0.003223604755476118, + 0.08667491356430489, + 0.9962314181044015, + 0.121954545378685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9993105530738831, + -0.03667898656469047, + -0.005752145856360058, + 0.17280782759189606 + ], + [ + 0.0360497385263443, + 0.995646642031944, + -0.08595459504404372, + -0.032650500535964966 + ], + [ + 0.008879831992089748, + 0.08568796886268386, + 0.9962824610982923, + 0.12061434984207153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.999286413192749, + -0.03706174730219627, + -0.007284316041941006, + 0.17606095969676971 + ], + [ + 0.0362069346010685, + 0.9948485097154918, + -0.09468631647320884, + -0.011914205737411976 + ], + [ + 0.010756030678749084, + 0.09435500886628392, + 0.9954805033341798, + 0.12011606991291046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.999219536781311, + -0.03844221974028931, + -0.009085717796351768, + 0.17591044306755066 + ], + [ + 0.03729134425520897, + 0.9938801599780008, + -0.10397887517267553, + 0.01103238295763731 + ], + [ + 0.013027292676270008, + 0.10355890447680102, + 0.9945380317264199, + 0.12108209729194641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9992285370826721, + -0.036727395171451266, + -0.013909894793199346, + 0.18208202719688416 + ], + [ + 0.03517647460103035, + 0.9944784114912615, + -0.09886985443844643, + -0.00749357370659709 + ], + [ + 0.017464321106672287, + 0.09830427817426143, + 0.9950031425231147, + 0.12483545392751694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9991273283958435, + -0.03748542835475005, + -0.018423846097971163, + 0.1868988275527954 + ], + [ + 0.03519592806696892, + 0.9930970852869893, + -0.11189044429949212, + 0.02510879561305046 + ], + [ + 0.022490929812192917, + 0.1111443500071199, + 0.9935497143599527, + 0.12708447873592377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9987300038337708, + -0.04311153106488419, + -0.026072004515299108, + 0.19645534455776215 + ], + [ + 0.03891947492957115, + 0.9887905016292935, + -0.14414788612122229, + 0.11029699444770813 + ], + [ + 0.03199418634176254, + 0.14295011353057055, + 0.9892126232492331, + 0.13314063847064972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9985266923904421, + -0.04474177542856029, + -0.030702590930535994, + 0.19258993864059448 + ], + [ + 0.039278667420148856, + 0.9863472594645617, + -0.15992564997622746, + 0.14618588984012604 + ], + [ + 0.037438772618770606, + 0.1584840750042239, + 0.986651488971188, + 0.13400016725063324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9983162879943848, + -0.044484238646662407, + -0.03722529967156858, + 0.19269052147865295 + ], + [ + 0.037887100130319595, + 0.9860245394706767, + -0.16223483539501493, + 0.14254282414913177 + ], + [ + 0.043921951204538345, + 0.16055132523089627, + 0.9860497631180857, + 0.13617800176143646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9980204105377197, + -0.04540361619059432, + -0.04351695054861706, + 0.19022049009799957 + ], + [ + 0.03794129192829132, + 0.9865253934044788, + -0.15914805753095088, + 0.12438686192035675 + ], + [ + 0.05015647038817406, + 0.15718192103528542, + 0.9862951617026379, + 0.13619476556777954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9977675676345825, + -0.044194310754072645, + -0.05006683026765874, + 0.18903370201587677 + ], + [ + 0.03581096604466438, + 0.9868765397035009, + -0.15745562890000983, + 0.11059629172086716 + ], + [ + 0.056368425488471985, + 0.15531118116076711, + 0.9862560604569423, + 0.13931336998939514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9974610805511475, + -0.04526880922954465, + -0.05497343655410118, + 0.18492001295089722 + ], + [ + 0.035760074853897095, + 0.9859669529122289, + -0.1630654216596161, + 0.11823584139347076 + ], + [ + 0.06158376857638359, + 0.16068556558837477, + 0.9850825510586068, + 0.13922403752803802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9970628023147583, + -0.04760707017939619, + -0.059994929242088754, + 0.18206627666950226 + ], + [ + 0.03712774068117142, + 0.9855860794608755, + -0.16505025985521188, + 0.1144595742225647 + ], + [ + 0.06698772311210632, + 0.16233800160221332, + 0.9844587735706688, + 0.14051805436611176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9961999654769897, + -0.04307674137173704, + -0.07569676962702378, + 0.21411730349063873 + ], + [ + 0.03226243704557419, + 0.9898109135479349, + -0.1386847974235112, + 0.03102760575711727 + ], + [ + 0.08089957386255264, + 0.13571563511297752, + 0.987439397878138, + 0.1360769271850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9962016940116882, + -0.04130904735949086, + -0.07665325777340622, + 0.21039485931396484 + ], + [ + 0.0302327461540699, + 0.9896318360803508, + -0.14040934657930962, + 0.02791896089911461 + ], + [ + 0.08165867626667023, + 0.13755859784690996, + 0.9871218477870085, + 0.13323810696601868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962863326072693, + -0.03912700527006722, + -0.0766982414290596, + 0.20766690373420715 + ], + [ + 0.02789582870900631, + 0.9894181032594818, + -0.14238572122867005, + 0.02455471083521843 + ], + [ + 0.08145775645971298, + 0.13971738477352386, + 0.9868351798819068, + 0.13573268055915833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9962467551231384, + -0.0375039964597984, + -0.0780118867790528, + 0.21090452373027802 + ], + [ + 0.026005014777183533, + 0.9893070115645091, + -0.1435108707987963, + 0.017476500943303108 + ], + [ + 0.08255994319915771, + 0.1409435349198733, + 0.9865691726427261, + 0.1313721239566803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9963443279266357, + -0.03525533529182543, + -0.07781450930455094, + 0.2104363590478897 + ], + [ + 0.02412545680999756, + 0.9899147631417753, + -0.13959497791126932, + -0.005700361914932728 + ], + [ + 0.08195120096206665, + 0.13720734821185065, + 0.987146474760159, + 0.12724249064922333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9964069724082949, + -0.034569918412009584, + -0.07731772355550967, + 0.20914317667484283 + ], + [ + 0.023121124133467678, + 0.9892571380270804, + -0.1443458118453704, + -0.005206577479839325 + ], + [ + 0.0814771354198456, + 0.14203950450748667, + 0.9865020328918671, + 0.12783195078372955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9957681298255923, + -0.03657423523704957, + -0.08430971625993228, + 0.2273208498954773 + ], + [ + 0.023628896102309234, + 0.9884462264457214, + -0.14971895094955087, + -0.00044213474029675126 + ], + [ + 0.08881147205829622, + 0.14709321246879403, + 0.9851274562977002, + 0.12165289372205734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9952585101127625, + -0.03708191486182712, + -0.08991930332218134, + 0.24028280377388 + ], + [ + 0.023502977564930916, + 0.9887650872269078, + -0.14761863208242337, + -0.014957060106098652 + ], + [ + 0.09438305348157883, + 0.14480532093663298, + 0.9849483482061063, + 0.11546693742275238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.994024395942688, + -0.037222767498391124, + -0.10261581913714612, + 0.2711521089076996 + ], + [ + 0.021898625418543816, + 0.9889529639490837, + -0.14660311614890884, + -0.0219887625426054 + ], + [ + 0.10693919658660889, + 0.14347992226789516, + 0.983858467365155, + 0.10722435265779495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9934009313583376, + -0.03681010157291945, + -0.10862614243370144, + 0.2830483019351959 + ], + [ + 0.022325489670038227, + 0.9910428652872175, + -0.13166467233774598, + -0.06943380832672119 + ], + [ + 0.11249975115060809, + 0.1283706743263378, + 0.9853246948745134, + 0.10522520542144775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9924631714820862, + -0.036518988244862174, + -0.11697518762413123, + 0.30195415019989014 + ], + [ + 0.021435074508190155, + 0.9915808594846844, + -0.12770236198753404, + -0.08405767381191254 + ], + [ + 0.1206539198756218, + 0.12423252670541611, + 0.9848903275941683, + 0.1037767305970192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9922730922698977, + -0.036796958654990275, + -0.11849094986006374, + 0.3020264804363251 + ], + [ + 0.021161999553442005, + 0.9912091874419033, + -0.1306006834632481, + -0.07751388847827911 + ], + [ + 0.12225502729415896, + 0.12708403432258408, + 0.9843288712641808, + 0.10110610723495483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9911162257194519, + -0.03998983909390848, + -0.126844285569687, + 0.3198930621147156 + ], + [ + 0.023455338552594185, + 0.9913328776813048, + -0.12926301626942846, + -0.0801817923784256 + ], + [ + 0.1309141218662262, + 0.12513949745311048, + 0.9834640750797728, + 0.09287794679403305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9912400841712952, + -0.04452669464439162, + -0.12434017427698839, + 0.3034924268722534 + ], + [ + 0.02840222418308258, + 0.9912944492070821, + -0.12856376448230197, + -0.08057839423418045 + ], + [ + 0.12898223102092743, + 0.12390601988428389, + 0.9838754485772309, + 0.09183719754219055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9908400774002075, + -0.04268645428667541, + -0.1281165006126263, + 0.3046967089176178 + ], + [ + 0.026950344443321228, + 0.9921472818505024, + -0.12213703274329618, + -0.09710593521595001 + ], + [ + 0.13232402503490448, + 0.11756548350514032, + 0.9842097048991847, + 0.08900026977062225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9916315674781802, + -0.04145152844431294, + -0.12226439707805191, + 0.2817176580429077 + ], + [ + 0.026527559384703643, + 0.9922666511595943, + -0.12125691209122484, + -0.09829261153936386 + ], + [ + 0.12634517252445224, + 0.1169988037876721, + 0.9850625265285236, + 0.08460463583469391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9915227890014648, + -0.042891014620960004, + -0.12264973225584888, + 0.27672407031059265 + ], + [ + 0.027265457436442375, + 0.9916108948903342, + -0.12635065197863066, + -0.08245410025119781 + ], + [ + 0.12704011797904968, + 0.12193543937866928, + 0.984374170570051, + 0.08043045550584793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9901253581047058, + -0.04436768661094914, + -0.1329783730081739, + 0.2975122928619385 + ], + [ + 0.028185289353132248, + 0.9922288515289784, + -0.12119209140238599, + -0.0967642068862915 + ], + [ + 0.13732199370861053, + 0.11624733226264407, + 0.9836814972442667, + 0.07619349658489227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9906229376792908, + -0.04143800301697816, + -0.13018854219261738, + 0.28242021799087524 + ], + [ + 0.025919556617736816, + 0.9925907973326938, + -0.11870840406881918, + -0.10229562968015671 + ], + [ + 0.13414299488067627, + 0.11422083485780139, + 0.9843572515358416, + 0.07479598373174667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9915460348129272, + -0.03793049087451572, + -0.1240875090462671, + 0.2632488012313843 + ], + [ + 0.023581385612487793, + 0.9930709878629573, + -0.1151255243889134, + -0.11302723735570908 + ], + [ + 0.1275944858789444, + 0.11122610426675458, + 0.9855700656981684, + 0.06915054470300674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9919573068618777, + -0.0355873263610278, + -0.12146709972284783, + 0.25610044598579407 + ], + [ + 0.022370299324393276, + 0.993845814086817, + -0.1084897336334872, + -0.1295936554670334 + ], + [ + 0.12458042800426486, + 0.10489992914933191, + 0.9866487298805829, + 0.06691005080938339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9923210144042969, + -0.03495427721583202, + -0.11864738918566062, + 0.2484988421201706 + ], + [ + 0.02140660025179386, + 0.9932965086545318, + -0.1135949249434836, + -0.11126845329999924 + ], + [ + 0.12182266265153885, + 0.11018279718523499, + 0.9864172630982698, + 0.06741899996995926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9933027625083923, + -0.029874161061166152, + -0.11161157959601854, + 0.23288469016551971 + ], + [ + 0.017970576882362366, + 0.9941851955883995, + -0.10617379201419057, + -0.13086098432540894 + ], + [ + 0.11413443833589554, + 0.1034569952310158, + 0.9880637409750656, + 0.06590812653303146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9939582943916321, + -0.024823271295565472, + -0.10691440521513064, + 0.22864961624145508 + ], + [ + 0.01377949770539999, + 0.9946044144577955, + -0.10282140323193267, + -0.13839110732078552 + ], + [ + 0.10888990014791489, + 0.1007269620147654, + 0.9889373707183859, + 0.0640188679099083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9938931465148926, + -0.02737461245808176, + -0.10689753285913112, + 0.2372724711894989 + ], + [ + 0.016093865036964417, + 0.9943420570333141, + -0.10499911901116456, + -0.13169242441654205 + ], + [ + 0.10916703194379807, + 0.1026375133044983, + 0.9887103097935968, + 0.05828537791967392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9942241311073303, + -0.026781993510776488, + -0.10392829550173648, + 0.232101172208786 + ], + [ + 0.016001634299755096, + 0.9945310120186828, + -0.10320877863558826, + -0.13625812530517578 + ], + [ + 0.10612405091524124, + 0.10094963380150859, + 0.989215251539796, + 0.05983886867761612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9941309094429018, + -0.02398425129881659, + -0.10549170763499519, + 0.24422505497932434 + ], + [ + 0.012888436205685142, + 0.9944274850895128, + -0.1046319821605172, + -0.1317242830991745 + ], + [ + 0.10741337388753894, + 0.10265826175865067, + 0.988900219291622, + 0.056719399988651276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.994431734085083, + -0.0244896030479389, + -0.10249781153249897, + 0.24171343445777893 + ], + [ + 0.013656215742230415, + 0.9943689141072076, + -0.105090287294965, + -0.13042312860488892 + ], + [ + 0.10449425131082535, + 0.10310538425028823, + 0.9891664138892253, + 0.0571439154446125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9944605827331543, + -0.02399483671641322, + -0.10233471680578708, + 0.24520732462406158 + ], + [ + 0.013125048950314522, + 0.9943223942743654, + -0.10559720214850923, + -0.12888939678668976 + ], + [ + 0.10428748279809952, + 0.10366910735367944, + 0.9891293572708472, + 0.05533773824572563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9949594140052798, + -0.024098697101620443, + -0.09733940652096015, + 0.2333071380853653 + ], + [ + 0.01392532326281071, + 0.9944931534832749, + -0.10387219259669792, + -0.13600008189678192 + ], + [ + 0.09930656105279925, + 0.10199313518890799, + 0.9898159443008478, + 0.05822448432445526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9940744042396545, + -0.02540101427266822, + -0.10569235502670814, + 0.2614505887031555 + ], + [ + 0.013617975637316704, + 0.9937553282954156, + -0.11074699538375908, + -0.1176978126168251 + ], + [ + 0.10784543305635452, + 0.10865143527651885, + 0.9882126491616123, + 0.0587996207177639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9945598244667055, + -0.024871579311181627, + -0.10115390207315983, + 0.2501189112663269 + ], + [ + 0.013853304088115696, + 0.9940322547056206, + -0.10820354880104945, + -0.12630830705165863 + ], + [ + 0.10324143618345263, + 0.1062135858805349, + 0.9889690925011301, + 0.05727266147732735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9945891499519348, + -0.022626185702570183, + -0.10139253627516845, + 0.25373896956443787 + ], + [ + 0.010935107246041298, + 0.993373429905942, + -0.1144099204357219, + -0.11000164598226547 + ], + [ + 0.10330931842327118, + 0.11268212439189315, + 0.9882458562046768, + 0.06490200012922287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9946244359016418, + -0.020097517957334856, + -0.10157925051815497, + 0.2588641047477722 + ], + [ + 0.008437559008598328, + 0.9934520382263252, + -0.11393780158927534, + -0.11295898258686066 + ], + [ + 0.10320398956537247, + 0.11246823979033262, + 0.9882812266132769, + 0.06506256759166718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9949411153793335, + -0.022883714395109177, + -0.09781881144768131, + 0.25084003806114197 + ], + [ + 0.011523894034326077, + 0.9932806546773403, + -0.11515530175543177, + -0.11115433275699615 + ], + [ + 0.09979671239852905, + 0.11344548920833926, + 0.9885194616550385, + 0.06251790374517441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9944356083869936, + -0.022309808189578527, + -0.10295686682236248, + 0.2660340368747711 + ], + [ + 0.010524921119213106, + 0.9934687760663247, + -0.11361788515347684, + -0.11627987027168274 + ], + [ + 0.1048192232847214, + 0.11190205440588051, + 0.988175525796402, + 0.06526792794466019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.99455726146698, + -0.02340601267716667, + -0.10152861747518907, + 0.2659509778022766 + ], + [ + 0.011441360227763653, + 0.993082044347442, + -0.11686363806609822, + -0.1067478358745575 + ], + [ + 0.10356155782938004, + 0.11506595906183487, + 0.987944772164706, + 0.06764555722475052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9945077300071716, + -0.025649976637697833, + -0.10147135986870094, + 0.2706603407859802 + ], + [ + 0.013384475372731686, + 0.9927127618702783, + -0.11975886277167562, + -0.09790212661027908 + ], + [ + 0.10380372405052185, + 0.11774298130115383, + 0.9876038818199196, + 0.07106782495975494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9941378235816956, + -0.02678587179035208, + -0.1047498806935189, + 0.28302106261253357 + ], + [ + 0.014425071887671947, + 0.9930240418933693, + -0.11702643476643361, + -0.10389959067106247 + ], + [ + 0.10715380311012268, + 0.11482936943758117, + 0.9875890951962758, + 0.07468177378177643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9941276311874392, + -0.02838347469366885, + -0.10442552072698026, + 0.2869414687156677 + ], + [ + 0.015829810872673992, + 0.9927517112852813, + -0.11913649371569918, + -0.09588084369897842 + ], + [ + 0.10705011337995532, + 0.11678383974403271, + 0.9873711712969929, + 0.07951386272907257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9939274191856384, + -0.03106892452947805, + -0.10556068730349424, + 0.293756902217865 + ], + [ + 0.018460096791386604, + 0.9927958455066511, + -0.11838784573552397, + -0.09330159425735474 + ], + [ + 0.10847838968038559, + 0.11572026635578755, + 0.9873405210579356, + 0.0796615406870842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9941617250442505, + -0.031017493583681385, + -0.1033456923809054, + 0.28828150033950806 + ], + [ + 0.018861614167690277, + 0.9930011795313867, + -0.11658843740075242, + -0.09338600188493729 + ], + [ + 0.10623867809772491, + 0.11395849821870416, + 0.987788837740832, + 0.08477096259593964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9942601919174197, + -0.028210793197247137, + -0.10320271964570853, + 0.28949102759361267 + ], + [ + 0.01622812077403069, + 0.9932148802009556, + -0.11515591540688727, + -0.09263726323843002 + ], + [ + 0.10575111955404284, + 0.11282015674460667, + 0.9879718323021451, + 0.08684249967336655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9944637417793274, + -0.028945353628487245, + -0.10101518136775428, + 0.2853803336620331 + ], + [ + 0.01702713780105114, + 0.9929964375245882, + -0.11691077115305848, + -0.08371282368898392 + ], + [ + 0.10369173437356949, + 0.1145435225063082, + 0.9879917866556023, + 0.08769828081130981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9939253926277161, + -0.031473653875820636, + -0.10545966424334802, + 0.29698801040649414 + ], + [ + 0.019020115956664085, + 0.992940675934462, + -0.11707694803010094, + -0.08060901612043381 + ], + [ + 0.10840003192424774, + 0.11435990042007282, + 0.9875075943844658, + 0.0908907949924469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9935848712921143, + -0.037487938035075365, + -0.10669483816839646, + 0.2938840687274933 + ], + [ + 0.02457277476787567, + 0.9924837163094601, + -0.1198842478057101, + -0.07304812222719193 + ], + [ + 0.11038710922002792, + 0.11649338634789852, + 0.9870379864217149, + 0.09570103883743286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9944167137145996, + -0.038440446670657, + -0.09827390216302818, + 0.2631418704986572 + ], + [ + 0.02618403360247612, + 0.9920494421625947, + -0.12309456147865087, + -0.06655050069093704 + ], + [ + 0.10222437977790833, + 0.11983408253562376, + 0.9875170842540985, + 0.1050005555152893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.994489848613739, + -0.03504469709712176, + -0.09880168704737737, + 0.2630062997341156 + ], + [ + 0.022807199507951736, + 0.9922221397762464, + -0.12237237337647763, + -0.07278180122375488 + ], + [ + 0.10232172161340714, + 0.11944469932330802, + 0.9875541707562885, + 0.10555309802293777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9940998554229736, + -0.031533445872569316, + -0.10378424922354497, + 0.2732834815979004 + ], + [ + 0.018780982121825218, + 0.9923975125889977, + -0.1216325524925352, + -0.08259431272745132 + ], + [ + 0.10683072358369827, + 0.11896572520568957, + 0.9871344031540171, + 0.1046384796500206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9937884211540224, + -0.02940332004813935, + -0.10733156092962338, + 0.2793520390987396 + ], + [ + 0.015883136540651325, + 0.9920658354491387, + -0.12471217290339394, + -0.08198779821395874 + ], + [ + 0.11014693230390551, + 0.12223274720052316, + 0.9863705153273548, + 0.10838623344898224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9938771724700928, + -0.02672624487729167, + -0.1072092848875071, + 0.2752799987792969 + ], + [ + 0.012697901576757431, + 0.991503729131344, + -0.12945721830900797, + -0.07967028021812439 + ], + [ + 0.10975831001996994, + 0.12730324383180927, + 0.9857722952061161, + 0.11618009954690933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9946232438087466, + -0.022936129396721634, + -0.10098783013420369, + 0.25466522574424744 + ], + [ + 0.009205893613398077, + 0.9908871490911472, + -0.13437975506879968, + -0.07727950066328049 + ], + [ + 0.10314968973398211, + 0.1327275496240608, + 0.9857705572161832, + 0.12163960188627243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9945301413536074, + -0.020982962451318345, + -0.10232041401127588, + 0.25816577672958374 + ], + [ + 0.006739108823239805, + 0.9904631927878776, + -0.13761286022717453, + -0.08141231536865234 + ], + [ + 0.1042321249842644, + 0.13617059088649858, + 0.9851869258975748, + 0.12265286594629288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9945842027664187, + -0.020965902512328966, + -0.10179734637226849, + 0.25545772910118103 + ], + [ + 0.005966470111161472, + 0.9893448373153421, + -0.14546891932339226, + -0.07088904082775116 + ], + [ + 0.10376255959272387, + 0.14407371219946985, + 0.9841118247347937, + 0.1250595599412918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9945400953292847, + -0.017409144900429063, + -0.10289271066311356, + 0.25862666964530945 + ], + [ + 0.0025132419541478157, + 0.9896961655367915, + -0.1431611982035244, + -0.08825577795505524 + ], + [ + 0.1043248325586319, + 0.1421209611994479, + 0.9843362775272527, + 0.125249981880188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9946500062942505, + -0.01703357163514324, + -0.1018880876099943, + 0.25780239701271057 + ], + [ + 0.001823113881982863, + 0.9890527035981046, + -0.14755148893157838, + -0.08566084504127502 + ], + [ + 0.103286013007164, + 0.14657634449432905, + 0.983792370541666, + 0.12328792363405228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9944859147071838, + -0.016700653225860687, + -0.10353161934036952, + 0.2648065686225891 + ], + [ + 0.0009783379500731826, + 0.9886726305777406, + -0.1500849241505387, + -0.0856102928519249 + ], + [ + 0.10486539453268051, + 0.14915606231623801, + 0.9832373952874718, + 0.12296278029680252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9944970011711121, + -0.016678520545636347, + -0.10342877435896065, + 0.2667129635810852 + ], + [ + 0.0008404620457440615, + 0.9884848080611065, + -0.15131792268892563, + -0.08792956173419952 + ], + [ + 0.1047615334391594, + 0.15039828829470625, + 0.9830591802811923, + 0.12134464085102081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9946942329406738, + -0.016787141751015422, + -0.1014964233741243, + 0.26363298296928406 + ], + [ + 0.0014118755934759974, + 0.9887311029145257, + -0.14969576060548792, + -0.09693688899278641 + ], + [ + 0.10286563634872437, + 0.14875821067206862, + 0.9835088413021368, + 0.1252807378768921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.994803249835968, + -0.017514530839227622, + -0.1002981753713328, + 0.26203596591949463 + ], + [ + 0.0020803427323698997, + 0.9883840948547343, + -0.1519623992114923, + -0.09488627314567566 + ], + [ + 0.10179467499256134, + 0.15096403688898727, + 0.9832841473685835, + 0.12815771996974945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9950680732727051, + -0.016410551551822226, + -0.09782739631694436, + 0.2569645941257477 + ], + [ + 0.001032042084261775, + 0.9878795209840358, + -0.15521925279182064, + -0.09246226400136948 + ], + [ + 0.0991889163851738, + 0.15435276130358028, + 0.9830243199323605, + 0.13165885210037231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9946049451828003, + -0.01473861215581936, + -0.10268282364468709, + 0.2735559046268463 + ], + [ + -0.0017221731832250953, + 0.9873728480298383, + -0.1584041662861636, + -0.08898083120584488 + ], + [ + 0.10372088849544525, + 0.15772641111113103, + 0.9820205727367356, + 0.12615591287612915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9946480393409729, + -0.0149705483986121, + -0.10223076628191509, + 0.2747189998626709 + ], + [ + -0.001791486400179565, + 0.9867996280144443, + -0.1619358847645899, + -0.08539871871471405 + ], + [ + 0.10330554842948914, + 0.16125236037715027, + 0.9814915155341402, + 0.13314908742904663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9944022297859192, + -0.014778996170053073, + -0.10462218436652662, + 0.28273481130599976 + ], + [ + -0.002863577101379633, + 0.9860363438409961, + -0.16650554650390936, + -0.07808852195739746 + ], + [ + 0.1056220605969429, + 0.1658730858291761, + 0.9804744407356819, + 0.13031476736068726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9944673180580139, + -0.011497668344540241, + -0.10441537293578255, + 0.28205835819244385 + ], + [ + -0.006184604950249195, + 0.9858593381398577, + -0.16746069120084459, + -0.08212366700172424 + ], + [ + 0.10486428439617157, + 0.16717995845922248, + 0.9803338155961496, + 0.13188549876213074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9949647784233093, + -0.010155532944031265, + -0.09970932870367276, + 0.27006447315216064 + ], + [ + -0.00680518476292491, + 0.9857118727614472, + -0.16830268741561716, + -0.08567745983600616 + ], + [ + 0.09999386966228485, + 0.16813378741147134, + 0.9806794816031735, + 0.1338668018579483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9949033260345459, + -0.01022233996903537, + -0.10031412954535582, + 0.27151545882225037 + ], + [ + -0.007065881043672562, + 0.9853345408367771, + -0.17048738568692065, + -0.08229708671569824 + ], + [ + 0.10058575868606567, + 0.17032727058275984, + 0.9802403645675648, + 0.13303908705711365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.994735598564148, + -0.009488438587911938, + -0.10203475013197198, + 0.27480149269104004 + ], + [ + -0.008208598010241985, + 0.9851264781431934, + -0.17163463457659325, + -0.08110373467206955 + ], + [ + 0.10214567184448242, + 0.17156863422797705, + 0.9798624507274919, + 0.13683836162090302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9945468306541443, + -0.009124737340938455, + -0.10389085935915066, + 0.2784602642059326 + ], + [ + -0.009031809866428375, + 0.9848867063831003, + -0.17296412307298842, + -0.07898590713739395 + ], + [ + 0.10389897227287292, + 0.17295924150385814, + 0.9794335392036193, + 0.14050528407096863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.994398832321167, + -0.008785895255319887, + -0.1053270994177445, + 0.28113359212875366 + ], + [ + -0.00986448023468256, + 0.9844743099837904, + -0.175251343186852, + -0.0740320160984993 + ], + [ + 0.10523156076669693, + 0.17530872376080076, + 0.978873418429869, + 0.14115914702415466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9940701127052307, + -0.009307777079119235, + -0.10834169455319863, + 0.285491019487381 + ], + [ + -0.009579416364431381, + 0.9849605787671887, + -0.17251349890679568, + -0.08148158341646194 + ], + [ + 0.1083180159330368, + 0.172528364198317, + 0.9790307212548107, + 0.13877232372760773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.993952214717865, + -0.012610312393033498, + -0.10908678784188744, + 0.28123074769973755 + ], + [ + -0.006951169576495886, + 0.9841674844417175, + -0.177104768809918, + -0.06864472478628159 + ], + [ + 0.10959301143884659, + 0.1767919534144027, + 0.9781277814055572, + 0.1449114978313446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9938933253288269, + -0.010409865202197163, + -0.10985320639048515, + 0.278400182723999 + ], + [ + -0.00903977919369936, + 0.984512493571564, + -0.17508108247742782, + -0.07555007934570312 + ], + [ + 0.10997442901134491, + 0.17500496664572945, + 0.9784062765345093, + 0.14964383840560913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9938342571258545, + -0.010435478459138421, + -0.11038361806040621, + 0.2781130075454712 + ], + [ + -0.009195530787110329, + 0.9843735417567305, + -0.17585257082987352, + -0.07437015324831009 + ], + [ + 0.11049382388591766, + 0.17578335230626516, + 0.978208219994373, + 0.14707206189632416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9939876794815066, + -0.009338414557122166, + -0.10909299825993969, + 0.27357548475265503 + ], + [ + -0.009776422753930094, + 0.9848070455020552, + -0.1733766697844708, + -0.08287122845649719 + ], + [ + 0.1090546175837517, + 0.17340081558724557, + 0.9787947817851477, + 0.153780996799469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9940347075462341, + -0.00976024278641021, + -0.10862651951505423, + 0.27253177762031555 + ], + [ + -0.009363671764731407, + 0.9846727586364565, + -0.17416060145757836, + -0.08344709873199463 + ], + [ + 0.10866142064332962, + 0.17413881955210342, + 0.9787074811126657, + 0.15386724472045898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9945892691612246, + -0.008399304969297038, + -0.10354509090051622, + 0.26244497299194336 + ], + [ + -0.010059882886707784, + 0.9842547738147033, + -0.17646908838526904, + -0.08115696161985397 + ], + [ + 0.10339696705341342, + 0.1765559137654425, + 0.9788447500308025, + 0.15829171240329742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9963330030441286, + -0.004159857040389881, + -0.08545885758048556, + 0.2160467952489853 + ], + [ + -0.01081725209951401, + 0.9846782246469319, + -0.1740452094328591, + -0.09227524697780609 + ], + [ + 0.08487347513437273, + 0.17433142853908837, + 0.9810224771760793, + 0.15680618584156036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.997119128704071, + -0.004239621834464129, + -0.07573301117864693, + 0.19650202989578247 + ], + [ + -0.00929618626832962, + 0.984079480169225, + -0.17748574825751062, + -0.08921041339635849 + ], + [ + 0.07527977228164673, + 0.1776784526886036, + 0.9812050142659611, + 0.15836523473262787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9983847141265869, + -0.002757869915053326, + -0.05674825006005691, + 0.15178529918193817 + ], + [ + -0.007573157548904419, + 0.9834483802799966, + -0.18103019630680045, + -0.0857665091753006 + ], + [ + 0.056308235973119736, + 0.18116754246559308, + 0.9818389366920839, + 0.1632000356912613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9987278580665588, + -0.009010142169673867, + -0.049613448585123614, + 0.14306019246578217 + ], + [ + -0.002184896031394601, + 0.9752499833467142, + -0.2210944373964923, + 0.017160553485155106 + ], + [ + 0.050377607345581055, + 0.2209215614129771, + 0.9739895824687417, + 0.16505035758018494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9987577795982363, + -0.012033834948756157, + -0.04835367242469911, + 0.14451439678668976 + ], + [ + 0.00012011796934530142, + 0.9709783424893004, + -0.23916744615862742, + 0.0545060932636261 + ], + [ + 0.049828466027975096, + 0.23886454508450347, + 0.9697736278723662, + 0.16187413036823273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9990556240081789, + -0.014586773004280889, + -0.04092829505053932, + 0.1266237497329712 + ], + [ + 0.0029743574559688577, + 0.962713775820443, + -0.27050573917983334, + 0.12823964655399323 + ], + [ + 0.04334803670644761, + 0.2701285383473488, + 0.9618479773307691, + 0.16712836921215057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9991444945335388, + -0.016095238648541264, + -0.03809440684911906, + 0.12081366777420044 + ], + [ + 0.00501147098839283, + 0.9614893086506018, + -0.2747966747047267, + 0.12092603743076324 + ], + [ + 0.04105028510093689, + 0.2743706740258996, + 0.9607474001547699, + 0.169734925031662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9986472129821777, + -0.02405663178414295, + -0.046097916182921125, + 0.14312724769115448 + ], + [ + 0.010577579960227013, + 0.9619911951473925, + -0.2728756333344876, + 0.09480715543031693 + ], + [ + 0.05091025307774544, + 0.272018879932016, + 0.9609442673464365, + 0.16187988221645355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9978110194206238, + -0.030864388684100026, + -0.05848561795433159, + 0.17018640041351318 + ], + [ + 0.013852965086698532, + 0.9623365778578721, + -0.2715075955929065, + 0.07351803779602051 + ], + [ + 0.06466276943683624, + 0.2701030760887013, + 0.9606576123192818, + 0.15872977674007416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9969363212585449, + -0.035892945691216385, + -0.06949609996226576, + 0.19211871922016144 + ], + [ + 0.01577986590564251, + 0.9625200120478153, + -0.27075127166592217, + 0.06030886992812157 + ], + [ + 0.07660944014787674, + 0.26882513369726907, + 0.9601375165710444, + 0.152822807431221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9959527254104614, + -0.03854401736783371, + -0.08119450989363837, + 0.21223725378513336 + ], + [ + 0.015369926579296589, + 0.963110073423792, + -0.2686685507144856, + 0.04694800078868866 + ], + [ + 0.08855481445789337, + 0.26633322064429044, + 0.9598045212965914, + 0.14457325637340546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9953665733337405, + -0.03570116853033371, + -0.08927957332926544, + 0.223362997174263 + ], + [ + 0.010290250182151796, + 0.9627340546582953, + -0.2702539855119851, + 0.0487852580845356 + ], + [ + 0.09560087323188785, + 0.2680830716002406, + 0.9586406738681645, + 0.14544282853603363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.994416356086731, + -0.037856433048444625, + -0.09850384924622324, + 0.23713620007038116 + ], + [ + 0.008963584899902344, + 0.9603672429502669, + -0.27859362191778564, + 0.0733790174126625 + ], + [ + 0.10514643043279648, + 0.27615510827387385, + 0.9553442147043003, + 0.14326949417591095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9931773543357849, + -0.04022342348468164, + -0.1094571235440452, + 0.2523176670074463 + ], + [ + 0.008559249341487885, + 0.9612416532152275, + -0.27557437413753094, + 0.07186096906661987 + ], + [ + 0.11629928648471832, + 0.27275735159924086, + 0.9550277058565796, + 0.13728754222393036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9926142692565918, + -0.03948922652911746, + -0.11470638217707883, + 0.2564851641654968 + ], + [ + 0.006693143397569656, + 0.9619237465983198, + -0.2732360240320362, + 0.07241585105657578 + ], + [ + 0.12112867832183838, + 0.2704502155429503, + 0.955083500528869, + 0.1377228945493698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9920554161071777, + -0.03837585819196425, + -0.11980564139988727, + 0.26024720072746277 + ], + [ + 0.00456578005105257, + 0.9626922368239845, + -0.2705601634190754, + 0.07380275428295135 + ], + [ + 0.12571893632411957, + 0.26786366155417535, + 0.9552192515071234, + 0.14240023493766785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9914691448211672, + -0.041515456026056975, + -0.12355331936087974, + 0.26770150661468506 + ], + [ + 0.006613299716264011, + 0.9627206266561783, + -0.2704168799403237, + 0.0811455249786377 + ], + [ + 0.13017380237579348, + 0.26729289297903286, + 0.954782345437688, + 0.13789544999599457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9912593364715576, + -0.043864675228124345, + -0.12442211526054085, + 0.2633402645587921 + ], + [ + 0.008780357427895069, + 0.9629510195179223, + -0.26953345951337804, + 0.08484923094511032 + ], + [ + 0.131635382771492, + 0.2660850732281334, + 0.9549192686215349, + 0.14768384397029877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9908087253570557, + -0.045926641350397854, + -0.12723517500676415, + 0.27049940824508667 + ], + [ + 0.011803348548710346, + 0.966365238652234, + -0.25690260903597767, + 0.052771374583244324 + ], + [ + 0.13475431501865387, + 0.25303953862836737, + 0.9580251765681288, + 0.14117388427257538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.991326689720154, + -0.041485333998796274, + -0.12470098359315135, + 0.2657075524330139 + ], + [ + 0.008030746132135393, + 0.9662186232186863, + -0.2575986920191982, + 0.05900316312909126 + ], + [ + 0.13117496669292453, + 0.2543630215121407, + 0.9581714978631346, + 0.14339815080165863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9887370467185974, + -0.041213906395244825, + -0.1438764163129313, + 0.3298213481903076 + ], + [ + 0.004693486727774143, + 0.9694018731758586, + -0.24543434101162495, + 0.029260840266942978 + ], + [ + 0.14958937466144562, + 0.24199474267911214, + 0.9586769718172177, + 0.14122691750526428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9857107400894165, + -0.04651156364669731, + -0.16189828274582121, + 0.39135420322418213 + ], + [ + 0.004316766746342182, + 0.9677825135169219, + -0.25175063425911004, + 0.05523189157247543 + ], + [ + 0.1683916449546814, + 0.24745441672432436, + 0.9541543584905634, + 0.14608515799045563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.98487263917923, + -0.04945398686399103, + -0.16607277011783528, + 0.4077725112438202 + ], + [ + 0.005992967169731857, + 0.967556592497276, + -0.25258338249149503, + 0.06783837080001831 + ], + [ + 0.17317605018615725, + 0.24776719598522337, + 0.9532163913865885, + 0.14796225726604462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.982433080673218, + -0.053916153886916104, + -0.17865708110337455, + 0.44831565022468567 + ], + [ + 0.009007854387164118, + 0.9699394146012965, + -0.24317978139248103, + 0.05046837776899338 + ], + [ + 0.18639785051345828, + 0.2372985319639034, + 0.9533861812684328, + 0.15364962816238403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9790278673171997, + -0.05792346619351105, + -0.19531850666394754, + 0.4969644844532013 + ], + [ + 0.009961136616766453, + 0.9711929649839748, + -0.23808615907196468, + 0.039671700447797775 + ], + [ + 0.2034827470779419, + 0.23114738076058874, + 0.951401923129499, + 0.17257466912269592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9782428741455078, + -0.05753087911287056, + -0.1993265282132139, + 0.5106103420257568 + ], + [ + 0.00911689456552267, + 0.9717742719141151, + -0.23573626660962477, + 0.03035670891404152 + ], + [ + 0.20726250112056732, + 0.22879009377613724, + 0.9511557985292132, + 0.1785106360912323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9792150259017947, + -0.051830434034479, + -0.19609049575152016, + 0.5059528946876526 + ], + [ + 0.00408832123503089, + 0.9716451908641665, + -0.2364084279203094, + 0.024899078533053398 + ], + [ + 0.20278352499008184, + 0.23069300130341977, + 0.951661457956376, + 0.18195171654224396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9798454642295837, + -0.04552921746383026, + -0.19449919759562156, + 0.5097641944885254 + ], + [ + -0.002506325952708721, + 0.9708003945724828, + -0.23987551048877304, + 0.022953249514102936 + ], + [ + 0.19974124431610107, + 0.23552841530856342, + 0.9511202785174212, + 0.18236960470676422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9800313711166382, + -0.04134109736532945, + -0.1944977561406693, + 0.5196137428283691 + ], + [ + -0.007691715378314257, + 0.969534378713494, + -0.2448343824099995, + 0.02617516927421093 + ], + [ + 0.19869399070739746, + 0.24144140427520985, + 0.9498561520101216, + 0.17572718858718872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9802844524383547, + -0.03660145729968718, + -0.1941720377105432, + 0.5268560647964478 + ], + [ + -0.012453439645469192, + 0.9692953597031215, + -0.2455839458805565, + 0.02197403833270073 + ], + [ + 0.19719879329204565, + 0.2431602149583605, + 0.9497292784476558, + 0.17267939448356628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9813520908355713, + -0.034832032751201725, + -0.18903649969999048, + 0.5199768543243408 + ], + [ + -0.013764632865786552, + 0.9681852712887701, + -0.2498555195758261, + 0.024571826681494713 + ], + [ + 0.19172534346580505, + 0.24779825694745006, + 0.9496511990274636, + 0.17565929889678955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9816268086433413, + -0.03653200855350764, + -0.18728101273489853, + 0.5198535323143005 + ], + [ + -0.01250877417623997, + 0.9670692129082384, + -0.25420585115153804, + 0.025738047435879707 + ], + [ + 0.19040036201477056, + 0.2518779488194462, + 0.9488441565253083, + 0.1746193766593933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9817869663238525, + -0.03567981480285277, + -0.18660464938978286, + 0.5222930312156677 + ], + [ + -0.013455021195113659, + 0.9666820994020193, + -0.25562601392528045, + 0.020123355090618134 + ], + [ + 0.18950806558132172, + 0.2534810543912845, + 0.9485958036542279, + 0.1730836033821106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9818082451820376, + -0.03518107705853953, + -0.18658731600733697, + 0.5299484729766846 + ], + [ + -0.014357773587107662, + 0.966115436672597, + -0.2577107804496851, + 0.01645752042531967 + ], + [ + 0.1893314272165299, + 0.25570155081099255, + 0.9480349912150356, + 0.16997019946575165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9821311235427856, + -0.04531311510370004, + -0.1826612314869631, + 0.5319005846977234 + ], + [ + -0.004712085239589214, + 0.9643561757681827, + -0.26456554744837185, + 0.02787885069847107 + ], + [ + 0.18813876807689667, + 0.2606987817494246, + 0.9469107299027418, + 0.16978684067726135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9824004173278811, + -0.04814095626676705, + -0.1804766863157527, + 0.5304298996925354 + ], + [ + -0.0013272769283503296, + 0.9643929575646474, + -0.26447026120266987, + 0.019623206928372383 + ], + [ + 0.18678228557109836, + 0.2600552339469841, + 0.9473561390144785, + 0.17186219990253448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9828898906707764, + -0.044677750782394984, + -0.17869353109877395, + 0.5344909429550171 + ], + [ + -0.004188611637800932, + 0.9644646124535182, + -0.2641788615943998, + 0.00915605016052723 + ], + [ + 0.18414650857448578, + 0.2604072107094872, + 0.9477753858494281, + 0.17063011229038239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9835984110832214, + -0.04992006345626293, + -0.17332685671329065, + 0.5361241698265076 + ], + [ + 0.0011033178307116032, + 0.9625859187461666, + -0.2709743296882373, + 0.020695891231298447 + ], + [ + 0.1803690642118454, + 0.2663386894053488, + 0.9468530776958379, + 0.17233988642692566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9834912419319153, + -0.05826558172664802, + -0.17131865945344651, + 0.5419265031814575 + ], + [ + 0.009091069921851158, + 0.9614575544058924, + -0.2748030902095933, + 0.024664368480443954 + ], + [ + 0.18072716891765594, + 0.2687089606151499, + 0.9461147784972509, + 0.17229096591472626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9836903214454651, + -0.06031934787694374, + -0.169454687598562, + 0.5425022840499878 + ], + [ + 0.011451254598796368, + 0.9611842090219606, + -0.2756696667233717, + 0.019341694191098213 + ], + [ + 0.1795053780078888, + 0.2692331247404963, + 0.9461983695326456, + 0.17324958741664886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9838314056396484, + -0.05709681089724365, + -0.1697520222376816, + 0.5521326661109924 + ], + [ + 0.008493749424815178, + 0.9616292302465069, + -0.2742208541810147, + 0.008418209850788116 + ], + [ + 0.17889563739299774, + 0.2683452534605452, + 0.9465659841447742, + 0.17198653519153595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9840983152389526, + -0.05940721450248291, + -0.16739568183846498, + 0.5586536526679993 + ], + [ + 0.010718753561377525, + 0.9605563782638453, + -0.2778785706207966, + 0.012877191416919231 + ], + [ + 0.17730097472667694, + 0.2716655695058574, + 0.9459187247656812, + 0.17072437703609467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.984249472618103, + -0.06238307132751318, + -0.16541269174868622, + 0.5650327801704407 + ], + [ + 0.013648600317537785, + 0.9596921722673458, + -0.28072162311159565, + 0.01606178842484951 + ], + [ + 0.17625753581523895, + 0.27404245112216385, + 0.9454279289182297, + 0.17062608897686005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9836452603340149, + -0.0718998327991342, + -0.16514347053289932, + 0.575034499168396 + ], + [ + 0.02205026149749756, + 0.958043628012802, + -0.28577298373209364, + 0.026976453140378 + ], + [ + 0.17876169085502625, + 0.2774577905859403, + 0.9439604953941653, + 0.17031025886535645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9835265278816223, + -0.07394596139245856, + -0.16494705482208688, + 0.5776816010475159 + ], + [ + 0.024077164009213448, + 0.9579598517243925, + -0.28589012162786404, + 0.02489311806857586 + ], + [ + 0.17915306985378265, + 0.27720907149594237, + 0.9439593641522331, + 0.17085957527160645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9830696582794192, + -0.07876204390236285, + -0.165440654664355, + 0.5841189026832581 + ], + [ + 0.028044644743204124, + 0.9569395152868931, + -0.2889294259789414, + 0.03176526352763176 + ], + [ + 0.18107338249683383, + 0.2793980328136161, + 0.9429470748391399, + 0.1733485758304596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9826047420501709, + -0.08160786602060366, + -0.16681755933592582, + 0.5905427932739258 + ], + [ + 0.03016240894794464, + 0.9564763521952182, + -0.29024683311304844, + 0.03398517891764641 + ], + [ + 0.18324348330497742, + 0.2801662885598696, + 0.9422996674360304, + 0.17188069224357605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9820839166641235, + -0.08359033644505, + -0.16889013944626113, + 0.5941681265830994 + ], + [ + 0.031612105667591095, + 0.9566125786083706, + -0.28964288981220565, + 0.03322220221161842 + ], + [ + 0.18577377498149872, + 0.279114657620749, + 0.9421163223722347, + 0.17117930948734283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9817280173301697, + -0.08459074512917421, + -0.17045396367604546, + 0.5948625206947327 + ], + [ + 0.032307080924510956, + 0.9568498799937942, + -0.2887811020919553, + 0.03289981931447983 + ], + [ + 0.18752706050872803, + 0.2779976246315457, + 0.9420991971915321, + 0.17434513568878174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9814364910125732, + -0.08713725665442834, + -0.1708495596926672, + 0.5909520387649536 + ], + [ + 0.03461378067731857, + 0.9566759307199262, + -0.28908993617783846, + 0.034481875598430634 + ], + [ + 0.18863818049430847, + 0.27780966171019783, + 0.9419328111082207, + 0.17772948741912842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9800819158554077, + -0.09189251878673362, + -0.17605440281739518, + 0.5991401672363281 + ], + [ + 0.03736621513962746, + 0.956000824144845, + -0.2909746469779831, + 0.03979680687189102 + ], + [ + 0.195046529173851, + 0.2786005114047281, + 0.9403928190158583, + 0.17602011561393738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1881.03857421875, + "fy": 1882.1813151041665, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/5adad5bf-2f8a-4928-8aca-b30f2e685b7f/boom_down/transforms.json b/dynpose_eval/camera_controls/5adad5bf-2f8a-4928-8aca-b30f2e685b7f/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c2599675b6647b7fa2682091b87fd314c84e9121 --- /dev/null +++ b/dynpose_eval/camera_controls/5adad5bf-2f8a-4928-8aca-b30f2e685b7f/boom_down/transforms.json @@ -0,0 +1,5403 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 154, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -4.230966078466736e-05, + -8.106805762508884e-05, + 0.00019144210091326386 + ], + [ + 4.233203435433097e-05, + 0.9999999403953552, + 0.00027599718305282295, + -0.0004897780017927289 + ], + [ + 8.105637243716046e-05, + -0.00027600061730481684, + 0.9999999403953552, + 0.00010821820615092292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999988079071045, + -0.0005714991129934788, + 0.0014340884517878294, + 0.0022480296217562523 + ], + [ + 0.0005691536935046315, + 0.9999985098838806, + 0.0016353637911379337, + 0.0015532070501506623 + ], + [ + -0.0014350209385156631, + -0.001634545624256134, + 0.999997615814209, + -0.0017700546757421559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999969601631165, + -0.001097321161068976, + 0.002218178939074278, + 0.003721744350608122 + ], + [ + 0.0010913918958976865, + 0.9999958276748657, + 0.002672462724149227, + 0.0036540252412212834 + ], + [ + -0.002221102360635996, + -0.00267003383487463, + 0.9999939799308777, + -0.0036997011555297897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999950528144836, + -0.0018683995585888624, + 0.0025193048641085625, + 0.005117292810395798 + ], + [ + 0.0018599673639982939, + 0.9999926686286926, + 0.0033452233765274286, + 0.006102440590221508 + ], + [ + -0.002525536809116602, + -0.003340521128848195, + 0.999991238117218, + -0.005703095862112355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999939203262329, + -0.0020921211689710617, + 0.002784186974167824, + 0.005846346322495758 + ], + [ + 0.0020814817398786545, + 0.9999905228614807, + 0.0038188390899449587, + 0.008331376652604614 + ], + [ + -0.0027921502478420734, + -0.0038130206521600485, + 0.999988853931427, + -0.007230431111712082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999937415122986, + -0.0024356895592063665, + 0.0025692800991237164, + 0.006324010214074424 + ], + [ + 0.00242470926605165, + 0.9999879598617554, + 0.004268217366188765, + 0.010297221560761625 + ], + [ + -0.0025796452537178993, + -0.004261960741132498, + 0.9999876022338867, + -0.00831810296574011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999956488609314, + -0.0021854890510439873, + 0.0019746413454413414, + 0.006114171768593438 + ], + [ + 0.0021763695403933525, + 0.999987006187439, + 0.0046087512746453285, + 0.011640122660673132 + ], + [ + -0.001984687987715006, + -0.004604433663189411, + 0.9999874234199524, + -0.009856269815388848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999974966049194, + -0.001986597664654255, + 0.001033505774103105, + 0.005609539105538644 + ], + [ + 0.001981699839234352, + 0.9999868869781494, + 0.004718880634754896, + 0.012938400613618832 + ], + [ + -0.001042866730131209, + -0.004716820549219847, + 0.999988317489624, + -0.011234029745561333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999983310699463, + -0.0017183605814352632, + -0.0006079542799852788, + 0.0055331630127054025 + ], + [ + 0.0017211897065863013, + 0.9999875426292419, + 0.00468404358252883, + 0.013999673905569355 + ], + [ + 0.0005998978740535676, + -0.004685082007199526, + 0.999988853931427, + -0.01281415729424338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999969601631165, + -0.0012814331566914916, + -0.002100819954648614, + 0.004806774951216271 + ], + [ + 0.0012914164690300822, + 0.9999878406524658, + 0.004757695831358433, + 0.014615555830738123 + ], + [ + 0.002094697905704379, + -0.004760394804179668, + 0.999986469745636, + -0.01442301577395376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999929666519165, + -0.0009041138691827655, + -0.00364736863411963, + 0.00402910634951386 + ], + [ + 0.0009210455464199185, + 0.9999887943267822, + 0.004643154330551624, + 0.01569895518736707 + ], + [ + 0.0036431297194212675, + -0.004646481014788151, + 0.9999825954437256, + -0.015380128877225265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999987781047821, + -0.0001401216140948236, + -0.00494403624907136, + 0.002616499365707616 + ], + [ + 0.00016234678332693875, + 0.9999898672103882, + 0.004495232366025448, + 0.016440798750062005 + ], + [ + 0.00494335638359189, + -0.004495980218052864, + 0.9999776482582092, + -0.016347776795280915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999756217002869, + 0.0010388132650405169, + -0.0069005293771624565, + 0.0008357712608652518 + ], + [ + -0.001010662643238902, + 0.9999911785125732, + 0.00408172607421875, + 0.017005657043088887 + ], + [ + 0.006904708221554756, + -0.0040746526792645454, + 0.9999678730964661, + -0.017242348478997454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999539852142334, + 0.0020907672587782145, + -0.009362990036606789, + -0.001330639058997964 + ], + [ + -0.0020573644433170557, + 0.9999914765357971, + 0.0035757734440267086, + 0.016641814058366556 + ], + [ + 0.009370386600494385, + -0.0035563455894589424, + 0.9999497532844543, + -0.018805354456812924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999921977519989, + 0.002730528125539422, + -0.012191712856292725, + -0.003820209828467151 + ], + [ + -0.0027040259446948767, + 0.9999939203262329, + 0.002189724473282695, + 0.016474976998090356 + ], + [ + 0.012197617441415787, + -0.0021565870847553015, + 0.9999232888221741, + -0.01959936195905351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998703598976135, + 0.0043703047558665276, + -0.015496539883315563, + -0.006684274714001838 + ], + [ + -0.004370751790702343, + 0.9999904632568359, + 5.008996595279314e-06, + 0.016022764365462697 + ], + [ + 0.015496413223445415, + 6.272317841649055e-05, + 0.9998798966407776, + -0.020021892823826742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998006820678711, + 0.00551596051082015, + -0.019188284873962402, + -0.01005692136005249 + ], + [ + -0.005557038355618715, + 0.9999823570251465, + -0.002088118577376008, + 0.015202068781565414 + ], + [ + 0.019176427274942398, + 0.002194332191720605, + 0.9998137354850769, + -0.020896506087939724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997033476829529, + 0.005679847206920385, + -0.023684658110141754, + -0.014744369111334284 + ], + [ + -0.0057767597027122974, + 0.9999752044677734, + -0.004025385715067387, + 0.014653079573892887 + ], + [ + 0.023661207407712936, + 0.0041610123589634895, + 0.9997113943099976, + -0.02061981073477202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995696544647217, + 0.004925315733999014, + -0.028918370604515076, + -0.019615801188218242 + ], + [ + -0.0050968280993402, + 0.9999698400497437, + -0.005860187578946352, + 0.01300856891526457 + ], + [ + 0.028888635337352753, + 0.0060050575993955135, + 0.9995645880699158, + -0.019687230298843453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993729591369629, + 0.004635050892829895, + -0.035103581845760345, + -0.024432016541463097 + ], + [ + -0.004947640001773834, + 0.9999488592147827, + -0.008823134936392307, + 0.012115373340012276 + ], + [ + 0.03506089001893997, + 0.008991281501948833, + 0.9993447065353394, + -0.019289988850919055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999143660068512, + 0.005033216904848814, + -0.041068676859140396, + -0.030609880172300572 + ], + [ + -0.005505343433469534, + 0.9999199509620667, + -0.011391030624508858, + 0.010332152043511861 + ], + [ + 0.041008058935403824, + 0.011607373133301735, + 0.999091386795044, + -0.018282328507089926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9988568425178528, + 0.005541122052818537, + -0.047479063272476196, + -0.036660839782516455 + ], + [ + -0.006231275852769613, + 0.9998769164085388, + -0.01440029963850975, + 0.008810306356891114 + ], + [ + 0.047393426299095154, + 0.014679692685604095, + 0.9987684488296509, + -0.01765884093794168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9985035061836243, + 0.006303721107542515, + -0.054323095828294754, + -0.04390546136651358 + ], + [ + -0.007248743437230587, + 0.9998254776000977, + -0.017216891050338745, + 0.008177413972812932 + ], + [ + 0.05420508608222008, + 0.017584901303052902, + 0.9983749985694885, + -0.0162838261915383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9980781078338623, + 0.006611814256757498, + -0.0616142675280571, + -0.052401666782394635 + ], + [ + -0.007846390828490257, + 0.999772846698761, + -0.019816827028989792, + 0.005145353666853671 + ], + [ + 0.06146924942731857, + 0.02026219293475151, + 0.9979032874107361, + -0.014579513620317373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9975576996803284, + 0.007412129081785679, + -0.0694524422287941, + -0.060111471864522675 + ], + [ + -0.009115907363593578, + 0.9996644258499146, + -0.024246837943792343, + 0.0035774949244132236 + ], + [ + 0.06924941390752792, + 0.024820741266012192, + 0.9972905516624451, + -0.013027964189064269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969054460525513, + 0.00845120195299387, + -0.07815452665090561, + -0.06743632009545085 + ], + [ + -0.0106727359816432, + 0.9995495080947876, + -0.028051014989614487, + 0.002174468017091938 + ], + [ + 0.07788225263357162, + 0.028798330575227737, + 0.9965465664863586, + -0.011192818190537248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9962666630744934, + 0.010067818686366081, + -0.08573988825082779, + -0.07625484523284279 + ], + [ + -0.012743374332785606, + 0.9994469285011292, + -0.030715564265847206, + -0.000481015614239997 + ], + [ + 0.08538322895765305, + 0.031693510711193085, + 0.9958440065383911, + -0.01006170958889271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.995495080947876, + 0.01211392693221569, + -0.09403645992279053, + -0.08318837419809665 + ], + [ + -0.01542532816529274, + 0.9992833137512207, + -0.03456737473607063, + -0.0024437000208041224 + ], + [ + 0.09355032444000244, + 0.03586219623684883, + 0.9949684739112854, + -0.007947862422203316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9948449730873108, + 0.014001848176121712, + -0.10043615847826004, + -0.09413898475711642 + ], + [ + -0.01802491955459118, + 0.9990664124488831, + -0.03926100581884384, + -0.004828806956803877 + ], + [ + 0.09979266673326492, + 0.04086896777153015, + 0.9941685795783997, + -0.007427664978880119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9939379692077637, + 0.01602308452129364, + -0.10876867920160294, + -0.10254591952741536 + ], + [ + -0.020917542278766632, + 0.998812198638916, + -0.04400795325636864, + -0.006780221018623682 + ], + [ + 0.10793433338403702, + 0.04601634666323662, + 0.9930924773216248, + -0.006036390764090945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9928393959999084, + 0.018843840807676315, + -0.11796107143163681, + -0.11081232342357729 + ], + [ + -0.024772703647613525, + 0.9984915852546692, + -0.048998378217220306, + -0.009324651722814523 + ], + [ + 0.1168598160147667, + 0.05156973749399185, + 0.9918086528778076, + -0.004992518163121799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9918159246444702, + 0.02154538780450821, + -0.12584525346755981, + -0.12157707304444189 + ], + [ + -0.028491545468568802, + 0.9981527328491211, + -0.053659409284591675, + -0.011783505810631645 + ], + [ + 0.12445667386054993, + 0.05680578202009201, + 0.9905976057052612, + -0.005068771803471582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9905595779418945, + 0.023364104330539703, + -0.13507714867591858, + -0.12886583082426606 + ], + [ + -0.03152034059166908, + 0.9977860450744629, + -0.058562085032463074, + -0.012367790762115926 + ], + [ + 0.13340982794761658, + 0.06226690858602524, + 0.9891029596328735, + -0.003771005226968745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9893895387649536, + 0.025389261543750763, + -0.14305159449577332, + -0.13709509987749305 + ], + [ + -0.03450198099017143, + 0.997505247592926, + -0.06158601865172386, + -0.015338706721862154 + ], + [ + 0.14113110303878784, + 0.06586812436580658, + 0.9877972602844238, + -0.004054684246725896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9881579279899597, + 0.02733885869383812, + -0.1509852260351181, + -0.14325617758764161 + ], + [ + -0.03760576620697975, + 0.9971392154693604, + -0.06556791067123413, + -0.016151260170671672 + ], + [ + 0.14876075088977814, + 0.07046936452388763, + 0.9863591194152832, + -0.003021544280151526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9869593977928162, + 0.029498647898435593, + -0.15824341773986816, + -0.14987576839337552 + ], + [ + -0.04072246327996254, + 0.9968429803848267, + -0.06816019117832184, + -0.01854502365869634 + ], + [ + 0.15573319792747498, + 0.07371540367603302, + 0.9850447773933411, + -0.0022409074678043134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9858392477035522, + 0.03180190920829773, + -0.1646498590707779, + -0.15781236834385814 + ], + [ + -0.04394847899675369, + 0.9965316653251648, + -0.0706622377038002, + -0.020892031753764435 + ], + [ + 0.16183160245418549, + 0.07689771801233292, + 0.9838176965713501, + -0.0018796588431167253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9846071004867554, + 0.03379111737012863, + -0.17148473858833313, + -0.16369185738411604 + ], + [ + -0.046954698860645294, + 0.9962043166160583, + -0.07329557836055756, + -0.023765599659455367 + ], + [ + 0.16835710406303406, + 0.08021935820579529, + 0.9824565052986145, + -0.0009497810471681208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.983530580997467, + 0.03587954863905907, + -0.17714473605155945, + -0.1695116839329012 + ], + [ + -0.050176408141851425, + 0.995775580406189, + -0.07689786702394485, + -0.025289218541648652 + ], + [ + 0.17363736033439636, + 0.0845198854804039, + 0.9811760783195496, + 0.00045148777239803787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9826618432998657, + 0.03794853389263153, + -0.18148185312747955, + -0.1757847599831282 + ], + [ + -0.05309421569108963, + 0.9954327940940857, + -0.07933822274208069, + -0.027426885711211785 + ], + [ + 0.17764221131801605, + 0.0875982791185379, + 0.9801886677742004, + 0.00029985127632743604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.981713593006134, + 0.040423255413770676, + -0.18602247536182404, + -0.1807875812443253 + ], + [ + -0.05637050047516823, + 0.9950982928276062, + -0.081251360476017, + -0.028540769117135625 + ], + [ + 0.18182618916034698, + 0.09025175124406815, + 0.9791802167892456, + 0.0022837864760053804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9808003902435303, + 0.04211925342679024, + -0.19041144847869873, + -0.18456240256189133 + ], + [ + -0.05884021893143654, + 0.9948084354400635, + -0.0830303356051445, + -0.029071880161177878 + ], + [ + 0.18592572212219238, + 0.09264003485441208, + 0.978186845779419, + 0.004277131154987158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9799174070358276, + 0.04346484690904617, + -0.1946091204881668, + -0.1873150599061274 + ], + [ + -0.06088138371706009, + 0.9945681691169739, + -0.08442551642656326, + -0.030250902196355893 + ], + [ + 0.18988250195980072, + 0.09457810968160629, + 0.977240800857544, + 0.005862280649735647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9792453646659851, + 0.04471259564161301, + -0.19768483936786652, + -0.19160471988561886 + ], + [ + -0.06277531385421753, + 0.9943096041679382, + -0.08606763184070587, + -0.030907751624685485 + ], + [ + 0.19271163642406464, + 0.0966910570859909, + 0.9764799475669861, + 0.007494350539800389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9787794351577759, + 0.0466708168387413, + -0.19953122735023499, + -0.19845525441216488 + ], + [ + -0.06498415023088455, + 0.9941529035568237, + -0.08623822033405304, + -0.03337214307165613 + ], + [ + 0.19433975219726562, + 0.0973745584487915, + 0.9760892987251282, + 0.007981710944909091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.978114664554596, + 0.048504747450351715, + -0.20233377814292908, + -0.20249555720125928 + ], + [ + -0.06736748665571213, + 0.9938924908638, + -0.08740322291851044, + -0.03364993368878084 + ], + [ + 0.19685855507850647, + 0.09912109375, + 0.9754084944725037, + 0.009956666514934863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9776146411895752, + 0.05040542036294937, + -0.20427656173706055, + -0.20613764817613403 + ], + [ + -0.06949520111083984, + 0.9937482476234436, + -0.08737775683403015, + -0.034552659707910875 + ], + [ + 0.19859516620635986, + 0.09961801767349243, + 0.9750057458877563, + 0.01101303479932492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9770553112030029, + 0.052201393991708755, + -0.20648956298828125, + -0.20806852115768623 + ], + [ + -0.07163036614656448, + 0.9935629367828369, + -0.08775968849658966, + -0.03436633160496069 + ], + [ + 0.2005791962146759, + 0.10053698718547821, + 0.9745051860809326, + 0.012606929711315756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9764864444732666, + 0.05446377769112587, + -0.20858560502529144, + -0.20893843863524642 + ], + [ + -0.07413820177316666, + 0.9933848977088928, + -0.08769280463457108, + -0.03553262580843533 + ], + [ + 0.20242969691753387, + 0.10109499841928482, + 0.9740647077560425, + 0.014267361664450636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9761525392532349, + 0.05692677199840546, + -0.2094888538122177, + -0.21007519678937064 + ], + [ + -0.07693657279014587, + 0.9930881857872009, + -0.08863731473684311, + -0.036279589035152604 + ], + [ + 0.20299507677555084, + 0.10264088958501816, + 0.9737853407859802, + 0.016216331547479226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9761744141578674, + 0.05910922959446907, + -0.2087813764810562, + -0.21271536560132612 + ], + [ + -0.07931528985500336, + 0.9927994608879089, + -0.08976825326681137, + -0.03696778971774905 + ], + [ + 0.2019719034433365, + 0.10418903082609177, + 0.9738336801528931, + 0.017392061309876784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9762888550758362, + 0.06080854311585426, + -0.20775550603866577, + -0.21549726414183776 + ], + [ + -0.08104687929153442, + 0.9926088452339172, + -0.0903276577591896, + -0.037575060129165644 + ], + [ + 0.20072725415229797, + 0.1050238236784935, + 0.9740013480186462, + 0.018377052682141463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9763228893280029, + 0.06277690827846527, + -0.2070089876651764, + -0.21741065252450556 + ], + [ + -0.08300898969173431, + 0.9924275875091553, + -0.09053736180067062, + -0.03894692965192732 + ], + [ + 0.19975778460502625, + 0.10557729750871658, + 0.9741407632827759, + 0.018951505398243862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9763543009757996, + 0.06471274793148041, + -0.20626318454742432, + -0.21896219509684184 + ], + [ + -0.08520719408988953, + 0.9921001195907593, + -0.09207113832235336, + -0.03894084846856547 + ], + [ + 0.19867554306983948, + 0.10746916383504868, + 0.9741552472114563, + 0.0199824210329383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9764012694358826, + 0.06615045666694641, + -0.205583855509758, + -0.2206614234868218 + ], + [ + -0.08686819672584534, + 0.9918287396430969, + -0.09343285858631134, + -0.03886265132357092 + ], + [ + 0.19772334396839142, + 0.10908666253089905, + 0.9741691946983337, + 0.02123136649675229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9766031503677368, + 0.06741886585950851, + -0.20420822501182556, + -0.22319267755922148 + ], + [ + -0.08810732513666153, + 0.9916689991950989, + -0.09396626800298691, + -0.03936857204226886 + ], + [ + 0.19617187976837158, + 0.10975999385118484, + 0.9744071960449219, + 0.021356796809271272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9767099618911743, + 0.06815531104803085, + -0.20345140993595123, + -0.22386966657404805 + ], + [ + -0.08885083347558975, + 0.9915636777877808, + -0.09437713772058487, + -0.03883304084632911 + ], + [ + 0.19530270993709564, + 0.11025591939687729, + 0.9745257496833801, + 0.02214670246527865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9767667055130005, + 0.06886447221040726, + -0.20293974876403809, + -0.22374462457556352 + ], + [ + -0.08950500935316086, + 0.9915081262588501, + -0.09434240311384201, + -0.038370701290813145 + ], + [ + 0.1947195827960968, + 0.11031464487314224, + 0.9746358394622803, + 0.02308174276030531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.976957380771637, + 0.06949590891599655, + -0.2018032819032669, + -0.22412882261221706 + ], + [ + -0.08996783941984177, + 0.9914889931678772, + -0.09410315006971359, + -0.03834865714599883 + ], + [ + 0.19354595243930817, + 0.11009057611227036, + 0.9748948812484741, + 0.023638438462626702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9770549535751343, + 0.0699334442615509, + -0.20117901265621185, + -0.22280015298743652 + ], + [ + -0.09049886465072632, + 0.9913642406463623, + -0.09490478038787842, + -0.03614817509074616 + ], + [ + 0.19280464947223663, + 0.11093366146087646, + 0.9749462008476257, + 0.025248608818533375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9771720767021179, + 0.07034338265657425, + -0.20046569406986237, + -0.2220399365121243 + ], + [ + -0.09085632115602493, + 0.9913198947906494, + -0.09502608329057693, + -0.03430338130862105 + ], + [ + 0.19204117357730865, + 0.111070416867733, + 0.9750813245773315, + 0.026225211171835076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9767552614212036, + 0.0705118477344513, + -0.20242835581302643, + -0.21428528067722818 + ], + [ + -0.09158623218536377, + 0.9910914301872253, + -0.09669415652751923, + -0.029122344419067976 + ], + [ + 0.19380693137645721, + 0.11298617720603943, + 0.9745116829872131, + 0.028952504321932793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9766234159469604, + 0.07062920928001404, + -0.2030228078365326, + -0.21104770614430796 + ], + [ + -0.0919027179479599, + 0.9909995794296265, + -0.09733304381370544, + -0.025955997095778095 + ], + [ + 0.19432097673416138, + 0.11371608078479767, + 0.9743244051933289, + 0.03032730194965219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9767397046089172, + 0.07052545249462128, + -0.20249874889850616, + -0.2110892919056556 + ], + [ + -0.09169076383113861, + 0.9910412430763245, + -0.09710864722728729, + -0.024941908173701337 + ], + [ + 0.19383598864078522, + 0.1134171336889267, + 0.9744558334350586, + 0.030723277698544896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9769658446311951, + 0.07037439942359924, + -0.20145776867866516, + -0.21292411127900765 + ], + [ + -0.09138333797454834, + 0.9910851120948792, + -0.09695024788379669, + -0.024885668191644873 + ], + [ + 0.19283899664878845, + 0.1131269633769989, + 0.9746873378753662, + 0.03078719281341905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9771750569343567, + 0.07019886374473572, + -0.20050199329853058, + -0.21405756356669406 + ], + [ + -0.09103591740131378, + 0.9911453127861023, + -0.09666113555431366, + -0.02533615843143338 + ], + [ + 0.19194112718105316, + 0.11270773410797119, + 0.9749131202697754, + 0.030562593047720153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9773813486099243, + 0.07010386884212494, + -0.1995273381471634, + -0.21457728533183826 + ], + [ + -0.09077535569667816, + 0.9911941289901733, + -0.09640583395957947, + -0.02556227705642288 + ], + [ + 0.19101189076900482, + 0.11233742535114288, + 0.9751383066177368, + 0.030614005153377852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9776264429092407, + 0.06964655220508575, + -0.19848386943340302, + -0.21433229601266338 + ], + [ + -0.0901944488286972, + 0.9912448525428772, + -0.0964294970035553, + -0.025183507069653152 + ], + [ + 0.19003014266490936, + 0.11217416822910309, + 0.975348949432373, + 0.03015647538347182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9778026342391968, + 0.06899753957986832, + -0.1978415846824646, + -0.2125248286459181 + ], + [ + -0.08954914659261703, + 0.9912593960762024, + -0.096880242228508, + -0.02394128872288597 + ], + [ + 0.18942782282829285, + 0.11244630813598633, + 0.9754347205162048, + 0.030587213900354175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9781160950660706, + 0.06808522343635559, + -0.1966044306755066, + -0.21218387122247734 + ], + [ + -0.08854669332504272, + 0.9913156032562256, + -0.09722566604614258, + -0.023268587244491948 + ], + [ + 0.18827742338180542, + 0.11250665783882141, + 0.9756504893302917, + 0.03076489560452162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.978279709815979, + 0.06653240323066711, + -0.19632184505462646, + -0.2109140141142739 + ], + [ + -0.08708661794662476, + 0.9913700819015503, + -0.09798622131347656, + -0.0220246255592583 + ], + [ + 0.18810835480690002, + 0.11295492947101593, + 0.9756312966346741, + 0.03135335905586972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9782395362854004, + 0.06538432836532593, + -0.19690676033496857, + -0.20926010581402996 + ], + [ + -0.08605612814426422, + 0.9914270639419556, + -0.09831918776035309, + -0.02153682217878454 + ], + [ + 0.18879015743732452, + 0.11312474310398102, + 0.9754799008369446, + 0.03148145895037386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9781196117401123, + 0.06461778283119202, + -0.19775395095348358, + -0.20719218096312356 + ], + [ + -0.08549647033214569, + 0.9914153218269348, + -0.09892448782920837, + -0.021407943613388956 + ], + [ + 0.18966402113437653, + 0.11366724967956543, + 0.975247323513031, + 0.03115956255179994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9780030846595764, + 0.06364770978689194, + -0.1986428052186966, + -0.20466450946101175 + ], + [ + -0.08488567918539047, + 0.9913302659988403, + -0.10029339790344238, + -0.01995706792945176 + ], + [ + 0.19053716957569122, + 0.11494918167591095, + 0.9749268293380737, + 0.030947201630843232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9778825044631958, + 0.06297691911458969, + -0.1994486153125763, + -0.2018654385131169 + ], + [ + -0.08445777744054794, + 0.9912862181663513, + -0.1010868102312088, + -0.01841167951720992 + ], + [ + 0.19134452939033508, + 0.1156960129737854, + 0.9746803045272827, + 0.03096152846427525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9778458476066589, + 0.06193211302161217, + -0.1999548077583313, + -0.19985641557358058 + ], + [ + -0.08359702676534653, + 0.9912877082824707, + -0.1017853170633316, + -0.016916911245561106 + ], + [ + 0.19190895557403564, + 0.11624597012996674, + 0.9745038747787476, + 0.030664746886959263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9777894616127014, + 0.06123167276382446, + -0.20044566690921783, + -0.19766079592548944 + ], + [ + -0.08302401006221771, + 0.991295337677002, + -0.10217895358800888, + -0.015907360603606778 + ], + [ + 0.19244427978992462, + 0.11655130237340927, + 0.9743618369102478, + 0.030279939073850126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9777198433876038, + 0.06049945950508118, + -0.20100663602352142, + -0.1946159107427971 + ], + [ + -0.08241702616214752, + 0.9913108944892883, + -0.1025189757347107, + -0.015311295680360854 + ], + [ + 0.19305773079395294, + 0.1168012022972107, + 0.9742105603218079, + 0.030410198380354962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9777982831001282, + 0.05960572883486748, + -0.20089226961135864, + -0.19224473420603602 + ], + [ + -0.08163948357105255, + 0.9913005828857422, + -0.10323819518089294, + -0.014513351870518103 + ], + [ + 0.19299104809761047, + 0.1173468679189682, + 0.9741581678390503, + 0.03008309532614315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9779794216156006, + 0.05882669612765312, + -0.2002391368150711, + -0.18995932818579128 + ], + [ + -0.08092162013053894, + 0.9912792444229126, + -0.10400561988353729, + -0.013669722795096866 + ], + [ + 0.1923746019601822, + 0.11791902780532837, + 0.9742110371589661, + 0.029511634435723813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9782848358154297, + 0.058383237570524216, + -0.1988721489906311, + -0.18818105075484007 + ], + [ + -0.08040276169776917, + 0.9912688136100769, + -0.10450594872236252, + -0.012800800449707918 + ], + [ + 0.19103437662124634, + 0.11822646111249924, + 0.9744374752044678, + 0.028994971107131517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9786497354507446, + 0.05705414339900017, + -0.19745774567127228, + -0.1861199106582824 + ], + [ + -0.07906654477119446, + 0.9912762641906738, + -0.1054506003856659, + -0.01126013205331914 + ], + [ + 0.1897187978029251, + 0.11881150305271149, + 0.9746233224868774, + 0.02990923109738266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.978838324546814, + 0.055202387273311615, + -0.19704876840114594, + -0.1829967565104073 + ], + [ + -0.07731599360704422, + 0.9913179278373718, + -0.10635308921337128, + -0.00927799504274636 + ], + [ + 0.18946702778339386, + 0.11933749914169312, + 0.9746080040931702, + 0.030997280766761382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9788937568664551, + 0.05349337309598923, + -0.19724459946155548, + -0.179402245624977 + ], + [ + -0.07575338333845139, + 0.9913589954376221, + -0.10709229856729507, + -0.006852951042013222 + ], + [ + 0.18981148302555084, + 0.11977393180131912, + 0.9744874835014343, + 0.03214213675728031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9788915514945984, + 0.05183985084295273, + -0.19769658148288727, + -0.17662800591365962 + ], + [ + -0.07418394833803177, + 0.9914505481719971, + -0.10734326392412186, + -0.005245926990812895 + ], + [ + 0.19044171273708344, + 0.11974332481622696, + 0.9743682742118835, + 0.033328123989642834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9787993431091309, + 0.04993550479412079, + -0.1986410915851593, + -0.17362996853060192 + ], + [ + -0.07248662412166595, + 0.9915130138397217, + -0.10792408883571625, + -0.004426997982793383 + ], + [ + 0.19156599044799805, + 0.1200348436832428, + 0.9741119742393494, + 0.03451354739566644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9786771535873413, + 0.04809243604540825, + -0.19969508051872253, + -0.17089083749387 + ], + [ + -0.07091787457466125, + 0.9915342926979065, + -0.10876788198947906, + -0.004212998486811816 + ], + [ + 0.19277361035346985, + 0.12061059474945068, + 0.9738025665283203, + 0.03540743307934867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.978579044342041, + 0.04630272835493088, + -0.20059701800346375, + -0.16814394378486802 + ], + [ + -0.06946676969528198, + 0.9914988875389099, + -0.11001970618963242, + -0.0031786034796752183 + ], + [ + 0.1937974989414215, + 0.12159780412912369, + 0.9734765291213989, + 0.03696339418928997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9785083532333374, + 0.04454139992594719, + -0.20133912563323975, + -0.16526591181755065 + ], + [ + -0.06799458712339401, + 0.9914789795875549, + -0.11111308634281158, + -0.0019485083767791095 + ], + [ + 0.19467437267303467, + 0.12241505086421967, + 0.9731990694999695, + 0.0388462021459941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9784554243087769, + 0.04296854883432388, + -0.20193742215633392, + -0.16223105628019066 + ], + [ + -0.0666884258389473, + 0.9914491772651672, + -0.11216603964567184, + -0.0009704682221209973 + ], + [ + 0.19539107382297516, + 0.12321635335683823, + 0.972954273223877, + 0.041361342000415906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9784225821495056, + 0.041450537741184235, + -0.2024131417274475, + -0.1602465760181932 + ], + [ + -0.06542851775884628, + 0.991410493850708, + -0.11324485391378403, + 2.312967005903277e-06 + ], + [ + 0.19598045945167542, + 0.12404491752386093, + 0.9727304577827454, + 0.04399504906990949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9783833622932434, + 0.03918129950761795, + -0.20305368304252625, + -0.15885681072189137 + ], + [ + -0.06348294764757156, + 0.991382896900177, + -0.11458539217710495, + 0.0013083825800933105 + ], + [ + 0.19681435823440552, + 0.12499888986349106, + 0.9724399447441101, + 0.04676075426776425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9782649278640747, + 0.03678734600543976, + -0.20406955480575562, + -0.15727233688036601 + ], + [ + -0.06142676621675491, + 0.9913768768310547, + -0.11575233191251755, + 0.002699111626039148 + ], + [ + 0.19805163145065308, + 0.12577177584171295, + 0.9720889925956726, + 0.050175564443948224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9781072735786438, + 0.03430882841348648, + -0.20525363087654114, + -0.15522054709932384 + ], + [ + -0.059290193021297455, + 0.9913809895515442, + -0.11682644486427307, + 0.004244280854860949 + ], + [ + 0.19947636127471924, + 0.12643831968307495, + 0.9717111587524414, + 0.05408958979681427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9779782891273499, + 0.03170613944530487, + -0.20628435909748077, + -0.1534340633675943 + ], + [ + -0.056950271129608154, + 0.991425096988678, + -0.11761371046304703, + 0.00512476531313915 + ], + [ + 0.20078639686107635, + 0.12677159905433655, + 0.971397876739502, + 0.05850552966684298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9779253602027893, + 0.028870169073343277, + -0.20695048570632935, + -0.15298994144826544 + ], + [ + -0.05432514473795891, + 0.9914795160293579, + -0.11839428544044495, + 0.005141538780888702 + ], + [ + 0.20176908373832703, + 0.127023383975029, + 0.9711613059043884, + 0.06292237713932991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9777523875236511, + 0.02611544355750084, + -0.20813049376010895, + -0.15315545107804093 + ], + [ + -0.05199306830763817, + 0.9914294481277466, + -0.11985138803720474, + 0.005339511191728069 + ], + [ + 0.20321671664714813, + 0.12800632417201996, + 0.9707303047180176, + 0.06790540244649439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.977210521697998, + 0.022838277742266655, + -0.2110402137041092, + -0.15288515296563798 + ], + [ + -0.04959630221128464, + 0.9912429451942444, + -0.12238308787345886, + 0.0064758526295228686 + ], + [ + 0.20639710128307343, + 0.1300608515739441, + 0.969785749912262, + 0.07372998078079784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9763951897621155, + 0.019961198791861534, + -0.2150672823190689, + -0.15258437783938217 + ], + [ + -0.04788438230752945, + 0.9909475445747375, + -0.12541928887367249, + 0.006797950588215418 + ], + [ + 0.21061687171459198, + 0.13275715708732605, + 0.9685122966766357, + 0.079255848937954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9754857420921326, + 0.016954444348812103, + -0.2194085270166397, + -0.15295459430883912 + ], + [ + -0.046196818351745605, + 0.9905882477760315, + -0.12884394824504852, + 0.007118351713699456 + ], + [ + 0.21515904366970062, + 0.1358214169740677, + 0.967087984085083, + 0.08504519664189394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9744111895561218, + 0.013900697231292725, + -0.2243424952030182, + -0.1532939040388157 + ], + [ + -0.04453429952263832, + 0.9902390241622925, + -0.1320735514163971, + 0.008262279133001968 + ], + [ + 0.22031676769256592, + 0.13868489861488342, + 0.9655190706253052, + 0.09162688610795276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9732773900032043, + 0.010960016399621964, + -0.2293708175420761, + -0.1530730045577085 + ], + [ + -0.04293031617999077, + 0.989933967590332, + -0.1348620355129242, + 0.00993162563034132 + ], + [ + 0.22558386623859406, + 0.14110514521598816, + 0.9639508724212646, + 0.09858106194563161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9721488952636719, + 0.009007634595036507, + -0.23419104516506195, + -0.15270068533718587 + ], + [ + -0.0420391708612442, + 0.9897559881210327, + -0.13643978536128998, + 0.012072877337535232 + ], + [ + 0.2305629998445511, + 0.14248497784137726, + 0.9625688195228577, + 0.10572271794080734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9712873101234436, + 0.0077730584889650345, + -0.23778262734413147, + -0.15347416673732153 + ], + [ + -0.04146484285593033, + 0.9896999001502991, + -0.1370212882757187, + 0.013010902249929956 + ], + [ + 0.23426836729049683, + 0.14294664561748505, + 0.9616051912307739, + 0.11395592082754459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9706153273582458, + 0.00716613233089447, + -0.24052973091602325, + -0.15406284667308034 + ], + [ + -0.04137302190065384, + 0.9896416068077087, + -0.13746902346611023, + 0.013538802794966054 + ], + [ + 0.23705311119556427, + 0.14338096976280212, + 0.9608578085899353, + 0.12169337351532544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9698597192764282, + 0.006502829492092133, + -0.24357709288597107, + -0.15438617992342688 + ], + [ + -0.04145951196551323, + 0.9894711971282959, + -0.13866472244262695, + 0.015178449671058095 + ], + [ + 0.24011081457138062, + 0.14458391070365906, + 0.9599178433418274, + 0.13107896128705904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9692578911781311, + 0.005501167848706245, + -0.24598552286624908, + -0.15424683723915247 + ], + [ + -0.04107312113046646, + 0.9893394708633423, + -0.1397152543067932, + 0.01746385184670586 + ], + [ + 0.24259458482265472, + 0.14552351832389832, + 0.9591510891914368, + 0.13991957920439102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9691660404205322, + 0.004696043208241463, + -0.2463638037443161, + -0.15730089499109906 + ], + [ + -0.040410660207271576, + 0.9893105030059814, + -0.14011311531066895, + 0.01779441857357432 + ], + [ + 0.24307231605052948, + 0.1457485854625702, + 0.9589959383010864, + 0.14857556309575348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9689348340034485, + 0.003192733973264694, + -0.24729560315608978, + -0.15849782096989015 + ], + [ + -0.03922102972865105, + 0.9892464876174927, + -0.140901118516922, + 0.018242547047488844 + ], + [ + 0.24418644607067108, + 0.14622318744659424, + 0.9586405754089355, + 0.15699208256076363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9689285755157471, + 0.0011121146380901337, + -0.24733826518058777, + -0.16063194016079888 + ], + [ + -0.03754430264234543, + 0.9890637993812561, + -0.14262977242469788, + 0.019230664015011084 + ], + [ + 0.24447470903396606, + 0.1474842131137848, + 0.9583739042282104, + 0.16624668047708624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.969120442867279, + -0.0005715936422348022, + -0.24658729135990143, + -0.16258987540902656 + ], + [ + -0.03619306907057762, + 0.988837480545044, + -0.14453566074371338, + 0.019497623849733206 + ], + [ + 0.24391736090183258, + 0.1489972174167633, + 0.9582818746566772, + 0.17437760229983362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9693298935890198, + -0.0016983281821012497, + -0.24575726687908173, + -0.16282641321931984 + ], + [ + -0.035441868007183075, + 0.9885572791099548, + -0.1466233730316162, + 0.019166589791283897 + ], + [ + 0.24319414794445038, + 0.1508365273475647, + 0.958177924156189, + 0.18343858613687403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9697646498680115, + -0.00222068652510643, + -0.24403204023838043, + -0.16326749653987635 + ], + [ + -0.03533704951405525, + 0.9881423711776733, + -0.14941881597042084, + 0.020637160778240446 + ], + [ + 0.24147020280361176, + 0.15352444350719452, + 0.9581870436668396, + 0.19199397606787338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9701168537139893, + -0.0027912501245737076, + -0.2426222413778305, + -0.16133222832813177 + ], + [ + -0.03500663489103317, + 0.9878620505332947, + -0.15133772790431976, + 0.021832982991255967 + ], + [ + 0.2400997132062912, + 0.15530867874622345, + 0.9582439064979553, + 0.20052409042525135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9712499976158142, + -0.003608712926506996, + -0.23803457617759705, + -0.16226690311496164 + ], + [ + -0.03377091884613037, + 0.9876847863197327, + -0.15276888012886047, + 0.023862528435739813 + ], + [ + 0.23565441370010376, + 0.1564154326915741, + 0.959166944026947, + 0.20819942846017725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9724061489105225, + -0.004252948798239231, + -0.23325572907924652, + -0.16273749512285482 + ], + [ + -0.032466575503349304, + 0.9876375794410706, + -0.15335559844970703, + 0.024257699258966398 + ], + [ + 0.2310243397951126, + 0.15669694542884827, + 0.960246741771698, + 0.214922931946181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9735509157180786, + -0.004730646498501301, + -0.22842122614383698, + -0.16236218054553653 + ], + [ + -0.031391870230436325, + 0.9875335097312927, + -0.15424686670303345, + 0.024898941021144788 + ], + [ + 0.22630329430103302, + 0.1573377549648285, + 0.9612656831741333, + 0.22152671644500657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9746361970901489, + -0.005527745001018047, + -0.2237270325422287, + -0.1621086237130358 + ], + [ + -0.030100442469120026, + 0.987373411655426, + -0.15552404522895813, + 0.02698801449116539 + ], + [ + 0.2217618077993393, + 0.15831363201141357, + 0.9621634483337402, + 0.22821430108126473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9754852056503296, + -0.005730464123189449, + -0.21999038755893707, + -0.16062282408204148 + ], + [ + -0.029468558728694916, + 0.9872561693191528, + -0.15638676285743713, + 0.029160530957715966 + ], + [ + 0.21808303892612457, + 0.15903577208518982, + 0.9628849625587463, + 0.2339142268779231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9766654968261719, + -0.005637188442051411, + -0.21469230949878693, + -0.16342873493623403 + ], + [ + -0.02875141054391861, + 0.9872251749038696, + -0.15671582520008087, + 0.029909530447589025 + ], + [ + 0.21283309161663055, + 0.15923164784908295, + 0.9640266299247742, + 0.2378264077835613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.977371335029602, + -0.005949460901319981, + -0.21144723892211914, + -0.16457133937407942 + ], + [ + -0.028148237615823746, + 0.9870566725730896, + -0.15788212418556213, + 0.030277917271151256 + ], + [ + 0.2096497118473053, + 0.160261332988739, + 0.9645534157752991, + 0.2415038639423894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9777137637138367, + -0.00709008052945137, + -0.2098226398229599, + -0.16352026463772346 + ], + [ + -0.026965316385030746, + 0.9869104027748108, + -0.1589992195367813, + 0.030505617956320452 + ], + [ + 0.20820344984531403, + 0.1611136645078659, + 0.9647246599197388, + 0.2455182511335105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9783071279525757, + -0.008336980827152729, + -0.20699192583560944, + -0.16397997072830894 + ], + [ + -0.025473590940237045, + 0.9867656230926514, + -0.16013981401920319, + 0.031167410216689895 + ], + [ + 0.20558758080005646, + 0.16193874180316925, + 0.9651474356651306, + 0.24824021483948028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9788947701454163, + -0.008741412311792374, + -0.20417781174182892, + -0.16369563563927716 + ], + [ + -0.024720054119825363, + 0.9866841435432434, + -0.16075864434242249, + 0.03096306212976868 + ], + [ + 0.20286427438259125, + 0.162413090467453, + 0.9656438827514648, + 0.2499010100668552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9795984029769897, + -0.008746151812374592, + -0.20077472925186157, + -0.16535597060581828 + ], + [ + -0.02436590939760208, + 0.9865131974220276, + -0.16185802221298218, + 0.031189689205752477 + ], + [ + 0.19948256015777588, + 0.16344791650772095, + 0.9661736488342285, + 0.2511134738431257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9797496199607849, + -0.008642868138849735, + -0.20003986358642578, + -0.163931067110788 + ], + [ + -0.024562861770391464, + 0.9863337278366089, + -0.1629185825586319, + 0.031556070873550335 + ], + [ + 0.19871413707733154, + 0.16453297436237335, + 0.9661478400230408, + 0.25282873539558426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9800098538398743, + -0.007556798867881298, + -0.1988055258989334, + -0.16431836035540875 + ], + [ + -0.025624826550483704, + 0.9861603379249573, + -0.16380229592323303, + 0.031000709270729745 + ], + [ + 0.19729195535182953, + 0.16562220454216003, + 0.9662531614303589, + 0.25344845231841595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.980241060256958, + -0.006199905648827553, + -0.1977095901966095, + -0.16479221605178382 + ], + [ + -0.027106309309601784, + 0.9858694076538086, + -0.1653081774711609, + 0.03131945028998494 + ], + [ + 0.19594073295593262, + 0.1674010455608368, + 0.9662215709686279, + 0.25368413668052825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9804679155349731, + -0.005315872840583324, + -0.19660726189613342, + -0.16552543786226534 + ], + [ + -0.028030958026647568, + 0.985653281211853, + -0.16643871366977692, + 0.03184860244490742 + ], + [ + 0.1946713626384735, + 0.16869892179965973, + 0.9662524461746216, + 0.2534878475408928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9805477857589722, + -0.004313252866268158, + -0.19623318314552307, + -0.16539472699457525 + ], + [ + -0.029081735759973526, + 0.9855313897132874, + -0.16697931289672852, + 0.03224172920865172 + ], + [ + 0.19411417841911316, + 0.16943800449371338, + 0.9662352204322815, + 0.25343113892218644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9808173775672913, + -0.0026818271726369858, + -0.19491033256053925, + -0.16591471344768222 + ], + [ + -0.03053649328649044, + 0.985446035861969, + -0.16722317039966583, + 0.03202718508496784 + ], + [ + 0.1925220936536789, + 0.16996727883815765, + 0.9664607644081116, + 0.2524822604617262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.98099684715271, + -0.0013744579628109932, + -0.1940188854932785, + -0.16480258895035566 + ], + [ + -0.031780119985342026, + 0.9853313565254211, + -0.16766662895679474, + 0.03218476409031676 + ], + [ + 0.1914033442735672, + 0.17064638435840607, + 0.9665632843971252, + 0.25172295976503223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9810938239097595, + -0.00035662204027175903, + -0.19353240728378296, + -0.16343719906666698 + ], + [ + -0.03281233459711075, + 0.9852144122123718, + -0.16815441846847534, + 0.03334461495864627 + ], + [ + 0.19073089957237244, + 0.17132550477981567, + 0.966576099395752, + 0.25139733739927705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9813467860221863, + 0.0010032393038272858, + -0.19224339723587036, + -0.1636420258387826 + ], + [ + -0.033846184611320496, + 0.985268235206604, + -0.1676332652568817, + 0.03364647465691069 + ], + [ + 0.1892431378364563, + 0.17101305723190308, + 0.9669237732887268, + 0.2502134546150569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9813714027404785, + 0.0015871431678533554, + -0.19211354851722717, + -0.1622352682467964 + ], + [ + -0.034396469593048096, + 0.9852604269981384, + -0.1675673872232437, + 0.035851875497819555 + ], + [ + 0.1890159249305725, + 0.17105387151241302, + 0.9669609665870667, + 0.25008358893051646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9816552400588989, + 0.002923309803009033, + -0.19064228236675262, + -0.16396138072013855 + ], + [ + -0.03536952659487724, + 0.9853196144104004, + -0.1670158952474594, + 0.036849701448398484 + ], + [ + 0.18735532462596893, + 0.170694962143898, + 0.9673475027084351, + 0.24912087750785492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.981623649597168, + 0.0037739258259534836, + -0.19078974425792694, + -0.1627846755915218 + ], + [ + -0.036180466413497925, + 0.9853504300117493, + -0.16665972769260406, + 0.038017597297827416 + ], + [ + 0.18736578524112701, + 0.1704999953508377, + 0.9673798680305481, + 0.24860178066624536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9816588759422302, + 0.004963325336575508, + -0.19058114290237427, + -0.16225263341847393 + ], + [ + -0.037223637104034424, + 0.9854109883308411, + -0.16607099771499634, + 0.03927478358831282 + ], + [ + 0.18697649240493774, + 0.17011919617652893, + 0.9675222039222717, + 0.24737270626367308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9817112684249878, + 0.00601639598608017, + -0.19028091430664062, + -0.16189725723336726 + ], + [ + -0.03806101158261299, + 0.9855243563652039, + -0.16520638763904572, + 0.04036908852411253 + ], + [ + 0.18653252720832825, + 0.16942726075649261, + 0.9677293300628662, + 0.246245530481432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9819030165672302, + 0.00802898034453392, + -0.1892140805721283, + -0.162729647237004 + ], + [ + -0.03950313478708267, + 0.9858075380325317, + -0.16316553950309753, + 0.0406928509571194 + ], + [ + 0.18521860241889954, + 0.1676872968673706, + 0.9682846069335938, + 0.24465768025591483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.982154905796051, + 0.010136744938790798, + -0.18780027329921722, + -0.16384869053034612 + ], + [ + -0.04073430970311165, + 0.9863095283508301, + -0.15979443490505219, + 0.03961896979146534 + ], + [ + 0.18360941112041473, + 0.16459281742572784, + 0.9691216945648193, + 0.24200522724319906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9823088049888611, + 0.011407498270273209, + -0.18692046403884888, + -0.16442215209644215 + ], + [ + -0.04164023697376251, + 0.9864602088928223, + -0.15862643718719482, + 0.040730121834021 + ], + [ + 0.18258008360862732, + 0.16360357403755188, + 0.9694835543632507, + 0.24075758807799397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9824128150939941, + 0.012560061179101467, + -0.18629896640777588, + -0.16412606626822085 + ], + [ + -0.042536038905382156, + 0.9865555763244629, + -0.15779343247413635, + 0.04101884087998103 + ], + [ + 0.18181240558624268, + 0.16294270753860474, + 0.9697390794754028, + 0.2394322465642605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9825979471206665, + 0.014200386591255665, + -0.18520167469978333, + -0.16436009694170817 + ], + [ + -0.04379899799823761, + 0.9866706728935242, + -0.15672484040260315, + 0.04116841828316645 + ], + [ + 0.18050751090049744, + 0.1621091365814209, + 0.9701225161552429, + 0.23729459473899767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9827303290367126, + 0.015898458659648895, + -0.18435917794704437, + -0.1645610972362406 + ], + [ + -0.04517805948853493, + 0.9867663979530334, + -0.15572747588157654, + 0.040466166988891716 + ], + [ + 0.1794436126947403, + 0.16136711835861206, + 0.9704435467720032, + 0.2357159023775774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9829020500183105, + 0.01775534823536873, + -0.18327108025550842, + -0.16532518202134597 + ], + [ + -0.04680713638663292, + 0.9867363572120667, + -0.15543635189533234, + 0.039952900090248766 + ], + [ + 0.17808040976524353, + 0.1613570898771286, + 0.9706962704658508, + 0.23337017803215512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9831255674362183, + 0.019446514546871185, + -0.18189537525177002, + -0.16637817608569963 + ], + [ + -0.048191942274570465, + 0.9867415428161621, + -0.15497945249080658, + 0.038803628520443556 + ], + [ + 0.17646992206573486, + 0.1611301451921463, + 0.9710280299186707, + 0.230675066471879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9833676218986511, + 0.0210675410926342, + -0.18040047585964203, + -0.16724004614733012 + ], + [ + -0.04946587607264519, + 0.986768901348114, + -0.15440285205841064, + 0.037440550166602235 + ], + [ + 0.17476068437099457, + 0.16075843572616577, + 0.9713987112045288, + 0.22773849186944026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9835270643234253, + 0.02272770181298256, + -0.17932653427124023, + -0.16627391260239033 + ], + [ + -0.05084827169775963, + 0.9867904186248779, + -0.1538153439760208, + 0.03724837497461077 + ], + [ + 0.17346182465553284, + 0.16039998829364777, + 0.9716907143592834, + 0.22551391685710234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9838759899139404, + 0.02404610812664032, + -0.17722803354263306, + -0.166156323877425 + ], + [ + -0.05171214044094086, + 0.9868436455726624, + -0.15318450331687927, + 0.037853220041865615 + ], + [ + 0.17121288180351257, + 0.1598793864250183, + 0.9721752405166626, + 0.22365623533336165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.984315037727356, + 0.024993836879730225, + -0.1746402084827423, + -0.16645689367079267 + ], + [ + -0.05209852010011673, + 0.9869459867477417, + -0.15239213407039642, + 0.037853689754710484 + ], + [ + 0.16855159401893616, + 0.15910036861896515, + 0.9727679491043091, + 0.22141991730998545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9847137928009033, + 0.02556312456727028, + -0.1722940355539322, + -0.16606624833752517 + ], + [ + -0.0521344430744648, + 0.9870795607566833, + -0.15151233971118927, + 0.03711433675067098 + ], + [ + 0.16619478166103363, + 0.15817876160144806, + 0.9733235836029053, + 0.21942455508545333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9851803779602051, + 0.025962848216295242, + -0.1695452481508255, + -0.166308329366391 + ], + [ + -0.05199253186583519, + 0.9871737957000732, + -0.15094605088233948, + 0.0369849954603934 + ], + [ + 0.16345162689685822, + 0.15752416849136353, + 0.9738941192626953, + 0.21687301210328644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9855476021766663, + 0.026334792375564575, + -0.16733917593955994, + -0.1658664673566818 + ], + [ + -0.0518684908747673, + 0.9873086810112, + -0.15010413527488708, + 0.03639699742197991 + ], + [ + 0.16126245260238647, + 0.15661439299583435, + 0.9744056463241577, + 0.2142193377017975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/5adad5bf-2f8a-4928-8aca-b30f2e685b7f/pan_left/transforms.json b/dynpose_eval/camera_controls/5adad5bf-2f8a-4928-8aca-b30f2e685b7f/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..73a95ddcad418c41567506f518b8ca8f2503957a --- /dev/null +++ b/dynpose_eval/camera_controls/5adad5bf-2f8a-4928-8aca-b30f2e685b7f/pan_left/transforms.json @@ -0,0 +1,5403 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 154, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -4.230966078466736e-05, + -8.106805762508884e-05, + 0.00019144210091326386 + ], + [ + 4.233203435433097e-05, + 0.9999999403953552, + 0.00027599718305282295, + -0.0004897780017927289 + ], + [ + 8.105637243716046e-05, + -0.00027600061730481684, + 0.9999999403953552, + 0.00010821820615092292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999997978431848, + -0.0005714991129934789, + -0.0002770178826491666, + 0.002248403150588274 + ], + [ + 0.0005719511415404444, + 0.9999985098838808, + 0.001634387514601596, + 0.0008996132528409362 + ], + [ + 0.00027608335748880705, + -0.0016345456242561345, + 0.9999986073476184, + -0.001768986345268786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999986954802393, + -0.001097321161068976, + -0.0012040311868123535, + 0.003723178757354617 + ], + [ + 0.0011005312270425923, + 0.9999958276748657, + 0.0026687121052489686, + 0.0023468411527574062 + ], + [ + 0.0012010975833962804, + -0.00267003383487463, + 0.9999957252700076, + -0.003696210915222764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999948097592593, + -0.0018683995585888624, + -0.0026140017182665507, + 0.005120956338942051 + ], + [ + 0.0018771148891568062, + 0.9999926686286926, + 0.0033356315334446287, + 0.004141670651733875 + ], + [ + 0.0026077502733864474, + -0.003340521128848195, + 0.9999910271026898, + -0.005696545820683241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999989553479469, + -0.0020921211689710617, + -0.004060211628375225, + 0.0058518159203231335 + ], + [ + 0.002107570552109882, + 0.9999905228614807, + 0.003804503199659471, + 0.005717022344470024 + ], + [ + 0.004052213864918856, + -0.0038130206521600485, + 0.9999845417069647, + -0.007220462430268526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999979124669386, + -0.002435689559206367, + -0.005986191564130864, + 0.0063319699838757515 + ], + [ + 0.002461136965562301, + 0.9999879598617556, + 0.004247316723138843, + 0.007029287051409483 + ], + [ + 0.005975774264710533, + -0.004261960741132499, + 0.9999730742940285, + -0.008304174989461899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999632201583497, + -0.0021854890510439877, + -0.00829188035262954, + 0.006122742313891649 + ], + [ + 0.0022235704136478805, + 0.9999870061874392, + 0.004586164770638612, + 0.007718604989349842 + ], + [ + 0.00828174979364939, + -0.004604433663189412, + 0.9999550982943382, + -0.009838213212788105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999381431748919, + -0.0019865976646542553, + -0.01094400174710137, + 0.005618628114461899 + ], + [ + 0.002038077907122983, + 0.9999868869781496, + 0.00469480640094812, + 0.008363297209143639 + ], + [ + 0.01093453152003977, + -0.004716820549219848, + 0.9999290768385444, + -0.01121244952082634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998963183488058, + -0.0017183605814352632, + -0.01429630384358214, + 0.005542147904634476 + ], + [ + 0.0017851456464458447, + 0.9999875426292419, + 0.004660044346362339, + 0.00877098087221384 + ], + [ + 0.014288118465321424, + -0.004685082007199526, + 0.9998869523777522, + -0.012789660133421421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998460321487687, + -0.0012814331566914916, + -0.017499879322985367, + 0.004814312793314457 + ], + [ + 0.0013645287850719244, + 0.9999878406524658, + 0.00473724469654225, + 0.008733274415135384 + ], + [ + 0.017493596454310045, + -0.004760394804179668, + 0.9998356372508183, + -0.014395013451576233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999784169537771, + -0.0009041138691827657, + -0.02075695047265118, + 0.004035015590488911 + ], + [ + 0.0010003561807674117, + 0.9999887943267824, + 0.004626715308672095, + 0.009163080714643002 + ], + [ + 0.02075253472466993, + -0.004646481014788152, + 0.999773872376661, + -0.015349759720265865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997175992086883, + -0.0001401216140948236, + -0.02376399738666786, + 0.0026175067760050297 + ], + [ + 0.0002469230954259242, + 0.9999898672103882, + 0.004491380577012444, + 0.009251329116523266 + ], + [ + 0.023763126931703557, + -0.004495980218052864, + 0.9997074810097111, + -0.016315452754497528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996231457605775, + 0.0010388132650405169, + -0.027430416699124813, + 0.0008276237058453262 + ], + [ + -0.0009266442382153901, + 0.9999911785125732, + 0.004101616410535982, + 0.009162588976323605 + ], + [ + 0.027434435569501488, + -0.0040746526792645454, + 0.9996153129907914, + -0.01721039041876793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9994983434534063, + 0.0020907672587782145, + -0.03160220818470622, + -0.0013484037481248379 + ], + [ + -0.001977321110737968, + 0.9999914765357971, + 0.003620649858887475, + 0.00814515445381403 + ], + [ + 0.03160950878976774, + -0.0035563455894589424, + 0.9994939480520897, + -0.01877513714134693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9993430500098541, + 0.0027305281255394225, + -0.03613955432567155, + -0.0038451950531452894 + ], + [ + -0.0026507991809416086, + 0.9999939203262331, + 0.002253866296122176, + 0.007324705831706524 + ], + [ + 0.03614548862654994, + -0.002156587084755302, + 0.9993442195020434, + -0.019579628482460976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9991433334065241, + 0.0043703047558665276, + -0.04115189739778776, + -0.006727120839059353 + ], + [ + -0.004369183649562691, + 0.9999904632568359, + 0.00011717739700417574, + 0.0062189362943172455 + ], + [ + 0.0411520155285965, + 6.272317841649055e-05, + 0.9991528702591502, + -0.02002250775694847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989007448172135, + 0.00551596051082015, + -0.046549931722835274, + -0.010114604607224464 + ], + [ + -0.005612116647998085, + 0.9999823570251465, + -0.001935216062423806, + 0.004744736943393946 + ], + [ + 0.046538435895482747, + 0.002194332191720605, + 0.9989141179360999, + -0.020919453352689743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9985915616442316, + 0.005679847206920385, + -0.05275072901138076, + -0.01480747852474451 + ], + [ + -0.005891393056350192, + 0.9999752044677734, + -0.0038556673447715894, + 0.003542243968695402 + ], + [ + 0.0527275222636541, + 0.0041610123589634895, + 0.9986002869242359, + -0.02066604420542717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9982050353663762, + 0.004925315733999014, + -0.05968646123162784, + -0.019673746079206467 + ], + [ + -0.005274875593892114, + 0.9999698400497437, + -0.005700451087731763, + 0.0012442178558558226 + ], + [ + 0.05965658404739183, + 0.0060050575993955135, + 0.998200887073755, + -0.01975787803530693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9977038005880069, + 0.004635050892829895, + -0.06756995785715962, + -0.024489575996994972 + ], + [ + -0.0052318242054138, + 0.9999488592147827, + -0.00865764790093622, + -0.00030229223193600774 + ], + [ + 0.06752637023076334, + 0.008991281501948833, + 0.9976769506270964, + -0.01940164528787136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9971534573322216, + 0.005033216904848814, + -0.07523079292723217, + -0.030675673857331276 + ], + [ + -0.005891869326035855, + 0.9999199509620667, + -0.011195993071356493, + -0.002738696988672018 + ], + [ + 0.07516842194228657, + 0.011607373133301735, + 0.997103288736127, + -0.018434058874845505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9965063408268123, + 0.005541122052818537, + -0.08333286258087688, + -0.03673689439892769 + ], + [ + -0.006744591588061999, + 0.9998769164085388, + -0.014167142010385053, + -0.00491349445655942 + ], + [ + 0.08324410529976259, + 0.014679692685604095, + 0.9964210807519062, + -0.017860326915979385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9957516262509152, + 0.006303721107542515, + -0.09186375465883731, + -0.04399610310792923 + ], + [ + -0.00789157367469563, + 0.9998254776000977, + -0.016931883645799096, + -0.006199161522090435 + ], + [ + 0.09174099207459674, + 0.017584901303052902, + 0.9956276510317379, + -0.016536680981516838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9948810375528135, + 0.006611814256757498, + -0.10083624555723647, + -0.05250106006860733 + ], + [ + -0.008620014265481523, + 0.999772846698761, + -0.019492763698183268, + -0.009883911348879337 + ], + [ + 0.10068446138495787, + 0.02026219293475151, + 0.994712058279145, + -0.014884108677506447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.993865273692632, + 0.007412129081785679, + -0.11034864598590301, + -0.06022774055600166 + ], + [ + -0.010103676251001061, + 0.9996644258499146, + -0.023852141278071975, + -0.012103515677154064 + ], + [ + 0.11013482107092679, + 0.024820741266012192, + 0.9936066862443083, + -0.013417309150099754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.992651202099813, + 0.00845120195299387, + -0.12071532369612235, + -0.0675744116306305 + ], + [ + -0.011862563632552699, + 0.9995495080947876, + -0.027568937581000034, + -0.014158040285110474 + ], + [ + 0.12042795140928883, + 0.028798330575227737, + 0.9923042945439629, + -0.011663379147648811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9914676890303102, + 0.010067818686366081, + -0.12996312553854245, + -0.0764259323477745 + ], + [ + -0.014096812639181923, + 0.9994469285011292, + -0.030118422119538232, + -0.017465081065893173 + ], + [ + 0.1295880218729478, + 0.031693510711193085, + 0.9910613128019511, + -0.01060029212385416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9900899336543546, + 0.012113926932215694, + -0.13991152655355066, + -0.08340214937925339 + ], + [ + -0.017005309873073804, + 0.9992833137512209, + -0.03381809547079266, + -0.020078111439943314 + ], + [ + 0.13940158925527524, + 0.03586219623684884, + 0.9895863399387068, + -0.008580724708735943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9888932202132443, + 0.014001848176121712, + -0.1479666902489964, + -0.0943952277302742 + ], + [ + -0.019884550191277838, + 0.9990664124488831, + -0.03835269177707513, + -0.023112375289201736 + ], + [ + 0.14729154262660965, + 0.04086896777153015, + 0.9882484214130286, + -0.008175593800842762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9873193908096051, + 0.01602308452129364, + -0.15793585007674796, + -0.10284962505102158 + ], + [ + -0.02307466561048817, + 0.998812198638916, + -0.04291623622549945, + -0.02571195550262928 + ], + [ + 0.15706059340332681, + 0.04601634666323662, + 0.9865163246675918, + -0.0069085960276424885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9854789064858209, + 0.018843840807676315, + -0.1687489422019392, + -0.11118181049823761 + ], + [ + -0.027254211246416173, + 0.9984915852546692, + -0.047662730547734844, + -0.028902918100357056 + ], + [ + 0.16759624930306113, + 0.05156973749399185, + 0.984506027275528, + -0.006003689486533403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9837486696186719, + 0.02154538780450821, + -0.17825378319175428, + -0.12201361358165741 + ], + [ + -0.03129646383809682, + 0.9981527328491211, + -0.05207333021028658, + -0.03200751543045044 + ], + [ + 0.17680256205132203, + 0.05680578202009201, + 0.982605685994904, + -0.006219738628715277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9816825106746524, + 0.023364104330539703, + -0.18908612265936245, + -0.12935449182987213 + ], + [ + -0.034678090864951265, + 0.9977860450744629, + -0.05674927037704045, + -0.03323651850223541 + ], + [ + 0.18734158284134, + 0.06226690858602524, + 0.9803193246519339, + -0.0050733196549117565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9797393026704941, + 0.02538926154375077, + -0.19866131205658813, + -0.13764271140098572 + ], + [ + -0.03792269268520885, + 0.9975052475929262, + -0.05954068999532874, + -0.036853525787591934 + ], + [ + 0.19665401882430936, + 0.0658681243658066, + 0.9782579478596671, + -0.005475369282066822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9777071110369877, + 0.02733885869383812, + -0.20818605658879638, + -0.143863707780838 + ], + [ + -0.04135457815046612, + 0.9971392154693604, + -0.0632703993017426, + -0.03830990940332413 + ], + [ + 0.20586075348651459, + 0.07046936452388763, + 0.9760406874884613, + -0.00458753015846014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9757186455608309, + 0.029498647898435593, + -0.21703215626835248, + -0.15055057406425476 + ], + [ + -0.044729045109371236, + 0.9968429803848267, + -0.06560063414828482, + -0.041348621249198914 + ], + [ + 0.21441184107704542, + 0.07371540367603302, + 0.9739577017574054, + -0.003927207551896572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9738334402133157, + 0.03180190920829773, + -0.2250267298056638, + -0.158560648560524 + ], + [ + -0.048215154562087935, + 0.9965316653251648, + -0.06782270647792253, + -0.04433983564376831 + ], + [ + 0.22208936997591325, + 0.07689771801233292, + 0.9719892177300881, + -0.0036890169139951468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9717848574959747, + 0.03379111737012864, + -0.23343596260896285, + -0.16450902819633484 + ], + [ + -0.0514979408091242, + 0.9962043166160586, + -0.07017797122119207, + -0.04785681515932083 + ], + [ + 0.23017852889255297, + 0.0802193582057953, + 0.9698364522582755, + -0.002889726310968399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9699419910383442, + 0.035879548639059074, + -0.24067653663904284, + -0.17040280997753143 + ], + [ + -0.05506691183631383, + 0.9957755804061892, + -0.0734750917499366, + -0.05002089962363243 + ], + [ + 0.2370235858898175, + 0.08451988548040391, + 0.9678203600371096, + -0.001647698925808072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9683727291026503, + 0.03794853389263153, + -0.24660539090287373, + -0.17675207555294037 + ], + [ + -0.058266599756303966, + 0.9954327940940857, + -0.07562111266414055, + -0.05280066281557083 + ], + [ + 0.24260937510197936, + 0.0875982791185379, + 0.9661610998107633, + -0.0019330460345372558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9666927763145632, + 0.040423255413770676, + -0.25272715772942933, + -0.18184439837932587 + ], + [ + -0.06179536505287204, + 0.9950982928276062, + -0.0772058920096574, + -0.054556410759687424 + ], + [ + 0.24836743692247076, + 0.09025175124406815, + 0.9644523193463588, + -7.573643233627081e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9650403041006731, + 0.04211925342679024, + -0.2586950650377736, + -0.18569108843803406 + ], + [ + -0.06451572766367164, + 0.9948084354400635, + -0.07870151763866606, + -0.055730145424604416 + ], + [ + 0.25403716916396807, + 0.09264003485441208, + 0.9627476284497952, + 0.0017946204170584679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9634141202335482, + 0.04346484690904617, + -0.2644694071601023, + -0.18850821256637573 + ], + [ + -0.06678637630677262, + 0.9945681691169739, + -0.07983602349194238, + -0.057552773505449295 + ], + [ + 0.25956279660868137, + 0.09457810968160629, + 0.9610838163385585, + 0.0032660188153386116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9620638506058521, + 0.04471259564161301, + -0.2691355184533588, + -0.19286134839057922 + ], + [ + -0.06893240628902583, + 0.9943096041679382, + -0.0812200753715944, + -0.05885240063071251 + ], + [ + 0.2639724818328386, + 0.0966910570859909, + 0.9596715019467217, + 0.004776889458298683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9609984322451097, + 0.04667081683874131, + -0.27258742927381574, + -0.19979742169380188 + ], + [ + -0.07128669187438705, + 0.994152903556824, + -0.08110596765479748, + -0.06196216121315956 + ], + [ + 0.2672083152050434, + 0.09737455844879153, + 0.9587064069125071, + 0.005181396845728159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9596522157353866, + 0.048504747450351715, + -0.27697451079206664, + -0.20392216742038727 + ], + [ + -0.0738912593645397, + 0.9938924908638, + -0.08196208528565327, + -0.06288206577301025 + ], + [ + 0.2713073421703494, + 0.09912109375, + 0.9573752388072162, + 0.0070413402281701565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9585256423477484, + 0.05040542036294937, + -0.2805136240990327, + -0.20765310525894165 + ], + [ + -0.0761505214658529, + 0.9937482476234436, + -0.08164284075938108, + -0.06443005800247192 + ], + [ + 0.274644682174395, + 0.09961801767349243, + 0.9563715507625671, + 0.00801798328757286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9573089460500971, + 0.052201393991708755, + -0.2843142672915671, + -0.20967209339141846 + ], + [ + -0.0784490561339761, + 0.9935629367828369, + -0.08172158754574957, + -0.06488754600286484 + ], + [ + 0.27821813822046243, + 0.10053698718547821, + 0.9552418747196431, + 0.009518538601696491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9560821425875354, + 0.054463777691125884, + -0.2879942143325743, + -0.2106471061706543 + ], + [ + -0.08108267003826383, + 0.993384897708893, + -0.08131482992850601, + -0.06669764220714569 + ], + [ + 0.2816603766915923, + 0.10109499841928485, + 0.9541736054261508, + 0.011095753870904446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9551795784601405, + 0.05692677199840547, + -0.2905018634274203, + -0.2118983417749405 + ], + [ + -0.08408932934371398, + 0.9930881857872011, + -0.0818828094716834, + -0.06808437407016754 + ], + [ + 0.28383265467260627, + 0.10264088958501819, + 0.953364523813573, + 0.012929139658808708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9547633501239984, + 0.059109229594469084, + -0.291432831509732, + -0.21464703977108002 + ], + [ + -0.0866959728857067, + 0.9927994608879092, + -0.08266234199899253, + -0.0694122165441513 + ], + [ + 0.28444824687950276, + 0.1041890308260918, + 0.9530130540700004, + 0.013987191021442413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9544666957938931, + 0.06080854311585428, + -0.2920541139154818, + -0.2175242155790329 + ], + [ + -0.08861104554976673, + 0.9926088452339175, + -0.08292023278871694, + -0.07066202163696289 + ], + [ + 0.28485323727281897, + 0.10502382367849353, + 0.9528004459050471, + 0.014876258559525013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9540657982776148, + 0.06277690827846527, + -0.29294633938118875, + -0.21954424679279327 + ], + [ + -0.09072578400540497, + 0.9924275875091553, + -0.08280300941434791, + -0.07267649471759796 + ], + [ + 0.28552991712564074, + 0.10557729750871658, + 0.9525366479173817, + 0.015363257378339767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9536619650493804, + 0.06471274793148041, + -0.29383852496182555, + -0.22120387852191925 + ], + [ + -0.09319541261011267, + 0.9921001195907593, + -0.08397604125628262, + -0.07330771535634995 + ], + [ + 0.28608290811844816, + 0.10746916383504868, + 0.9521591184073178, + 0.016259633004665375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9532672286751386, + 0.06615045666694641, + -0.29479781433430063, + -0.22299614548683167 + ], + [ + -0.09511852889477027, + 0.9918287396430969, + -0.08501910448190203, + -0.07386837154626846 + ], + [ + 0.2867648844751673, + 0.10908666253089905, + 0.9517699520793808, + 0.017381248995661736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9530916611242269, + 0.06741886585950853, + -0.2950779523551886, + -0.2256162315607071 + ], + [ + -0.0965476370026271, + 0.9916689991950991, + -0.08527082768658638, + -0.0750168040394783 + ], + [ + 0.28687081095577366, + 0.10975999385118487, + 0.9516606159432891, + 0.01741117611527443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9527640862571105, + 0.06815531104803087, + -0.29596523748751197, + -0.22636424005031586 + ], + [ + -0.09747281080371488, + 0.991563677787781, + -0.08544334899604789, + -0.0751255676150322 + ], + [ + 0.28764494352697884, + 0.11025591939687732, + 0.951369524300673, + 0.01811119168996811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9523625622527696, + 0.06886447221040726, + -0.2970913809696795, + -0.22631016373634338 + ], + [ + -0.09826655520593082, + 0.9915081262588501, + -0.08517816535100901, + -0.07530923932790756 + ], + [ + 0.2887027813959565, + 0.11031464487314224, + 0.9510422911221501, + 0.01897198148071766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9521551528318221, + 0.06949590891599657, + -0.29760855728106406, + -0.2267633080482483 + ], + [ + -0.09884900735603776, + 0.9914889931678774, + -0.08472596253595156, + -0.0759345144033432 + ], + [ + 0.28918750408634336, + 0.11009057611227038, + 0.9509209497484146, + 0.019465070217847824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9518045113570462, + 0.06993344426155092, + -0.298626103345657, + -0.22549693286418915 + ], + [ + -0.09960295064704901, + 0.9913642406463625, + -0.0853007272298627, + -0.07437725365161896 + ], + [ + 0.29008185122317226, + 0.11093366146087649, + 0.9505504968155394, + 0.020970774814486504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9514817486625421, + 0.07034338265657425, + -0.2995567457883605, + -0.22479850053787231 + ], + [ + -0.10011676960580895, + 0.9913198947906494, + -0.08521420094826787, + -0.07317867130041122 + ], + [ + 0.2909623120329951, + 0.111070416867733, + 0.9502654023297109, + 0.021869508549571037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9503487494920532, + 0.0705118477344513, + -0.3030929466187884, + -0.21709653735160828 + ], + [ + -0.10116216556125775, + 0.9910914301872253, + -0.08662571264605233, + -0.0686364471912384 + ], + [ + 0.2942846891471966, + 0.11298617720603943, + 0.949015631410604, + 0.02444782666862011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9496346833926348, + 0.07062920928001404, + -0.3052957994724296, + -0.2139098048210144 + ], + [ + -0.101692601322564, + 0.9909995794296265, + -0.08705426939853687, + -0.0661141499876976 + ], + [ + 0.2963994494647865, + 0.11371608078479767, + 0.9482700326970289, + 0.02571919932961464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.949282897324918, + 0.07052545249462128, + -0.30641177312790085, + -0.21399328112602234 + ], + [ + -0.10160654471293618, + 0.9910412430763245, + -0.08667984546449922, + -0.06574948877096176 + ], + [ + 0.2975535740128777, + 0.1134171336889267, + 0.94794431925094, + 0.026053160429000854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9490957608045404, + 0.07037439942359924, + -0.30702561938669143, + -0.21586787700653076 + ], + [ + -0.10143181832116036, + 0.9910851120948792, + -0.08638200771088428, + -0.06634282320737839 + ], + [ + 0.2982094538028671, + 0.1131269633769989, + 0.9477728667279284, + 0.02605508454144001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9488830217237855, + 0.07019886374473572, + -0.3077225248428942, + -0.21703986823558807 + ], + [ + -0.10120211530572878, + 0.9911453127861023, + -0.08595955584688768, + -0.06744363903999329 + ], + [ + 0.2989634958378114, + 0.11270773410797119, + 0.9475852555491341, + 0.025774355977773666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9486699012085272, + 0.07010386884212495, + -0.30840051527137624, + -0.21760137379169464 + ], + [ + -0.101061380458077, + 0.9911941289901736, + -0.08556195067439887, + -0.06831967085599899 + ], + [ + 0.2996865371881171, + 0.11233742535114291, + 0.9474007804918958, + 0.02576807700097561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9485036574763202, + 0.06964655220508575, + -0.3090147570176462, + -0.21738217771053314 + ], + [ + -0.1006332514576463, + 0.9912448525428772, + -0.0854788581634856, + -0.06859096139669418 + ], + [ + 0.3003559945227618, + 0.11217416822910309, + 0.9472081634119939, + 0.025244273245334625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9482230765265448, + 0.06899753957986833, + -0.3100198079112297, + -0.21559138596057892 + ], + [ + -0.10019075694030914, + 0.9912593960762026, + -0.08582915130332058, + -0.06799726188182831 + ], + [ + 0.30138803890026106, + 0.11244630813598636, + 0.9468479519214522, + 0.025589600205421448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9481482173278295, + 0.0680852234363556, + -0.31045024652365416, + -0.21525438129901886 + ], + [ + -0.09938268688036765, + 0.9913156032562258, + -0.08611868894353893, + -0.06797497719526291 + ], + [ + 0.3018907803972511, + 0.11250665783882144, + 0.9466806336863919, + 0.025691065937280655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9478118249421682, + 0.06653240323066711, + -0.31181116398083863, + -0.2139579802751541 + ], + [ + -0.09817116505825552, + 0.9913700819015503, + -0.0868780809167637, + -0.06738142669200897 + ], + [ + 0.3033400590181691, + 0.11295492947101593, + 0.9461638276303251, + 0.02618548646569252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9471661320677334, + 0.06538432836532593, + -0.3140082497026747, + -0.21229428052902222 + ], + [ + -0.09733713676170704, + 0.9914270639419556, + -0.08716536972944205, + -0.06754422187805176 + ], + [ + 0.3056170314446074, + 0.11312474310398102, + 0.9454104878691854, + 0.026231879368424416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9464043185983709, + 0.06461778283119202, + -0.3164545239472714, + -0.21023301780223846 + ], + [ + -0.0970051118763933, + 0.9914153218269348, + -0.08766817553351436, + -0.06806278228759766 + ], + [ + 0.3080729410824606, + 0.11366724967956543, + 0.9445479584991938, + 0.025810515508055687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9456350875840703, + 0.06364770978689194, + -0.31894087037986735, + -0.20770129561424255 + ], + [ + -0.09671949446155961, + 0.9913302659988403, + -0.08893640191104875, + -0.06725583225488663 + ], + [ + 0.3105151284044534, + 0.11494918167591095, + 0.9435926507688958, + 0.025462698191404343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9448665858609369, + 0.06297691911458969, + -0.32134261716867385, + -0.20491138100624084 + ], + [ + -0.09654725163327067, + 0.9912862181663513, + -0.08961187184173457, + -0.06635624170303345 + ], + [ + 0.3128990252460135, + 0.1156960129737854, + 0.9427134373504494, + 0.02536577358841896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9442142128010842, + 0.06193211302161217, + -0.32345625233048986, + -0.20289230346679688 + ], + [ + -0.09593616898811849, + 0.9912877082824707, + -0.09024946057219502, + -0.06550944596529007 + ], + [ + 0.3150488550789192, + 0.11624597012996674, + 0.9419294390249051, + 0.024966415017843246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9435397990326938, + 0.06123167276382446, + -0.3255508320752409, + -0.20070236921310425 + ], + [ + -0.09557332267537272, + 0.991295337677002, + -0.09054979180506596, + -0.06514817476272583 + ], + [ + 0.31717252009435026, + 0.11655130237340927, + 0.9411787197700415, + 0.024490462616086006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9428386538716707, + 0.06049945950508118, + -0.3277118134044438, + -0.1976606547832489 + ], + [ + -0.09517107021135673, + 0.9913108944892883, + -0.09080294038152795, + -0.0652007982134819 + ], + [ + 0.3193707728347258, + 0.1168012022972107, + 0.9404040688559313, + 0.02453196793794632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9423694847754787, + 0.05960572883486749, + -0.32922171949487217, + -0.1952834576368332 + ], + [ + -0.0946513836533898, + 0.9913005828857424, + -0.09145625071286885, + -0.06505024433135986 + ], + [ + 0.3209063750460854, + 0.11734686791896823, + 0.9398131617870282, + 0.024100705981254578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9420722781129549, + 0.05882669612765312, + -0.3302109686656343, + -0.1929967850446701 + ], + [ + -0.0941998446489703, + 0.9912792444229126, + -0.09215132576376724, + -0.06485342234373093 + ], + [ + 0.3219103278856119, + 0.11791902780532837, + 0.9393981441339261, + 0.023423004895448685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9419949712261181, + 0.058383237570524216, + -0.3305099481336061, + -0.1912337690591812 + ], + [ + -0.0939116583489895, + 0.9912688136100769, + -0.09255645754420376, + -0.06463184952735901 + ], + [ + 0.32222047870952913, + 0.11822646111249924, + 0.9392531550301697, + 0.02281319536268711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9419848637647188, + 0.05705414339900017, + -0.3307708911944302, + -0.1891404241323471 + ], + [ + -0.09287700125142355, + 0.9912762641906738, + -0.09351582893978841, + -0.06373946368694305 + ], + [ + 0.32254988196300083, + 0.11881150305271149, + 0.939066247194947, + 0.023619210347533226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.941661432175634, + 0.055202387273311615, + -0.3320036594421158, + -0.18595531582832336 + ], + [ + -0.09142974687232744, + 0.9913179278373718, + -0.09449520537854789, + -0.06240745261311531 + ], + [ + 0.3239048138558813, + 0.11933749914169312, + 0.93853299772599, + 0.024601414799690247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9411191154144509, + 0.05349337309598924, + -0.33381616175732676, + -0.18230417370796204 + ], + [ + -0.0901490580587222, + 0.9913589954376223, + -0.09529156746939454, + -0.060632556676864624 + ], + [ + 0.32583419750839826, + 0.11977393180131915, + 0.9378093251420438, + 0.02564459666609764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9404796188345592, + 0.05183985084295274, + -0.33587303326454265, + -0.1794741153717041 + ], + [ + -0.08879467673751065, + 0.9914505481719973, + -0.09561035448101025, + -0.05967850610613823 + ], + [ + 0.3280450674524317, + 0.11974332481622699, + 0.9370421620508909, + 0.026753980666399002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9396754031495925, + 0.0499355047941208, + -0.3384029758330456, + -0.1764041632413864 + ], + [ + -0.08736292300514302, + 0.9915130138397219, + -0.09627896609110795, + -0.059511054307222366 + ], + [ + 0.3307232270852105, + 0.12003484368324283, + 0.9360629327770382, + 0.027844944968819618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9388195743437784, + 0.04809243604540825, + -0.3410350465365202, + -0.17359407246112823 + ], + [ + -0.08609946475096789, + 0.9915342926979065, + -0.09719402891259046, + -0.059946298599243164 + ], + [ + 0.3334736474608145, + 0.12061059474945068, + 0.935012529260991, + 0.028628014028072357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9380038558750778, + 0.04630272835493088, + -0.3435183779956328, + -0.1707768440246582 + ], + [ + -0.08501625948261367, + 0.9914988875389099, + -0.09849976378415985, + -0.0595579519867897 + ], + [ + 0.33603727239673836, + 0.12159780412912369, + 0.9339662600470943, + 0.03004900924861431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9372334721661651, + 0.04454139992594719, + -0.34584600548442035, + -0.167827770113945 + ], + [ + -0.08389317123273654, + 0.9914789795875549, + -0.09965599658435347, + -0.058974750339984894 + ], + [ + 0.33846022610654186, + 0.12241505086421967, + 0.9329840382317132, + 0.031805336475372314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9364972425618282, + 0.04296854883432388, + -0.34803254804760214, + -0.16473053395748138 + ], + [ + -0.08293225961944835, + 0.9914491772651672, + -0.10075121292115356, + -0.058643002063035965 + ], + [ + 0.3407274361319148, + 0.12321635335683823, + 0.9320528438781086, + 0.03419385477900505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.935794926005964, + 0.041450537741184235, + -0.3500995367971432, + -0.1626848429441452 + ], + [ + -0.0820250176870777, + 0.991410493850708, + -0.10186846591319877, + -0.0583159513771534 + ], + [ + 0.3428698579029635, + 0.12404491752386093, + 0.9311568850235287, + 0.03669828921556473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9350564165721794, + 0.03918129950761796, + -0.35232697829794696, + -0.16118720173835754 + ], + [ + -0.08048506737697533, + 0.9913828969001772, + -0.10335400655866711, + -0.057656221091747284 + ], + [ + 0.34524142082845016, + 0.12499888986349109, + 0.9301525138844179, + 0.03932617977261543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9341759481221844, + 0.03678734600543976, + -0.35491118640800917, + -0.1594843864440918 + ], + [ + -0.07881398702986965, + 0.9913768768310547, + -0.1046909996107069, + -0.056913092732429504 + ], + [ + 0.3479994596050937, + 0.12577177584171295, + 0.9290198245250194, + 0.042612817138433456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9332239961739863, + 0.03430882841348649, + -0.3576532742482686, + -0.1573059856891632 + ], + [ + -0.07705363766528645, + 0.9913809895515444, + -0.10595509487832334, + -0.05601613223552704 + ], + [ + 0.3509354578595227, + 0.12643831968307498, + 0.9278241747057157, + 0.046404123306274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9323182550404647, + 0.03170613944530488, + -0.3602463631058888, + -0.15538202226161957 + ], + [ + -0.07505118776025421, + 0.9914250969886782, + -0.10697493859029045, + -0.05578631907701492 + ], + [ + 0.35376550355729136, + 0.12677159905433658, + 0.9267032861662479, + 0.05071694776415825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9315404331269688, + 0.028870169073343277, + -0.36248991035815087, + -0.15478253364562988 + ], + [ + -0.0727699325213605, + 0.9914795160293579, + -0.10804149710454024, + -0.05642091482877731 + ], + [ + 0.3562821188874919, + 0.127023383975029, + 0.9257041087731869, + 0.0550353042781353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.930555201431101, + 0.02611544355750084, + -0.36521918190389413, + -0.15479406714439392 + ], + [ + -0.07089229089871456, + 0.9914294481277466, + -0.1097356708532799, + -0.056867826730012894 + ], + [ + 0.35922324017728197, + 0.12800632417201996, + 0.9244311884284937, + 0.059873633086681366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9289137578066653, + 0.022838277742266655, + -0.3695911336531895, + -0.15433306992053986 + ], + [ + -0.06913440659344196, + 0.9912429451942444, + -0.11250709851137608, + -0.0563676543533802 + ], + [ + 0.3637851360973354, + 0.1300608515739441, + 0.9223581402609221, + 0.06548429280519485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9268039600650293, + 0.019961198791861534, + -0.3750145625472261, + -0.15386293828487396 + ], + [ + -0.06814566307440606, + 0.9909475445747375, + -0.11566797609840365, + -0.05667450651526451 + ], + [ + 0.36931089281160573, + 0.13275715708732605, + 0.9197744288222995, + 0.07075244933366776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.924532590568741, + 0.016954444348812103, + -0.38072565415125714, + -0.15405164659023285 + ], + [ + -0.06725744036835009, + 0.9905882477760315, + -0.11921134904150171, + -0.056978534907102585 + ], + [ + 0.37512121433415924, + 0.1358214169740677, + 0.9169714595291805, + 0.07625675201416016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9219807739880213, + 0.013900697231292725, + -0.38698601251536485, + -0.1542024463415146 + ], + [ + -0.06637301234035548, + 0.9902390241622925, + -0.12256161736277298, + -0.056459225714206696 + ], + [ + 0.3815049528979636, + 0.13868489861488342, + 0.9139040019509576, + 0.08256251364946365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9193356557714372, + 0.010960016399621964, + -0.39332149935983884, + -0.1537965089082718 + ], + [ + -0.06548205718360844, + 0.989933967590332, + -0.12547063742966255, + -0.055416956543922424 + ], + [ + 0.3879871464004979, + 0.14110514521598816, + 0.9107992859993183, + 0.08926627784967422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9167129209190903, + 0.009007634595036507, + -0.39944504104804135, + -0.1533011943101883 + ], + [ + -0.06509302148361332, + 0.9897559881210327, + -0.12706693303243619, + -0.05391085520386696 + ], + [ + 0.39420855119381903, + 0.14248497784137726, + 0.9079083915134921, + 0.09622371941804886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.914550124505485, + 0.007773058488965036, + -0.40439793080642106, + -0.15399745106697083 + ], + [ + -0.06484687669388288, + 0.9896999001502993, + -0.127628559565847, + -0.05361595377326012 + ], + [ + 0.39924051423706064, + 0.14294664561748507, + 0.9056341554439387, + 0.10433271527290344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9127091621200356, + 0.00716613233089447, + -0.40854699918054915, + -0.1545499563217163 + ], + [ + -0.06505405380638803, + 0.9896416068077087, + -0.12797433116556428, + -0.053730953484773636 + ], + [ + 0.40339803280923436, + 0.14338096976280212, + 0.9037211588656033, + 0.11194721609354019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9107207460309986, + 0.006502829492092133, + -0.4129714251645926, + -0.15483245253562927 + ], + [ + -0.06557170696458847, + 0.9894711971282959, + -0.12902382581624003, + -0.05272643640637398 + ], + [ + 0.4077843169993425, + 0.14458391070365906, + 0.9015583287006653, + 0.12115653604269028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9089863755292982, + 0.005501167848706246, + -0.4167895226285924, + -0.1546279639005661 + ], + [ + -0.06560183157190826, + 0.9893394708633425, + -0.13001443481329625, + -0.05107862129807472 + ], + [ + 0.4116310984853017, + 0.14552351832389834, + 0.8996570364545481, + 0.12983755767345428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9081126855166995, + 0.004696043208241464, + -0.4186995200659166, + -0.15762931108474731 + ], + [ + -0.06524525291809503, + 0.9893105030059817, + -0.13041381641567812, + -0.051392655819654465 + ], + [ + 0.41361140324498996, + 0.14574858546257022, + 0.8987118379179504, + 0.138382688164711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9069964293339872, + 0.003192733973264694, + -0.42112623411635397, + -0.15872319042682648 + ], + [ + -0.06444372975246643, + 0.9892464876174927, + -0.13129516391659862, + -0.05158661678433418 + ], + [ + 0.41617845128567493, + 0.14622318744659424, + 0.8974487561696528, + 0.14667044579982758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9062604489813065, + 0.0011121146380901337, + -0.4227183465213195, + -0.1607111692428589 + ], + [ + -0.06334119377239962, + 0.9890637993812561, + -0.13319429347501513, + -0.051232051104307175 + ], + [ + 0.4179472867490786, + 0.1474842131137848, + 0.8964198174750205, + 0.15573963522911072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9058648014399293, + -0.0005715936422348022, + -0.42356662587564825, + -0.16254878044128418 + ], + [ + -0.06259825715495114, + 0.988837480545044, + -0.13521077500159526, + -0.05159526690840721 + ], + [ + 0.4189158200640531, + 0.1489972174167633, + 0.8957172354850008, + 0.16366538405418396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9055010947485064, + -0.0016983281821012501, + -0.4243404814985645, + -0.16270320117473602 + ], + [ + -0.06248597882319559, + 0.9885572791099551, + -0.1372954550504649, + -0.052552271634340286 + ], + [ + 0.41971804169935645, + 0.15083652734756473, + 0.8950335711059939, + 0.1724955439567566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9055290836121694, + -0.00222068652510643, + -0.42427843632341034, + -0.16310493648052216 + ], + [ + -0.06315037148486545, + 0.9881423711776733, + -0.13995256416259322, + -0.051697444170713425 + ], + [ + 0.4195582779509029, + 0.15352444350719452, + 0.8946513962968415, + 0.1807555854320526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.905418309473748, + -0.0027912501245737076, + -0.4245114212136488, + -0.16112607717514038 + ], + [ + -0.06343421920234747, + 0.9878620505332947, + -0.14179094543666937, + -0.051126763224601746 + ], + [ + 0.4197544830803585, + 0.15530867874622345, + 0.89425132404495, + 0.18905358016490936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9066914874625376, + -0.003608712926506997, + -0.42177904628814683, + -0.16199801862239838 + ], + [ + -0.06274186759314376, + 0.9876847863197329, + -0.14332572604547478, + -0.04972967132925987 + ], + [ + 0.41710194769415526, + 0.15641543269157412, + 0.8952989413821926, + 0.19654494524002075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9080366026595749, + -0.004252948798239232, + -0.4188692896569782, + -0.16241782903671265 + ], + [ + -0.061822558729291585, + 0.9876375794410708, + -0.1440485658829888, + -0.049976497888565063 + ], + [ + 0.4143036783098789, + 0.1566969454288483, + 0.8965481095846638, + 0.20314505696296692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9093941379798772, + -0.004730646498501301, + -0.4159085763198442, + -0.1620035171508789 + ], + [ + -0.061191093477328325, + 0.9875335097312927, + -0.14502825753389162, + -0.04997288063168526 + ], + [ + 0.4114097321976406, + 0.1573377549648285, + 0.8977677466431945, + 0.20959784090518951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9106782581148289, + -0.005527745001018047, + -0.41307942573485823, + -0.16168591380119324 + ], + [ + -0.06042751464645755, + 0.987373411655426, + -0.14643182971904703, + -0.04851701110601425 + ], + [ + 0.40867306088660427, + 0.15831363201141357, + 0.8988454427839522, + 0.21610796451568604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9115512157265458, + -0.00573046412318945, + -0.4111466139571794, + -0.16018086671829224 + ], + [ + -0.06023195016053181, + 0.987256169319153, + -0.14730012807337964, + -0.04698079451918602 + ], + [ + 0.40675114081591, + 0.15903577208518985, + 0.8995894465999299, + 0.22164872288703918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9130736372935013, + -0.005637188442051411, + -0.4077558256214764, + -0.1629902869462967 + ], + [ + -0.05984811799669025, + 0.9872251749038696, + -0.1476641332506357, + -0.046874649822711945 + ], + [ + 0.40337921704293933, + 0.15923164784908295, + 0.9010718480504404, + 0.22544172406196594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9137272451149808, + -0.005949460901319981, + -0.4062846082734639, + -0.16410471498966217 + ], + [ + -0.059747997465653215, + 0.9870566725730896, + -0.14882629208935644, + -0.04713829234242439 + ], + [ + 0.4019113571171812, + 0.160261332988739, + 0.9015450929275145, + 0.22893434762954712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9136997921302186, + -0.00709008052945137, + -0.4063279879591696, + -0.16295954585075378 + ], + [ + -0.059074549127854876, + 0.9869104027748108, + -0.15006024705561113, + -0.04754415899515152 + ], + [ + 0.4020732365287067, + 0.1611136645078659, + 0.9013209519655452, + 0.23277658224105835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9141703095339216, + -0.008336980827152729, + -0.4052445423822578, + -0.16331519186496735 + ], + [ + -0.058108271335111525, + 0.9867656230926514, + -0.15138392474744658, + -0.0475158616900444 + ], + [ + 0.4011434431309073, + 0.16193874180316925, + 0.9015873579322625, + 0.23532745242118835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9146381427497186, + -0.008741412311792374, + -0.40417894261462284, + -0.16299289464950562 + ], + [ + -0.05775959469187104, + 0.9866841435432434, + -0.15204687444183573, + -0.048358604311943054 + ], + [ + 0.40012607038055065, + 0.162413090467453, + 0.9019540730646537, + 0.2368442714214325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9153497155528683, + -0.008746151812374592, + -0.40256480379997234, + -0.16464713215827942 + ], + [ + -0.057904992292543554, + 0.9865131974220276, + -0.15309712199473527, + -0.04876301437616348 + ], + [ + 0.3984745083845217, + 0.16344791650772095, + 0.9024981316747761, + 0.23786671459674835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9149632990915418, + -0.008642868138849735, + -0.40344445237541693, + -0.1632249504327774 + ], + [ + -0.058584453273367955, + 0.9863337278366089, + -0.1539924042150316, + -0.04902675002813339 + ], + [ + 0.399261804059987, + 0.16453297436237335, + 0.9019528639980807, + 0.23938649892807007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9147898979972655, + -0.007556798867881298, + -0.4038593731403991, + -0.1636960357427597 + ], + [ + -0.060074298911881895, + 0.9861603379249573, + -0.1545279990671938, + -0.050212495028972626 + ], + [ + 0.3994378326757591, + 0.16562220454216003, + 0.9016754989728866, + 0.23980897665023804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9145595695296447, + -0.006199905648827553, + -0.40440377353722573, + -0.164277583360672 + ], + [ + -0.06210993878164175, + 0.9858694076538086, + -0.15557602979818372, + -0.05051415413618088 + ], + [ + 0.39965385672680814, + 0.1674010455608368, + 0.901251180215471, + 0.23978875577449799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9143271968147124, + -0.005315872840583324, + -0.40494138586805417, + -0.1650807112455368 + ], + [ + -0.06352425131027394, + 0.985653281211853, + -0.15637215068998322, + -0.05061127990484238 + ], + [ + 0.39996307094783445, + 0.16869892179965973, + 0.9008719504168934, + 0.23937447369098663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9137927954659261, + -0.004313252866268158, + -0.40615778864723945, + -0.1650310605764389 + ], + [ + -0.06493537201988132, + 0.9855313897132874, + -0.1565606456007259, + -0.05085209384560585 + ], + [ + 0.4009565361801368, + 0.16943800449371338, + 0.9002914370144667, + 0.2391451895236969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9136512673172931, + -0.0026818271726369858, + -0.4064900092331212, + -0.16568684577941895 + ], + [ + -0.06667588128259162, + 0.985446035861969, + -0.15636621436851794, + -0.051703523844480515 + ], + [ + 0.4009933439801865, + 0.16996727883815765, + 0.9001752628064689, + 0.23804059624671936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9133275150258326, + -0.0013744579628109932, + -0.4072235164480909, + -0.16468490660190582 + ], + [ + -0.06825443000041098, + 0.9853313565254211, + -0.1564078235809744, + -0.0521802082657814 + ], + [ + 0.40146508008225645, + 0.17064638435840607, + 0.899836436480659, + 0.23711206018924713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.912832835927365, + -0.00035662204027175903, + -0.408333316832872, + -0.16340643167495728 + ], + [ + -0.06963719811185602, + 0.9852144122123718, + -0.15653503886131687, + -0.05165427550673485 + ], + [ + 0.40235171311699786, + 0.17132550477981567, + 0.8993112536417022, + 0.236616313457489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.912670061338594, + 0.0010032393038272858, + -0.40869597178473677, + -0.1637292355298996 + ], + [ + -0.07079455585131474, + 0.985268235206604, + -0.15567468225515263, + -0.05200102552771568 + ], + [ + 0.40251898158581256, + 0.17101305723190308, + 0.8992958456660508, + 0.23534761369228363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9120228880672814, + 0.0015871431678533558, + -0.410136193577342, + -0.16237427294254303 + ], + [ + -0.07158173821462599, + 0.9852604269981386, + -0.15536409216888805, + -0.050438906997442245 + ], + [ + 0.40384437016975955, + 0.17105387151241305, + 0.898693638267538, + 0.23510240018367767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9119329115442967, + 0.002923309803009033, + -0.41032895949888926, + -0.16421931982040405 + ], + [ + -0.0726684242194959, + 0.9853196144104004, + -0.15448175555162313, + -0.05009026452898979 + ], + [ + 0.4038535454160042, + 0.170694962143898, + 0.8987577663179727, + 0.23405955731868744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9111647140796014, + 0.0037739258259534836, + -0.4120249747026351, + -0.16312013566493988 + ], + [ + -0.07363959547836761, + 0.9853504300117493, + -0.15382360339770218, + -0.049569107592105865 + ], + [ + 0.40540846685561127, + 0.1704999953508377, + 0.8980944947785883, + 0.23344622552394867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9105410785605857, + 0.004963325336575508, + -0.4133887577086047, + -0.16269706189632416 + ], + [ + -0.07478058446379672, + 0.9854109883308411, + -0.15288243727963044, + -0.04896136373281479 + ], + [ + 0.40659902511566826, + 0.17011919617652893, + 0.8976283510282259, + 0.23213981091976166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9099535688950937, + 0.00601639598608017, + -0.4146665447767054, + -0.16243991255760193 + ], + [ + -0.07565393963183828, + 0.9855243563652039, + -0.15171773969320992, + -0.04852134361863136 + ], + [ + 0.4077511782557863, + 0.16942726075649261, + 0.8972365443971102, + 0.23096385598182678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9096804026494594, + 0.00802898034453392, + -0.4152313418639057, + -0.16345907747745514 + ], + [ + -0.07683411927642811, + 0.9858075380325317, + -0.1492648955861991, + -0.04886744171380997 + ], + [ + 0.4081397404721427, + 0.1676872968673706, + 0.8973867410174313, + 0.22942334413528442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9095487167187132, + 0.010136744938790798, + -0.41547362557189205, + -0.16477623581886292 + ], + [ + -0.07748556878043313, + 0.9863095283508301, + -0.14556624623993966, + -0.0506315752863884 + ], + [ + 0.4083100444593844, + 0.16459281742572784, + 0.8978820536806313, + 0.2269444465637207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9091961221619995, + 0.011407498270273209, + -0.4162117966621385, + -0.16547343134880066 + ], + [ + -0.07833515055280454, + 0.9864602088928223, + -0.1440828237431638, + -0.05017895624041557 + ], + [ + 0.4089327639908359, + 0.16360357403755188, + 0.897779395868579, + 0.2256803959608078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9087330917000629, + 0.012560061179101467, + -0.41718870094329863, + -0.16529177129268646 + ], + [ + -0.07925065005262276, + 0.9865555763244629, + -0.1429245129568988, + -0.050543833523988724 + ], + [ + 0.4097847107280143, + 0.16294270753860474, + 0.8975110717648088, + 0.22430945932865143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.908463347875543, + 0.014200386591255665, + -0.4177232715137056, + -0.16568732261657715 + ], + [ + -0.08046156160532499, + 0.9866706728935242, + -0.14144597883610388, + -0.05104982107877731 + ], + [ + 0.4101467110691011, + 0.1621091365814209, + 0.897496703749976, + 0.22214321792125702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9080811291192946, + 0.015898458659648895, + -0.41849237632165076, + -0.16605742275714874 + ], + [ + -0.08179761163335146, + 0.9867663979530334, + -0.14000448040929264, + -0.05240596458315849 + ], + [ + 0.4107283614307392, + 0.16136711835861206, + 0.8973644191323751, + 0.22052840888500214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9077973845614086, + 0.01775534823536873, + -0.4190329788592835, + -0.16700787842273712 + ], + [ + -0.08354475385827909, + 0.9867363572120667, + -0.13918204485495247, + -0.05356132984161377 + ], + [ + 0.41100384895894926, + 0.1613570898771286, + 0.8972400559378736, + 0.21807816624641418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.907635741414309, + 0.019446514546871185, + -0.4193079653334357, + -0.16823385655879974 + ], + [ + -0.0850116437770595, + 0.9867415428161621, + -0.13825380434862558, + -0.05535602197051048 + ], + [ + 0.4110600490504525, + 0.1611301451921463, + 0.8972550943607178, + 0.21529924869537354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9075234333693206, + 0.0210675410926342, + -0.41947279932619475, + -0.16926418244838715 + ], + [ + -0.08633842265487887, + 0.986768901348114, + -0.13723261417342905, + -0.05736665800213814 + ], + [ + 0.41103155297716254, + 0.16075843572616577, + 0.8973348401732879, + 0.21229307353496552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9072277706463935, + 0.02272770181298256, + -0.42002531390187003, + -0.16847240924835205 + ], + [ + -0.08776422206416466, + 0.9867904186248779, + -0.1361695564455682, + -0.05820586159825325 + ], + [ + 0.4113821143455836, + 0.16039998829364777, + 0.8972383211730531, + 0.20999810099601746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9073746267286984, + 0.024046108126640327, + -0.4196343958393788, + -0.16849806904792786 + ], + [ + -0.08867393888865274, + 0.9868436455726626, + -0.135190865399235, + -0.05825116112828255 + ], + [ + 0.410862735606876, + 0.15987938642501834, + 0.8975691403221976, + 0.2080862820148468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9077368628381296, + 0.02499383687973023, + -0.41879479910797945, + -0.1689072698354721 + ], + [ + -0.08907770885241982, + 0.9869459867477419, + -0.13417443910356205, + -0.058905720710754395 + ], + [ + 0.4099743251784617, + 0.15910036861896518, + 0.8981136761821374, + 0.20582184195518494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9080039254880896, + 0.02556312456727028, + -0.4181810131008098, + -0.16858914494514465 + ], + [ + -0.08911709776050868, + 0.9870795607566833, + -0.1331620521251733, + -0.06030331924557686 + ], + [ + 0.4093738840908583, + 0.15817876160144806, + 0.8985502361433805, + 0.20381344854831696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9084448309858195, + 0.025962848216295242, + -0.4171977436941421, + -0.1688876450061798 + ], + [ + -0.089062053216311, + 0.9871737957000732, + -0.13249862008220573, + -0.061087172478437424 + ], + [ + 0.40840662702844904, + 0.15752416849136353, + 0.8991052312543487, + 0.20122355222702026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9086553162547866, + 0.026334792375564575, + -0.41671572108839494, + -0.16849994659423828 + ], + [ + -0.08895092386436247, + 0.9873086810112, + -0.1315649076156853, + -0.06233387067914009 + ], + [ + 0.4079623067034849, + 0.15661439299583435, + 0.8994657850729554, + 0.19855789840221405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/5adad5bf-2f8a-4928-8aca-b30f2e685b7f/tilt_up/transforms.json b/dynpose_eval/camera_controls/5adad5bf-2f8a-4928-8aca-b30f2e685b7f/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..85b3b173d85852b6fb0b2611253f594677556e8b --- /dev/null +++ b/dynpose_eval/camera_controls/5adad5bf-2f8a-4928-8aca-b30f2e685b7f/tilt_up/transforms.json @@ -0,0 +1,5403 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 154, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -4.230966078466736e-05, + -8.106805762508884e-05, + 0.00019144210091326386 + ], + [ + 4.233203435433097e-05, + 0.9999999403953552, + 0.00027599718305282295, + -0.0004897780017927289 + ], + [ + 8.105637243716046e-05, + -0.00027600061730481684, + 0.9999999403953552, + 0.00010821820615092292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999988079071047, + -0.0005690443986026295, + 0.001435064248081778, + 0.002248403150588274 + ], + [ + 0.0005691536935046316, + 0.9999998442238934, + -7.574232800536135e-05, + 0.0008996132528409362 + ], + [ + -0.0014350209385156634, + 7.655896384118566e-05, + 0.9999989487555602, + -0.001768986345268786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999969601631165, + -0.001089723666719642, + 0.0022219212106808725, + 0.003723178757354617 + ], + [ + 0.0010913918958976865, + 0.9999991176520147, + -0.000749746186308647, + 0.0023468411527574062 + ], + [ + -0.002221102360635996, + 0.0007521687379968214, + 0.9999972616066835, + -0.003696210915222764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999950528144836, + -0.0018554425969585396, + 0.0025288627242790124, + 0.005120956338942051 + ], + [ + 0.0018599673639982939, + 0.9999966652913771, + -0.0017880818489701177, + 0.004141670651733875 + ], + [ + -0.002525536809116602, + 0.001792776691452237, + 0.9999952106607078, + -0.005696545820683241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999939203262329, + -0.0020730161454767973, + 0.0027984410219576085, + 0.0058518159203231335 + ], + [ + 0.0020814817398786545, + 0.9999932376413707, + -0.003025560493740982, + 0.005717022344470024 + ], + [ + -0.0027921502478420734, + 0.003031367372457436, + 0.9999915289268383, + -0.007220462430268526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999937415122988, + -0.0024136191178766517, + 0.002590024442046912, + 0.0063319699838757515 + ], + [ + 0.0024247092660516505, + 0.9999878783713022, + -0.004287267010888955, + 0.007029287051409483 + ], + [ + -0.0025796452537178998, + 0.004293520347302319, + 0.9999874672283972, + -0.008304174989461899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999956488609316, + -0.0021651012915312145, + 0.0019969745198097568, + 0.006122742313891649 + ], + [ + 0.002176369540393353, + 0.9999816209306275, + -0.005657820515322173, + 0.007718604989349842 + ], + [ + -0.0019846879877150063, + 0.0056621421827353045, + 0.999981993814557, + -0.009838213212788105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999974966049197, + -0.0019740763837097714, + 0.0010572260390255017, + 0.005618628114461899 + ], + [ + 0.0019816998392343525, + 0.9999716757515729, + -0.007258764170769885, + 0.008363297209143639 + ], + [ + -0.0010428667301312091, + 0.007260841242428869, + 0.9999730814858344, + -0.01121244952082634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999983310699463, + -0.0017265215258408957, + -0.0005843756627298743, + 0.005542147904634476 + ], + [ + 0.0017211897065863013, + 0.9999579700578395, + -0.009004654116504586, + 0.00877098087221384 + ], + [ + 0.0005998978740535676, + 0.009003633738792214, + 0.9999592954515703, + -0.012789660133421421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999969601631165, + -0.0013136324809413322, + -0.002080837601047724, + 0.004814312793314457 + ], + [ + 0.0012914164690300822, + 0.9999425304408271, + -0.010642036365319149, + 0.008733274415135384 + ], + [ + 0.002094697905704379, + 0.010639316601452948, + 0.9999412012589969, + -0.014395013451576233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999929666519167, + -0.0009663888537792523, + -0.003631365091105486, + 0.004035015590488911 + ], + [ + 0.0009210455464199188, + 0.9999218506289272, + -0.012467569774844102, + 0.009163080714643002 + ], + [ + 0.0036431297194212684, + 0.012464137513250765, + 0.9999157095736829, + -0.015349759720265865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999987781047821, + -0.0002331488308707619, + -0.004940523263939938, + 0.0026175067760050297 + ], + [ + 0.00016234678332693875, + 0.9998973421074263, + -0.014326440031590271, + 0.009251329116523266 + ], + [ + 0.00494335638359189, + 0.01432546233831546, + 0.9998851393949875, + -0.016315452754497528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999756217002869, + 0.0008969137004301602, + -0.00692040349247693, + 0.0008276237058453262 + ], + [ + -0.001010662643238902, + 0.9998641852325751, + -0.01645079572266393, + 0.009162588976323605 + ], + [ + 0.006904708221554756, + 0.016457389123410326, + 0.9998407394994302, + -0.01721039041876793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999539852142334, + 0.001881993161725918, + -0.009407177679580303, + -0.0013484037481248379 + ], + [ + -0.0020573644433170557, + 0.99982361669697, + -0.018667479609123776, + 0.00814515445381403 + ], + [ + 0.009370386600494385, + 0.018685974625474194, + 0.9997814716426229, + -0.01877513714134693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999219775199892, + 0.0024377140456944644, + -0.012253619728312085, + -0.0038451950531452894 + ], + [ + -0.002704025944694877, + 0.9997594537397009, + -0.021763966568447656, + 0.007324705831706524 + ], + [ + 0.01219761744141579, + 0.02179540259808414, + 0.9996880487544076, + -0.019579628482460976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998703598976135, + 0.003971165387352956, + -0.01560359437695781, + -0.006727120839059353 + ], + [ + -0.004370751790702343, + 0.9996612256816647, + -0.02565853655888288, + 0.0062189362943172455 + ], + [ + 0.015496413223445415, + 0.025723408866731093, + 0.9995489572186269, + -0.02002250775694847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998006820678711, + 0.004988627678449717, + -0.01933208966064111, + -0.010114604607224464 + ], + [ + -0.005557038355618715, + 0.9995504566682644, + -0.02946114687219085, + 0.004744736943393946 + ], + [ + 0.019176427274942398, + 0.02956270478781302, + 0.999378990795794, + -0.020919453352689743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997033476829529, + 0.004988582728366159, + -0.02383983507599228, + -0.01480747852474451 + ], + [ + -0.0057767597027122974, + 0.9994350878283667, + -0.03310768034800203, + 0.003542243968695402 + ], + [ + 0.023661207407712936, + 0.033235576770817093, + 0.9991674446126645, + -0.02066604420542717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995696544647217, + 0.004032436837725852, + -0.0290563305778519, + -0.019673746079206467 + ], + [ + -0.0050968280993402, + 0.9993151092477355, + -0.03665153798623783, + 0.0012442178558558226 + ], + [ + 0.028888635337352753, + 0.03678385953924337, + 0.9989055881901701, + -0.01975787803530693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993729591369629, + 0.003491548812740769, + -0.03523569556670291, + -0.024489575996994972 + ], + [ + -0.004947640001773834, + 0.9991336503653773, + -0.04132211832187788, + -0.00030229223193600774 + ], + [ + 0.03506089001893997, + 0.041470537863493855, + 0.9985243512867192, + -0.01940164528787136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999143660068512, + 0.0036250860734193943, + -0.04121684415784462, + -0.030675673857331276 + ], + [ + -0.005505343433469534, + 0.9989447280888692, + -0.045597084710815285, + -0.002738696988672018 + ], + [ + 0.041008058935403824, + 0.045784950840328444, + 0.9981092468040001, + -0.018434058874845505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9988568425178528, + 0.0038318351999880123, + -0.04764748179952601, + -0.03673689439892769 + ], + [ + -0.006231275852769613, + 0.9987141279140511, + -0.050312098954459906, + -0.00491349445655942 + ], + [ + 0.047393426299095154, + 0.05055148937420704, + 0.9975963385442933, + -0.017860326915979385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9985035061836243, + 0.004254780110027311, + -0.05452185329193321, + -0.04399610310792923 + ], + [ + -0.007248743437230587, + 0.9984691704084495, + -0.054833591342948074, + -0.006199161522090435 + ], + [ + 0.05420508608222008, + 0.05514675141886363, + 0.9970058687542469, + -0.016536680981516838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9980781078338623, + 0.004182462406160941, + -0.06182670182862663, + -0.05250106006860733 + ], + [ + -0.007846390828490257, + 0.998218997181933, + -0.0591378499333322, + -0.009883911348879337 + ], + [ + 0.06146924942731857, + 0.05950931260013536, + 0.9963333624854377, + -0.014884108677506447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9975576996803284, + 0.004554507807386302, + -0.06969819113651009, + -0.06022774055600166 + ], + [ + -0.009115907363593578, + 0.9978261410365115, + -0.0652676468420289, + -0.012103515677154064 + ], + [ + 0.06924941390752792, + 0.06574360682586104, + 0.9954307066761127, + -0.013417309150099754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969054460525513, + 0.005101220988562215, + -0.07844444145319192, + -0.0675744116306305 + ], + [ + -0.0106727359816432, + 0.9974355035376273, + -0.07077072033771677, + -0.014158040285110474 + ], + [ + 0.07788225263357162, + 0.07138893256654975, + 0.9944033504200793, + -0.011663379147648811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9962666630744934, + 0.006244651685574408, + -0.08610280910453406, + -0.0764259323477745 + ], + [ + -0.012743374332785606, + 0.9970919655707907, + -0.07513468554993649, + -0.017465081065893173 + ], + [ + 0.08538322895765305, + 0.07595142760399068, + 0.9934491152668825, + -0.01060029212385416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9954950809478762, + 0.007758072108900855, + -0.09449558369406873, + -0.08340214937925339 + ], + [ + -0.015425328165292743, + 0.9966206123542645, + -0.08068085007221855, + -0.020078111439943314 + ], + [ + 0.09355032444000246, + 0.08177501573851835, + 0.9922505772219273, + -0.008580724708735943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9948449730873108, + 0.00917562493549315, + -0.10099149265784958, + -0.0943952277302742 + ], + [ + -0.01802491955459118, + 0.9960396569121911, + -0.08706391284357543, + -0.023112375289201736 + ], + [ + 0.09979266673326492, + 0.08843545933919508, + 0.9910704347719737, + -0.008175593800842762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9939379692077637, + 0.010608245121591668, + -0.10942956615228792, + -0.10284962505102158 + ], + [ + -0.020917542278766632, + 0.9953998653945012, + -0.09349660995099769, + -0.02571195550262928 + ], + [ + 0.10793433338403702, + 0.09521882302455054, + 0.9895875648040715, + -0.0069085960276424885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9928393959999084, + 0.012766356772338153, + -0.11877257614637372, + -0.11118181049823761 + ], + [ + -0.024772703647613525, + 0.9946621724402096, + -0.10016710841799666, + -0.028902918100357056 + ], + [ + 0.1168598160147667, + 0.10239217479740073, + 0.9878561050521221, + -0.006003689486533403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9918159246444702, + 0.014842837813867157, + -0.12681057417105351, + -0.12201361358165741 + ], + [ + -0.028491545468568802, + 0.9939038186426189, + -0.10650544392922004, + -0.03200751543045044 + ], + [ + 0.12445667386054993, + 0.10924682255160018, + 0.9861924989890613, + -0.006219738628715277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9905595779418945, + 0.015936576710204788, + -0.13615338037795577, + -0.12935449182987213 + ], + [ + -0.03152034059166908, + 0.9930856692869535, + -0.1130812230459636, + -0.03323651850223541 + ], + [ + 0.13340982794761658, + 0.11630528565181726, + 0.9842128393740956, + -0.0050733196549117565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9893895387649538, + 0.017275459901221143, + -0.14425647914295375, + -0.13764271140098572 + ], + [ + -0.03450198099017144, + 0.9924397112042626, + -0.11778359942536701, + -0.036853525787591934 + ], + [ + 0.14113110303878787, + 0.12151099513072017, + 0.9825055293967692, + -0.005475369282066822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9881579279899597, + 0.01851359553606252, + -0.1523193961906508, + -0.143863707780838 + ], + [ + -0.03760576620697975, + 0.9916397787872782, + -0.12343546922728683, + -0.03830990940332413 + ], + [ + 0.14876075088977814, + 0.12770182375507816, + 0.98059292675387, + -0.00458753015846014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9869593977928162, + 0.019974426681009634, + -0.15972530095321555, + -0.15055057406425476 + ], + [ + -0.04072246327996254, + 0.9909762562322135, + -0.12770199210644975, + -0.041348621249198914 + ], + [ + 0.15573319792747498, + 0.13254108793156405, + 0.9788667091177097, + -0.003927207551896572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9858392477035522, + 0.021605596921772146, + -0.1662953267622808, + -0.158560648560524 + ], + [ + -0.04394847899675369, + 0.9902915409704189, + -0.13187560697675543, + -0.04433983564376831 + ], + [ + 0.16183160245418549, + 0.13731657719193277, + 0.9772178246178042, + -0.0036890169139951468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9846071004867556, + 0.02287380537517616, + -0.17327909339989442, + -0.16450902819633484 + ], + [ + -0.04695469886064531, + 0.9895711372060261, + -0.13617726190685922, + -0.04785681515932083 + ], + [ + 0.16835710406303409, + 0.1422173643370247, + 0.9754128108219343, + -0.002889726310968399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9835305809974673, + 0.02429352548154382, + -0.1791017145116061, + -0.17040280997753143 + ], + [ + -0.05017640814185144, + 0.98867478130042, + -0.1414371425993955, + -0.05002089962363243 + ], + [ + 0.1736373603343964, + 0.14809443320347107, + 0.9736108804662643, + -0.001647698925808072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9826618432998657, + 0.025762193058854122, + -0.18360845200584475, + -0.17675207555294037 + ], + [ + -0.05309421569108963, + 0.9879265647817825, + -0.1455407288160154, + -0.05280066281557083 + ], + [ + 0.17764221131801605, + 0.15276586559188524, + 0.9721655585585478, + -0.0019330460345372558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.981713593006134, + 0.027606371939825555, + -0.18835150423160252, + -0.18184439837932587 + ], + [ + -0.05637050047516823, + 0.9872115236617981, + -0.14911674458950291, + -0.054556410759687424 + ], + [ + 0.18182618916034698, + 0.15700741100804602, + 0.9707151736954592, + -7.573643233627081e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9808003902435303, + 0.028668210533935846, + -0.19289552852714925, + -0.18569108843803406 + ], + [ + -0.05884021893143654, + 0.9865410771245912, + -0.15256003080512698, + -0.055730145424604416 + ], + [ + 0.18592572212219238, + 0.16098095352191788, + 0.969286755257127, + 0.0017946204170584679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9799174070358276, + 0.029378811559545852, + -0.1972277569850485, + -0.18850821256637573 + ], + [ + -0.06088138371706009, + 0.9859387598578493, + -0.15562221131492704, + -0.057552773505449295 + ], + [ + 0.18988250195980072, + 0.1645044121802167, + 0.9679271150581955, + 0.0032660188153386116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9792453646659851, + 0.030059563810532253, + -0.20043685925605131, + -0.19286134839057922 + ], + [ + -0.06277531385421753, + 0.9852924510499624, + -0.15892769455078226, + -0.05885240063071251 + ], + [ + 0.19271163642406464, + 0.16821169683962567, + 0.9667300934424066, + 0.004776889458298683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9787794351577761, + 0.03153034399212456, + -0.20247645107524184, + -0.19979742169380188 + ], + [ + -0.06498415023088457, + 0.9848499785034597, + -0.1607717205810253, + -0.06196216121315956 + ], + [ + 0.19433975219726568, + 0.170517809947182, + 0.9659998965888281, + 0.005181396845728159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.978114664554596, + 0.03279675301461381, + -0.20546542603200388, + -0.20392216742038727 + ], + [ + -0.06736748665571213, + 0.9842241817819234, + -0.1635981869327864, + -0.06288206577301025 + ], + [ + 0.19685855507850647, + 0.1738594790634543, + 0.9648935712580412, + 0.0070413402281701565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9776146411895752, + 0.0341871596019066, + -0.20760746180095385, + -0.20765310525894165 + ], + [ + -0.06949520111083984, + 0.9838010127912379, + -0.16524533056926752, + -0.06443005800247192 + ], + [ + 0.19859516620635986, + 0.17597397739018597, + 0.9641540920624746, + 0.00801798328757286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9770553112030029, + 0.03544425769212016, + -0.21001578453636183, + -0.20967209339141846 + ], + [ + -0.07163036614656448, + 0.9833014257225818, + -0.1672942869481561, + -0.06488754600286484 + ], + [ + 0.2005791962146759, + 0.17849927653533113, + 0.9632788027187816, + 0.009518538601696491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9764864444732668, + 0.037167642584192286, + -0.2123507100268069, + -0.2106471061706543 + ], + [ + -0.07413820177316667, + 0.9828417762295648, + -0.16889531041061717, + -0.06669764220714569 + ], + [ + 0.20242969691753393, + 0.18066728057987777, + 0.9624871881376561, + 0.011095753870904446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9761525392532351, + 0.03918293215237014, + -0.2135203387728156, + -0.2118983417749405 + ], + [ + -0.07693657279014589, + 0.9821765709804394, + -0.1714931535979748, + -0.06808437407016754 + ], + [ + 0.2029950767755509, + 0.18383099873122447, + 0.9617687903285032, + 0.012929139658808708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9761744141578677, + 0.04105244843803679, + -0.21306867593763879, + -0.21464703977108002 + ], + [ + -0.07931528985500337, + 0.9814973814160394, + -0.17427564117614103, + -0.0694122165441513 + ], + [ + 0.20197190344333654, + 0.18702302759033937, + 0.9613687002890988, + 0.013987191021442413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9762888550758364, + 0.04247006281198184, + -0.21226474735575177, + -0.2175242155790329 + ], + [ + -0.08104687929153444, + 0.9809590947983401, + -0.17649549491500777, + -0.07066202163696289 + ], + [ + 0.20072725415229803, + 0.18951398724562296, + 0.9611415494714904, + 0.014876258559525013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9763228893280029, + 0.044133707397249776, + -0.21176845151848736, + -0.21954424679279327 + ], + [ + -0.08300898969173431, + 0.9804564811471191, + -0.17836652967324468, + -0.07267649471759796 + ], + [ + 0.19975778460502625, + 0.19172199796078232, + 0.9609055457932996, + 0.015363257378339767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9763543009757996, + 0.045766712199350336, + -0.21127623884135666, + -0.22120387852191925 + ], + [ + -0.08520719408988953, + 0.979684813927488, + -0.18154175047034196, + -0.07330771535634995 + ], + [ + 0.19867554306983948, + 0.19525133241812404, + 0.9604191710050176, + 0.016259633004665375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9764012694358826, + 0.046899385400776365, + -0.21081046513997365, + -0.22299614548683167 + ], + [ + -0.08686819672584534, + 0.9789768765125357, + -0.18454870115875419, + -0.07386837154626846 + ], + [ + 0.19772334396839142, + 0.19850631149448045, + 0.9599483132638895, + 0.017381248995661736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.976603150367737, + 0.04793066470128937, + -0.20964005823686316, + -0.2256162315607071 + ], + [ + -0.08810732513666154, + 0.9784505017682018, + -0.18673960232519668, + -0.0750168040394783 + ], + [ + 0.19617187976837164, + 0.200841311664667, + 0.9597809163987141, + 0.01741117611527443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9767099618911745, + 0.04837735352893851, + -0.20903888225523123, + -0.22636424005031586 + ], + [ + -0.08885083347558977, + 0.977985389676376, + -0.1888124699587062, + -0.0751255676150322 + ], + [ + 0.1953027099370957, + 0.20298829799188906, + 0.9595064123998136, + 0.01811119168996811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9767667055130005, + 0.048775210598853126, + -0.20868118265015267, + -0.22631016373634338 + ], + [ + -0.08950500935316086, + 0.9776089746488353, + -0.19044565143022674, + -0.07530923932790756 + ], + [ + 0.1947195827960968, + 0.20469898503245895, + 0.9592615211528671, + 0.01897198148071766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9769573807716372, + 0.049158995830824705, + -0.20769602565262263, + -0.2267633080482483 + ], + [ + -0.08996783941984178, + 0.9772863373129332, + -0.1918781939866173, + -0.0759345144033432 + ], + [ + 0.19354595243930822, + 0.20614278379614082, + 0.9591898232998439, + 0.019465070217847824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9770549535751345, + 0.0493017577562308, + -0.20720284371059594, + -0.22549693286418915 + ], + [ + -0.09049886465072633, + 0.9767516738713125, + -0.19433512951188125, + -0.07437725365161896 + ], + [ + 0.1928046494722367, + 0.20862772257376636, + 0.9588017757420035, + 0.020970774814486504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9771720767021179, + 0.0494280246166519, + -0.20661935138068876, + -0.22479850053787231 + ], + [ + -0.09085632115602493, + 0.9763611716839055, + -0.1961222902714611, + -0.07317867130041122 + ], + [ + 0.19204117357730865, + 0.2104179125137865, + 0.9585637845944295, + 0.021869508549571037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9767552614212036, + 0.04903746679474634, + -0.20867315773344167, + -0.21709653735160828 + ], + [ + -0.09158623218536377, + 0.975623141656501, + -0.19942785252172546, + -0.0686364471912384 + ], + [ + 0.19380693137645721, + 0.21390379312108532, + 0.9574361930732601, + 0.02444782666862011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9766234159469604, + 0.048734088404336365, + -0.20936029789037844, + -0.2139098048210144 + ], + [ + -0.0919027179479599, + 0.9751214851722513, + -0.20172252477896552, + -0.0661141499876976 + ], + [ + 0.19432097673416138, + 0.21624772422704835, + 0.9568052651145955, + 0.02571919932961464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9767397046089172, + 0.048329008908317844, + -0.20891120040096237, + -0.21399328112602234 + ], + [ + -0.09169076383113861, + 0.9748404538422736, + -0.2031721545812075, + -0.06574948877096176 + ], + [ + 0.19383598864078522, + 0.21760153187511036, + 0.9565966709410145, + 0.026053160429000854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9769658446311951, + 0.047935091590573645, + -0.20794233731835893, + -0.21586787700653076 + ], + [ + -0.09138333797454834, + 0.974552295608131, + -0.20468725682311265, + -0.06634282320737839 + ], + [ + 0.19283899664878845, + 0.21897492139321806, + 0.9564847621673349, + 0.02605508454144001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9771750569343567, + 0.04751084307830233, + -0.20705470189716751, + -0.21703986823558807 + ], + [ + -0.09103591740131378, + 0.9742925453786492, + -0.20607387559829846, + -0.06744363903999329 + ], + [ + 0.19194112718105316, + 0.22021966918388916, + 0.9563795913268127, + 0.025774355977773666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9773813486099245, + 0.04717192813127412, + -0.20615654316830273, + -0.21760137379169464 + ], + [ + -0.09077535569667818, + 0.9740157807498374, + -0.20749251797671042, + -0.06831967085599899 + ], + [ + 0.19101189076900488, + 0.22151324104800912, + 0.9562668551237348, + 0.02576807700097561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9776264429092407, + 0.046484154447719445, + -0.20514802471530766, + -0.21738217771053314 + ], + [ + -0.0901944488286972, + 0.9737069967853875, + -0.20918816887264546, + -0.06859096139669418 + ], + [ + 0.19003014266490936, + 0.22301110165962734, + 0.9561143580729684, + 0.025244273245334625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.977802634239197, + 0.0455629967996023, + -0.20451397610037253, + -0.21559138596057892 + ], + [ + -0.08954914659261705, + 0.973309745013532, + -0.2113033646331871, + -0.06799726188182831 + ], + [ + 0.1894278228282929, + 0.22492704567078728, + 0.9557849602958564, + 0.025589600205421448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9781160950660708, + 0.04445274730961838, + -0.20325563477612565, + -0.21525438129901886 + ], + [ + -0.08854669332504274, + 0.9729618852508374, + -0.21331813154654067, + -0.06797497719526291 + ], + [ + 0.18827742338180548, + 0.22664751149761306, + 0.9556058449593321, + 0.025691065937280655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.978279709815979, + 0.04259696213178126, + -0.20286529112306134, + -0.2139579802751541 + ], + [ + -0.08708661794662476, + 0.97255865947637, + -0.21574427624923495, + -0.06738142669200897 + ], + [ + 0.18810835480690002, + 0.2287250893727529, + 0.9551440082816222, + 0.02618548646569252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9782395362854004, + 0.041039277045774, + -0.20337935096994908, + -0.21229428052902222 + ], + [ + -0.08605612814426422, + 0.9722042841703973, + -0.2177455295503159, + -0.06754422187805176 + ], + [ + 0.18879015743732452, + 0.23050932177833458, + 0.9545803774499502, + 0.026231879368424416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9781196117401123, + 0.03982636796633474, + -0.20419584567356408, + -0.21023301780223846 + ], + [ + -0.08549647033214569, + 0.9717442377698392, + -0.22000802486861762, + -0.06806278228759766 + ], + [ + 0.18966402113437653, + 0.2326521864218553, + 0.9538870718393124, + 0.025810515508055687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9780030846595764, + 0.038403654858648335, + -0.20502476513769569, + -0.20770129561424255 + ], + [ + -0.08488567918539047, + 0.9711114175701933, + -0.22301810826289334, + -0.06725583225488663 + ], + [ + 0.19053716957569122, + 0.23551606300420017, + 0.9530098745543788, + 0.025462698191404343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9778825044631958, + 0.03728559826061608, + -0.2058048266042795, + -0.20491138100624084 + ], + [ + -0.08445777744054794, + 0.9705844978860156, + -0.2254609544746457, + -0.06635624170303345 + ], + [ + 0.19134452939033508, + 0.2378561395763727, + 0.9522666224945889, + 0.02536577358841896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9778458476066589, + 0.03583239245252204, + -0.2062366393736123, + -0.20289230346679688 + ], + [ + -0.08359702676534653, + 0.9701093715670487, + -0.227814351083029, + -0.06550944596529007 + ], + [ + 0.19190895557403564, + 0.24000807573977276, + 0.9516128682977871, + 0.024966415017843246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9777894616127014, + 0.03472126773943945, + -0.20669353327741863, + -0.20070236921310425 + ], + [ + -0.08302401006221771, + 0.9696746558274515, + -0.22986527989762934, + -0.06514817476272583 + ], + [ + 0.19244427978992462, + 0.24192037002776898, + 0.9510203624937154, + 0.024490462616086006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9777198433876038, + 0.033567978299646736, + -0.20721255550466489, + -0.1976606547832489 + ], + [ + -0.08241702616214752, + 0.9692506641363189, + -0.23186327865824696, + -0.0652007982134819 + ], + [ + 0.19305773079395294, + 0.24377517290975634, + 0.9504222228953947, + 0.02453196793794632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9777982831001284, + 0.0323428028977435, + -0.20703741207872622, + -0.1952834576368332 + ], + [ + -0.08163948357105257, + 0.9687465757350676, + -0.234232881072239, + -0.06505024433135986 + ], + [ + 0.19299104809761053, + 0.2459349303621151, + 0.949879167792256, + 0.024100705981254578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9779794216156006, + 0.0313045868034535, + -0.20634028917011105, + -0.1929967850446701 + ], + [ + -0.08092162013053894, + 0.9682197935139841, + -0.2366477146282151, + -0.06485342234373093 + ], + [ + 0.1923746019601822, + 0.24813397984493066, + 0.94943223564782, + 0.023423004895448685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9782848358154297, + 0.03069870178816001, + -0.20497883740008302, + -0.1912337690591812 + ], + [ + -0.08040276169776917, + 0.9677348378675948, + -0.23879832020278233, + -0.06463184952735901 + ], + [ + 0.19103437662124634, + 0.2500936534977188, + 0.9491886291302726, + 0.02281319536268711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9786497354507446, + 0.029226976348060724, + -0.20344660345683932, + -0.1891404241323471 + ], + [ + -0.07906654477119446, + 0.9672016813566778, + -0.24139048997491896, + -0.06373946368694305 + ], + [ + 0.1897187978029251, + 0.25232255761724653, + 0.9488625405771353, + 0.023619210347533226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.978838324546814, + 0.02710245247867818, + -0.20283238833756834, + -0.18595531582832336 + ], + [ + -0.07731599360704422, + 0.9667022610167944, + -0.24394456784693092, + -0.06240745261311531 + ], + [ + 0.18946702778339386, + 0.2544644774929295, + 0.9483406719307766, + 0.024601414799690247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9788937568664553, + 0.0250358186002073, + -0.20283042367690723, + -0.18230417370796204 + ], + [ + -0.0757533833384514, + 0.9662194535226907, + -0.24633592081105693, + -0.060632556676864624 + ], + [ + 0.1898114830255509, + 0.25650179614837804, + 0.9477227858465583, + 0.02564459666609764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9788915514945986, + 0.02298750482757222, + -0.20308343873206852, + -0.1794741153717041 + ], + [ + -0.07418394833803178, + 0.9658511928234881, + -0.24825035569336634, + -0.05967850610613823 + ], + [ + 0.1904417127370835, + 0.2580757083057979, + 0.9471689006777777, + 0.026753980666399002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9787993431091311, + 0.020618844948603266, + -0.2037810127027854, + -0.1764041632413864 + ], + [ + -0.07248662412166597, + 0.9654026222289043, + -0.2504864119230893, + -0.059511054307222366 + ], + [ + 0.1915659904479981, + 0.25994733202071707, + 0.9464300748760337, + 0.027844944968819618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9786771535873413, + 0.01829243377341017, + -0.2045883536636584, + -0.17359407246112823 + ], + [ + -0.07091787457466125, + 0.9648699280363545, + -0.25297574531866723, + -0.059946298599243164 + ], + [ + 0.19277361035346985, + 0.2620905555652512, + 0.9455934088319662, + 0.028628014028072357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.978579044342041, + 0.01603864857098394, + -0.205245872155834, + -0.1707768440246582 + ], + [ + -0.06946676969528198, + 0.9642149666466688, + -0.25585909762115616, + -0.0595579519867897 + ], + [ + 0.1937974989414215, + 0.2646361164803922, + 0.9446747083379796, + 0.03004900924861431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9785083532333374, + 0.013834706396542568, + -0.20574251071920488, + -0.167827770113945 + ], + [ + -0.06799458712339401, + 0.9635920533803911, + -0.25858661911004993, + -0.058974750339984894 + ], + [ + 0.19467437267303467, + 0.2670185457158982, + 0.9438235904010149, + 0.031805336475372314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9784554243087769, + 0.011837229224672851, + -0.20611865189825895, + -0.16473053395748138 + ], + [ + -0.0666884258389473, + 0.962958982523922, + -0.2612712948757753, + -0.058643002063035965 + ], + [ + 0.19539107382297516, + 0.26938803016218765, + 0.943001790414258, + 0.03419385477900505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9784225821495056, + 0.009911503416272326, + -0.20637584433028572, + -0.1626848429441452 + ], + [ + -0.06542851775884628, + 0.9623068031339692, + -0.26397875084434247, + -0.0583159513771534 + ], + [ + 0.19598045945167542, + 0.2717856391544434, + 0.9421911968444312, + 0.03669828921556473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9783833622932436, + 0.007217237310508644, + -0.20667337495150215, + -0.16118720173835754 + ], + [ + -0.06348294764757158, + 0.9616185418649399, + -0.26694501364160195, + -0.057656221091747284 + ], + [ + 0.19681435823440557, + 0.2742948078770997, + 0.9412898209227052, + 0.03932617977261543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9782649278640747, + 0.004339974254022507, + -0.20731342611663545, + -0.1594843864440918 + ], + [ + -0.06142676621675491, + 0.9609714731748513, + -0.2697416208200688, + -0.056913092732429504 + ], + [ + 0.19805163145065308, + 0.27661336265894204, + 0.9403513155850639, + 0.042612817138433456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.978107273578644, + 0.0013503996783281414, + -0.20809691279742293, + -0.1573059856891632 + ], + [ + -0.05929019302129747, + 0.9603423642609159, + -0.2724467435473928, + -0.05601613223552704 + ], + [ + 0.1994763612747193, + 0.2788202484653234, + 0.9393979421810693, + 0.046404123306274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9779782891273501, + -0.0017398454841111787, + -0.20869951850561358, + -0.15538202226161957 + ], + [ + -0.05695027112960817, + 0.9597922294430874, + -0.2748737603492976, + -0.05578631907701492 + ], + [ + 0.2007863968610764, + 0.28070605499029766, + 0.9385568623970475, + 0.05071694776415825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9779253602027893, + -0.0050033397753498025, + -0.20889460688945863, + -0.15478253364562988 + ], + [ + -0.05432514473795891, + 0.9592478593504102, + -0.277294756283668, + -0.05642091482877731 + ], + [ + 0.20176908373832703, + 0.2825217935462072, + 0.9378009694673061, + 0.0550353042781353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9777523875236511, + -0.008271381377588514, + -0.20959938710582682, + -0.15479406714439392 + ], + [ + -0.05199306830763817, + 0.9584843024983574, + -0.28036502580309497, + -0.056867826730012894 + ], + [ + 0.20321671664714813, + 0.28502528453167125, + 0.9367302336871631, + 0.059873633086681366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.977210521697998, + -0.01234287831304641, + -0.2119132182886625, + -0.15433306992053986 + ], + [ + -0.04959630221128464, + 0.9574009468380477, + -0.2844707780922542, + -0.0563676543533802 + ], + [ + 0.20639710128307343, + 0.28849794907962256, + 0.9349701381444647, + 0.06548429280519485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9763951897621155, + -0.016214321737488827, + -0.21538217463827294, + -0.15386293828487396 + ], + [ + -0.04788438230752945, + 0.9561147751983092, + -0.28905288576273697, + -0.05667450651526451 + ], + [ + 0.21061687171459198, + 0.29254330089974295, + 0.932769504577869, + 0.07075244933366776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9754857420921326, + -0.020278448999183418, + -0.21912630927612503, + -0.15405164659023285 + ], + [ + -0.046196818351745605, + 0.9546872561093612, + -0.29400354190679395, + -0.056978534907102585 + ], + [ + 0.21515904366970062, + 0.2969192132814761, + 0.9303470358177655, + 0.07625675201416016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9744111895561218, + -0.024502659688315723, + -0.22343322090868875, + -0.1542024463415146 + ], + [ + -0.04453429952263832, + 0.9532887365984298, + -0.29875965696893986, + -0.056459225714206696 + ], + [ + 0.22031676769256592, + 0.30106521552970905, + 0.9278040271754717, + 0.08256251364946365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9732773900032043, + -0.028646501065346497, + -0.22783869705586332, + -0.1537965089082718 + ], + [ + -0.04293031617999077, + 0.9519961036664902, + -0.3030848848353329, + -0.055416956543922424 + ], + [ + 0.22558386623859406, + 0.3047668675626216, + 0.9253264844822123, + 0.08926627784967422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9721488952636719, + -0.03179605983333385, + -0.23219731629710288, + -0.1533011943101883 + ], + [ + -0.0420391708612442, + 0.9510268506025968, + -0.3062362821152692, + -0.05391085520386696 + ], + [ + 0.2305629998445511, + 0.30746863225511356, + 0.923202979526851, + 0.09622371941804886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9712873101234438, + -0.03403850208243202, + -0.2354620535902447, + -0.15399745106697083 + ], + [ + -0.041464842855930335, + 0.9503442797367079, + -0.3084258026981008, + -0.05361595377326012 + ], + [ + 0.23426836729049688, + 0.3093334408414206, + 0.921645869991545, + 0.10433271527290344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9706153273582458, + -0.0355249793328954, + -0.23799974947574165, + -0.1545499563217163 + ], + [ + -0.04137302190065384, + 0.9496785094928447, + -0.3104818367394754, + -0.053730953484773636 + ], + [ + 0.23705311119556427, + 0.31120518749056536, + 0.9203027556719235, + 0.11194721609354019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9698597192764282, + -0.037129363350192505, + -0.2408183907997759, + -0.15483245253562927 + ], + [ + -0.04145951196551323, + 0.9487645122923803, + -0.3132523829297962, + -0.05272643640637398 + ], + [ + 0.24011081457138062, + 0.31379507247321836, + 0.9186291012655307, + 0.12115653604269028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9692578911781313, + -0.038961048860267807, + -0.2429427442406738, + -0.1546279639005661 + ], + [ + -0.04107312113046647, + 0.9479080501176355, + -0.31588489900017813, + -0.05107862129807472 + ], + [ + 0.24259458482265478, + 0.31615236900639837, + 0.9171671526249334, + 0.12983755767345428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9691660404205324, + -0.04023723309524839, + -0.24310109355990203, + -0.15762931108474731 + ], + [ + -0.04041066020727158, + 0.9472652286405575, + -0.3178923450612823, + -0.051392655819654465 + ], + [ + 0.24307231605052954, + 0.3179143341304732, + 0.9164313045704514, + 0.138382688164711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9689348340034485, + -0.04230207622792334, + -0.24367158890064564, + -0.15872319042682648 + ], + [ + -0.03922102972865105, + 0.9465121736974795, + -0.32027557431895776, + -0.05158661678433418 + ], + [ + 0.24418644607067108, + 0.3198832033008304, + 0.9154494577055668, + 0.14667044579982758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9689285755157471, + -0.044771408821381496, + -0.243254959196436, + -0.1607111692428589 + ], + [ + -0.03754430264234543, + 0.9454626961897669, + -0.32355948655847416, + -0.051232051104307175 + ], + [ + 0.24447470903396606, + 0.3226388731677205, + 0.9144048834867841, + 0.15573963522911072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.969120442867279, + -0.046701033358067766, + -0.24212524127565346, + -0.16254878044128418 + ], + [ + -0.03619306907057762, + 0.9443287304098009, + -0.32700668048207443, + -0.05159526690840721 + ], + [ + 0.24391736090183258, + 0.3256721073040034, + 0.9134779694210603, + 0.16366538405418396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.96932989358902, + -0.0480650365736018, + -0.2410171587287276, + -0.16270320117473602 + ], + [ + -0.03544186800718308, + 0.9430984967882502, + -0.3306193172762124, + -0.052552271634340286 + ], + [ + 0.24319414794445043, + 0.32902129674785296, + 0.9124700425816168, + 0.1724955439567566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9697646498680115, + -0.04866155822933682, + -0.23914142439619734, + -0.16310493648052216 + ], + [ + -0.03533704951405525, + 0.9415916228392458, + -0.3348978114016165, + -0.051697444170713425 + ], + [ + 0.24147020280361176, + 0.3332225922483905, + 0.9114026933361864, + 0.1807555854320526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9701168537139893, + -0.04935971812079938, + -0.2375646466027624, + -0.16112607717514038 + ], + [ + -0.03500663489103317, + 0.94037337794325, + -0.338337773277961, + -0.051126763224601746 + ], + [ + 0.2400997132062912, + 0.33654352377179253, + 0.9105441376680344, + 0.18905358016490936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9712499976158144, + -0.049678869723568865, + -0.2328207296784865, + -0.16199801862239838 + ], + [ + -0.03377091884613038, + 0.9393417646655366, + -0.34131600756237346, + -0.04972967132925987 + ], + [ + 0.23565441370010382, + 0.33936574679583986, + 0.9106579511538826, + 0.19654494524002075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9724061489105227, + -0.049774669512022696, + -0.22792280490714445, + -0.16241782903671265 + ], + [ + -0.03246657550334931, + 0.9385953564747374, + -0.3434889877480002, + -0.049976497888565063 + ], + [ + 0.23102433979511267, + 0.3414106736553716, + 0.9110798481494798, + 0.20314505696296692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9735509157180786, + -0.04967961093507284, + -0.22300352424723582, + -0.1620035171508789 + ], + [ + -0.031391870230436325, + 0.9377284627803817, + -0.34594776892104834, + -0.04997288063168526 + ], + [ + 0.22630329430103302, + 0.3437982786941636, + 0.911366899965396, + 0.20959784090518951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9746361970901489, + -0.049908788671384874, + -0.21815923970417295, + -0.16168591380119324 + ], + [ + -0.030100442469120026, + 0.9367242502210337, + -0.34877164697878876, + -0.04851701110601425 + ], + [ + 0.2217618077993393, + 0.346492140749851, + 0.911463056732803, + 0.21610796451568604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9754852056503298, + -0.049731257710035254, + -0.21437213168687896, + -0.16018086671829224 + ], + [ + -0.029468558728694923, + 0.9358382222691046, + -0.3511956508784788, + -0.04698079451918602 + ], + [ + 0.21808303892612463, + 0.3489034071656464, + 0.9114308752684946, + 0.22164872288703918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9766654968261719, + -0.04893528525905143, + -0.20911696131129437, + -0.1629902869462967 + ], + [ + -0.02875141054391861, + 0.9351390228949887, + -0.35311245190608076, + -0.046874649822711945 + ], + [ + 0.21283309161663055, + 0.35088514577609803, + 0.9119110018826061, + 0.22544172406196594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.977371335029602, + -0.04893710029124109, + -0.2057923495854233, + -0.16410471498966217 + ], + [ + -0.028148237615823746, + 0.9341306781042752, + -0.35581949951183356, + -0.04713829234242439 + ], + [ + 0.2096497118473053, + 0.3535604714232146, + 0.9116150392474439, + 0.22893434762954712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9777137637138367, + -0.05007145506468357, + -0.20388393465865584, + -0.16295954585075378 + ], + [ + -0.026965316385030746, + 0.9331476807783812, + -0.3584805444879448, + -0.04754415899515152 + ], + [ + 0.20820344984531403, + 0.355989154495411, + 0.9110011000158295, + 0.23277658224105835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9783071279525757, + -0.05105343526029252, + -0.20077029002960042, + -0.16331519186496735 + ], + [ + -0.025473590940237045, + 0.9321549006659524, + -0.3611625618969688, + -0.0475158616900444 + ], + [ + 0.20558758080005646, + 0.35844223460233027, + 0.9106332374348407, + 0.23532745242118835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9788947701454163, + -0.051204494047726604, + -0.19784612931822249, + -0.16299289464950562 + ], + [ + -0.024720054119825363, + 0.9313265834881462, + -0.36334520189315034, + -0.048358604311943054 + ], + [ + 0.20286427438259125, + 0.36056749726613535, + 0.9104049649281079, + 0.2368442714214325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9795984029769897, + -0.05083093681903061, + -0.1944304578500579, + -0.16464713215827942 + ], + [ + -0.02436590939760208, + 0.9303048684925593, + -0.36597699340473905, + -0.04876301437616348 + ], + [ + 0.19948256015777588, + 0.3632479516730124, + 0.9100866259415764, + 0.23786671459674835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9797496199607849, + -0.05090663991272654, + -0.19364699895980153, + -0.1632249504327774 + ], + [ + -0.024562861770391464, + 0.9292767851508875, + -0.3685666069933717, + -0.04902675002813339 + ], + [ + 0.19871413707733154, + 0.3658595292105816, + 0.9092082013045901, + 0.23938649892807007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9800098538398743, + -0.04991292537578551, + -0.19258619425470863, + -0.1636960357427597 + ], + [ + -0.025624826550483704, + 0.9282863369400737, + -0.370982318846018, + -0.050212495028972626 + ], + [ + 0.19729195535182953, + 0.36850128987346775, + 0.9084507064079806, + 0.23980897665023804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.980241060256958, + -0.04868111913336575, + -0.1917228977605145, + -0.164277583360672 + ], + [ + -0.027106309309601784, + 0.9270414254977027, + -0.3739779109756294, + -0.05051415413618088 + ], + [ + 0.19594073295593262, + 0.37178539922064985, + 0.9074044584342127, + 0.23978875577449799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9804679155349731, + -0.04790668426672942, + -0.19075540237938204, + -0.1650807112455368 + ], + [ + -0.028030958026647568, + 0.9259435520920175, + -0.37662019928697343, + -0.05061127990484238 + ], + [ + 0.1946713626384735, + 0.37461109940580617, + 0.9065151075171229, + 0.23937447369098663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9805477857589722, + -0.04717282066168542, + -0.19052766546759878, + -0.1650310605764389 + ], + [ + -0.029081735759973526, + 0.9250604639536689, + -0.37870483106964686, + -0.05085209384560585 + ], + [ + 0.19411417841911316, + 0.3768790737261498, + 0.9056941549761434, + 0.2391451895236969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9808173775672913, + -0.045615696023297674, + -0.18951632703319787, + -0.16568684577941895 + ], + [ + -0.03053649328649044, + 0.924274056293671, + -0.38050617232448253, + -0.051703523844480515 + ], + [ + 0.1925220936536789, + 0.3789942527633148, + 0.9051511704617833, + 0.23804059624671936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.98099684715271, + -0.044467096829167906, + -0.1888594566399333, + -0.16468490660190582 + ], + [ + -0.031780119985342026, + 0.9234112332625595, + -0.3824940194336129, + -0.0521802082657814 + ], + [ + 0.1914033442735672, + 0.3812274120419693, + 0.904450347751018, + 0.23711206018924713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9810938239097595, + -0.04368925985406907, + -0.18853691527586655, + -0.16340643167495728 + ], + [ + -0.03281233459711075, + 0.9225321787914981, + -0.38452272439434804, + -0.05165427550673485 + ], + [ + 0.19073089957237244, + 0.38343920564090717, + 0.9036571031584022, + 0.236616313457489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9813467860221863, + -0.04239618034827108, + -0.18751291731975764, + -0.1637292355298996 + ], + [ + -0.033846184611320496, + 0.9220428857195828, + -0.3856051397760725, + -0.05200102552771568 + ], + [ + 0.1892431378364563, + 0.3847589477416348, + 0.9034088782093417, + 0.23534761369228363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9813714027404787, + -0.04211883804470009, + -0.1874463604049985, + -0.16237427294254303 + ], + [ + -0.0343964695930481, + 0.9213890937314512, + -0.38711636005484684, + -0.050438906997442245 + ], + [ + 0.18901592493057257, + 0.38635241264393244, + 0.9027761356541234, + 0.23510240018367767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9816552400588989, + -0.04080199438468211, + -0.18624774581304704, + -0.16421931982040405 + ], + [ + -0.03536952659487724, + 0.9209092273077685, + -0.38816909571291136, + -0.05009026452898979 + ], + [ + 0.18735532462596893, + 0.3876357145765132, + 0.9025721654706114, + 0.23405955731868744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.981623649597168, + -0.04032694383387654, + -0.18651730919988188, + -0.16312013566493988 + ], + [ + -0.036180466413497925, + 0.9203558034270285, + -0.38940484056711605, + -0.049569107592105865 + ], + [ + 0.18736578524112701, + 0.3889972965145882, + 0.9019840135998963, + 0.23344622552394867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9816588759422302, + -0.039440713653346574, + -0.1865214109288438, + -0.16269706189632416 + ], + [ + -0.037223637104034424, + 0.9198837954939323, + -0.39042053607987454, + -0.04896136373281479 + ], + [ + 0.18697649240493774, + 0.3902027955300881, + 0.901543972499879, + 0.23213981091976166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9817112684249878, + -0.03866572915375378, + -0.18640811344745967, + -0.16243991255760193 + ], + [ + -0.03806101158261299, + 0.9195268906297528, + -0.39117988817751165, + -0.04852134361863136 + ], + [ + 0.18653252720832825, + 0.3911205836786944, + 0.9012382270932641, + 0.23096385598182678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9819030165672302, + -0.03677735578627644, + -0.1857790594052473, + -0.16345907747745514 + ], + [ + -0.03950313478708267, + 0.9196122433979161, + -0.39083604889486606, + -0.04886744171380997 + ], + [ + 0.18521860241889954, + 0.39110197220068443, + 0.9015172526890236, + 0.22942334413528442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.982154905796051, + -0.03471216056338302, + -0.18484253341219034, + -0.16477623581886292 + ], + [ + -0.04073430970311165, + 0.9202296536107665, + -0.3892533002527671, + -0.0506315752863884 + ], + [ + 0.18360941112041473, + 0.38983649512855134, + 0.9023941275796363, + 0.2269444465637207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9823088049888611, + -0.03358423262262678, + -0.1842321638922861, + -0.16547343134880066 + ], + [ + -0.04164023697376251, + 0.9199876412706401, + -0.38972917547042507, + -0.05017895624041557 + ], + [ + 0.18258008360862732, + 0.3905058854788906, + 0.9023134959785375, + 0.2256803959608078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9824128150939941, + -0.03263118850901961, + -0.18384848532940706, + -0.16529177129268646 + ], + [ + -0.042536038905382156, + 0.9196124080039776, + -0.39051721031727765, + -0.050543833523988724 + ], + [ + 0.18181240558624268, + 0.3914692915587904, + 0.902050997432114, + 0.22430945932865143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9825979471206665, + -0.031088436958945465, + -0.18312514949726363, + -0.16568732261657715 + ], + [ + -0.04379899799823761, + 0.9193133841048552, + -0.3910813139911704, + -0.05104982107877731 + ], + [ + 0.18050751090049744, + 0.3922963713593529, + 0.9019537823707144, + 0.22214321792125702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9827303290367126, + -0.029549456433379112, + -0.1826688180986409, + -0.16605742275714874 + ], + [ + -0.04517805948853493, + 0.9189789613517917, + -0.3917098919690864, + -0.05240596458315849 + ], + [ + 0.1794436126947403, + 0.39319783260930785, + 0.9017735241124182, + 0.22052840888500214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9829020500183105, + -0.027794743561956124, + -0.18201921184123757, + -0.16700787842273712 + ], + [ + -0.04680713638663292, + 0.9183497300556636, + -0.39299220277425184, + -0.05356132984161377 + ], + [ + 0.17808040976524353, + 0.39479262799688664, + 0.9013468482383682, + 0.21807816624641418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9831255674362183, + -0.02612737332645271, + -0.18105649623546807, + -0.16823385655879974 + ], + [ + -0.048191942274570465, + 0.9177939186042965, + -0.394121587820992, + -0.05535602197051048 + ], + [ + 0.17646992206573486, + 0.3961964720224323, + 0.9010475648567919, + 0.21529924869537354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9833676218986511, + -0.024495062116011317, + -0.179967121747301, + -0.16926418244838715 + ], + [ + -0.04946587607264519, + 0.9172881980686004, + -0.3951398069994917, + -0.05736665800213814 + ], + [ + 0.17476068437099457, + 0.3974699260214275, + 0.9008198425298282, + 0.21229307353496552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9835270643234253, + -0.022926688188204574, + -0.17930120270693947, + -0.16847240924835205 + ], + [ + -0.05084827169775963, + 0.9167787575867027, + -0.39614542780411505, + -0.05820586159825325 + ], + [ + 0.17346182465553284, + 0.39873688808228736, + 0.900510907595855, + 0.20999810099601746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9838759899139407, + -0.021428423949975184, + -0.17756354872677804, + -0.16849806904792786 + ], + [ + -0.05171214044094087, + 0.916310174080631, + -0.39711652916984613, + -0.05825116112828255 + ], + [ + 0.1712128818035126, + 0.39989559936519475, + 0.9004274685312654, + 0.2080862820148468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9843150377273562, + -0.020158601765557053, + -0.17526415798937314, + -0.1689072698354721 + ], + [ + -0.052098520100116744, + 0.9159294613984119, + -0.39794341937820593, + -0.058905720710754395 + ], + [ + 0.16855159401893618, + 0.40083270590033926, + 0.9005129382634692, + 0.20582184195518494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9847137928009033, + -0.019308601983233163, + -0.17310657386290823, + -0.16858914494514465 + ], + [ + -0.0521344430744648, + 0.9156011351433541, + -0.39869362883367865, + -0.06030331924557686 + ], + [ + 0.16619478166103363, + 0.40162394858238976, + 0.9005984249067168, + 0.20381344854831696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9851803779602051, + -0.01851160331742493, + -0.17051973844879564, + -0.1688876450061798 + ], + [ + -0.05199253186583519, + 0.9151542833071279, + -0.3997367270322816, + -0.061087172478437424 + ], + [ + 0.16345162689685822, + 0.40267852517703157, + 0.9006295712192705, + 0.20122355222702026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9855476021766663, + -0.01787310963940135, + -0.16845317760556797, + -0.16849994659423828 + ], + [ + -0.0518684908747673, + 0.9148171445503275, + -0.40052375093554937, + -0.06233387067914009 + ], + [ + 0.16126245260238647, + 0.4034726258873852, + 0.9006687914219028, + 0.19855789840221405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 406.8824462890625, + "fy": 406.8236897786458, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/move_left/transforms.json b/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e5c63a167dbbe6d066d12c5941e76aa819814574 --- /dev/null +++ b/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/move_left/transforms.json @@ -0,0 +1,4633 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 132, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.828373731579632e-05, + 9.285063424613327e-05, + -0.00014976847160141915 + ], + [ + 9.827211033552885e-05, + 1.0, + 0.00012523045006673783, + -8.855538908392191e-05 + ], + [ + -9.286294516641647e-05, + -0.00012522131146397442, + 1.0, + -0.00010745334293460473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999916136264801, + -0.01294904388487339, + -0.00021837842359673232, + -0.0007970264310629075 + ], + [ + 0.012949429452419281, + 0.9999144077301025, + 0.001866100705228746, + -0.007319520230454798 + ], + [ + 0.00019419552700128406, + -0.0018687719712033868, + 0.9999982118606567, + -0.000929458751260989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999650239944458, + -0.026443518698215485, + -0.0003294612397439778, + -0.0024837846940610813 + ], + [ + 0.02644440159201622, + 0.9996456503868103, + 0.003046155208721757, + -0.017643017992946028 + ], + [ + 0.000248793454375118, + -0.0030538022983819246, + 0.9999952912330627, + -0.0018951284906201292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993502497673035, + -0.036015111953020096, + -0.0014280525501817465, + -0.0013712391729168026 + ], + [ + 0.03601982817053795, + 0.9993451833724976, + 0.003424921305850148, + -0.02992087135390016 + ], + [ + 0.0013037684839218855, + -0.0034741342533379793, + 0.999993085861206, + -0.0067095904634156414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9991211295127869, + -0.04119239002466202, + -0.007759077474474907, + 0.00033312358552206123 + ], + [ + 0.04122678190469742, + 0.9991404414176941, + 0.004325450863689184, + -0.041261954389455666 + ], + [ + 0.007574232295155525, + -0.004641530569642782, + 0.9999605417251587, + -0.01323730022227036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.998969316482544, + -0.042851220816373825, + -0.014970188960433006, + 0.00034690253749376006 + ], + [ + 0.04293623939156532, + 0.9990631937980652, + 0.0054047489538788795, + -0.054877638347617545 + ], + [ + 0.01472456380724907, + -0.006041942164301872, + 0.9998733401298523, + -0.01666260041467106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989011883735657, + -0.039999574422836304, + -0.024422915652394295, + 0.0018231588074553561 + ], + [ + 0.04018933326005936, + 0.9991651773452759, + 0.007328770123422146, + -0.0687431014903629 + ], + [ + 0.024109380319714546, + -0.008302257396280766, + 0.9996748566627502, + -0.022963998426917855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9987815022468567, + -0.032576192170381546, + -0.03707147762179375, + 0.003493670804980602 + ], + [ + 0.03300441429018974, + 0.9993947148323059, + 0.010998452082276344, + -0.082507845511987 + ], + [ + 0.03669075295329094, + -0.012208573520183563, + 0.9992520809173584, + -0.029028824617275756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9985101819038391, + -0.025478586554527283, + -0.048251595348119736, + 0.0038918117615785305 + ], + [ + 0.02618986740708351, + 0.9995566010475159, + 0.014166602864861488, + -0.09417407610489212 + ], + [ + 0.047869253903627396, + -0.015409201383590698, + 0.9987347722053528, + -0.026526032356929234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9982215166091919, + -0.02081267535686493, + -0.05586284399032593, + 0.005416243693983281 + ], + [ + 0.021763943135738373, + 0.999627411365509, + 0.016474582254886627, + -0.1058566695008114 + ], + [ + 0.05549915134906769, + -0.01766107976436615, + 0.9983025193214417, + -0.025431034190736654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9978117942810059, + -0.020943960174918175, + -0.06271310895681381, + 0.008281807564483344 + ], + [ + 0.02214238978922367, + 0.9995840787887573, + 0.018476037308573723, + -0.11412716857406474 + ], + [ + 0.06230006366968155, + -0.019824227318167686, + 0.9978605508804321, + -0.023217483075292967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.997459888458252, + -0.021583963185548782, + -0.06788194179534912, + 0.013709624589399526 + ], + [ + 0.023236460983753204, + 0.9994502663612366, + 0.02364896796643734, + -0.12501080285843091 + ], + [ + 0.06733419001102448, + -0.025166234001517296, + 0.9974130392074585, + -0.024506341051736862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971305131912231, + -0.024515636265277863, + -0.07162203639745712, + 0.017559832650172802 + ], + [ + 0.02667420357465744, + 0.9992135763168335, + 0.029338805004954338, + -0.13439619001996425 + ], + [ + 0.07084644585847855, + -0.03116508014500141, + 0.9970002770423889, + -0.02396298356581735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9967191219329834, + -0.029953986406326294, + -0.07519122958183289, + 0.022047856848203498 + ], + [ + 0.03259342908859253, + 0.998885989189148, + 0.0341247096657753, + -0.14197431668525434 + ], + [ + 0.0740852952003479, + -0.03646349161863327, + 0.9965850710868835, + -0.023992868510025148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9963189959526062, + -0.03512512892484665, + -0.07819629460573196, + 0.027239762656106295 + ], + [ + 0.03820851445198059, + 0.9985359311103821, + 0.03829037770628929, + -0.14822049313829144 + ], + [ + 0.07673685997724533, + -0.04113719239830971, + 0.9962024092674255, + -0.023566316261546302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9958879947662354, + -0.03979421779513359, + -0.08138523250818253, + 0.03260694293461683 + ], + [ + 0.043290432542562485, + 0.9981938004493713, + 0.041654787957668304, + -0.1544999528733146 + ], + [ + 0.07958061248064041, + -0.045006707310676575, + 0.9958118796348572, + -0.025683749495571805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9951409697532654, + -0.041185177862644196, + -0.08943275362253189, + 0.03841254052542548 + ], + [ + 0.045243844389915466, + 0.9980136156082153, + 0.043838921934366226, + -0.1602534372842949 + ], + [ + 0.0874495878815651, + -0.04767218604683876, + 0.9950276017189026, + -0.029306707178590862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9943174123764038, + -0.038176968693733215, + -0.09937511384487152, + 0.042660850360420825 + ], + [ + 0.04295849800109863, + 0.9979974627494812, + 0.04642873629927635, + -0.16819901209296162 + ], + [ + 0.09740360081195831, + -0.05043390765786171, + 0.993966281414032, + -0.030379300055499294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934754371643066, + -0.033928997814655304, + -0.10888253897428513, + 0.047101323511309294 + ], + [ + 0.039470113813877106, + 0.9980114698410034, + 0.04914522543549538, + -0.17561083509949327 + ], + [ + 0.10699857026338577, + -0.053122181445360184, + 0.9928390383720398, + -0.029798909353504655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9928585886955261, + -0.030177876353263855, + -0.11541735380887985, + 0.05193070045864309 + ], + [ + 0.03642988204956055, + 0.9979589581489563, + 0.05244825407862663, + -0.1824099342104133 + ], + [ + 0.1135990098118782, + -0.05627833679318428, + 0.9919314384460449, + -0.029594996639790427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9923290610313416, + -0.02431524731218815, + -0.12120957672595978, + 0.0565979786160338 + ], + [ + 0.03188846632838249, + 0.9976320862770081, + 0.06093727424740791, + -0.19084418917657764 + ], + [ + 0.11944085359573364, + -0.06433501839637756, + 0.9907547235488892, + -0.028760904915460194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9919205904006958, + -0.020494868978857994, + -0.12519387900829315, + 0.05976973185102448 + ], + [ + 0.029464712366461754, + 0.9970961809158325, + 0.07022148370742798, + -0.19833020673538665 + ], + [ + 0.12339115142822266, + -0.0733429342508316, + 0.9896441102027893, + -0.02563671334042349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9916766285896301, + -0.01598791591823101, + -0.12775704264640808, + 0.06258586061592321 + ], + [ + 0.026297712698578835, + 0.9964939951896667, + 0.0794239193201065, + -0.20719942486638787 + ], + [ + 0.1260392963886261, + -0.0821225643157959, + 0.9886202216148376, + -0.023424965413358374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9915490746498108, + -0.010544007644057274, + -0.1293027549982071, + 0.06544930560670736 + ], + [ + 0.02183140628039837, + 0.9960394501686096, + 0.08619046956300735, + -0.21348939529044256 + ], + [ + 0.12788183987140656, + -0.0882849469780922, + 0.9878522157669067, + -0.021944331730367573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9915359020233154, + -0.004142702091485262, + -0.12976671755313873, + 0.06723981393885066 + ], + [ + 0.016350410878658295, + 0.9955177307128906, + 0.09315089881420135, + -0.21950947385252886 + ], + [ + 0.1287991851568222, + -0.09448419511318207, + 0.9871593117713928, + -0.019403005778107024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9914519190788269, + 0.0018206853419542313, + -0.1304600089788437, + 0.06940434941353689 + ], + [ + 0.011291952803730965, + 0.9949533939361572, + 0.09970048815011978, + -0.22465814118991598 + ], + [ + 0.12998314201831818, + -0.10032138973474503, + 0.986427903175354, + -0.01593716709184965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9914724230766296, + 0.004540953319519758, + -0.1302376687526703, + 0.07032562788888698 + ], + [ + 0.00905531831085682, + 0.9945763945579529, + 0.10361381620168686, + -0.22866022683793807 + ], + [ + 0.13000181317329407, + -0.10390958935022354, + 0.9860539436340332, + -0.01331261682914186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9914451837539673, + 0.006487737409770489, + -0.1303623616695404, + 0.07112803884589945 + ], + [ + 0.007685455493628979, + 0.9941293597221375, + 0.10792499035596848, + -0.2322790654454352 + ], + [ + 0.1302972435951233, + -0.10800360888242722, + 0.9855749011039734, + -0.010877352705552377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9913902878761292, + 0.008740379475057125, + -0.13064786791801453, + 0.07204608223365463 + ], + [ + 0.005871292669326067, + 0.9937987923622131, + 0.11103834211826324, + -0.2363820480012143 + ], + [ + 0.13080820441246033, + -0.11084941029548645, + 0.9851911664009094, + -0.010871263555044891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9913384914398193, + 0.011354225687682629, + -0.13084007799625397, + 0.07171261464138978 + ], + [ + 0.0036008970346301794, + 0.993531346321106, + 0.11350105702877045, + -0.2402367822902334 + ], + [ + 0.13128243386745453, + -0.11298911273479462, + 0.9848849773406982, + -0.010740151351587918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9911317229270935, + 0.013875958509743214, + -0.1321566104888916, + 0.0717682457948459 + ], + [ + 0.0014597829431295395, + 0.9933360815048218, + 0.1152445524930954, + -0.24272490231647292 + ], + [ + 0.13287505507469177, + -0.11441545188426971, + 0.9845066666603088, + -0.010841278967141878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9910696744918823, + 0.016631362959742546, + -0.13230402767658234, + 0.07103911264024618 + ], + [ + -0.001053085085004568, + 0.9931367039680481, + 0.11695440858602524, + -0.24441544152334163 + ], + [ + 0.13334108889102936, + -0.11577063053846359, + 0.9842851758003235, + -0.010445171735384538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9911016225814819, + 0.017985213547945023, + -0.131886824965477, + 0.06907853662740183 + ], + [ + -0.0023122215643525124, + 0.9930062890052795, + 0.11803897470235825, + -0.24497107526728215 + ], + [ + 0.1330874115228653, + -0.11668366938829422, + 0.9842116832733154, + -0.009821448151647818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9911332130432129, + 0.01776985451579094, + -0.13167816400527954, + 0.0678251150568933 + ], + [ + -0.001972915604710579, + 0.9928757548332214, + 0.1191377192735672, + -0.24475060000532228 + ], + [ + 0.13285711407661438, + -0.11782155930995941, + 0.984107255935669, + -0.009283605582642419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9912382960319519, + 0.01806313917040825, + -0.13084465265274048, + 0.0658400354039578 + ], + [ + -0.0021826671436429024, + 0.9927098751068115, + 0.12050865590572357, + -0.24472004659047336 + ], + [ + 0.13206753134727478, + -0.11916720867156982, + 0.9840514659881592, + -0.008223467768091738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9912962317466736, + 0.01997849904000759, + -0.1301252841949463, + 0.06408881111681916 + ], + [ + -0.004213593900203705, + 0.9927266240119934, + 0.12031687051057816, + -0.2441247118963995 + ], + [ + 0.1315825879573822, + -0.1187213733792305, + 0.9841703176498413, + -0.0067234870760865114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9913049936294556, + 0.02414364367723465, + -0.12935017049312592, + 0.062444528755340865 + ], + [ + -0.008409195579588413, + 0.9926372170448303, + 0.12083324790000916, + -0.24300614970501597 + ], + [ + 0.13131515681743622, + -0.11869487166404724, + 0.9842092394828796, + -0.0060469187120729285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9912711977958679, + 0.02833588793873787, + -0.12875759601593018, + 0.06075742444919266 + ], + [ + -0.0125613734126091, + 0.9924860596656799, + 0.12171125411987305, + -0.24231676243757475 + ], + [ + 0.1312389075756073, + -0.11903148889541626, + 0.9841787815093994, + -0.005058619415366183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9912682771682739, + 0.031257741153240204, + -0.12810219824314117, + 0.0591497337772646 + ], + [ + -0.015401010401546955, + 0.9922932386398315, + 0.12295114248991013, + -0.2420997817111948 + ], + [ + 0.13095812499523163, + -0.11990465968847275, + 0.9841101765632629, + -0.00404602394564582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9913491010665894, + 0.032198406755924225, + -0.127240851521492, + 0.05761126624491378 + ], + [ + -0.01619628816843033, + 0.9920433759689331, + 0.12485019117593765, + -0.24194758350726303 + ], + [ + 0.13024841248989105, + -0.12170929461717606, + 0.9839828014373779, + -0.001991543077813988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9914259314537048, + 0.03258928656578064, + -0.12654055655002594, + 0.05815847553597152 + ], + [ + -0.01647009514272213, + 0.9918427467346191, + 0.12639877200126648, + -0.24038844862739547 + ], + [ + 0.12962757050991058, + -0.12323088943958282, + 0.9838753938674927, + -0.00045621749866782326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9914987087249756, + 0.036429017782211304, + -0.1249130517244339, + 0.05981610656239605 + ], + [ + -0.01973797008395195, + 0.9910075664520264, + 0.1323421448469162, + -0.2387534272721933 + ], + [ + 0.12861086428165436, + -0.12875153124332428, + 0.9833017587661743, + -0.002660718742217726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9915105700492859, + 0.040659476071596146, + -0.12350555509328842, + 0.056922246584000476 + ], + [ + -0.0234200619161129, + 0.9901615381240845, + 0.13795500993728638, + -0.2375410768196328 + ], + [ + 0.127899631857872, + -0.13389134407043457, + 0.9827078580856323, + 0.0001735174793835361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9917261004447937, + 0.041076526045799255, + -0.12162257730960846, + 0.05477758928109671 + ], + [ + -0.02377650886774063, + 0.9898067116737366, + 0.14041830599308014, + -0.23871680896814543 + ], + [ + 0.12615074217319489, + -0.13636474311351776, + 0.982593834400177, + 0.0014892030116312833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9920752644538879, + 0.03863542154431343, + -0.11955723911523819, + 0.05229748005175408 + ], + [ + -0.021117843687534332, + 0.9892855882644653, + 0.14445780217647552, + -0.24197720846602025 + ], + [ + 0.12385744601488113, + -0.1407882124185562, + 0.9822616577148438, + 0.002087742467019849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9924585819244385, + 0.03343809396028519, + -0.1179315373301506, + 0.04983321065438613 + ], + [ + -0.015816813334822655, + 0.9889650344848633, + 0.14730218052864075, + -0.24469085086762676 + ], + [ + 0.12155567854642868, + -0.14432600140571594, + 0.982035756111145, + 0.0032374077576091736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.992786169052124, + 0.02796168625354767, + -0.11659218370914459, + 0.0474493338406541 + ], + [ + -0.010168188251554966, + 0.9885579943656921, + 0.1504981815814972, + -0.24945394278624813 + ], + [ + 0.11946631968021393, + -0.14822697639465332, + 0.9817110300064087, + 0.0043089086843924665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9928634762763977, + 0.02604028210043907, + -0.11637884378433228, + 0.046549926220460704 + ], + [ + -0.007983767427504063, + 0.9881938099861145, + 0.15300080180168152, + -0.25490539227008024 + ], + [ + 0.11898903548717499, + -0.15097975730895996, + 0.9813494682312012, + 0.005715782343203785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9929023385047913, + 0.029662666842341423, + -0.11517422646284103, + 0.044797428816784425 + ], + [ + -0.011685429140925407, + 0.9880440831184387, + 0.15372824668884277, + -0.2593980745277332 + ], + [ + 0.11835720390081406, + -0.15129128098487854, + 0.9813778400421143, + 0.008238939056528434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9927836656570435, + 0.03682120144367218, + -0.11412596702575684, + 0.042604154462122734 + ], + [ + -0.018700124695897102, + 0.9875865578651428, + 0.15595878660678864, + -0.26581739398672155 + ], + [ + 0.11845186352729797, + -0.15269915759563446, + 0.981148362159729, + 0.012644013517913017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9924215078353882, + 0.044360000640153885, + -0.11459407955408096, + 0.042806663813481804 + ], + [ + -0.025832969695329666, + 0.9870421886444092, + 0.15836772322654724, + -0.27249832823872566 + ], + [ + 0.1201343908905983, + -0.1542072296142578, + 0.9807078242301941, + 0.015471639893664658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.992223858833313, + 0.04730997234582901, + -0.1151241734623909, + 0.04311060244572981 + ], + [ + -0.028130076825618744, + 0.986249566078186, + 0.16285119950771332, + -0.2804964240213842 + ], + [ + 0.12124564498662949, + -0.15834639966487885, + 0.979911208152771, + 0.01790740139043058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9923818707466125, + 0.042389363050460815, + -0.11567764729261398, + 0.04393744991935846 + ], + [ + -0.022383898496627808, + 0.9853535294532776, + 0.1690485179424286, + -0.2911884241431724 + ], + [ + 0.12114923447370529, + -0.16517138481140137, + 0.9787958264350891, + 0.02056545577943325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9925474524497986, + 0.03471336141228676, + -0.11680997908115387, + 0.04390608375991574 + ], + [ + -0.014012545347213745, + 0.9847216010093689, + 0.17357149720191956, + -0.30069039252423146 + ], + [ + 0.12105055153369904, + -0.17064115405082703, + 0.9778692722320557, + 0.026391143846602842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9927124381065369, + 0.028756797313690186, + -0.11702607572078705, + 0.04148210794416093 + ], + [ + -0.008963450789451599, + 0.9860405325889587, + 0.1662641167640686, + -0.28820053086481023 + ], + [ + 0.12017367780208588, + -0.16400349140167236, + 0.979112446308136, + 0.028342913113932573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9928792715072632, + 0.024580206722021103, + -0.11656146496534348, + 0.04108151446544487 + ], + [ + -0.004974472336471081, + 0.9861819744110107, + 0.1655908077955246, + -0.2877958444771819 + ], + [ + 0.11902108043432236, + -0.16383184492588043, + 0.9792819619178772, + 0.030146079891510594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9929064512252808, + 0.023128408938646317, + -0.11662694811820984, + 0.04131147914942894 + ], + [ + -0.0032139960676431656, + 0.985760509967804, + 0.1681247353553772, + -0.29333224543405856 + ], + [ + 0.11885470151901245, + -0.16655728220939636, + 0.9788423180580139, + 0.03162026033942936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9928261637687683, + 0.022747265174984932, + -0.11738300323486328, + 0.04219409263770999 + ], + [ + -0.0024461206048727036, + 0.9853948950767517, + 0.17026714980602264, + -0.29562308368138 + ], + [ + 0.1195417195558548, + -0.1687585562467575, + 0.9783815145492554, + 0.034368022531270984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9930099844932556, + 0.022849097847938538, + -0.11579745262861252, + 0.03821353334506959 + ], + [ + -0.002699139527976513, + 0.9852226376533508, + 0.17125746607780457, + -0.2946423028389575 + ], + [ + 0.1179993525147438, + -0.16974782943725586, + 0.9783976078033447, + 0.03639569924077915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9933046698570251, + 0.02288072556257248, + -0.11323580890893936, + 0.03261431429449838 + ], + [ + -0.0024843700230121613, + 0.9841940402984619, + 0.17707593739032745, + -0.30570300057928523 + ], + [ + 0.1154976412653923, + -0.1756090372800827, + 0.9776613712310791, + 0.03769746744678221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9934403300285339, + 0.020051345229148865, + -0.11257975548505783, + 0.030446759673930304 + ], + [ + -8.050911128520966e-05, + 0.9846288561820984, + 0.17465975880622864, + -0.2993062815081527 + ], + [ + 0.11435144394636154, + -0.17350497841835022, + 0.9781716465950012, + 0.03739703506345057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9933879971504211, + 0.018467066809535027, + -0.11331059783697128, + 0.031125491698279634 + ], + [ + 0.0016074273735284805, + 0.9846439957618713, + 0.17456695437431335, + -0.29962577039646054 + ], + [ + 0.11479433625936508, + -0.1735948622226715, + 0.9781038165092468, + 0.0387956578540438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9932674169540405, + 0.017860431224107742, + -0.11445901542901993, + 0.0331357262971747 + ], + [ + 0.002222334034740925, + 0.9849237203598022, + 0.17297489941120148, + -0.29712850532658003 + ], + [ + 0.11582279950380325, + -0.17206470668315887, + 0.9782529473304749, + 0.03931487393743209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9933902621269226, + 0.018203075975179672, + -0.1133333295583725, + 0.030707914228657728 + ], + [ + 0.0019585033878684044, + 0.984514057636261, + 0.17529478669166565, + -0.3022665801742434 + ], + [ + 0.11476916074752808, + -0.17435809969902039, + 0.9779710173606873, + 0.039384512256347495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9934770464897156, + 0.017390092834830284, + -0.11269858479499817, + 0.028569633849249543 + ], + [ + 0.0026198732666671276, + 0.984561562538147, + 0.17501908540725708, + -0.2992900240284796 + ], + [ + 0.1140022873878479, + -0.17417269945144653, + 0.9780937433242798, + 0.039397667911444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9934725165367126, + 0.018787387758493423, + -0.1125137060880661, + 0.02858871631039918 + ], + [ + 0.0019500171765685081, + 0.9834027290344238, + 0.1814255267381668, + -0.30994989311692256 + ], + [ + 0.11405479907989502, + -0.18046067655086517, + 0.976947009563446, + 0.03887278970530015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9932911992073059, + 0.01979290135204792, + -0.11393359303474426, + 0.03248763932981564 + ], + [ + 0.0016240589320659637, + 0.9827585220336914, + 0.18488670885562897, + -0.31505538577228104 + ], + [ + 0.11562864482402802, + -0.1838313788175583, + 0.9761332273483276, + 0.039004853811427834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9932050108909607, + 0.02142135612666607, + -0.11438953876495361, + 0.03299082713272736 + ], + [ + -0.0005697440356016159, + 0.9837968945503235, + 0.17928555607795715, + -0.2993502687790808 + ], + [ + 0.1163766086101532, + -0.17800214886665344, + 0.9771242141723633, + 0.03671861833515968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9928608536720276, + 0.023844929412007332, + -0.11687059700489044, + 0.03860731068003269 + ], + [ + -0.0024985168129205704, + 0.9837568998336792, + 0.17948856949806213, + -0.2979596016231839 + ], + [ + 0.11925214529037476, + -0.17791518568992615, + 0.9767932891845703, + 0.03769389593419228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9925211071968079, + 0.02706727385520935, + -0.11903426796197891, + 0.04143873248391479 + ], + [ + -0.0036742286756634712, + 0.9812901020050049, + 0.1925000250339508, + -0.32483852730267715 + ], + [ + 0.12201759964227676, + -0.1906229853630066, + 0.9740505814552307, + 0.04052307163827292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9924743175506592, + 0.02509712427854538, + -0.11985348910093307, + 0.03956189063441662 + ], + [ + -0.002266320399940014, + 0.9823687672615051, + 0.18693962693214417, + -0.3092119849237208 + ], + [ + 0.12243197113275528, + -0.18526116013526917, + 0.9750326871871948, + 0.04246758140680444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.992477536201477, + 0.023849494755268097, + -0.12008147686719894, + 0.03908142026599126 + ], + [ + -0.0009439615532755852, + 0.9823033809661865, + 0.18729433417320251, + -0.30749962665069536 + ], + [ + 0.12242331355810165, + -0.18577206134796143, + 0.9749365448951721, + 0.04333148780669875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9924887418746948, + 0.024094566702842712, + -0.1199399009346962, + 0.03870093982865792 + ], + [ + -0.00046757515519857407, + 0.9811527132987976, + 0.19323335587978363, + -0.3187903670011131 + ], + [ + 0.12233523279428482, + -0.19172583520412445, + 0.9737942814826965, + 0.04453222502506416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9925044178962708, + 0.023210110142827034, + -0.11998460441827774, + 0.03828930306525631 + ], + [ + 8.12876969575882e-05, + 0.9816736578941345, + 0.19056972861289978, + -0.31270465236725925 + ], + [ + 0.12220887094736099, + -0.18915104866027832, + 0.9743135571479797, + 0.044897065698418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.992691695690155, + 0.018599845468997955, + -0.11923615634441376, + 0.03478843015796356 + ], + [ + 0.003242554608732462, + 0.9835831522941589, + 0.18042641878128052, + -0.2871892473575097 + ], + [ + 0.12063457071781158, + -0.1794944405555725, + 0.9763345122337341, + 0.042174537178441766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9928070306777954, + 0.015479184687137604, + -0.1187208816409111, + 0.032379465533121855 + ], + [ + 0.006404985208064318, + 0.9833201766014099, + 0.18177011609077454, + -0.2866156795790831 + ], + [ + 0.11955428868532181, + -0.181223064661026, + 0.9761480093002319, + 0.040173317611445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9926170110702515, + 0.013280008919537067, + -0.12056160718202591, + 0.034612123690943686 + ], + [ + 0.009052698500454426, + 0.9831040501594543, + 0.18282349407672882, + -0.285768169480312 + ], + [ + 0.12095250934362411, + -0.1825651079416275, + 0.9757255911827087, + 0.03998889278705794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9928486943244934, + 0.013207655400037766, + -0.11864672601222992, + 0.028219982799682908 + ], + [ + 0.00940694846212864, + 0.9821150302886963, + 0.1880466192960739, + -0.2954200258364773 + ], + [ + 0.1190083920955658, + -0.18781794607639313, + 0.9749674201011658, + 0.04139337607922445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9932159185409546, + 0.012459802441298962, + -0.11561533063650131, + 0.020141003172816203 + ], + [ + 0.009416104294359684, + 0.9823605418205261, + 0.1867593675851822, + -0.28911648425522424 + ], + [ + 0.11590292304754257, + -0.18658103048801422, + 0.9755788445472717, + 0.04124902836580313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9936570525169373, + 0.010510153137147427, + -0.11196086555719376, + 0.010803989451805142 + ], + [ + 0.010816303081810474, + 0.9820739030838013, + 0.18818579614162445, + -0.28748795134406396 + ], + [ + 0.1119317039847374, + -0.1882031410932541, + 0.9757309556007385, + 0.041746796053329496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9940431714057922, + 0.006296114530414343, + -0.10880476236343384, + 0.002885763995520027 + ], + [ + 0.01421114057302475, + 0.9823186993598938, + 0.18667639791965485, + -0.27825097478073063 + ], + [ + 0.10805629193782806, + -0.18711064755916595, + 0.9763777256011963, + 0.040715007751270106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9942818880081177, + 0.002151782624423504, + -0.10676589608192444, + -0.0029989807205345817 + ], + [ + 0.018197644501924515, + 0.9817590713500977, + 0.18925634026527405, + -0.2791729979302364 + ], + [ + 0.10522562265396118, + -0.1901170313358307, + 0.9761061072349548, + 0.03912353811941984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994362473487854, + -0.0010711811482906342, + -0.10602900385856628, + -0.006997505837041902 + ], + [ + 0.02069167047739029, + 0.982685387134552, + 0.18412308394908905, + -0.27228012167997945 + ], + [ + 0.1039959192276001, + -0.1852789968252182, + 0.9771676063537598, + 0.03842186272599315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.994478166103363, + 0.0033728289417922497, + -0.10488968342542648, + -0.011006380253620732 + ], + [ + 0.01544073037803173, + 0.9839030504226685, + 0.17803476750850677, + -0.26759459066510427 + ], + [ + 0.10380176454782486, + -0.17867125570774078, + 0.9784179925918579, + 0.038031731932672834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9944828152656555, + 0.011168695986270905, + -0.10430360585451126, + -0.013550861907824313 + ], + [ + 0.007430237252265215, + 0.9843186140060425, + 0.17624318599700928, + -0.2586013306373062 + ], + [ + 0.10463639348745346, + -0.17604580521583557, + 0.9788049459457397, + 0.03706499128851272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9945669770240784, + 0.017045695334672928, + -0.10269355773925781, + -0.017546227983846002 + ], + [ + 0.0009325304999947548, + 0.9850041270256042, + 0.17252832651138306, + -0.24979094569820143 + ], + [ + 0.10409444570541382, + -0.17168673872947693, + 0.9796366691589355, + 0.03767624474663771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9945834279060364, + 0.021880339831113815, + -0.10161252319812775, + -0.020860857823650353 + ], + [ + -0.004366994835436344, + 0.9855256080627441, + 0.16947020590305328, + -0.24023763358393926 + ], + [ + 0.10384981334209442, + -0.1681085079908371, + 0.9802830219268799, + 0.03835961114018018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9947808980941772, + 0.02354588732123375, + -0.09928032755851746, + -0.022876664620774395 + ], + [ + -0.006470225751399994, + 0.9856082797050476, + 0.1689213514328003, + -0.23596054592546617 + ], + [ + 0.1018289178609848, + -0.1673973798751831, + 0.9806166291236877, + 0.038780372123454365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9949642419815063, + 0.020473098382353783, + -0.09811731427907944, + -0.024442241022377534 + ], + [ + -0.00377664715051651, + 0.9858791828155518, + 0.16741561889648438, + -0.23082044104128394 + ], + [ + 0.10015933960676193, + -0.16620200872421265, + 0.9809918403625488, + 0.03823388440690878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9952659606933594, + 0.015079453587532043, + -0.0960116907954216, + -0.02558503782817427 + ], + [ + 0.0011159381829202175, + 0.9860516786575317, + 0.16643576323986053, + -0.22700302156776134 + ], + [ + 0.0971822515130043, + -0.1657549887895584, + 0.9813668727874756, + 0.03826637600783173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9956109523773193, + 0.008149625733494759, + -0.09323336184024811, + -0.02832580050666822 + ], + [ + 0.007038113195449114, + 0.9868606328964233, + 0.16142040491104126, + -0.2224912114533816 + ], + [ + 0.09332385659217834, + -0.16136810183525085, + 0.9824718832969666, + 0.03826570604707449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9956596493721008, + 0.004437596537172794, + -0.09296327084302902, + -0.02957219414924847 + ], + [ + 0.010123705491423607, + 0.9877716302871704, + 0.1555786281824112, + -0.2190984233204304 + ], + [ + 0.09251687675714493, + -0.15584449470043182, + 0.9834394454956055, + 0.03708610985115284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9957841038703918, + 0.003688798053190112, + -0.09165358543395996, + -0.03097671196433424 + ], + [ + 0.010133781470358372, + 0.9886506795883179, + 0.14989039301872253, + -0.21495034396364035 + ], + [ + 0.09116630256175995, + -0.15018728375434875, + 0.9844452738761902, + 0.036253712713035915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9958636164665222, + 0.007229715585708618, + -0.09057274460792542, + -0.032527341449078706 + ], + [ + 0.006083695217967033, + 0.9892867803573608, + 0.14585836231708527, + -0.21094378895403548 + ], + [ + 0.09065693616867065, + -0.14580605924129486, + 0.9851506948471069, + 0.03544345763120942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9959246516227722, + 0.01263041328638792, + -0.08930026739835739, + -0.03476771095781836 + ], + [ + 0.00021765939891338348, + 0.9898058176040649, + 0.14242321252822876, + -0.2062551845149457 + ], + [ + 0.09018879383802414, + -0.14186221361160278, + 0.9857692718505859, + 0.035479784836523406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9958869218826294, + 0.017821328714489937, + -0.0888347327709198, + -0.03535206743892823 + ], + [ + -0.005200809333473444, + 0.9900924563407898, + 0.14032061398029327, + -0.20119844913262278 + ], + [ + 0.09045529365539551, + -0.1392814666032791, + 0.9861128330230713, + 0.035502689087208904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9958194494247437, + 0.02160787768661976, + -0.08875075727701187, + -0.03413799700277452 + ], + [ + -0.009030792862176895, + 0.9901471734046936, + 0.13973897695541382, + -0.2012733884212625 + ], + [ + 0.09089577943086624, + -0.13835331797599792, + 0.9862029552459717, + 0.03680425526872846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9959654211997986, + 0.024601655080914497, + -0.08629950135946274, + -0.03545904575868418 + ], + [ + -0.012500869110226631, + 0.9903462529182434, + 0.13805091381072998, + -0.19830746294518237 + ], + [ + 0.08886266499757767, + -0.13641512393951416, + 0.9866581559181213, + 0.03804618342004659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.996125340461731, + 0.02665175497531891, + -0.08380890637636185, + -0.03703511637130767 + ], + [ + -0.014950004406273365, + 0.990420937538147, + 0.13726915419101715, + -0.19579786999961574 + ], + [ + 0.08666456490755081, + -0.13548435270786285, + 0.9869818687438965, + 0.03863553149440816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9962502121925354, + 0.028836939483880997, + -0.08157172799110413, + -0.03847449324058212 + ], + [ + -0.017497006803750992, + 0.9904909729957581, + 0.13646066188812256, + -0.19252087811989183 + ], + [ + 0.08473116159439087, + -0.1345216929912567, + 0.9872813820838928, + 0.03816480390898144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9963443875312805, + 0.029248423874378204, + -0.08026452362537384, + -0.038953699512791096 + ], + [ + -0.018076278269290924, + 0.9904693365097046, + 0.13654187321662903, + -0.1916089592544177 + ], + [ + 0.0834931880235672, + -0.13459184765815735, + 0.9873772859573364, + 0.03702355434990111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9964145421981812, + 0.028868649154901505, + -0.07952766865491867, + -0.039017854278324215 + ], + [ + -0.017764106392860413, + 0.9904181361198425, + 0.13695386052131653, + -0.1920910740512928 + ], + [ + 0.08271931856870651, + -0.13505008816719055, + 0.9873798489570618, + 0.03689158344428048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9964607357978821, + 0.028133450075984, + -0.0792115107178688, + -0.03863372600829329 + ], + [ + -0.017103174701333046, + 0.9904742240905762, + 0.13663184642791748, + -0.19182779325158086 + ], + [ + 0.08230087906122208, + -0.13479351997375488, + 0.9874498844146729, + 0.03702151266900638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9964845180511475, + 0.027206774801015854, + -0.07923655956983566, + -0.03823411884994908 + ], + [ + -0.01625506579875946, + 0.9906147122383118, + 0.13571399450302124, + -0.19032101586802316 + ], + [ + 0.08218524605035782, + -0.1339488923549652, + 0.9875744581222534, + 0.03716466464386641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9965053796768188, + 0.026743760332465172, + -0.07913178950548172, + -0.037427816181692455 + ], + [ + -0.01590479351580143, + 0.9907779097557068, + 0.1345592439174652, + -0.18841871035690527 + ], + [ + 0.08200065046548843, + -0.1328304409980774, + 0.9877408146858215, + 0.037487513611789876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.996483325958252, + 0.027620665729045868, + -0.07910839468240738, + -0.035810395591814106 + ], + [ + -0.016718413680791855, + 0.9906639456748962, + 0.13529762625694275, + -0.18700549616442838 + ], + [ + 0.08210685104131699, + -0.13349926471710205, + 0.9876418709754944, + 0.03627618348211732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9964585900306702, + 0.029726166278123856, + -0.07865497469902039, + -0.035117847989988696 + ], + [ + -0.01880757138133049, + 0.9905192852020264, + 0.13608011603355408, + -0.18442446660563236 + ], + [ + 0.08195440471172333, + -0.13411888480186462, + 0.987570583820343, + 0.03490821039517417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9964275360107422, + 0.03145502135157585, + -0.07837562263011932, + -0.034856220863702644 + ], + [ + -0.020806513726711273, + 0.9908772110939026, + 0.13315214216709137, + -0.17429397920047054 + ], + [ + 0.08184891939163208, + -0.13104574382305145, + 0.9879918098449707, + 0.03302950681052135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.996055543422699, + 0.032953862100839615, + -0.08238576352596283, + -0.03400677315151418 + ], + [ + -0.021953986957669258, + 0.9911363124847412, + 0.1310223937034607, + -0.1751016901706466 + ], + [ + 0.08597321808338165, + -0.12869688868522644, + 0.9879502654075623, + 0.03052139961878762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9956843256950378, + 0.032741911709308624, + -0.08683743327856064, + -0.030572226751624174 + ], + [ + -0.021363651379942894, + 0.9914325475692749, + 0.12886081635951996, + -0.17620329864977197 + ], + [ + 0.09031260758638382, + -0.12644954025745392, + 0.9878532886505127, + 0.029908297700053862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9956273436546326, + 0.029908427968621254, + -0.08849692344665527, + -0.029288554407713066 + ], + [ + -0.01872796006500721, + 0.9920340180397034, + 0.12457053363323212, + -0.17245754834179206 + ], + [ + 0.09151767194271088, + -0.1223684549331665, + 0.9882562756538391, + 0.02993012492665808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.995615541934967, + 0.024510039016604424, + -0.0902714878320694, + -0.029039556436411304 + ], + [ + -0.013934200629591942, + 0.9931545257568359, + 0.1159740537405014, + -0.15999817291260449 + ], + [ + 0.09249606728553772, + -0.11420771479606628, + 0.989141583442688, + 0.028721696593379246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.995569109916687, + 0.02065594494342804, + -0.09173594415187836, + -0.027678609195783854 + ], + [ + -0.010425037704408169, + 0.9938064813613892, + 0.11063456535339355, + -0.15706497143015608 + ], + [ + 0.09345303475856781, + -0.1091880053281784, + 0.9896183609962463, + 0.027140719870119602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9955552220344543, + 0.019248055294156075, + -0.09219182282686234, + -0.02727745891413616 + ], + [ + -0.009205641224980354, + 0.9940930604934692, + 0.10814012587070465, + -0.1558630849327181 + ], + [ + 0.09372874349355698, + -0.10681077837944031, + 0.989851713180542, + 0.025816521588855116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9957011342048645, + 0.02211976796388626, + -0.08994393795728683, + -0.027738032512764896 + ], + [ + -0.012303578667342663, + 0.9940463900566101, + 0.10826064646244049, + -0.15875592830782856 + ], + [ + 0.0918031558394432, + -0.10668861865997314, + 0.9900453090667725, + 0.024606672441231388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9955645799636841, + 0.027823036536574364, + -0.08987220376729965, + -0.02794468843641172 + ], + [ + -0.017691737040877342, + 0.9935935139656067, + 0.11161983013153076, + -0.16337965129526288 + ], + [ + 0.09240203350782394, + -0.10953475534915924, + 0.9896787405014038, + 0.02186307012466074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9954898357391357, + 0.031753066927194595, + -0.08939622342586517, + -0.02684131343742363 + ], + [ + -0.02173779159784317, + 0.9935987591743469, + 0.11085543781518936, + -0.16213093622950198 + ], + [ + 0.09234397113323212, + -0.10841218382120132, + 0.9898077249526978, + 0.018707549182399537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.995384156703949, + 0.033333953469991684, + -0.08999592065811157, + -0.02729248238428858 + ], + [ + -0.023269975557923317, + 0.9935874938964844, + 0.11064540594816208, + -0.16067954783989047 + ], + [ + 0.09310707449913025, + -0.1080404743552208, + 0.9897769093513489, + 0.01457701931984825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.995008111000061, + 0.030774319544434547, + -0.09493046253919601, + -0.024913311027388543 + ], + [ + -0.02042526938021183, + 0.9939277172088623, + 0.10812271386384964, + -0.15637390120168224 + ], + [ + 0.097681425511837, + -0.10564399510622025, + 0.9895946979522705, + 0.013278933856209726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9950633645057678, + 0.02349771186709404, + -0.09641941636800766, + -0.024952385580266717 + ], + [ + -0.013141891919076443, + 0.9942081570625305, + 0.10666526108980179, + -0.15423990894066356 + ], + [ + 0.0983673557639122, + -0.10487156361341476, + 0.9896089434623718, + 0.012713362956206306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9950702786445618, + 0.015050544403493404, + -0.09802364557981491, + -0.02420460432767868 + ], + [ + -0.004610295407474041, + 0.9943687915802002, + 0.1058746948838234, + -0.1528875347482794 + ], + [ + 0.0990651324391365, + -0.10490084439516068, + 0.9895362257957458, + 0.01130212169453388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9950652122497559, + 0.010385766625404358, + -0.09867795556783676, + -0.02402866177886498 + ], + [ + 6.271572783589363e-05, + 0.9944408535957336, + 0.10529643297195435, + -0.15074191615021013 + ], + [ + 0.09922298043966293, + -0.10478301346302032, + 0.9895328879356384, + 0.00993343163708239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9950883388519287, + 0.009501056745648384, + -0.09853385388851166, + -0.024691478509939357 + ], + [ + 0.000749299768358469, + 0.9946318864822388, + 0.10347381979227066, + -0.1453183591145425 + ], + [ + 0.09898802638053894, + -0.10303942114114761, + 0.9897394776344299, + 0.00913253579544657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9951838850975037, + 0.010397516191005707, + -0.09747243672609329, + -0.02558328421743772 + ], + [ + -0.0004890905693173409, + 0.9948729872703552, + 0.10113087296485901, + -0.14110753253628394 + ], + [ + 0.09802421182394028, + -0.10059614479541779, + 0.9900866746902466, + 0.0073948083033088495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9953055381774902, + 0.01040901429951191, + -0.09622117131948471, + -0.02743105346919926 + ], + [ + -0.0011555347591638565, + 0.9954068064689636, + 0.09572835266590118, + -0.13537808818785288 + ], + [ + 0.09677564352750778, + -0.09516777098178864, + 0.9907459616661072, + 0.005559338872384934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9952955842018127, + 0.010217692703008652, + -0.09634478390216827, + -0.026916932286196987 + ], + [ + -0.001292170025408268, + 0.9957348108291626, + 0.09225223958492279, + -0.12995918939345097 + ], + [ + 0.09687645733356476, + -0.09169375896453857, + 0.99106365442276, + 0.0023945220497273313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9952792525291443, + 0.008302210830152035, + -0.096697136759758, + -0.026694044072664416 + ], + [ + 0.00037586595863103867, + 0.9959972500801086, + 0.08938291668891907, + -0.12410289226739689 + ], + [ + 0.09705215692520142, + -0.08899730443954468, + 0.9912922382354736, + 0.0017335332204936119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9952811002731323, + 0.006477244198322296, + -0.09681745618581772, + -0.0255155310034752 + ], + [ + 0.0017972083296626806, + 0.996367871761322, + 0.08513388782739639, + -0.1167816607709903 + ], + [ + 0.09701723605394363, + -0.08490615338087082, + 0.9916544556617737, + 0.0002718087342631712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9953200817108154, + 0.005795727949589491, + -0.09645907580852509, + -0.024854232507352608 + ], + [ + 0.002231734339147806, + 0.9965548515319824, + 0.08290615677833557, + -0.11252801765239875 + ], + [ + 0.0966072678565979, + -0.08273343741893768, + 0.9918781518936157, + -0.0014509939467747708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9953823685646057, + 0.005575501825660467, + -0.09582722932100296, + -0.025781852370910074 + ], + [ + 0.0022559347562491894, + 0.9966771006584167, + 0.08142250776290894, + -0.10942190419420429 + ], + [ + 0.09596278518438339, + -0.08126270771026611, + 0.9920622706413269, + -0.002937743215615513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9954595565795898, + 0.004600787069648504, + -0.09507407248020172, + -0.02705889877699713 + ], + [ + 0.0030795035418123007, + 0.996751606464386, + 0.08047793805599213, + -0.10723180236216663 + ], + [ + 0.09513549506664276, + -0.08040530979633331, + 0.9922117590904236, + -0.004732569370361912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9954935908317566, + 9.728828445076942e-05, + -0.09482865035533905, + -0.027784420549869543 + ], + [ + 0.007421438582241535, + 0.9968523979187012, + 0.07893160730600357, + -0.10438339309766889 + ], + [ + 0.09453785419464111, + -0.07927966862916946, + 0.992359459400177, + -0.007255286257714034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/move_right/transforms.json b/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..820ef5b0a632a53432157f7e57c200dc9fe4796c --- /dev/null +++ b/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/move_right/transforms.json @@ -0,0 +1,4633 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 132, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.828373731579632e-05, + 9.285063424613327e-05, + -0.00014976847160141915 + ], + [ + 9.827211033552885e-05, + 1.0, + 0.00012523045006673783, + -8.855538908392191e-05 + ], + [ + -9.286294516641647e-05, + -0.00012522131146397442, + 1.0, + -0.00010745334293460473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999916136264801, + -0.01294904388487339, + -0.00021837842359673232, + 0.0007295630899520559 + ], + [ + 0.012949429452419281, + 0.9999144077301025, + 0.001866100705228746, + -0.0072997501091533945 + ], + [ + 0.00019419552700128406, + -0.0018687719712033868, + 0.9999982118606567, + -0.0009291622695403763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999650239944458, + -0.026443518698215485, + -0.0003294612397439778, + 0.0005685824508074927 + ], + [ + 0.02644440159201622, + 0.9996456503868103, + 0.003046155208721757, + -0.017562271728542925 + ], + [ + 0.000248793454375118, + -0.0030538022983819246, + 0.9999952912330627, + -0.0018943688159502815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993502497673035, + -0.036015111953020096, + -0.0014280525501817465, + 0.003205937543574664 + ], + [ + 0.03601982817053795, + 0.9993451833724976, + 0.003424921305850148, + -0.029755895041668687 + ], + [ + 0.0013037684839218855, + -0.0034741342533379793, + 0.999993085861206, + -0.0067036190047106555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9991211295127869, + -0.04119239002466202, + -0.007759077474474907, + 0.00643462666651618 + ], + [ + 0.04122678190469742, + 0.9991404414176941, + 0.004325450863689184, + -0.041010187782404076 + ], + [ + 0.007574232295155525, + -0.004641530569642782, + 0.9999605417251587, + -0.013191045368559489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.998969316482544, + -0.042851220816373825, + -0.014970188960433006, + 0.00797262251064295 + ], + [ + 0.04293623939156532, + 0.9990631937980652, + 0.0054047489538788795, + -0.05454988079501017 + ], + [ + 0.01472456380724907, + -0.006041942164301872, + 0.9998733401298523, + -0.016550199164234045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989011883735657, + -0.039999574422836304, + -0.024422915652394295, + 0.010973398700953667 + ], + [ + 0.04018933326005936, + 0.9991651773452759, + 0.007328770123422146, + -0.06837495492614863 + ], + [ + 0.024109380319714546, + -0.008302257396280766, + 0.9996748566627502, + -0.022743149141546425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9987815022468567, + -0.032576192170381546, + -0.03707147762179375, + 0.01416767159235159 + ], + [ + 0.03300441429018974, + 0.9993947148323059, + 0.010998452082276344, + -0.08215512658064147 + ], + [ + 0.03669075295329094, + -0.012208573520183563, + 0.9992520809173584, + -0.028636709700217682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9985101819038391, + -0.025478586554527283, + -0.048251595348119736, + 0.016087355968037634 + ], + [ + 0.02618986740708351, + 0.9995566010475159, + 0.014166602864861488, + -0.09385419986175217 + ], + [ + 0.047869253903627396, + -0.015409201383590698, + 0.9987347722053528, + -0.025941369713831493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9982215166091919, + -0.02081267535686493, + -0.05586284399032593, + 0.01913226453288821 + ], + [ + 0.021763943135738373, + 0.999627411365509, + 0.016474582254886627, + -0.10555762295390814 + ], + [ + 0.05549915134906769, + -0.01766107976436615, + 0.9983025193214417, + -0.02466845043174183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9978117942810059, + -0.020943960174918175, + -0.06271310895681381, + 0.023515575416101754 + ], + [ + 0.02214238978922367, + 0.9995840787887573, + 0.018476037308573723, + -0.11378911682155751 + ], + [ + 0.06230006366968155, + -0.019824227318167686, + 0.9978605508804321, + -0.02226633706506882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.997459888458252, + -0.021583963185548782, + -0.06788194179534912, + 0.030460859357400706 + ], + [ + 0.023236460983753204, + 0.9994502663612366, + 0.02364896796643734, + -0.12462057221595568 + ], + [ + 0.06733419001102448, + -0.025166234001517296, + 0.9974130392074585, + -0.02337553786071202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971305131912231, + -0.024515636265277863, + -0.07162203639745712, + 0.03582787258650055 + ], + [ + 0.02667420357465744, + 0.9992135763168335, + 0.029338805004954338, + -0.13390750232088658 + ], + [ + 0.07084644585847855, + -0.03116508014500141, + 0.9970002770423889, + -0.022665033412684922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9967191219329834, + -0.029953986406326294, + -0.07519122958183289, + 0.04183006842855279 + ], + [ + 0.03259342908859253, + 0.998885989189148, + 0.0341247096657753, + -0.14132742419952654 + ], + [ + 0.0740852952003479, + -0.03646349161863327, + 0.9965850710868835, + -0.022522473338109847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9963189959526062, + -0.03512512892484665, + -0.07819629460573196, + 0.04853513050852841 + ], + [ + 0.03820851445198059, + 0.9985359311103821, + 0.03829037770628929, + -0.14740382260038654 + ], + [ + 0.07673685997724533, + -0.04113719239830971, + 0.9962024092674255, + -0.02192613910172732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9958879947662354, + -0.03979421779513359, + -0.08138523250818253, + 0.05541353823460696 + ], + [ + 0.043290432542562485, + 0.9981938004493713, + 0.041654787957668304, + -0.15350856892195822 + ], + [ + 0.07958061248064041, + -0.045006707310676575, + 0.9958118796348572, + -0.023861292721205997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9951409697532654, + -0.041185177862644196, + -0.08943275362253189, + 0.0627213275728335 + ], + [ + 0.045243844389915466, + 0.9980136156082153, + 0.043838921934366226, + -0.15914824413889236 + ], + [ + 0.0874495878815651, + -0.04767218604683876, + 0.9950276017189026, + -0.027170534039499195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9943174123764038, + -0.038176968693733215, + -0.09937511384487152, + 0.06846756182667864 + ], + [ + 0.04295849800109863, + 0.9979974627494812, + 0.04642873629927635, + -0.16708405870972698 + ], + [ + 0.09740360081195831, + -0.05043390765786171, + 0.993966281414032, + -0.027851267668013355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934754371643066, + -0.033928997814655304, + -0.10888253897428513, + 0.07440293857842001 + ], + [ + 0.039470113813877106, + 0.9980114698410034, + 0.04914522543549538, + -0.1745261602160585 + ], + [ + 0.10699857026338577, + -0.053122181445360184, + 0.9928390383720398, + -0.02685849062870932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9928585886955261, + -0.030177876353263855, + -0.11541735380887985, + 0.0807311786040095 + ], + [ + 0.03642988204956055, + 0.9979589581489563, + 0.05244825407862663, + -0.18135318954027335 + ], + [ + 0.1135990098118782, + -0.05627833679318428, + 0.9919314384460449, + -0.026299758187232125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9923290610313416, + -0.02431524731218815, + -0.12120957672595978, + 0.0868981026169908 + ], + [ + 0.03188846632838249, + 0.9976320862770081, + 0.06093727424740791, + -0.1898704955482301 + ], + [ + 0.11944085359573364, + -0.06433501839637756, + 0.9907547235488892, + -0.025113855950704967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9919205904006958, + -0.020494868978857994, + -0.12519387900829315, + 0.09157176604707733 + ], + [ + 0.029464712366461754, + 0.9970961809158325, + 0.07022148370742798, + -0.1973855365679123 + ], + [ + 0.12339115142822266, + -0.0733429342508316, + 0.9896441102027893, + -0.021680661157228564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9916766285896301, + -0.01598791591823101, + -0.12775704264640808, + 0.0958940832555749 + ], + [ + 0.026297712698578835, + 0.9964939951896667, + 0.0794239193201065, + -0.20631614291315314 + ], + [ + 0.1260392963886261, + -0.0821225643157959, + 0.9886202216148376, + -0.01919158446595414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9915490746498108, + -0.010544007644057274, + -0.1293027549982071, + 0.1002670593730366 + ], + [ + 0.02183140628039837, + 0.9960394501686096, + 0.08619046956300735, + -0.21272279629128352 + ], + [ + 0.12788183987140656, + -0.0882849469780922, + 0.9878522157669067, + -0.017453824376104442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9915359020233154, + -0.004142702091485262, + -0.12976671755313873, + 0.10357090042520116 + ], + [ + 0.016350410878658295, + 0.9955177307128906, + 0.09315089881420135, + -0.21891037482796735 + ], + [ + 0.1287991851568222, + -0.09448419511318207, + 0.9871593117713928, + -0.014683646321979188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9914519190788269, + 0.0018206853419542313, + -0.1304600089788437, + 0.10724602571425547 + ], + [ + 0.011291952803730965, + 0.9949533939361572, + 0.09970048815011978, + -0.2242271506248881 + ], + [ + 0.12998314201831818, + -0.10032138973474503, + 0.986427903175354, + -0.010975978465196285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9914724230766296, + 0.004540953319519758, + -0.1302376687526703, + 0.10968178514078374 + ], + [ + 0.00905531831085682, + 0.9945763945579529, + 0.10361381620168686, + -0.22830077908819413 + ], + [ + 0.13000181317329407, + -0.10390958935022354, + 0.9860539436340332, + -0.008152239512339348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9914451837539673, + 0.006487737409770489, + -0.1303623616695404, + 0.11199677161133016 + ], + [ + 0.007685455493628979, + 0.9941293597221375, + 0.10792499035596848, + -0.23196226040981993 + ], + [ + 0.1302972435951233, + -0.10800360888242722, + 0.9855749011039734, + -0.0055063212901808834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9913902878761292, + 0.008740379475057125, + -0.13064786791801453, + 0.11442612507416092 + ], + [ + 0.005871292669326067, + 0.9937987923622131, + 0.11103834211826324, + -0.2361310614443576 + ], + [ + 0.13080820441246033, + -0.11084941029548645, + 0.9851911664009094, + -0.005279462450390099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9913384914398193, + 0.011354225687682629, + -0.13084007799625397, + 0.11560393716315276 + ], + [ + 0.0036008970346301794, + 0.993531346321106, + 0.11350105702877045, + -0.24007735326121923 + ], + [ + 0.13128243386745453, + -0.11298911273479462, + 0.9848849773406982, + -0.004927646646005961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9911317229270935, + 0.013875958509743214, + -0.1321566104888916, + 0.11716359188310972 + ], + [ + 0.0014597829431295395, + 0.9933360815048218, + 0.1152445524930954, + -0.24265804202900132 + ], + [ + 0.13287505507469177, + -0.11441545188426971, + 0.9845066666603088, + -0.004755398582041491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9910696744918823, + 0.016631362959742546, + -0.13230402767658234, + 0.11794470028795359 + ], + [ + -0.001053085085004568, + 0.9931367039680481, + 0.11695440858602524, + -0.24446528219148686 + ], + [ + 0.13334108889102936, + -0.11577063053846359, + 0.9842851758003235, + -0.004134372108480857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9911016225814819, + 0.017985213547945023, + -0.131886824965477, + 0.11749876857031392 + ], + [ + -0.0023122215643525124, + 0.9930062890052795, + 0.11803897470235825, + -0.24508403876355586 + ], + [ + 0.1330874115228653, + -0.11668366938829422, + 0.9842116832733154, + -0.0033194677413704286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9911332130432129, + 0.01776985451579094, + -0.13167816400527954, + 0.11776007082853608 + ], + [ + -0.001972915604710579, + 0.9928757548332214, + 0.1191377192735672, + -0.244849998806781 + ], + [ + 0.13285711407661438, + -0.11782155930995941, + 0.984107255935669, + -0.002590041056645053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9912382960319519, + 0.01806313917040825, + -0.13084465265274048, + 0.11729362634302096 + ], + [ + -0.0021826671436429024, + 0.9927098751068115, + 0.12050865590572357, + -0.2448333453429678 + ], + [ + 0.13206753134727478, + -0.11916720867156982, + 0.9840514659881592, + -0.0013680539271644964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9912962317466736, + 0.01997849904000759, + -0.1301252841949463, + 0.11705883876740478 + ], + [ + -0.004213593900203705, + 0.9927266240119934, + 0.12031687051057816, + -0.24434986576892948 + ], + [ + 0.1315825879573822, + -0.1187213733792305, + 0.9841703176498413, + 0.00030764357812475187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9913049936294556, + 0.02414364367723465, + -0.12935017049312592, + 0.11692846733650178 + ], + [ + -0.008409195579588413, + 0.9926372170448303, + 0.12083324790000916, + -0.24346833450023 + ], + [ + 0.13131515681743622, + -0.11869487166404724, + 0.9842092394828796, + 0.0011704028839999033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9912711977958679, + 0.02833588793873787, + -0.12875759601593018, + 0.11675289669109665 + ], + [ + -0.0125613734126091, + 0.9924860596656799, + 0.12171125411987305, + -0.24302633620286715 + ], + [ + 0.1312389075756073, + -0.11903148889541626, + 0.9841787815093994, + 0.0023548761270727023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9912682771682739, + 0.031257741153240204, + -0.12810219824314117, + 0.11665842771985149 + ], + [ + -0.015401010401546955, + 0.9922932386398315, + 0.12295114248991013, + -0.24299327544441432 + ], + [ + 0.13095812499523163, + -0.11990465968847275, + 0.9841101765632629, + 0.003551546664764564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9913491010665894, + 0.032198406755924225, + -0.127240851521492, + 0.11663815928551988 + ], + [ + -0.01619628816843033, + 0.9920433759689331, + 0.12485019117593765, + -0.24291194265011612 + ], + [ + 0.13024841248989105, + -0.12170929461717606, + 0.9839828014373779, + 0.0057637059101337245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9914259314537048, + 0.03258928656578064, + -0.12654055655002594, + 0.11870357058657945 + ], + [ + -0.01647009514272213, + 0.9918427467346191, + 0.12639877200126648, + -0.24139425596435563 + ], + [ + 0.12962757050991058, + -0.12323088943958282, + 0.9838753938674927, + 0.007459970013387786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9914987087249756, + 0.036429017782211304, + -0.1249130517244339, + 0.12187938451311969 + ], + [ + -0.01973797008395195, + 0.9910075664520264, + 0.1323421448469162, + -0.23998893379653227 + ], + [ + 0.12861086428165436, + -0.12875153124332428, + 0.9833017587661743, + 0.0053897323044201795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9915105700492859, + 0.040659476071596146, + -0.12350555509328842, + 0.12050002359479439 + ], + [ + -0.0234200619161129, + 0.9901615381240845, + 0.13795500993728638, + -0.23904282124784157 + ], + [ + 0.127899631857872, + -0.13389134407043457, + 0.9827078580856323, + 0.008374715247369222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9917261004447937, + 0.041076526045799255, + -0.12162257730960846, + 0.11988327221106027 + ], + [ + -0.02377650886774063, + 0.9898067116737366, + 0.14041830599308014, + -0.24027770955030245 + ], + [ + 0.12615074217319489, + -0.13636474311351776, + 0.982593834400177, + 0.009770854787886824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9920752644538879, + 0.03863542154431343, + -0.11955723911523819, + 0.11894070392346565 + ], + [ + -0.021117843687534332, + 0.9892855882644653, + 0.14445780217647552, + -0.2433958117060989 + ], + [ + 0.12385744601488113, + -0.1407882124185562, + 0.9822616577148438, + 0.010407937313821024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9924585819244385, + 0.03343809396028519, + -0.1179315373301506, + 0.11801738803850785 + ], + [ + -0.015816813334822655, + 0.9889650344848633, + 0.14730218052864075, + -0.24577750216543903 + ], + [ + 0.12155567854642868, + -0.14432600140571594, + 0.982035756111145, + 0.011588561245531752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.992786169052124, + 0.02796168625354767, + -0.11659218370914459, + 0.11717172128553609 + ], + [ + -0.010168188251554966, + 0.9885579943656921, + 0.1504981815814972, + -0.25016804455658637 + ], + [ + 0.11946631968021393, + -0.14822697639465332, + 0.9817110300064087, + 0.01269890976117085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9928634762763977, + 0.02604028210043907, + -0.11637884378433228, + 0.11779356497617169 + ], + [ + -0.007983767427504063, + 0.9881938099861145, + 0.15300080180168152, + -0.2554782732915958 + ], + [ + 0.11898903548717499, + -0.15097975730895996, + 0.9813494682312012, + 0.014253926874344586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9929023385047913, + 0.029662666842341423, + -0.11517422646284103, + 0.11755973759270807 + ], + [ + -0.011685429140925407, + 0.9880440831184387, + 0.15372824668884277, + -0.2602544113197399 + ], + [ + 0.11835720390081406, + -0.15129128098487854, + 0.9813778400421143, + 0.016912444075214042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9927836656570435, + 0.03682120144367218, + -0.11412596702575684, + 0.11687346685478706 + ], + [ + -0.018700124695897102, + 0.9875865578651428, + 0.15595878660678864, + -0.2672163346128268 + ], + [ + 0.11845186352729797, + -0.15269915759563446, + 0.981148362159729, + 0.021505297964993324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9924215078353882, + 0.044360000640153885, + -0.11459407955408096, + 0.11856403082381678 + ], + [ + -0.025832969695329666, + 0.9870421886444092, + 0.15836772322654724, + -0.2744703106582165 + ], + [ + 0.1201343908905983, + -0.1542072296142578, + 0.9807078242301941, + 0.024642204083786666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.992223858833313, + 0.04730997234582901, + -0.1151241734623909, + 0.12036772733198778 + ], + [ + -0.028130076825618744, + 0.986249566078186, + 0.16285119950771332, + -0.28268670481238656 + ], + [ + 0.12124564498662949, + -0.15834639966487885, + 0.979911208152771, + 0.027347901992442955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9923818707466125, + 0.042389363050460815, + -0.11567764729261398, + 0.12272196484886053 + ], + [ + -0.022383898496627808, + 0.9853535294532776, + 0.1690485179424286, + -0.2929654664665688 + ], + [ + 0.12114923447370529, + -0.16517138481140137, + 0.9787958264350891, + 0.03018341027200222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9925474524497986, + 0.03471336141228676, + -0.11680997908115387, + 0.12421908372913608 + ], + [ + -0.014012545347213745, + 0.9847216010093689, + 0.17357149720191956, + -0.3018242320714106 + ], + [ + 0.12105055153369904, + -0.17064115405082703, + 0.9778692722320557, + 0.036186073970703676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9927124381065369, + 0.028756797313690186, + -0.11702607572078705, + 0.12332404940637923 + ], + [ + -0.008963450789451599, + 0.9860405325889587, + 0.1662641167640686, + -0.28893950238027644 + ], + [ + 0.12017367780208588, + -0.16400349140167236, + 0.979112446308136, + 0.038250361360211406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9928792715072632, + 0.024580206722021103, + -0.11656146496534348, + 0.12445305634773415 + ], + [ + -0.004974472336471081, + 0.9861819744110107, + 0.1655908077955246, + -0.2882135482611604 + ], + [ + 0.11902108043432236, + -0.16383184492588043, + 0.9792819619178772, + 0.040140216416530025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9929064512252808, + 0.023128408938646317, + -0.11662694811820984, + 0.12620119100991095 + ], + [ + -0.0032139960676431656, + 0.985760509967804, + 0.1681247353553772, + -0.29360702983068143 + ], + [ + 0.11885470151901245, + -0.16655728220939636, + 0.9788423180580139, + 0.041781883675406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9928261637687683, + 0.022747265174984932, + -0.11738300323486328, + 0.1285927053626257 + ], + [ + -0.0024461206048727036, + 0.9853948950767517, + 0.17026714980602264, + -0.29583595219203307 + ], + [ + 0.1195417195558548, + -0.1687585562467575, + 0.9783815145492554, + 0.044770889729261396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9930099844932556, + 0.022849097847938538, + -0.11579745262861252, + 0.1261441884605029 + ], + [ + -0.002699139527976513, + 0.9852226376533508, + 0.17125746607780457, + -0.2948813106139539 + ], + [ + 0.1179993525147438, + -0.16974782943725586, + 0.9783976078033447, + 0.046844496868038904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9933046698570251, + 0.02288072556257248, + -0.11323580890893936, + 0.12208755936558921 + ], + [ + -0.0024843700230121613, + 0.9841940402984619, + 0.17707593739032745, + -0.305926783527923 + ], + [ + 0.1154976412653923, + -0.1756090372800827, + 0.9776613712310791, + 0.04810107177450457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9934403300285339, + 0.020051345229148865, + -0.11257975548505783, + 0.12144892731013189 + ], + [ + -8.050911128520966e-05, + 0.9846288561820984, + 0.17465975880622864, + -0.2993136563885758 + ], + [ + 0.11435144394636154, + -0.17350497841835022, + 0.9781716465950012, + 0.04787197649365163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9933879971504211, + 0.018467066809535027, + -0.11331059783697128, + 0.1236394883794639 + ], + [ + 0.0016074273735284805, + 0.9846439957618713, + 0.17456695437431335, + -0.299476071053277 + ], + [ + 0.11479433625936508, + -0.1735948622226715, + 0.9781038165092468, + 0.04948642810109918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9932674169540405, + 0.017860431224107742, + -0.11445901542901993, + 0.1271549321767938 + ], + [ + 0.002222334034740925, + 0.9849237203598022, + 0.17297489941120148, + -0.2969181469904671 + ], + [ + 0.11582279950380325, + -0.17206470668315887, + 0.9782529473304749, + 0.050278253432448586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9933902621269226, + 0.018203075975179672, + -0.1133333295583725, + 0.12625537455536937 + ], + [ + 0.0019585033878684044, + 0.984514057636261, + 0.17529478669166565, + -0.30207820503922705 + ], + [ + 0.11476916074752808, + -0.17435809969902039, + 0.9779710173606873, + 0.05042337809923951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9934770464897156, + 0.017390092834830284, + -0.11269858479499817, + 0.12564220022381717 + ], + [ + 0.0026198732666671276, + 0.984561562538147, + 0.17501908540725708, + -0.2990340364115839 + ], + [ + 0.1140022873878479, + -0.17417269945144653, + 0.9780937433242798, + 0.050536822709645934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9934725165367126, + 0.018787387758493423, + -0.1125137060880661, + 0.12717759199724854 + ], + [ + 0.0019500171765685081, + 0.9834027290344238, + 0.1814255267381668, + -0.3097563799619959 + ], + [ + 0.11405479907989502, + -0.18046067655086517, + 0.976947009563446, + 0.05019120488116759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9932911992073059, + 0.01979290135204792, + -0.11393359303474426, + 0.13257499680719304 + ], + [ + 0.0016240589320659637, + 0.9827585220336914, + 0.18488670885562897, + -0.3148917401394316 + ], + [ + 0.11562864482402802, + -0.1838313788175583, + 0.9761332273483276, + 0.050655984434917686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9932050108909607, + 0.02142135612666607, + -0.11438953876495361, + 0.13458584351394012 + ], + [ + -0.0005697440356016159, + 0.9837968945503235, + 0.17928555607795715, + -0.2994085479399744 + ], + [ + 0.1163766086101532, + -0.17800214886665344, + 0.9771242141723633, + 0.04862279051360283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9928608536720276, + 0.023844929412007332, + -0.11687059700489044, + 0.14168294129025844 + ], + [ + -0.0024985168129205704, + 0.9837568998336792, + 0.17948856949806213, + -0.2982189896281894 + ], + [ + 0.11925214529037476, + -0.17791518568992615, + 0.9767932891845703, + 0.05007427132311668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9925211071968079, + 0.02706727385520935, + -0.11903426796197891, + 0.14599439110464724 + ], + [ + -0.0036742286756634712, + 0.9812901020050049, + 0.1925000250339508, + -0.32522558345324326 + ], + [ + 0.12201759964227676, + -0.1906229853630066, + 0.9740505814552307, + 0.053376834043337186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9924743175506592, + 0.02509712427854538, + -0.11985348910093307, + 0.14562784823525043 + ], + [ + -0.002266320399940014, + 0.9823687672615051, + 0.18693962693214417, + -0.3094541871038671 + ], + [ + 0.12243197113275528, + -0.18526116013526917, + 0.9750326871871948, + 0.05555191419961798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.992477536201477, + 0.023849494755268097, + -0.12008147686719894, + 0.146662954724472 + ], + [ + -0.0009439615532755852, + 0.9823033809661865, + 0.18729433417320251, + -0.3076019492007451 + ], + [ + 0.12242331355810165, + -0.18577206134796143, + 0.9749365448951721, + 0.05660180118475251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9924887418746948, + 0.024094566702842712, + -0.1199399009346962, + 0.14779893893549462 + ], + [ + -0.00046757515519857407, + 0.9811527132987976, + 0.19323335587978363, + -0.318841764575425 + ], + [ + 0.12233523279428482, + -0.19172583520412445, + 0.9737942814826965, + 0.05797976206504662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9925044178962708, + 0.023210110142827034, + -0.11998460441827774, + 0.1489042992582758 + ], + [ + 8.12876969575882e-05, + 0.9816736578941345, + 0.19056972861289978, + -0.3126955928224075 + ], + [ + 0.12220887094736099, + -0.18915104866027832, + 0.9743135571479797, + 0.058517291010108614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.992691695690155, + 0.018599845468997955, + -0.11923615634441376, + 0.14693985837333984 + ], + [ + 0.003242554608732462, + 0.9835831522941589, + 0.18042641878128052, + -0.28682291294369877 + ], + [ + 0.12063457071781158, + -0.1794944405555725, + 0.9763345122337341, + 0.05580348104579758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9928070306777954, + 0.015479184687137604, + -0.1187208816409111, + 0.14605965988554118 + ], + [ + 0.006404985208064318, + 0.9833201766014099, + 0.18177011609077454, + -0.28588228432625135 + ], + [ + 0.11955428868532181, + -0.181223064661026, + 0.9761480093002319, + 0.053862739979993295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9926170110702515, + 0.013280008919537067, + -0.12056160718202591, + 0.1497860058914614 + ], + [ + 0.009052698500454426, + 0.9831040501594543, + 0.18282349407672882, + -0.2847177800359844 + ], + [ + 0.12095250934362411, + -0.1825651079416275, + 0.9757255911827087, + 0.0540230770773105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9928486943244934, + 0.013207655400037766, + -0.11864672601222992, + 0.14493654686531038 + ], + [ + 0.00940694846212864, + 0.9821150302886963, + 0.1880466192960739, + -0.2943141708264255 + ], + [ + 0.1190083920955658, + -0.18781794607639313, + 0.9749674201011658, + 0.05538367560801615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9932159185409546, + 0.012459802441298962, + -0.11561533063650131, + 0.13841709728914364 + ], + [ + 0.009416104294359684, + 0.9823605418205261, + 0.1867593675851822, + -0.28799517717894935 + ], + [ + 0.11590292304754257, + -0.18658103048801422, + 0.9755788445472717, + 0.055051208514976135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9936570525169373, + 0.010510153137147427, + -0.11196086555719376, + 0.13064964922102354 + ], + [ + 0.010816303081810474, + 0.9820739030838013, + 0.18818579614162445, + -0.28618338959831885 + ], + [ + 0.1119317039847374, + -0.1882031410932541, + 0.9757309556007385, + 0.055246955770572634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9940431714057922, + 0.006296114530414343, + -0.10880476236343384, + 0.12429561699164733 + ], + [ + 0.01421114057302475, + 0.9823186993598938, + 0.18667639791965485, + -0.27651526295501766 + ], + [ + 0.10805629193782806, + -0.18711064755916595, + 0.9763777256011963, + 0.0539127227971117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9942818880081177, + 0.002151782624423504, + -0.10676589608192444, + 0.11995801611711052 + ], + [ + 0.018197644501924515, + 0.9817590713500977, + 0.18925634026527405, + -0.2769226021979374 + ], + [ + 0.10522562265396118, + -0.1901170313358307, + 0.9761061072349548, + 0.05213617237128374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994362473487854, + -0.0010711811482906342, + -0.10602900385856628, + 0.11748756717975811 + ], + [ + 0.02069167047739029, + 0.982685387134552, + 0.18412308394908905, + -0.2696897140782298 + ], + [ + 0.1039959192276001, + -0.1852789968252182, + 0.9771676063537598, + 0.05144119917891408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.994478166103363, + 0.0033728289417922497, + -0.10488968342542648, + 0.11501146369535505 + ], + [ + 0.01544073037803173, + 0.9839030504226685, + 0.17803476750850677, + -0.2656379790294148 + ], + [ + 0.10380176454782486, + -0.17867125570774078, + 0.9784179925918579, + 0.05118523797461095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9944828152656555, + 0.011168695986270905, + -0.10430360585451126, + 0.11398586554609183 + ], + [ + 0.007430237252265215, + 0.9843186140060425, + 0.17624318599700928, + -0.2576484452492294 + ], + [ + 0.10463639348745346, + -0.17604580521583557, + 0.9788049459457397, + 0.05048400968995713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9945669770240784, + 0.017045695334672928, + -0.10269355773925781, + 0.11151971559943133 + ], + [ + 0.0009325304999947548, + 0.9850041270256042, + 0.17252832651138306, + -0.24966993028980516 + ], + [ + 0.10409444570541382, + -0.17168673872947693, + 0.9796366691589355, + 0.051184684265660876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9945834279060364, + 0.021880339831113815, + -0.10161252319812775, + 0.10972566858843993 + ], + [ + -0.004366994835436344, + 0.9855256080627441, + 0.16947020590305328, + -0.2408110100050805 + ], + [ + 0.10384981334209442, + -0.1681085079908371, + 0.9802830219268799, + 0.051994853807997156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9947808980941772, + 0.02354588732123375, + -0.09928032755851746, + 0.10925453863753617 + ], + [ + -0.006470225751399994, + 0.9856082797050476, + 0.1689213514328003, + -0.23681994995656813 + ], + [ + 0.1018289178609848, + -0.1673973798751831, + 0.9806166291236877, + 0.05230573983934089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9949642419815063, + 0.020473098382353783, + -0.09811731427907944, + 0.10923234415987067 + ], + [ + -0.00377664715051651, + 0.9858791828155518, + 0.16741561889648438, + -0.23132783791036096 + ], + [ + 0.10015933960676193, + -0.16620200872421265, + 0.9809918403625488, + 0.051690406369343966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9952659606933594, + 0.015079453587532043, + -0.0960116907954216, + 0.10964957362481657 + ], + [ + 0.0011159381829202175, + 0.9860516786575317, + 0.16643576323986053, + -0.2268513902726775 + ], + [ + 0.0971822515130043, + -0.1657549887895584, + 0.9813668727874756, + 0.051471292625629265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9956109523773193, + 0.008149625733494759, + -0.09323336184024811, + 0.10847570440013898 + ], + [ + 0.007038113195449114, + 0.9868606328964233, + 0.16142040491104126, + -0.22152414246469396 + ], + [ + 0.09332385659217834, + -0.16136810183525085, + 0.9824718832969666, + 0.0510888313803509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9956596493721008, + 0.004437596537172794, + -0.09296327084302902, + 0.10875609301542508 + ], + [ + 0.010123705491423607, + 0.9877716302871704, + 0.1555786281824112, + -0.2176919237788738 + ], + [ + 0.09251687675714493, + -0.15584449470043182, + 0.9834394454956055, + 0.04993959959909206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9957841038703918, + 0.003688798053190112, + -0.09165358543395996, + 0.108889146899904 + ], + [ + 0.010133781470358372, + 0.9886506795883179, + 0.14989039301872253, + -0.2135269731311625 + ], + [ + 0.09116630256175995, + -0.15018728375434875, + 0.9844452738761902, + 0.04905875063010755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9958636164665222, + 0.007229715585708618, + -0.09057274460792542, + 0.10887008806448856 + ], + [ + 0.006083695217967033, + 0.9892867803573608, + 0.14585836231708527, + -0.21007999711392716 + ], + [ + 0.09065693616867065, + -0.14580605924129486, + 0.9851506948471069, + 0.048315358491799305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9959246516227722, + 0.01263041328638792, + -0.08930026739835739, + 0.10815888026743445 + ], + [ + 0.00021765939891338348, + 0.9898058176040649, + 0.14242321252822876, + -0.20622394789891843 + ], + [ + 0.09018879383802414, + -0.14186221361160278, + 0.9857692718505859, + 0.04842290944839252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9958869218826294, + 0.017821328714489937, + -0.0888347327709198, + 0.10908954718526993 + ], + [ + -0.005200809333473444, + 0.9900924563407898, + 0.14032061398029327, + -0.20195276499014944 + ], + [ + 0.09045529365539551, + -0.1392814666032791, + 0.9861128330230713, + 0.0486221591593655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9958194494247437, + 0.02160787768661976, + -0.08875075727701187, + 0.11181416657703523 + ], + [ + -0.009030792862176895, + 0.9901471734046936, + 0.13973897695541382, + -0.2025969855430472 + ], + [ + 0.09089577943086624, + -0.13835331797599792, + 0.9862029552459717, + 0.0501263847730997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9959654211997986, + 0.024601655080914497, + -0.08629950135946274, + 0.11203507005258372 + ], + [ + -0.012500869110226631, + 0.9903462529182434, + 0.13805091381072998, + -0.20015873669127698 + ], + [ + 0.08886266499757767, + -0.13641512393951416, + 0.9866581559181213, + 0.05120599793113825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.996125340461731, + 0.02665175497531891, + -0.08380890637636185, + 0.11200348418632537 + ], + [ + -0.014950004406273365, + 0.990420937538147, + 0.13726915419101715, + -0.19803466455200475 + ], + [ + 0.08666456490755081, + -0.13548435270786285, + 0.9869818687438965, + 0.0516021381523318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9962502121925354, + 0.028836939483880997, + -0.08157172799110413, + 0.1121037831060759 + ], + [ + -0.017497006803750992, + 0.9904909729957581, + 0.13646066188812256, + -0.19516546388106948 + ], + [ + 0.08473116159439087, + -0.1345216929912567, + 0.9872813820838928, + 0.050971498562179446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9963443875312805, + 0.029248423874378204, + -0.08026452362537384, + 0.11315994743854946 + ], + [ + -0.018076278269290924, + 0.9904693365097046, + 0.13654187321662903, + -0.19436869639476748 + ], + [ + 0.0834931880235672, + -0.13459184765815735, + 0.9873772859573364, + 0.0497706059565526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9964145421981812, + 0.028868649154901505, + -0.07952766865491867, + 0.11462774688505944 + ], + [ + -0.017764106392860413, + 0.9904181361198425, + 0.13695386052131653, + -0.19483027213629875 + ], + [ + 0.08271931856870651, + -0.13505008816719055, + 0.9873798489570618, + 0.04964677607853904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9964607357978821, + 0.028133450075984, + -0.0792115107178688, + 0.11654031223809447 + ], + [ + -0.017103174701333046, + 0.9904742240905762, + 0.13663184642791748, + -0.1944911883959106 + ], + [ + 0.08230087906122208, + -0.13479351997375488, + 0.9874498844146729, + 0.049837832767089814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9964845180511475, + 0.027206774801015854, + -0.07923655956983566, + 0.11846497330160542 + ], + [ + -0.01625506579875946, + 0.9906147122383118, + 0.13571399450302124, + -0.192877155985996 + ], + [ + 0.08218524605035782, + -0.1339488923549652, + 0.9875744581222534, + 0.0500884514273578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9965053796768188, + 0.026743760332465172, + -0.07913178950548172, + 0.12079593875935969 + ], + [ + -0.01590479351580143, + 0.9907779097557068, + 0.1345592439174652, + -0.19094405161742944 + ], + [ + 0.08200065046548843, + -0.1328304409980774, + 0.9877408146858215, + 0.05050746422005064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.996483325958252, + 0.027620665729045868, + -0.07910839468240738, + 0.12393120627935607 + ], + [ + -0.016718413680791855, + 0.9906639456748962, + 0.13529762625694275, + -0.18968554721249423 + ], + [ + 0.08210685104131699, + -0.13349926471710205, + 0.9876418709754944, + 0.049438350442939136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9964585900306702, + 0.029726166278123856, + -0.07865497469902039, + 0.1261410994042877 + ], + [ + -0.01880757138133049, + 0.9905192852020264, + 0.13608011603355408, + -0.18746813464596981 + ], + [ + 0.08195440471172333, + -0.13411888480186462, + 0.987570583820343, + 0.04817106062333092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9964275360107422, + 0.03145502135157585, + -0.07837562263011932, + 0.1279189644082812 + ], + [ + -0.020806513726711273, + 0.9908772110939026, + 0.13315214216709137, + -0.17769290587033024 + ], + [ + 0.08184891939163208, + -0.13104574382305145, + 0.9879918098449707, + 0.046400246314192546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.996055543422699, + 0.032953862100839615, + -0.08238576352596283, + 0.13022833935177053 + ], + [ + -0.021953986957669258, + 0.9911363124847412, + 0.1310223937034607, + -0.17872158420336157 + ], + [ + 0.08597321808338165, + -0.12869688868522644, + 0.9879502654075623, + 0.04469713634093299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9956843256950378, + 0.032741911709308624, + -0.08683743327856064, + 0.1351218060739623 + ], + [ + -0.021363651379942894, + 0.9914325475692749, + 0.12886081635951996, + -0.17975847116948768 + ], + [ + 0.09031260758638382, + -0.12644954025745392, + 0.9878532886505127, + 0.04493741865717728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9956273436546326, + 0.029908427968621254, + -0.08849692344665527, + 0.13791603765642368 + ], + [ + -0.01872796006500721, + 0.9920340180397034, + 0.12457053363323212, + -0.17560270194049554 + ], + [ + 0.09151767194271088, + -0.1223684549331665, + 0.9882562756538391, + 0.04529950494757135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.995615541934967, + 0.024510039016604424, + -0.0902714878320694, + 0.13968307738768238 + ], + [ + -0.013934200629591942, + 0.9931545257568359, + 0.1159740537405014, + -0.1623595412635735 + ], + [ + 0.09249606728553772, + -0.11420771479606628, + 0.989141583442688, + 0.044396602652455104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.995569109916687, + 0.02065594494342804, + -0.09173594415187836, + 0.1425561088357718 + ], + [ + -0.010425037704408169, + 0.9938064813613892, + 0.11063456535339355, + -0.15884757329716936 + ], + [ + 0.09345303475856781, + -0.1091880053281784, + 0.9896183609962463, + 0.04312047543188998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9955552220344543, + 0.019248055294156075, + -0.09219182282686234, + 0.1444748160322659 + ], + [ + -0.009205641224980354, + 0.9940930604934692, + 0.10814012587070465, + -0.15745123372420328 + ], + [ + 0.09372874349355698, + -0.10681077837944031, + 0.989851713180542, + 0.041986518557972585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9957011342048645, + 0.02211976796388626, + -0.08994393795728683, + 0.14555956947098253 + ], + [ + -0.012303578667342663, + 0.9940463900566101, + 0.10826064646244049, + -0.16089731451863323 + ], + [ + 0.0918031558394432, + -0.10668861865997314, + 0.9900453090667725, + 0.04058462628198944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9955645799636841, + 0.027823036536574364, + -0.08987220376729965, + 0.14684909277858627 + ], + [ + -0.017691737040877342, + 0.9935935139656067, + 0.11161983013153076, + -0.1664858341345009 + ], + [ + 0.09240203350782394, + -0.10953475534915924, + 0.9896787405014038, + 0.038086327916110746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9954898357391357, + 0.031753066927194595, + -0.08939622342586517, + 0.14945917655607216 + ], + [ + -0.02173779159784317, + 0.9935987591743469, + 0.11085543781518936, + -0.16598068252774595 + ], + [ + 0.09234397113323212, + -0.10841218382120132, + 0.9898077249526978, + 0.03506159597851393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.995384156703949, + 0.033333953469991684, + -0.08999592065811157, + 0.15050896240099695 + ], + [ + -0.023269975557923317, + 0.9935874938964844, + 0.11064540594816208, + -0.16483616942809964 + ], + [ + 0.09310707449913025, + -0.1080404743552208, + 0.9897769093513489, + 0.03120835934488373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.995008111000061, + 0.030774319544434547, + -0.09493046253919601, + 0.15434005858788963 + ], + [ + -0.02042526938021183, + 0.9939277172088623, + 0.10812271386384964, + -0.1600535680518578 + ], + [ + 0.097681425511837, + -0.10564399510622025, + 0.9895946979522705, + 0.030876503643075016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9950633645057678, + 0.02349771186709404, + -0.09641941636800766, + 0.15583011881085754 + ], + [ + -0.013141891919076443, + 0.9942081570625305, + 0.10666526108980179, + -0.1566275198389385 + ], + [ + 0.0983673557639122, + -0.10487156361341476, + 0.9896089434623718, + 0.030584684079726233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9950702786445618, + 0.015050544403493404, + -0.09802364557981491, + 0.15809834748506546 + ], + [ + -0.004610295407474041, + 0.9943687915802002, + 0.1058746948838234, + -0.15373216902140444 + ], + [ + 0.0990651324391365, + -0.10490084439516068, + 0.9895362257957458, + 0.029451458935291712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9950652122497559, + 0.010385766625404358, + -0.09867795556783676, + 0.15979254536956322 + ], + [ + 6.271572783589363e-05, + 0.9944408535957336, + 0.10529643297195435, + -0.15073033049667098 + ], + [ + 0.09922298043966293, + -0.10478301346302032, + 0.9895328879356384, + 0.028263173061814018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9950883388519287, + 0.009501056745648384, + -0.09853385388851166, + 0.1606532197189695 + ], + [ + 0.000749299768358469, + 0.9946318864822388, + 0.10347381979227066, + -0.14517879488287877 + ], + [ + 0.09898802638053894, + -0.10303942114114761, + 0.9897394776344299, + 0.027570000251058404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9951838850975037, + 0.010397516191005707, + -0.09747243672609329, + 0.16129857512148282 + ], + [ + -0.0004890905693173409, + 0.9948729872703552, + 0.10113087296485901, + -0.14119937702487328 + ], + [ + 0.09802421182394028, + -0.10059614479541779, + 0.9900866746902466, + 0.02580240838627779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9953055381774902, + 0.01040901429951191, + -0.09622117131948471, + 0.16099320108653936 + ], + [ + -0.0011555347591638565, + 0.9954068064689636, + 0.09572835266590118, + -0.13559684591325186 + ], + [ + 0.09677564352750778, + -0.09516777098178864, + 0.9907459616661072, + 0.023880224059271905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9952955842018127, + 0.010217692703008652, + -0.09634478390216827, + 0.16302497309582833 + ], + [ + -0.001292170025408268, + 0.9957348108291626, + 0.09225223958492279, + -0.13020578672654415 + ], + [ + 0.09687645733356476, + -0.09169375896453857, + 0.99106365442276, + 0.02088239558666717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9952792525291443, + 0.008302210830152035, + -0.096697136759758, + 0.16476425488714042 + ], + [ + 0.00037586595863103867, + 0.9959972500801086, + 0.08938291668891907, + -0.12403058828146175 + ], + [ + 0.09705215692520142, + -0.08899730443954468, + 0.9912922382354736, + 0.020403108445799532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9952811002731323, + 0.006477244198322296, + -0.09681745618581772, + 0.16746263653039933 + ], + [ + 0.0017972083296626806, + 0.996367871761322, + 0.08513388782739639, + -0.1164331944231015 + ], + [ + 0.09701723605394363, + -0.08490615338087082, + 0.9916544556617737, + 0.019082784274493468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9953200817108154, + 0.005795727949589491, + -0.09645907580852509, + 0.16965106590331056 + ], + [ + 0.002231734339147806, + 0.9965548515319824, + 0.08290615677833557, + -0.1120918924685653 + ], + [ + 0.0966072678565979, + -0.08273343741893768, + 0.9918781518936157, + 0.017427983588560392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9953823685646057, + 0.005575501825660467, + -0.09582722932100296, + 0.17025528586547795 + ], + [ + 0.0022559347562491894, + 0.9966771006584167, + 0.08142250776290894, + -0.10897760559335522 + ], + [ + 0.09596278518438339, + -0.08126270771026611, + 0.9920622706413269, + 0.01596179768329358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9954595565795898, + 0.004600787069648504, + -0.09507407248020172, + 0.17051322695635657 + ], + [ + 0.0030795035418123007, + 0.996751606464386, + 0.08047793805599213, + -0.10662060318592907 + ], + [ + 0.09513549506664276, + -0.08040530979633331, + 0.9922117590904236, + 0.014149284612330544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9954935908317566, + 9.728828445076942e-05, + -0.09482865035533905, + 0.1713142976164818 + ], + [ + 0.007421438582241535, + 0.9968523979187012, + 0.07893160730600357, + -0.10289910538122057 + ], + [ + 0.09453785419464111, + -0.07927966862916946, + 0.992359459400177, + 0.01165228458121419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/orbit_left/transforms.json b/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e27856d620e76e88dc95bf569778afbebc69088d --- /dev/null +++ b/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/orbit_left/transforms.json @@ -0,0 +1,4633 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 132, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.828373731579632e-05, + 9.285063424613327e-05, + -0.00014976847160141915 + ], + [ + 9.827211033552885e-05, + 1.0, + 0.00012523045006673783, + -8.855538908392191e-05 + ], + [ + -9.286294516641647e-05, + -0.00012522131146397442, + 1.0, + -0.00010745334293460473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999145759166795, + -0.01294904388487339, + 0.0017799216924418823, + -0.002009340683036328 + ], + [ + 0.012945674252016577, + 0.9999144077301025, + 0.001891975989782687, + -0.0073347342012995585 + ], + [ + -0.0018042685661383044, + -0.0018687719712033868, + 0.9999966030199078, + -0.0006695864548228244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996435718277068, + -0.026443518698215485, + 0.0036660700027794004, + -0.004907826261450373 + ], + [ + 0.026432015102225613, + 0.9996456503868103, + 0.0031518272083300883, + -0.01770555355611273 + ], + [ + -0.003748116288460281, + -0.0030538022983819246, + 0.9999882979369153, + -0.0013755178016928394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993408507564753, + -0.036015111953020096, + 0.004563447532501595, + -0.005007067694329137 + ], + [ + 0.03599864713793595, + 0.9993451833724976, + 0.003640811945805652, + -0.03004920570545619 + ], + [ + -0.004691583405254084, + -0.0034741342533379793, + 0.9999829301681247, + -0.005934013176735165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9991512311798196, + -0.04119239002466202, + 0.0002279342285255693, + -0.004520123678132124 + ], + [ + 0.04119088793138629, + 0.9991404414176941, + 0.0046548708699223045, + -0.04145738070917006 + ], + [ + -0.0004194835862465039, + -0.004641530569642782, + 0.9999891389588462, + -0.01223363924937512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999069029667282, + -0.042851220816373825, + -0.004987563612430554, + -0.005728114628521458 + ], + [ + 0.04288009067687658, + 0.9990631937980652, + 0.00583350562587397, + -0.05513087995776041 + ], + [ + 0.004732917557520667, + -0.006041942164301872, + 0.9999705538530296, + -0.015451481456003288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9991222220092759, + -0.039999574422836304, + -0.012443810924831976, + -0.005481118607494109 + ], + [ + 0.04009856829588063, + 0.9991651773452759, + 0.007810134443828449, + -0.06902400728022841 + ], + [ + 0.012121021443433336, + -0.008302257396280766, + 0.9998920752272511, + -0.021579232047071135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9992023594648134, + -0.032576192170381546, + -0.02309607160322105, + -0.005050000423628482 + ], + [ + 0.03284732945125484, + 0.9993947148323059, + 0.011459068843729698, + -0.08276791241858648 + ], + [ + 0.022708801345819624, + -0.012208573520183563, + 0.9996675661995775, + -0.027520805606082038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9991539724952837, + -0.02547858655452729, + -0.03228217877050571, + -0.005893016748762442 + ], + [ + 0.025960037866828344, + 0.9995566010475161, + 0.01458349153955101, + -0.09439860950617722 + ], + [ + 0.03189629564938677, + -0.015409201383590702, + 0.999372421575268, + -0.024912077369171753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999064763713629, + -0.02081267535686493, + -0.037900547041875766, + -0.005606356419520342 + ], + [ + 0.021464123426013188, + 0.999627411365509, + 0.01686334743879609, + -0.10605557437104224 + ], + [ + 0.037535456373200694, + -0.01766107976436615, + 0.9991392122216302, + -0.023699598304145485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.998865762417201, + -0.020943960174918175, + -0.042760957800466626, + -0.003978376689584541 + ], + [ + 0.021768755009415903, + 0.9995840787887573, + 0.01891482713496888, + -0.11434755616932202 + ], + [ + 0.042347020672712156, + -0.019824227318167686, + 0.998906255249606, + -0.02137726650062573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9987110214243526, + -0.021583963185548786, + -0.04593999119048888, + 0.00021332589485493353 + ], + [ + 0.022711009544730043, + 0.9994502663612368, + 0.024154023482356842, + -0.12525301895405472 + ], + [ + 0.045393401565227684, + -0.025166234001517303, + 0.9986521431508762, + -0.022550518094552073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9985612410158586, + -0.024515636265277863, + -0.04769092550558567, + 0.002829715612857917 + ], + [ + 0.025963008801060013, + 0.9992135763168335, + 0.029969998155773753, + -0.1346926794247631 + ], + [ + 0.04691868095895357, + -0.03116508014500141, + 0.9984124441784822, + -0.021881744260506965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9983360208127052, + -0.029953986406326294, + -0.04927391379562944, + 0.006084644965847159 + ], + [ + 0.03169596662848876, + 0.998885989189148, + 0.03495987884721992, + -0.14237262140276002 + ], + [ + 0.04817183488828734, + -0.03646349161863327, + 0.9981732861591053, + -0.021790643007192974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9981165965457466, + -0.03512512892484665, + -0.05029375593461961, + 0.010044459758938442 + ], + [ + 0.03712239073223128, + 0.9985359311103821, + 0.039344271601353294, + -0.14872957233814485 + ], + [ + 0.04883815399354679, + -0.04113719239830971, + 0.9979592279366394, + -0.02124108734807875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9978798868151685, + -0.03979421779513359, + -0.05149937552699846, + 0.014178800006239802 + ], + [ + 0.04202248334116967, + 0.9981938004493713, + 0.04293359760562326, + -0.15512468485931347 + ], + [ + 0.04969784763841127, + -0.045006707310676575, + 0.9977497168352444, + -0.023245671241307858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9974914504200348, + -0.041185177862644196, + -0.0575723322518114, + 0.018736853717365484 + ], + [ + 0.043819184480752345, + 0.9980136156082153, + 0.0452629606078539, + -0.16094862007775831 + ], + [ + 0.055593804632615894, + -0.04767218604683876, + 0.9973147384299487, + -0.02686199471371361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9971191492146447, + -0.03817696869373322, + -0.06554336027434202, + 0.021728443211412422 + ], + [ + 0.041356643482296944, + 0.9979974627494814, + 0.04786113396834976, + -0.1688790908387437 + ], + [ + 0.06358491193889422, + -0.050433907657861723, + 0.9967012536426837, + -0.027991639301998994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9967486452614231, + -0.033928997814655304, + -0.07308207517452385, + 0.024911459003018076 + ], + [ + 0.03767708691229091, + 0.9980114698410034, + 0.050532961415196635, + -0.17624207487868568 + ], + [ + 0.07122221315229402, + -0.053122181445360184, + 0.9960449018531317, + -0.027485461537699214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9965243763153528, + -0.030177876353263855, + -0.07764348083395765, + 0.02848997927630268 + ], + [ + 0.034412594016793085, + 0.9979589581489563, + 0.05379339211349705, + -0.1829898879130085 + ], + [ + 0.07586164378782129, + -0.05627833679318428, + 0.9955288667887481, + -0.02730954931367913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9963798994038191, + -0.02431524731218815, + -0.08146056052756806, + 0.03190624272698532 + ], + [ + 0.02942802185779587, + 0.9976320862770081, + 0.06216282817743475, + -0.19130038894816248 + ], + [ + 0.07975615854944225, + -0.06433501839637756, + 0.9947361433644349, + -0.02650294060388362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9962997584790301, + -0.020494868978857994, + -0.08346709685040268, + 0.03383204529924844 + ], + [ + 0.02649258906082522, + 0.9970961809158325, + 0.07139585964021403, + -0.19869679595226977 + ], + [ + 0.08176146752459394, + -0.0733429342508316, + 0.9939496483917474, + -0.023372490057511217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9963335056793615, + -0.015987915918231014, + -0.08404726704257288, + 0.03540488566115635 + ], + [ + 0.022781447875434263, + 0.996493995189667, + 0.08050300793164598, + -0.20744634097554782 + ], + [ + 0.08246551639602263, + -0.08212256431579591, + 0.9932045536672938, + -0.021129412113454645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9964430858681432, + -0.010544007644057274, + -0.08360589999871183, + 0.037027141331169314 + ], + [ + 0.01784801715303501, + 0.9960394501686096, + 0.08710255809892431, + -0.21358251440136905 + ], + [ + 0.08235635110351415, + -0.0882849469780922, + 0.9926848425343253, + -0.01960040764603076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9966172668303551, + -0.004142702091485262, + -0.08207843469084117, + 0.03757939033823768 + ], + [ + 0.011865500930858594, + 0.9955177307128906, + 0.09382769193289539, + -0.21940371203303413 + ], + [ + 0.08132184997499729, + -0.09448419511318207, + 0.9921993215229868, + -0.01698818911739137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9967300531856176, + 0.0018206853419542313, + -0.08078318429255302, + 0.038506111997232355 + ], + [ + 0.006298727071445575, + 0.9949533939361572, + 0.10014000985007591, + -0.2243520658863548 + ], + [ + 0.0805578164176008, + -0.10032138973474503, + 0.9916884912037186, + -0.013462373727091545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9968984340121059, + 0.004540953319519758, + -0.07856798551436082, + 0.03819231830789653 + ], + [ + 0.0036617263286668794, + 0.9945763945579529, + 0.10394428054434662, + -0.2282449417059773 + ], + [ + 0.07861386676822514, + -0.10390958935022354, + 0.9914750179083289, + -0.010741949288051273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9970329841353955, + 0.0064877374097704905, + -0.07670154023920532, + 0.03775884867773743 + ], + [ + 0.0018536083929687165, + 0.9941293597221377, + 0.1081824103327614, + -0.23177269009814874 + ], + [ + 0.07695311579617642, + -0.10800360888242724, + 0.9911677332035453, + -0.00822084814365739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.997145436457348, + 0.008740379475057125, + -0.07499697886530066, + 0.0374407802814223 + ], + [ + -0.00034804092746304103, + 0.9937987923622131, + 0.11119291508677236, + -0.23577265970690706 + ], + [ + 0.07550376839396464, + -0.11084941029548645, + 0.9909649850798499, + -0.00813650979069668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9972527481692715, + 0.01135422568768263, + -0.07319895415290126, + 0.035871780261501146 + ], + [ + -0.002979487584966554, + 0.9935313463211062, + 0.11351906914625949, + -0.2395072300196564 + ], + [ + 0.07401437520064127, + -0.11298911273479464, + 0.9908356918769172, + -0.0079267105919599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9972695296098153, + 0.013875958509743214, + -0.07253238724982837, + 0.03468876767829394 + ], + [ + -0.005448079936879356, + 0.9933360815048218, + 0.11512495937274525, + -0.2418787141711744 + ], + [ + 0.07364650209940656, + -0.11441545188426971, + 0.9906994244917158, + -0.00799169992566563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9973596893547261, + 0.01663136295974255, + -0.07069020785891088, + 0.032724795217407926 + ], + [ + -0.008292051909743192, + 0.9931367039680483, + 0.11666483853770733, + -0.24343281847858603 + ], + [ + 0.07214532754782277, + -0.11577063053846362, + 0.9906524138162369, + -0.007519907695903182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9975041901928229, + 0.017985213547945023, + -0.06827848439209401, + 0.02953050661042307 + ], + [ + -0.009851060622007133, + 0.9930062890052795, + 0.11764991509545669, + -0.24389887854066614 + ], + [ + 0.06991693495270955, + -0.11668366938829422, + 0.9907050614609618, + -0.006792590930040307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9976564212384854, + 0.01776985451579094, + -0.06607457933866648, + 0.027041736291453844 + ], + [ + -0.009820001206270296, + 0.9928757548332214, + 0.1187487099972015, + -0.24364904088183242 + ], + [ + 0.06771398881263956, + -0.11782155930995941, + 0.9907234324800642, + -0.006151779226343799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9978347255644354, + 0.01806313917040825, + -0.06324194103513421, + 0.023823836439619384 + ], + [ + -0.010359645176768179, + 0.9927098751068115, + 0.12008237978935746, + -0.24356433676190767 + ], + [ + 0.06494995241533272, + -0.11916720867156982, + 0.9907475078095602, + -0.004964684205126027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9979666377323415, + 0.019978499040007595, + -0.060526016184580186, + 0.020840932210596366 + ], + [ + -0.012612162061822148, + 0.9927266240119936, + 0.11972817993747922, + -0.24285057913530436 + ], + [ + 0.06247778218847037, + -0.11872137337923053, + 0.9909599983497629, + -0.003347197543543177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9980386259751954, + 0.024143643677234657, + -0.0577577532703612, + 0.017967871837703986 + ], + [ + -0.017073276399573217, + 0.9926372170448305, + 0.11991618573547366, + -0.24150766111206073 + ], + [ + 0.06022771916365583, + -0.11869487166404727, + 0.9911024767085391, + -0.002562127291392147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.998074579432837, + 0.02833588793873787, + -0.055174631864851886, + 0.015052523767525819 + ], + [ + -0.02151858618834126, + 0.9924860596656799, + 0.12045068671409992, + -0.24058194379175155 + ], + [ + 0.05817312224945604, + -0.11903148889541626, + 0.9911848529324461, + -0.0014739010264699071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9981302145622083, + 0.031257741153240204, + -0.052526615090665474, + 0.012216178086523727 + ], + [ + -0.02468478146320182, + 0.9922932386398315, + 0.12142831681727581, + -0.24017499980734472 + ], + [ + 0.05591738725202087, + -0.11990465968847275, + 0.9912094208191077, + -0.00035216382063348793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9982467069601088, + 0.032198406755924225, + -0.04966675472333313, + 0.009447533157678517 + ], + [ + -0.02586812871393699, + 0.9920433759689331, + 0.12321010471524729, + -0.23991528275306145 + ], + [ + 0.05323873564287534, + -0.12170929461717606, + 0.9911369428630108, + 0.0018317884021274234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9983646348462806, + 0.03258928656578064, + -0.04696749832692131, + 0.008763335191324759 + ], + [ + -0.026510900825200627, + 0.9918427467346191, + 0.1246799331683926, + -0.2382746475595071 + ], + [ + 0.05064759208102954, + -0.12323088943958282, + 0.9910847184325916, + 0.003494137955747018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9983958332442746, + 0.036429017782211304, + -0.043344204397772604, + 0.009199826610522294 + ], + [ + -0.03050336663020422, + 0.9910075664520264, + 0.13028267494160717, + -0.2363609631000922 + ], + [ + 0.047700494843176434, + -0.12875153124332428, + 0.9905290333935912, + 0.0014328152396225957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9983742805314187, + 0.040659476071596146, + -0.03994532052360032, + 0.005086195510126526 + ], + [ + -0.03490336695417942, + 0.9901615381240845, + 0.1355058634975374, + -0.23484145312962115 + ], + [ + 0.045061922164551425, + -0.13389134407043457, + 0.9899709457067244, + 0.004396620962137759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.998505238315828, + 0.041076526045799255, + -0.036055494320843866, + 0.0017171710566751541 + ], + [ + -0.0357406537433939, + 0.9898067116737366, + 0.13785945271144398, + -0.2359067753196835 + ], + [ + 0.04135075794595729, + -0.13636474311351776, + 0.989795316198953, + 0.005902753403677099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9987417384272026, + 0.03863542154431344, + -0.03197192032893196, + -0.0019918898214826147 + ], + [ + -0.03372244267582858, + 0.9892855882644656, + 0.14204512237892694, + -0.23919741743830328 + ], + [ + 0.037117337537752274, + -0.14078821241855624, + 0.9893436887169953, + 0.006722465018044937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9990394031548152, + 0.03343809396028519, + -0.028322345887845487, + -0.005691892237454824 + ], + [ + -0.028982092753956152, + 0.9889650344848633, + 0.14528641461665293, + -0.24210379355848177 + ], + [ + 0.03286791477904427, + -0.14432600140571594, + 0.9889841805841733, + 0.008100396358941265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9992972604597387, + 0.027961686253547675, + -0.024961971094468155, + -0.00931190394042189 + ], + [ + -0.023941004827208248, + 0.9885579943656924, + 0.14892925501566157, + -0.24708617069447403 + ], + [ + 0.028840670066416836, + -0.14822697639465335, + 0.9885327327530937, + 0.00939259880969927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9994021079165208, + 0.02604028210043907, + -0.0227452082040576, + -0.01144704844719012 + ], + [ + -0.022298516034800816, + 0.9881938099861145, + 0.1515775777512612, + -0.25258002234466054 + ], + [ + 0.02642379269503149, + -0.15097975730895996, + 0.9881836633659958, + 0.01093276342046465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9993688737130115, + 0.02966266684234143, + -0.019545088978664433, + -0.014420745673929869 + ], + [ + -0.026355712225242196, + 0.9880440831184389, + 0.15190226962535325, + -0.2567987346756193 + ], + [ + 0.023817242983534225, + -0.15129128098487857, + 0.9882022220060063, + 0.013604042284542713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9991853471628674, + 0.03682120144367219, + -0.01651620900875027, + -0.01782732178307865 + ], + [ + -0.033858397341625934, + 0.987586557865143, + 0.1533833325787405, + -0.26271876013962053 + ], + [ + 0.021958947461340958, + -0.1526991575956345, + 0.9880287228457475, + 0.018112341653393555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9989027052556876, + 0.04436000064015389, + -0.015021242158420552, + -0.01884224259361371 + ], + [ + -0.04150243513144334, + 0.9870421886444094, + 0.15500072890602945, + -0.26887274927284754 + ], + [ + 0.02170244197210274, + -0.15420722961425784, + 0.9878001378788243, + 0.020943845816287446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9987880413607949, + 0.04730997234582901, + -0.013572390656625152, + -0.01976609335968417 + ], + [ + -0.04455347599950487, + 0.986249566078186, + 0.15914396683405188, + -0.2765968269827628 + ], + [ + 0.020914851700251202, + -0.15834639966487885, + 0.9871621200542511, + 0.023409774715482546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9990277440166655, + 0.04238936305046082, + -0.012110415132152538, + -0.02018956984813948 + ], + [ + -0.039799121605211936, + 0.9853535294532778, + 0.16581456585563434, + -0.2874907962542846 + ], + [ + 0.01896181070937228, + -0.1651713848114014, + 0.986082581021963, + 0.026166710517909458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9993343161821968, + 0.03471336141228676, + -0.011222347267219199, + -0.021480397409367497 + ], + [ + -0.03228415178603569, + 0.9847216010093689, + 0.17111735625435515, + -0.297397205393113 + ], + [ + 0.016990945310649902, + -0.17064115405082703, + 0.9851867119382567, + 0.03209368266782268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9995420492604743, + 0.028756797313690186, + -0.009422257171390615, + -0.025151916857151152 + ], + [ + -0.02681927489975069, + 0.9860405325889587, + 0.1643314530673978, + -0.28527839749875866 + ], + [ + 0.014016375647738413, + -0.16400349140167236, + 0.9863601961584235, + 0.034227915071527115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9996737446448064, + 0.024580206722021103, + -0.006944578568277741, + -0.02679095146925349 + ], + [ + -0.023108867701682002, + 0.9861819744110107, + 0.16404585101411998, + -0.28509521394827425 + ], + [ + 0.010880902301264195, + -0.16383184492588043, + 0.9864282966797894, + 0.03621934335517265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997199497660008, + 0.023128408938646317, + -0.005008787479375246, + -0.027797830740342755 + ], + [ + -0.02197018983764329, + 0.985760509967804, + 0.16671402810662445, + -0.29066512564363356 + ], + [ + 0.008793297592974621, + -0.16655728220939636, + 0.9859925971384375, + 0.037808838712527125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997341343240701, + 0.022747265174984932, + -0.003771150957882633, + -0.028154973248953705 + ], + [ + -0.021783940444118903, + 0.9853948950767517, + 0.1688855995868423, + -0.2929296365838965 + ], + [ + 0.00755774946427826, + -0.1687585562467575, + 0.985628475212187, + 0.04061280326527762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997388899089958, + 0.022849097847938538, + -0.00017703700243200602, + -0.03335873231735051 + ], + [ + -0.022487262268272943, + 0.9852226376533508, + 0.16979613681488687, + -0.2918688706112481 + ], + [ + 0.004054109425030019, + -0.16974782943725586, + 0.985479218627149, + 0.04285873467847032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9997285434438741, + 0.02288072556257248, + 0.0043994320798526835, + -0.04017372258605181 + ], + [ + -0.023297736432141496, + 0.9841940402984619, + 0.17555419440791745, + -0.30280782035028825 + ], + [ + -0.0003130793914728377, + -0.1756090372800827, + 0.984459935150536, + 0.0444395813360151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9997739632524358, + 0.020051345229148865, + 0.007064918597883622, + -0.04357460218539651 + ], + [ + -0.020972903257297608, + 0.9846288561820984, + 0.17339600675023342, + -0.2965745990614126 + ], + [ + -0.0034794965748362046, + -0.17350497841835022, + 0.9848268457137932, + 0.044344761844304276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997947772469886, + 0.018467066809535027, + 0.008331137637873808, + -0.04413728528783517 + ], + [ + -0.019632692535160944, + 0.9846439957618713, + 0.17346689242072852, + -0.29697486189671096 + ], + [ + -0.004999779957182849, + -0.1735948622226715, + 0.9848044565839262, + 0.04582535023170372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9997984063617084, + 0.017860431224107742, + 0.009174662507200395, + -0.043370323337398695 + ], + [ + -0.01917236941110296, + 0.9849237203598022, + 0.17192345635788459, + -0.2945060341536483 + ], + [ + -0.005965721655653149, + -0.17206470668315887, + 0.9850675915950065, + 0.04638490642156213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9997585936947493, + 0.018203075975179672, + 0.012304910031367416, + -0.047023040286123224 + ], + [ + -0.02006896777869676, + 0.984514057636261, + 0.17415319264686047, + -0.2995436444903422 + ], + [ + -0.008944231620539722, + -0.17435809969902039, + 0.9846416971553195, + 0.04664443306701822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997371178099478, + 0.017390092834830284, + 0.01494349991744853, + -0.050391312476271155 + ], + [ + -0.01972583287961931, + 0.984561562538147, + 0.17392364850684186, + -0.2965797730613255 + ], + [ + -0.01168825140177143, + -0.17417269945144653, + 0.9846457622104168, + 0.046834371028715835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996768171694269, + 0.018787387758493423, + 0.01712414626966296, + -0.051602512075663326 + ], + [ + -0.021567447828836708, + 0.9834027290344238, + 0.18014957539045326, + -0.3070361936657452 + ], + [ + -0.013455398463976677, + -0.18046067655086517, + 0.9834901671802778, + 0.04640216534664164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996475954403319, + 0.01979290135204792, + 0.017690533481418132, + -0.048947167428120386 + ], + [ + -0.02270575838334807, + 0.9827585220336914, + 0.18349436289738702, + -0.3120113597966311 + ], + [ + -0.013753643243648264, + -0.1838313788175583, + 0.9828615865597911, + 0.04651016331487127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9995856960855857, + 0.02142135612666607, + 0.019224890607418867, + -0.04967878530366354 + ], + [ + -0.024498846260335518, + 0.9837968945503235, + 0.17760473461696022, + -0.2961795355209255 + ], + [ + -0.015108858061029976, + -0.17800214886665344, + 0.9839141056828339, + 0.044294159175326635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9995404241841034, + 0.02384492941200734, + 0.01871768202769199, + -0.04531168746672973 + ], + [ + -0.0267922286189518, + 0.9837568998336794, + 0.17749525529533164, + -0.29457894437859544 + ], + [ + -0.014181289725368347, + -0.17791518568992618, + 0.9839436442063608, + 0.04513959090690528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9994619133381346, + 0.02706727385520935, + 0.018525360101676113, + -0.04372478024974685 + ], + [ + -0.0300999704567115, + 0.9812901020050049, + 0.1901676927686137, + -0.32107628029529955 + ], + [ + -0.013031430528654691, + -0.1906229853630066, + 0.9815767986633104, + 0.04779769952975957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9994907923027514, + 0.02509712427854538, + 0.019704972705701217, + -0.04684682112646937 + ], + [ + -0.02831047487502871, + 0.9823687672615051, + 0.18479739537676063, + -0.3056159362868122 + ], + [ + -0.014719671988080345, + -0.18526116013526917, + 0.9825790858223562, + 0.04983035475658352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9994848439769058, + 0.023849494755268104, + 0.02147714160735338, + -0.04856618912186833 + ], + [ + -0.027420821484757364, + 0.9823033809661867, + 0.18527859354468987, + -0.3039594806105129 + ], + [ + -0.01667826929157371, + -0.18577206134796145, + 0.9824513064819647, + 0.05079841332999624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9994307154725119, + 0.024094566702842712, + 0.023616256145762685, + -0.0501794696681212 + ], + [ + -0.028171195132457846, + 0.9811527132987976, + 0.1911693809580861, + -0.31513071869748516 + ], + [ + -0.018565009874218275, + -0.19172583520412445, + 0.9812729244402921, + 0.05209061500127996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9994035314561551, + 0.023210110142827034, + 0.025571588804609705, + -0.05182779275127075 + ], + [ + -0.02762293739784508, + 0.9816736578941345, + 0.18855715685382693, + -0.30909332787737687 + ], + [ + -0.020726521917294863, + -0.18915104866027832, + 0.9817292534450577, + 0.0525814765701959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9994253828407482, + 0.018599845468997955, + 0.028336686567219715, + -0.056565541837468314 + ], + [ + -0.023378348346325413, + 0.9835831522941589, + 0.17893479142756585, + -0.28400730288070225 + ], + [ + -0.024543334667193616, + -0.1794944405555725, + 0.9834527971155345, + 0.05014435098541525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994038558165492, + 0.015479184687137604, + 0.030860668817616767, + -0.060209454616189484 + ], + [ + -0.0208095698349655, + 0.9833201766014099, + 0.18068857391227836, + -0.28365207297040407 + ], + [ + -0.027549004585516523, + -0.181223064661026, + 0.9830560596172562, + 0.04834542001768299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994308563420745, + 0.013280008919537067, + 0.031009598251194252, + -0.05923019499415605 + ], + [ + -0.018712772524742835, + 0.9831040501594543, + 0.1820884770681579, + -0.28298818313774193 + ], + [ + -0.02806751882123296, + -0.1825651079416275, + 0.9827930368050976, + 0.04813277503980932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9993023300960454, + 0.013207655400037766, + 0.03493463152642349, + -0.06684037937705864 + ], + [ + -0.019527146120925976, + 0.9821150302886963, + 0.187266420568194, + -0.2925319200642145 + ], + [ + -0.03183647803730687, + -0.18781794607639313, + 0.9816877845395018, + 0.049810716333637324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9991226662964895, + 0.012459802441298962, + 0.03998328668248005, + -0.07612713307602412 + ], + [ + -0.01969246224833127, + 0.9823605418205261, + 0.18595679963770487, + -0.28621785275622597 + ], + [ + -0.036961024925737676, + -0.18658103048801422, + 0.9817440868859835, + 0.0500817551862256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9989018439277872, + 0.010510153137147427, + 0.045658292024888476, + -0.08666550993394936 + ], + [ + -0.01890553577254873, + 0.9820739030838013, + 0.18754590637752533, + -0.2846569528259517 + ], + [ + -0.042868678958260825, + -0.1882031410932541, + 0.9811941094599125, + 0.05107623757153404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9986873542381882, + 0.006296114530414343, + 0.05083179532709972, + -0.09578930143757772 + ], + [ + -0.015688467886773538, + 0.9823186993598938, + 0.18655805003271572, + -0.27574481036252 + ], + [ + -0.0487584298050906, + -0.18711064755916595, + 0.9811280450585745, + 0.050551873172176666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9984907661055327, + 0.002151782624423504, + 0.054878223268886826, + -0.10288797030954253 + ], + [ + -0.01254268876520134, + 0.9817590713500977, + 0.1897150430370847, + -0.27697262928759636 + ], + [ + -0.053468971037823346, + -0.1901170313358307, + 0.9803043575239515, + 0.04935561650101064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9983383876655583, + -0.0010711811482906342, + 0.057613731466173795, + -0.10811198702881 + ], + [ + -0.009623741095356641, + 0.982685387134552, + 0.18503199419937555, + -0.2704100142815822 + ], + [ + -0.05681437407958545, + -0.1852789968252182, + 0.9810422055248565, + 0.04892515269957463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9981472426123928, + 0.0033728289417922497, + 0.06075154821625086, + -0.1133410097710045 + ], + [ + -0.014167109068830334, + 0.9839030504226685, + 0.17814063999280738, + -0.2653047375364883 + ], + [ + -0.05917278660923971, + -0.17867125570774078, + 0.9821278714483265, + 0.04870964234359502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9979304990068596, + 0.011168695986270905, + 0.06332480718389293, + -0.11710610697024698 + ], + [ + -0.022121631297912565, + 0.9843186140060425, + 0.1750071497531474, + -0.25550725940846514 + ], + [ + -0.060377176301620476, + -0.17604580521583557, + 0.9825286222964431, + 0.04779500871975334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9976127188825342, + 0.01704569533467293, + 0.06692011440335316, + -0.12230734962570555 + ], + [ + -0.028247504956109868, + 0.9850041270256045, + 0.1702027365400051, + -0.24607258075205105 + ], + [ + -0.06301536062566851, + -0.17168673872947696, + 0.9831341320047577, + 0.04860823721644195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.997308315338058, + 0.021880339831113815, + 0.06998159824965887, + -0.12683199647470322 + ], + [ + -0.03328603013408979, + 0.9855256080627441, + 0.16622653678227334, + -0.23599138740174866 + ], + [ + -0.06533156582889886, + -0.1681085079908371, + 0.9836012267761909, + 0.049460179824084384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9969575093838539, + 0.023545887321233756, + 0.07430574093788057, + -0.13004807781199695 + ], + [ + -0.03559473541719921, + 0.9856082797050478, + 0.16525526194871162, + -0.2314555062487881 + ], + [ + -0.06934526851065531, + -0.16739737987518313, + 0.9834476781007868, + 0.050230720965815615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9967840559205293, + 0.020473098382353783, + 0.0774751317894473, + -0.13283844924026872 + ], + [ + -0.03300944689696671, + 0.9858791828155518, + 0.16417255839435754, + -0.22658545624020318 + ], + [ + -0.07301999091842276, + -0.16620200872421265, + 0.9833844442000477, + 0.05000255816164621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9965516501968325, + 0.015079453587532047, + 0.08159280467199172, + -0.13519683217353085 + ], + [ + -0.028348711710456453, + 0.986051678657532, + 0.16400749722991462, + -0.2232705050060437 + ], + [ + -0.07798158151932916, + -0.16575498878955844, + 0.9830789398403115, + 0.05049869424528383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9962289996907029, + 0.008149625733494759, + 0.08637944448171139, + -0.13914179093831575 + ], + [ + -0.021952560730901724, + 0.9868606328964233, + 0.1600755047980563, + -0.21948034698745583 + ], + [ + -0.08393990928551229, + -0.16136810183525085, + 0.9833180743317321, + 0.05108233249400687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9960534291010171, + 0.004437596537172794, + 0.08864464727051713, + -0.1416184528315727 + ], + [ + -0.018181172296757826, + 0.9877716302871704, + 0.15484393412049965, + -0.21653279574283688 + ], + [ + -0.08687353564161691, + -0.15584449470043182, + 0.9839540153110437, + 0.050157075098925086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9957572002669944, + 0.003688798053190112, + 0.09194541511297057, + -0.1442367887891966 + ], + [ + -0.017440728813438704, + 0.9886506795883179, + 0.1492167699176342, + -0.2124937657273913 + ], + [ + -0.09035146353816667, + -0.15018728375434875, + 0.9845203933979534, + 0.04964302341560895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9954498771980028, + 0.007229715585708618, + 0.09501213950898046, + -0.14700132545602995 + ], + [ + -0.020974158466237458, + 0.9892867803573608, + 0.14447061252019522, + -0.20810139906556063 + ], + [ + -0.09294976338706383, + -0.14580605924129486, + 0.9849370097216962, + 0.04905279925128297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9950803329965088, + 0.01263041328638792, + 0.09826281265522309, + -0.15044844140762018 + ], + [ + -0.026384145482290847, + 0.9898058176040649, + 0.1399581927206988, + -0.20279771754037546 + ], + [ + -0.09549336957445456, + -0.14186221361160278, + 0.9852695530798201, + 0.04930393809922147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9947570652201536, + 0.017821328714489937, + 0.1007013014708657, + -0.1522475949774885 + ], + [ + -0.03158810867739397, + 0.9900924563407898, + 0.13681781505240745, + -0.19713208904049526 + ], + [ + -0.0972653320742213, + -0.1392814666032791, + 0.9854644259330537, + 0.04945170342139183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9944715836859532, + 0.02160787768661976, + 0.10275865905603673, + -0.1522540539964278 + ], + [ + -0.03551027929285392, + 0.9901471734046936, + 0.13545315413385076, + -0.19673298995492508 + ], + [ + -0.09881933659011545, + -0.13835331797599792, + 0.985440536191871, + 0.05085108513246653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9939352665983869, + 0.024601655080914497, + 0.1071793355669733, + -0.15476079805643522 + ], + [ + -0.03886079945232482, + 0.9903462529182434, + 0.13305699830679638, + -0.19335428240641736 + ], + [ + -0.10287123293978205, + -0.13641512393951416, + 0.9852960972741488, + 0.05248991125511887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9933912789200184, + 0.02665175497531891, + 0.111639570330826, + -0.1575222970711305 + ], + [ + -0.04137681553240064, + 0.990420937538147, + 0.13173565371782434, + -0.19052256857934294 + ], + [ + -0.10705918232338091, + -0.13548435270786285, + 0.9849783182994731, + 0.05349757427168399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.992848882727777, + 0.028836939483881004, + 0.11584268715517446, + -0.16014851358175858 + ], + [ + -0.04397839980980182, + 0.9904909729957583, + 0.13035934120807852, + -0.18690686606759982 + ], + [ + -0.1109819738921832, + -0.13452169299125674, + 0.9846760373978902, + 0.05341826680092669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9924481879969007, + 0.029248423874378204, + 0.11912651451108204, + -0.16183416633860026 + ], + [ + -0.04482269509694486, + 0.9904693365097046, + 0.1302357899420169, + -0.1858658991318714 + ], + [ + -0.11418196804433323, + -0.13459184765815735, + 0.9843005107406667, + 0.05258367401819912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9921291432363779, + 0.028868649154901505, + 0.121845611848553, + -0.16311635822634035 + ], + [ + -0.044859637497465556, + 0.9904181361198425, + 0.13061215989036037, + -0.1863179849454289 + ], + [ + -0.11690750480579257, + -0.13505008816719055, + 0.9839177237508352, + 0.05270213061869076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9918648932991325, + 0.028133450075984008, + 0.12414706946909493, + -0.16395825234725087 + ], + [ + -0.044408137549976676, + 0.9904742240905764, + 0.1303406972610961, + -0.18608781944486646 + ], + [ + -0.11929755236312274, + -0.1347935199737549, + 0.9836660017124557, + 0.05304220252103639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9916432087188783, + 0.027206774801015854, + 0.12610937193491598, + -0.16479095786423079 + ], + [ + -0.043650724528684855, + 0.9906147122383118, + 0.12952655988718667, + -0.18465526400581236 + ], + [ + -0.12140179218835123, + -0.1339488923549652, + 0.9835239345624879, + 0.053360196994616374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9913879966232066, + 0.026743760332465172, + 0.12819770663551566, + -0.16521315855476307 + ], + [ + -0.04332847796742588, + 0.9907779097557068, + 0.12838144561207618, + -0.18277335284758986 + ], + [ + -0.12358204029134667, + -0.1328304409980774, + 0.9834040385265874, + 0.05386805909279607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9911033748004214, + 0.027620665729045868, + 0.1301969949010453, + -0.16482099684773666 + ], + [ + -0.04453453748346098, + 0.9906639456748962, + 0.12884730496948574, + -0.18118211816291963 + ], + [ + -0.12542261305840632, + -0.13349926471710205, + 0.983080448603011, + 0.05279801283089922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9907216835531439, + 0.029726166278123856, + 0.13261550598794639, + -0.16534144136818604 + ], + [ + -0.046998926557814014, + 0.9905192852020264, + 0.1290837852845298, + -0.17825557567265515 + ], + [ + -0.12752106666595472, + -0.13411888480186462, + 0.9827260859645903, + 0.05160501589611884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9903650492950665, + 0.03145502135157585, + 0.13486156560665583, + -0.16629653549630927 + ], + [ + -0.048588870954333716, + 0.9908772110939026, + 0.12570411925043762, + -0.1678890736625583 + ], + [ + -0.1296772291997309, + -0.13104574382305145, + 0.9828585239765687, + 0.04990923654067855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.990589016352582, + 0.03295386210083962, + 0.1328437439116662, + -0.16673944678556712 + ], + [ + -0.04950472625908503, + 0.9911363124847414, + 0.12328068491509621, + -0.1685465097647575 + ], + [ + -0.12760367689048552, + -0.12869688868522647, + 0.9834400961881279, + 0.047017702615531204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9909211792285273, + 0.032741911709308624, + 0.13039644477337298, + -0.16461106408144882 + ], + [ + -0.04870746699060605, + 0.9914325475692749, + 0.12119859014231428, + -0.1697267178841053 + ], + [ + -0.12531099560902034, + -0.12644954025745392, + 0.9840262401817145, + 0.04598115684683018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9909648737710778, + 0.029908427968621254, + 0.13074452892635607, + -0.16459698791424096 + ], + [ + -0.0454417583775109, + 0.9920340180397034, + 0.11748872683549105, + -0.16639579703631321 + ], + [ + -0.126189103550918, + -0.1223684549331665, + 0.9844299166482223, + 0.046001264937009394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9910805247520279, + 0.024510039016604424, + 0.13099100089364404, + -0.16562771367208345 + ], + [ + -0.03910881375381363, + 0.9931545257568359, + 0.11006654248662463, + -0.15477461756495212 + ], + [ + -0.1273965624890707, + -0.11420771479606628, + 0.9852546424274118, + 0.04483283400800831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9910965475426147, + 0.02065594494342804, + 0.13153314988568787, + -0.16553364834933684 + ], + [ + -0.034721898458837844, + 0.9938064813613892, + 0.10556077978817131, + -0.1524263965878235 + ], + [ + -0.12853803907109784, + -0.1091880053281784, + 0.9856753738621251, + 0.04328095112322205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9909202453152739, + 0.019248055294156075, + 0.13306614798861818, + -0.1663748433283034 + ], + [ + -0.03318581784902201, + 0.9940930604934692, + 0.10333311254088128, + -0.15142346452147273 + ], + [ + -0.13029116452683523, + -0.10681077837944031, + 0.9857056882708836, + 0.04206994963573951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9902867734046616, + 0.02211976796388626, + 0.1372689588067973, + -0.16801987856410186 + ], + [ + -0.03643736643104837, + 0.9940463900566101, + 0.10268429260631116, + -0.1538452828533572 + ], + [ + -0.13418036058700739, + -0.10668861865997314, + 0.9851970179918039, + 0.04127581013307736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.989861163102557, + 0.027823036536574364, + 0.1392864805697621, + -0.1694358926824247 + ], + [ + -0.04265423220943782, + 0.9935935139656067, + 0.10465467267513041, + -0.157574224574498 + ], + [ + -0.13548233900903284, + -0.10953475534915924, + 0.9847063933038454, + 0.03858396705886667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9893987249680218, + 0.031753066927194595, + 0.1417104825141441, + -0.1695380028864801 + ], + [ + -0.04662549553195076, + 0.9935987591743469, + 0.1028956891378284, + -0.15572907974936234 + ], + [ + -0.13753611550513475, + -0.10841218382120132, + 0.9845458639964157, + 0.03558590253443202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9891496896035157, + 0.033333953469991684, + 0.1430796166810687, + -0.171222575938994 + ], + [ + -0.04827286305358849, + 0.9935874938964844, + 0.10224298661771096, + -0.15401156057736584 + ], + [ + -0.13875394572384375, + -0.1080404743552208, + 0.9844158674833313, + 0.03149169474402917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9896490412280089, + 0.030774319544434547, + 0.14017028526152872, + -0.17017123457898284 + ], + [ + -0.04512172098750786, + 0.9939277172088623, + 0.10035807480050431, + -0.1501333100432082 + ], + [ + -0.13623067189448176, + -0.10564399510622025, + 0.9850281879928352, + 0.029678187354325467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9897714088713477, + 0.02349771186709404, + 0.14071375702152658, + -0.17149536735018112 + ], + [ + -0.03790046070533818, + 0.9942081570625305, + 0.10056710359203642, + -0.14904232199466233 + ], + [ + -0.13753567812078576, + -0.10487156361341476, + 0.9849294060512923, + 0.02915307445632486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9898759799239234, + 0.015050544403493404, + 0.14113482527064514, + -0.17203011839622276 + ], + [ + -0.029626150327833636, + 0.9943687915802002, + 0.10174967841344502, + -0.1489121495947049 + ], + [ + -0.1388086730092763, + -0.10490084439516068, + 0.9847476808424972, + 0.02777619758529927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9897437151756232, + 0.010385766625404358, + 0.14247629211575732, + -0.17310590507251283 + ], + [ + -0.025153911172416877, + 0.9944408535957336, + 0.10224785319315978, + -0.14743711196667864 + ], + [ + -0.14062232711917358, + -0.10478301346302032, + 0.9845028680857982, + 0.026521530856746536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9894446603006961, + 0.009501056745648384, + 0.14459940070295443, + -0.17499961293433966 + ], + [ + -0.02425193443725736, + 0.9946318864822388, + 0.10059441589172402, + -0.1421456309920664 + ], + [ + -0.14286741998976907, + -0.10303942114114761, + 0.9843636336538726, + 0.025899034037456706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9889880922867692, + 0.010397516191005707, + 0.14762924640483788, + -0.17710374215680486 + ], + [ + -0.025083943926977846, + 0.9948729872703552, + 0.09797187572608619, + -0.13779908808509278 + ], + [ + -0.1458536838256136, + -0.10059614479541779, + 0.9841783742886209, + 0.024453569033741348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9885021096055935, + 0.01040901429951191, + 0.1508482928049511, + -0.18016131588169015 + ], + [ + -0.024600634427721552, + 0.9954068064689636, + 0.09252060068147194, + -0.13211680730877487 + ], + [ + -0.14919237866613497, + -0.09516777098178864, + 0.9842178213616147, + 0.02296575340419631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9882195845642983, + 0.010217692703008652, + 0.1527012442658833, + -0.1808814009698917 + ], + [ + -0.02405851937172122, + 0.9957348108291626, + 0.08906925989054289, + -0.12676392217361834 + ], + [ + -0.15113986284887598, + -0.09169375896453857, + 0.9842504543871547, + 0.019936362386330432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9879844163506749, + 0.008302210830152035, + 0.15433055374981305, + -0.18189928160757818 + ], + [ + -0.021906136423197945, + 0.9959972500801086, + 0.08665776513414908, + -0.12123090563355057 + ], + [ + -0.15299334733824144, + -0.08899730443954468, + 0.9842115923011521, + 0.019396360415360775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.987706018323671, + 0.006477244198322296, + 0.1561886991763154, + -0.18195681523503987 + ], + [ + -0.019636581296718334, + 0.996367871761322, + 0.08285779075841505, + -0.11424608543959873 + ], + [ + -0.15508470757049178, + -0.08490615338087082, + 0.9842457198297436, + 0.01809215924684271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9873389423308155, + 0.005795727949589491, + 0.15851886739352344, + -0.18252145522859375 + ], + [ + -0.018818076169246006, + 0.9965548515319824, + 0.08077308635432313, + -0.11011407750353301 + ], + [ + -0.1575046090095602, + -0.08273343741893768, + 0.984046508325372, + 0.016580741666540767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9869193111348619, + 0.005575501825660467, + 0.1611185614313709, + -0.18466939063015736 + ], + [ + -0.018577794725705782, + 0.9966771006584167, + 0.0793068695331934, + -0.10704267224160686 + ], + [ + -0.16014100564469083, + -0.08126270771026611, + 0.9837434946577673, + 0.015341836678473058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9864764707456776, + 0.004600787069648504, + 0.16383827607966567, + -0.18716482143182073 + ], + [ + -0.017697670284507517, + 0.996751606464386, + 0.07856827809179097, + -0.10499586643994363 + ], + [ + -0.1629445940536545, + -0.08040530979633331, + 0.9833534443767297, + 0.013824153959460486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9861164300229658, + 9.728828445076942e-05, + 0.16605525813439675, + -0.18911896995642968 + ], + [ + -0.013260444036541768, + 0.9968523979187012, + 0.07816288765451851, + -0.10287252958795969 + ], + [ + -0.16552497275185335, + -0.07927966862916946, + 0.9830138279455873, + 0.011544130616339621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/orbit_right/transforms.json b/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..63946106d6a325d21f83d86b8063b8453862e9d5 --- /dev/null +++ b/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/orbit_right/transforms.json @@ -0,0 +1,4633 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 132, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.828373731579632e-05, + 9.285063424613327e-05, + -0.00014976847160141915 + ], + [ + 9.827211033552885e-05, + 1.0, + 0.00012523045006673783, + -8.855538908392191e-05 + ], + [ + -9.286294516641647e-05, + -0.00012522131146397442, + 1.0, + -0.00010745334293460473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999137030724116, + -0.01294904388487339, + -0.0022166776674591216, + 0.0019417637378897458 + ], + [ + 0.012953132934413572, + 0.9999144077301025, + 0.0018402179677010067, + -0.007283565362131656 + ], + [ + 0.0021926588445481243, + -0.0018687719712033868, + 0.999995826833095, + -0.0006688191036646313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999640938162937, + -0.026443518698215485, + -0.0043249872189639795, + 0.0029922812359215465 + ], + [ + 0.026456365619643145, + 0.9996456503868103, + 0.002940434545303964, + -0.017496566845628666 + ], + [ + 0.004245699222614204, + -0.0030538022983819246, + 0.9999863091185759, + -0.0013735516189664538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993237273498964, + -0.036015111953020096, + -0.007419501301825535, + 0.006839537375948988 + ], + [ + 0.03603971447821945, + 0.9993451833724976, + 0.0032089075578402575, + -0.02962221558949334 + ], + [ + 0.0072990735094221396, + -0.0034741342533379793, + 0.999967297019448, + -0.00591855790433623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9990271823188419, + -0.04119239002466202, + -0.015745593359325735, + 0.011271728332997735 + ], + [ + 0.04126004141704496, + 0.9991404414176941, + 0.0039957544538435615, + -0.04080576078091213 + ], + [ + 0.015567464170326924, + -0.004641530569642782, + 0.9998680453247015, + -0.01211392287868707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9987698601187609, + -0.042851220816373825, + -0.024951319593619715, + 0.014008700988175476 + ], + [ + 0.04298810109068463, + 0.9990631937980652, + 0.004975452638839998, + -0.05428258098985063 + ], + [ + 0.024714739866872573, + -0.006041942164301872, + 0.9996762929644045, + -0.01516056561293891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9985365348811808, + -0.039999574422836304, + -0.03639850890586248, + 0.018201444909448132 + ], + [ + 0.04027431988865311, + 0.9991651773452759, + 0.006846352088267099, + -0.06807117385815126 + ], + [ + 0.036094272801334974, + -0.008302257396280766, + 0.9993139070052182, + -0.021007632035557056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9981651867141876, + -0.032576192170381546, + -0.05103962887190752, + 0.022576346488480652 + ], + [ + 0.033155040271826315, + 0.9993947148323059, + 0.010535682959266823, + -0.08185500864858215 + ], + [ + 0.050665524298891526, + -0.012208573520183563, + 0.9986410452297007, + -0.026505937522047794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9976111694444231, + -0.02547858655452729, + -0.06420867868915738, + 0.0256713743114508 + ], + [ + 0.02641300274731679, + 0.9995566010475161, + 0.013746093168662616, + -0.09357070886817258 + ], + [ + 0.0638299766487855, + -0.015409201383590702, + 0.9978418435615856, + -0.023398859099235024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9970553495375896, + -0.02081267535686493, + -0.07380706957140225, + 0.029893317741796148 + ], + [ + 0.022056722312189286, + 0.999627411365509, + 0.016080487621078225, + -0.10528158495393512 + ], + [ + 0.07344489261042027, + -0.01766107976436615, + 0.9971428802500913, + -0.021725886301008177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9963593256723147, + -0.020943960174918175, + -0.08264021410378906, + 0.03544951579710902 + ], + [ + 0.022507181465708976, + 0.9995840787887573, + 0.018029868626126235, + -0.11347261385153047 + ], + [ + 0.08222822561698688, + -0.019824227318167686, + 0.9964163265666254, + -0.018915519479432874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9957267433454158, + -0.021583963185548786, + -0.08979108915582033, + 0.04356871176427704 + ], + [ + 0.023750683643984444, + 0.9994502663612368, + 0.02313248433200452, + -0.12424302773150288 + ], + [ + 0.08924243990780144, + -0.025166234001517303, + 0.9956919457567198, + -0.019623784073552752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.995126344888061, + -0.024515636265277863, + -0.09551195812273355, + 0.05011088213500854 + ], + [ + 0.02737005826201759, + 0.9992135763168335, + 0.028690739380412705, + -0.13342786258847675 + ], + [ + 0.09473346762630958, + -0.03116508014500141, + 0.9950147443253662, + -0.018522402068262903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9944295101950074, + -0.029953986406326294, + -0.10105779676107718, + 0.057284776078267464 + ], + [ + 0.033468893356467404, + 0.998885989189148, + 0.033266508789170826, + -0.14069834044835938 + ], + [ + 0.09994875333065821, + -0.03646349161863327, + 0.9943242336309714, + -0.017984980264008223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9937415278749886, + -0.03512512892484665, + -0.10603762522217774, + 0.06516092748564654 + ], + [ + 0.03926473050343057, + 0.9985359311103821, + 0.03720651206456303, + -0.1466158734503057 + ], + [ + 0.1045755002769609, + -0.04113719239830971, + 0.9936658143718209, + -0.016995996485045607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9930012425956859, + -0.03979421779513359, + -0.11119796038303859, + 0.07320661218207061 + ], + [ + 0.04451948291001669, + 0.9981938004493713, + 0.04033854919236923, + -0.1525587943831132 + ], + [ + 0.10939186976686226, + -0.045006707310676575, + 0.9929792507064843, + -0.018528806020488068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.991773111348358, + -0.041185177862644196, + -0.12120174383388758, + 0.08165262422947214 + ], + [ + 0.046622249465372474, + 0.9980136156082153, + 0.04237006474310509, + -0.158088169732289 + ], + [ + 0.11921596745141333, + -0.04767218604683876, + 0.9917232031710007, + -0.02133317179338002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9903681145490772, + -0.03817696869373322, + -0.13309217667126352, + 0.08852112740074361 + ], + [ + 0.04451077328509847, + 0.9979974627494814, + 0.044942754326150317, + -0.1659933791389176 + ], + [ + 0.13110987430227142, + -0.050433907657861723, + 0.9900841534433409, + -0.021448610016825423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9889167945024875, + -0.033928997814655304, + -0.14454212221086948, + 0.09557323841727997 + ], + [ + 0.041212071261029756, + 0.9980114698410034, + 0.0476939016013775, + -0.17343472970291288 + ], + [ + 0.14263648443422436, + -0.053122181445360184, + 0.9883485637477148, + -0.019875097872168214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9877614799538241, + -0.030177876353263855, + -0.15302483924561835, + 0.10303110179710018 + ], + [ + 0.038394652170675087, + 0.9979589581489563, + 0.051027505785938086, + -0.18025483144858054 + ], + [ + 0.15117260965209067, + -0.05627833679318428, + 0.9869040255763758, + -0.01878084461691666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9866931376981622, + -0.02431524731218815, + -0.16076498025622943, + 0.11032873433114192 + ], + [ + 0.03429797413855887, + 0.9976320862770081, + 0.059614382890967973, + -0.18878028439704925 + ], + [ + 0.15893476122264705, + -0.06433501839637756, + 0.9851907335217955, + -0.017063683298882776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9857946093339935, + -0.020494868978857994, + -0.16670018959211588, + 0.1161417665286495 + ], + [ + 0.03238494710081712, + 0.9970961809158325, + 0.06892344485143045, + -0.19625180964544428 + ], + [ + 0.16480353843525464, + -0.0733429342508316, + 0.9835957680007946, + -0.01313347357320869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.985103113291237, + -0.015987915918231014, + -0.1712198990204234, + 0.12161290943772451 + ], + [ + 0.02976315127503633, + 0.996493995189667, + 0.0781913261143657, + -0.20516023905862285 + ], + [ + 0.16936947708253994, + -0.08212256431579591, + 0.9821251585478797, + -0.010172615969830958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.98456052620818, + -0.010544007644057274, + -0.17472647229797286, + 0.12714211915532958 + ], + [ + 0.02576867898825179, + 0.9960394501686096, + 0.0850963132390114, + -0.21159841019198017 + ], + [ + 0.17313719246485987, + -0.0882849469780922, + 0.9809328609797255, + -0.00797811939146846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9841739728674187, + -0.004142702091485262, + -0.17715653280663263, + 0.13161116145758095 + ], + [ + 0.02079771435748098, + 0.9955177307128906, + 0.0922598556431732, + -0.21785312965844547 + ], + [ + 0.17598027808536, + -0.09448419511318207, + 0.9798488039687709, + -0.004773588038085787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9836994642307557, + 0.0018206853419542313, + -0.17981125064904227, + 0.13644757724953907 + ], + [ + 0.016256997731184396, + 0.9949533939361572, + 0.09901214854886307, + -0.22323658022146764 + ], + [ + 0.1790840746977817, + -0.10032138973474503, + 0.9787055326100488, + -0.0006218726978524415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9833701769096672, + 0.004540953319519758, + -0.18155580753097253, + 0.14005354869630215 + ], + [ + 0.014424467695016006, + 0.9945763945579529, + 0.10300367192145786, + -0.22731462247244758 + ], + [ + 0.18103885175231188, + -0.10390958935022354, + 0.9779712599768859, + 0.0026140900069840725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.982971455164565, + 0.0064877374097704905, + -0.1836437204498319, + 0.1435349125667262 + ], + [ + 0.01349493154124099, + 0.9941293597221377, + 0.10735341909868387, + -0.2309527383301327 + ], + [ + 0.18326209829165957, + -0.10800360888242724, + 0.9771132281902299, + 0.005680404077763514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9825317085385823, + 0.008740379475057125, + -0.18588977917812358, + 0.14712840247525988 + ], + [ + 0.012072246874595792, + 0.9937987923622131, + 0.1105361766725273, + -0.23512305869711486 + ], + [ + 0.1857031607238032, + -0.11084941029548645, + 0.9763333225867002, + 0.00633613643240306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9820954089569622, + 0.01135422568768263, + -0.18804185259111855, + 0.14947088209519574 + ], + [ + 0.010169190164904404, + 0.9935313463211062, + 0.11310191854028041, + -0.23909459732914573 + ], + [ + 0.18810965789443354, + -0.11298911273479464, + 0.9756271073726835, + 0.007117158583566404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9814323710857831, + 0.013875958509743214, + -0.19130594050702943, + 0.15218056894492288 + ], + [ + 0.008362400220809878, + 0.9933360815048218, + 0.11495002439374195, + -0.24170566701358764 + ], + [ + 0.19162613316127014, + -0.11441545188426971, + 0.9747761702305581, + 0.007759717573132803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9809770361391006, + 0.01663136295974255, + -0.19341021173825682, + 0.15412538926693015 + ], + [ + 0.006189922309417711, + 0.9931367039680483, + 0.11679523764994261, + -0.2435618156199523 + ], + [ + 0.19402523539035438, + -0.11577063053846362, + 0.9741413456571059, + 0.008813643636782362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9806470983382126, + 0.017985213547945023, + -0.1949559678593214, + 0.15485128856149388 + ], + [ + 0.0052360706324037914, + 0.9930062890052795, + 0.11794545129711068, + -0.24419124958303617 + ], + [ + 0.19571378201201023, + -0.11668366938829422, + 0.9736945168419636, + 0.010035772680592591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9803007998177865, + 0.01776985451579094, + -0.19670924418992622, + 0.15628291199198577 + ], + [ + 0.0058827477518229475, + 0.9928757548332214, + 0.11900874685744336, + -0.2439063039106112 + ], + [ + 0.19742260907178522, + -0.11782155930995941, + 0.9732124215058537, + 0.01117244056316365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.980067157535443, + 0.01806313917040825, + -0.19784349716010552, + 0.15699552917905976 + ], + [ + 0.006004384215934224, + 0.9927098751068115, + 0.12037876704075126, + -0.24385757551122683 + ], + [ + 0.1985755994058682, + -0.11916720867156982, + 0.9728138834690881, + 0.012778432435787895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9797778869096059, + 0.019978499040007595, + -0.19908817389518146, + 0.15793745196638326 + ], + [ + 0.004205580862064098, + 0.9927266240119936, + 0.12031715086648166, + -0.24343332023819778 + ], + [ + 0.20004388846530627, + -0.11872137337923053, + 0.9725675474146935, + 0.014850707675597034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.979442515728876, + 0.024143643677234657, + -0.20027335165714502, + 0.15898268140770858 + ], + [ + 0.0002983930060641873, + 0.9926372170448305, + 0.12112513913294289, + -0.2427038833856427 + ], + [ + 0.20172319190323368, + -0.11869487166404727, + 0.9722238689426564, + 0.016117675545541565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9790503936357648, + 0.02833588793873787, + -0.2016368836128704, + 0.15997947032466875 + ], + [ + -0.003535511141765735, + 0.9924860596656799, + 0.12230665412155534, + -0.24241845583537938 + ], + [ + 0.2035874556659824, + -0.11903148889541626, + 0.9717940485156392, + 0.017713637345188354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.978692285873675, + 0.031257741153240204, + -0.20293935075840738, + 0.16105963059965828 + ], + [ + -0.006028461956830336, + 0.9922932386398315, + 0.12376523020379265, + -0.24248753175571433 + ], + [ + 0.2052439694343912, + -0.11990465968847275, + 0.9713381404683222, + 0.019311795884220422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9784324080190615, + 0.032198406755924225, + -0.20404239123150292, + 0.16222037407906145 + ], + [ + -0.006426110044413401, + 0.9920433759689331, + 0.12573223571065656, + -0.24241122787795272 + ], + [ + 0.20646727150532312, + -0.12170929461717606, + 0.9708542981713756, + 0.02190384977805659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9781551882434364, + 0.03258928656578064, + -0.20530542545993308, + 0.16546557205772172 + ], + [ + -0.00632409824531143, + 0.9918427467346191, + 0.12731032707059595, + -0.2408778685045984 + ], + [ + 0.20777964348272193, + -0.12323088943958282, + 0.9703822532633255, + 0.023982738882974336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9779486759026368, + 0.036429017782211304, + -0.20564373852535514, + 0.16983140996190857 + ], + [ + -0.008840132714629384, + 0.9910075664520264, + 0.13351360537153084, + -0.2395586892885657 + ], + [ + 0.20865826105127136, + -0.12875153124332428, + 0.9694765769728454, + 0.02226891576497671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9776655708025349, + 0.040659476071596146, + -0.20619617922191197, + 0.16963759086687324 + ], + [ + -0.011771854737756033, + 0.9901615381240845, + 0.1394328064086229, + -0.23872825371859138 + ], + [ + 0.20983679213713666, + -0.13389134407043457, + 0.9685254621527647, + 0.025622882712207556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9776278902360399, + 0.041076526045799255, + -0.20629206927920996, + 0.17022307792348168 + ], + [ + -0.011636890150808635, + 0.9898067116737366, + 0.14194085324360303, + -0.23994668330142196 + ], + [ + 0.21001971691403445, + -0.13636474311351776, + 0.9681406776184127, + 0.02733724544969764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9777428616555774, + 0.03863542154431344, + -0.20621871944048273, + 0.17049346582881642 + ], + [ + -0.008350063645900206, + 0.9892855882644656, + 0.14575423276453514, + -0.24286903279806826 + ], + [ + 0.2096404876245899, + -0.14078821241855624, + 0.9675895292419024, + 0.02825671387120488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9778565603961816, + 0.03343809396028519, + -0.20658758825899692, + 0.17078174457913792 + ], + [ + -0.0025237000391491564, + 0.9889650344848633, + 0.14812742794861894, + -0.24491625407107356 + ], + [ + 0.20926101094315075, + -0.14432600140571594, + 0.9671503701941708, + 0.02971477207142834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9778909058508115, + 0.027961686253547675, + -0.20723776445797507, + 0.17114291346710148 + ], + [ + 0.0036904996222582123, + 0.9885579943656924, + 0.1507961369670804, + -0.24893440207752357 + ], + [ + 0.20908306508182195, + -0.14822697639465335, + 0.9665986860482326, + 0.031107519480708286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9775717707724979, + 0.02604028210043907, + -0.20898648471361467, + 0.17294505707663044 + ], + [ + 0.006401365988655073, + 0.9881938099861145, + 0.15307517240811197, + -0.25406274753412067 + ], + [ + 0.21050527220599122, + -0.15097975730895996, + 0.9658637066052908, + 0.03303110756543637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9773062271100952, + 0.02966266684234143, + -0.20974435558896062, + 0.17390196709446332 + ], + [ + 0.003092299571704028, + 0.9880440831184389, + 0.15414071742272425, + -0.2590150973835527 + ], + [ + 0.21180888949802773, + -0.15129128098487857, + 0.9655298477885378, + 0.03605272515082402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9768694907371082, + 0.03682120144367219, + -0.21064221137280079, + 0.17439580335582322 + ], + [ + -0.0033626742300990288, + 0.987586557865143, + 0.1570399000430342, + -0.2663394849096575 + ], + [ + 0.21380981675022018, + -0.1526991575956345, + 0.9648669933224195, + 0.04104703344314499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9760395295053583, + 0.04436000064015389, + -0.21302368207800643, + 0.17723225129734732 + ], + [ + -0.009905784559288257, + 0.9870421886444094, + 0.16015477987092694, + -0.2739766153405632 + ], + [ + 0.21736783264803278, + -0.15420722961425784, + 0.9638315899112632, + 0.04467901248367494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9753613015777117, + 0.04730997234582901, + -0.21548107280710507, + 0.1801900595445906 + ], + [ + -0.011414713222836867, + 0.986249566078186, + 0.16486818591031036, + -0.2822656908110991 + ], + [ + 0.220318019545108, + -0.15834639966487885, + 0.9624897155582331, + 0.04784358822650869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9750284676950831, + 0.04238936305046082, + -0.2179967491819078, + 0.18371975938105067 + ], + [ + -0.00472715922693337, + 0.9853535294532778, + 0.17045848261697674, + -0.2920901202267668 + ], + [ + 0.22202949103318567, + -0.1651713848114014, + 0.9609481317802011, + 0.05105980849397146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9746358038748886, + 0.03471336141228676, + -0.22108836781403607, + 0.18638494220415638 + ], + [ + 0.004416118118654051, + 0.9847216010093689, + 0.17408019407383996, + -0.30033179808211674 + ], + [ + 0.2237533850024018, + -0.17064115405082703, + 0.9595915653559226, + 0.05744482728347962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9743327702569051, + 0.028756797313690186, + -0.22326831385921592, + 0.18667061452872624 + ], + [ + 0.008996661693626116, + 0.9860405325889587, + 0.16626232300723218, + -0.28719099651866803 + ], + [ + 0.22493277767885167, + -0.16400349140167236, + 0.9604728735772075, + 0.05987027801657244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9741014220564476, + 0.024580206722021103, + -0.22477153389890675, + 0.18899047711773576 + ], + [ + 0.01321996152050672, + 0.9861819744110107, + 0.1651371963513884, + -0.28617631089332446 + ], + [ + 0.2257247552210154, + -0.16383184492588043, + 0.960316361104971, + 0.06208607207547019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9736699747572015, + 0.023128408938646317, + -0.22678590381339656, + 0.19191291088723808 + ], + [ + 0.015582410354976626, + 0.985760509967804, + 0.16743191122533232, + -0.29137631999506375 + ], + [ + 0.22742902745123578, + -0.16655728220939636, + 0.9594450276941064, + 0.06410905519761677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9730491009315642, + 0.022747265174984932, + -0.22947332761896286, + 0.1954610911874981 + ], + [ + 0.016923406045641718, + 0.9853948950767517, + 0.16944168358728756, + -0.2934805808304926 + ], + [ + 0.2299761803006371, + -0.1687585562467575, + 0.9584526943049377, + 0.06753740481039977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9729545219141644, + 0.022849097847938538, + -0.22986382409015846, + 0.1942225496048048 + ], + [ + 0.017125206651935978, + 0.9852226376533508, + 0.17042045751232554, + -0.29248746825221456 + ], + [ + 0.2303610011380549, + -0.16974782943725586, + 0.9581855432555219, + 0.06990221292203885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9730871860590471, + 0.02288072556257248, + -0.22929859115729617, + 0.19140007592918362 + ], + [ + 0.018363495802819377, + 0.9841940402984619, + 0.1761387002307393, + -0.30338701324105466 + ], + [ + 0.22970449405345045, + -0.1756090372800827, + 0.9572864291041377, + 0.07136609071327063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9728401609706505, + 0.020051345229148865, + -0.23060770124797794, + 0.19195633911321558 + ], + [ + 0.02081304120494335, + 0.9846288561820984, + 0.17341526790847536, + -0.29659368665650104 + ], + [ + 0.23054021339455538, + -0.17350497841835022, + 0.9574691811974871, + 0.07145590522899897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9722365378459488, + 0.018467066809535027, + -0.23327048450676274, + 0.19530655750858367 + ], + [ + 0.022823688527088316, + 0.9846439957618713, + 0.1730759504503824, + -0.2965874114861585 + ], + [ + 0.23288458080856447, + -0.1735948622226715, + 0.9568853575683983, + 0.07349509969923683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9715068262141168, + 0.017860431224107742, + -0.23633771263788275, + 0.19996928753320448 + ], + [ + 0.023582962808650035, + 0.9849237203598022, + 0.17137414758370959, + -0.29396158671682737 + ], + [ + 0.23583542926531365, + -0.17206470668315887, + 0.9564389160573217, + 0.07476022054152937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9712957994712925, + 0.018203075975179672, + -0.2371774154653129, + 0.2002719841511817 + ], + [ + 0.023954969941052742, + 0.984514057636261, + 0.17366132958122865, + -0.2990560937646823 + ], + [ + 0.23666566912189893, + -0.17435809969902039, + 0.9558183049697645, + 0.07521512023173965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9709869079805894, + 0.017390092834830284, + -0.23849955439584875, + 0.20085097687089543 + ], + [ + 0.0249227795120453, + 0.984561562538147, + 0.17325530021941646, + -0.2959172283556953 + ], + [ + 0.23783041295863144, + -0.17417269945144653, + 0.955562968585373, + 0.0756646251099137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.970527791982431, + 0.018787387758493423, + -0.2402556558359606, + 0.20356427455435142 + ], + [ + 0.025434623583827604, + 0.9834027290344238, + 0.17964438271863442, + -0.3065353447660163 + ], + [ + 0.23964312595788997, + -0.18046067655086517, + 0.953941889671088, + 0.07569637942556055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9696792294303853, + 0.01979290135204792, + -0.243578451542391, + 0.21009797546317416 + ], + [ + 0.0259256629014197, + 0.9827585220336914, + 0.18306718078891937, + -0.3115878137323383 + ], + [ + 0.24300221824071958, + -0.1838313788175583, + 0.9524473649327783, + 0.07666550833823506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9690442249329335, + 0.02142135612666607, + -0.2459561960225887, + 0.21326846596594085 + ], + [ + 0.023369557600382996, + 0.9837968945503235, + 0.17775685360629784, + -0.2963303730886441 + ], + [ + 0.24577873115308296, + -0.17800214886665344, + 0.9528420961871593, + 0.07510442393493313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9678736414527481, + 0.02384492941200734, + -0.25030386609004746, + 0.22146767541205817 + ], + [ + 0.02184126585031205, + 0.9837568998336794, + 0.17817224327257355, + -0.2952502899362611 + ], + [ + 0.25048665631720535, + -0.17791518568992618, + 0.9516315668153273, + 0.0771823602686269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9667375497808455, + 0.02706727385520935, + -0.25433406186381885, + 0.22688517699308425 + ], + [ + 0.022821267367092092, + 0.9812901020050049, + 0.1911777951284941, + -0.32207805532820527 + ], + [ + 0.25475015788680155, + -0.1906229853630066, + 0.9480322710289908, + 0.08106568464629371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.966066778700376, + 0.02509712427854538, + -0.25707024125478395, + 0.2276720775148532 + ], + [ + 0.023822113673487036, + 0.9823687672615051, + 0.18542941305470362, + -0.30624280165668427 + ], + [ + 0.25719152595677514, + -0.18526116013526917, + 0.9484360008007706, + 0.0836950999489795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9655220483302095, + 0.023849494755268104, + -0.2592265324757451, + 0.2298753110702108 + ], + [ + 0.025551871417274018, + 0.9823033809661867, + 0.18554557538209426, + -0.3042243108574762 + ], + [ + 0.25906426408340916, + -0.18577206134796145, + 0.9478261662085528, + 0.08514451169718706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9650334554718005, + 0.024094566702842712, + -0.2610170730132335, + 0.23218692984615014 + ], + [ + 0.027245708927066417, + 0.9811527132987976, + 0.19130347565099398, + -0.3152637454085251 + ], + [ + 0.26070698240134427, + -0.19172583520412445, + 0.9461887132905457, + 0.08689540195797033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9645189051766603, + 0.023210110142827034, + -0.26299164701154043, + 0.23446488413569194 + ], + [ + 0.02778378578199192, + 0.9816736578941345, + 0.18853352306394833, + -0.30906988004990094 + ], + [ + 0.262547857199422, + -0.18915104866027832, + 0.9461979383091946, + 0.08783321366272537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9642869149705431, + 0.018599845468997955, + -0.26420599782854615, + 0.2337037137384076 + ], + [ + 0.029792670526250307, + 0.9835831522941589, + 0.17797922220737714, + -0.2830591596489947 + ], + [ + 0.26317894639663086, + -0.1794944405555725, + 0.9479022215421344, + 0.08541865336046411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.963947967358862, + 0.015479184687137604, + -0.26564029085508606, + 0.23401653887743185 + ], + [ + 0.03347591787349563, + 0.9833201766014099, + 0.17877573062833824, + -0.28175390638019765 + ], + [ + 0.2639767527839921, + -0.181223064661026, + 0.9473512748677115, + 0.08377625227201056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9629488345330274, + 0.013280008919537067, + -0.26935696364459794, + 0.23886174712472602 + ], + [ + 0.036609737302480225, + 0.9831040501594543, + 0.17934912453426477, + -0.2802695752080757 + ], + [ + 0.26718768828154704, + -0.1825651079416275, + 0.9461927277442629, + 0.08445591680776898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9629310604203835, + 0.013207655400037766, + -0.2694241048847491, + 0.23524431721407021 + ], + [ + 0.038118728585376634, + 0.9821150302886963, + 0.18438271133456655, + -0.28966975668698014 + ], + [ + 0.2670407363059574, + -0.18781794607639313, + 0.9452056457729541, + 0.08602027598103847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9632240981848242, + 0.012459802441298962, + -0.26841032431218403, + 0.22999392430041318 + ], + [ + 0.038296334227345886, + 0.9823605418205261, + 0.1830330986069101, + -0.2833156964887443 + ], + [ + 0.2659562733812662, + -0.18658103048801422, + 0.9457562213109167, + 0.08580442605164484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9636959824905285, + 0.010510153137147427, + -0.2667951025873197, + 0.2235178822775575 + ], + [ + 0.040269096635395955, + 0.9820739030838013, + 0.18414474235770012, + -0.28128049857284154 + ], + [ + 0.2639478917422907, + -0.1882031410932541, + 0.9459974178184933, + 0.08601722203901789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9640445143796157, + 0.006296114530414343, + -0.26566610101030885, + 0.2184425207473731 + ], + [ + 0.04374827383326668, + 0.9823186993598938, + 0.1820333007810744, + -0.27125245758947825 + ], + [ + 0.26211488543177064, + -0.18711064755916595, + 0.9467235140803295, + 0.08471007322917559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9640758639331832, + 0.002151782624423504, + -0.2656184443306784, + 0.21534815479238714 + ], + [ + 0.04846217022767868, + 0.9817590713500977, + 0.18384921716680522, + -0.27114817654223206 + ], + [ + 0.26116891824235705, + -0.1901170313358307, + 0.9463859468464269, + 0.08303479221436834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9637428328356741, + -0.0010711811482906342, + -0.2668307150573056, + 0.21407909024844754 + ], + [ + 0.050452653234490344, + 0.982685387134552, + 0.178280635660939, + -0.26370554606247065 + ], + [ + 0.26201966446983027, + -0.1852789968252182, + 0.9471100134378516, + 0.08262167498570896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9635098775018692, + 0.0033728289417922497, + -0.26765161031035717, + 0.2128171705965193 + ], + [ + 0.04462470956549356, + 0.9839030504226685, + 0.1730416998662764, + -0.26024065398463186 + ], + [ + 0.2639268751816587, + -0.17867125570774078, + 0.9478497661061948, + 0.08275342107884161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9630755684485854, + 0.011168695986270905, + -0.26899955671039855, + 0.2129832331809831 + ], + [ + 0.03677320708249089, + 0.9843186140060425, + 0.172524202003283, + -0.25304101054612343 + ], + [ + 0.26670814487721994, + -0.17604580521583557, + 0.9475624847502435, + 0.0825259840085033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9628911939982546, + 0.01704569533467293, + -0.2693510480925882, + 0.21173989310909103 + ], + [ + 0.030085721724165834, + 0.9850041270256045, + 0.16988744041361, + -0.2457593698276129 + ], + [ + 0.26820774367186323, + -0.17168673872947696, + 0.9479389555356291, + 0.08357065138782926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9625520726444534, + 0.021880339831113815, + -0.2702125226259486, + 0.21115080421761984 + ], + [ + 0.024680718651557746, + 0.9855256080627441, + 0.16772025357588347, + -0.23747539477978946 + ], + [ + 0.26997114633855646, + -0.1681085079908371, + 0.9480797260536317, + 0.08475078469433976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9626080840041538, + 0.023545887321233756, + -0.2698727390142189, + 0.21193264074363322 + ], + [ + 0.022849384367348055, + 0.9856082797050478, + 0.16749385787303037, + -0.23367980755565884 + ], + [ + 0.26993259807699826, + -0.16739737987518313, + 0.9482164807268672, + 0.08523694853467775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9624508267151356, + 0.020473098382353783, + -0.27068294430666534, + 0.21313683567318176 + ], + [ + 0.025572658191914868, + 0.9858791828155518, + 0.16549408348092656, + -0.22789869597162843 + ], + [ + 0.27024885975546725, + -0.16620200872421265, + 0.9483366691050351, + 0.08483059980883195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9625774549847682, + 0.015079453587532047, + -0.2705868075855105, + 0.21481609783720418 + ], + [ + 0.030545377787752404, + 0.986051678657532, + 0.16361261717565215, + -0.2228780543360312 + ], + [ + 0.2692797721191232, + -0.16575498878955844, + 0.9486905361292899, + 0.08467553334205148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9628712266040896, + 0.008149625733494759, + -0.26983815377304093, + 0.21492655774736075 + ], + [ + 0.03580171448013365, + 0.9868606328964233, + 0.1575573527299804, + -0.21697738826545182 + ], + [ + 0.26757668842286114, + -0.16136810183525085, + 0.9499279233136485, + 0.0842710230338923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9624267836319199, + 0.004437596537172794, + -0.2715050520000078, + 0.21640149911470807 + ], + [ + 0.03809468079034053, + 0.9877716302871704, + 0.15118199051302406, + -0.21289250706000884 + ], + [ + 0.26885587527643756, + -0.15584449470043182, + 0.9504888393721104, + 0.08342435452689176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9622440678666725, + 0.003688798053190112, + -0.27216303036830375, + 0.21776269154766414 + ], + [ + 0.03736669157266519, + 0.9886506795883179, + 0.14551135284612468, + -0.2088098109305044 + ], + [ + 0.26961093889349635, + -0.15018728375434875, + 0.9511854359739309, + 0.08278490027758945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9619761085975019, + 0.007229715585708618, + -0.2730379665086887, + 0.2189621514104947 + ], + [ + 0.0329320038101223, + 0.9892867803573608, + 0.14222220758509313, + -0.20586574127331886 + ], + [ + 0.2711410736377539, + -0.14580605924129486, + 0.951432125703034, + 0.08236773014520485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9617261305624303, + 0.01263041328638792, + -0.2737212071812732, + 0.21947279719916232 + ], + [ + 0.026811805665171218, + 0.9898058176040649, + 0.1398768955883996, + -0.20271687122905135 + ], + [ + 0.27269755307896787, + -0.14186221361160278, + 0.9515834805226158, + 0.08280320962609045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9612279892244955, + 0.017821328714489937, + -0.27517834881177045, + 0.22159481272352413 + ], + [ + 0.021373389411817347, + 0.9900924563407898, + 0.13878076722147215, + -0.1990844021400027 + ], + [ + 0.27492526373683185, + -0.1392814666032791, + 0.9513236983079445, + 0.08340739058465853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.960625912569516, + 0.02160787768661976, + -0.2770034816926083, + 0.22549794208730486 + ], + [ + 0.017780076770455688, + 0.9901471734046936, + 0.13889710497451674, + -0.2001587113865327 + ], + [ + 0.27727549236025434, + -0.13835331797599792, + 0.9507768471048353, + 0.08533129350300134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9606858585595517, + 0.024601655080914497, + -0.27654548509111726, + 0.22698206406869437 + ], + [ + 0.014327354489699403, + 0.9903462529182434, + 0.1378733239093593, + -0.19814573143829314 + ], + [ + 0.27726769143616, + -0.13641512393951416, + 0.9510591554450659, + 0.08655001750998925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9607728055350461, + 0.02665175497531891, + -0.27605297108040294, + 0.22821798572629545 + ], + [ + 0.012048416297378132, + 0.990420937538147, + 0.13755420382085715, + -0.1963118188807413 + ], + [ + 0.2770747147650705, + -0.13548435270786285, + 0.9512484210119163, + 0.0870576218059218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9607813799330982, + 0.028836939483881004, + -0.27580350265175785, + 0.22957674339049655 + ], + [ + 0.009667057559181525, + 0.9904909729957583, + 0.1372377699038515, + -0.193751557681597 + ], + [ + 0.2771383866641384, + -0.13452169299125674, + 0.9513664970934257, + 0.08656443161152935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9605800832229179, + 0.029248423874378204, + -0.27646055059147767, + 0.23186492217147897 + ], + [ + 0.00938968323862969, + 0.9904693365097046, + 0.13741276806124325, + -0.19300862444586428 + ], + [ + 0.2778448126440166, + -0.13459184765815735, + 0.9511505019488902, + 0.08557547126526001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9602421209177063, + 0.028868649154901505, + -0.2776718552557361, + 0.23454771954675674 + ], + [ + 0.010052707865261879, + 0.9904181361198425, + 0.13773476849439573, + -0.19340755127250783 + ], + [ + 0.27898745619597287, + -0.13505008816719055, + 0.9507509932028687, + 0.08571499839566582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9597945238923975, + 0.028133450075984008, + -0.2792900523169948, + 0.2376617116890702 + ], + [ + 0.01091000684540755, + 0.9904742240905764, + 0.1372652606954852, + -0.19298119332472757 + ], + [ + 0.2804913454475654, + -0.1347935199737549, + 0.9503448395471065, + 0.08621327981617839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9592526156241242, + 0.027206774801015854, + -0.28123699348835346, + 0.24077613612674156 + ], + [ + 0.011826908486624807, + 0.9906147122383118, + 0.1361713615402926, + -0.19127104145063217 + ], + [ + 0.28230228832030985, + -0.1339488923549652, + 0.9499279672759072, + 0.08680941853873456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.958730688834861, + 0.026743760332465172, + -0.2830552563041603, + 0.24430005310902062 + ], + [ + 0.012203472868531485, + 0.9907779097557068, + 0.13494527716955193, + -0.18930941698365852 + ], + [ + 0.2840538289577824, + -0.1328304409980774, + 0.9495627656597518, + 0.08756617092991642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9581464008873057, + 0.027620665729045868, + -0.28494320747957785, + 0.24862069174669638 + ], + [ + 0.011831166269697735, + 0.9906639456748962, + 0.1358122841699683, + -0.1881186006937838 + ], + [ + 0.2860341926057173, + -0.13349926471710205, + 0.9488743019769751, + 0.08686420767369771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9576461895232219, + 0.029726166278123856, + -0.28640897748232014, + 0.2520274264200564 + ], + [ + 0.010224625832635921, + 0.9905192852020264, + 0.13699262661746428, + -0.18613316823074713 + ], + [ + 0.2877658884728553, + -0.13411888480186462, + 0.9482631364290898, + 0.08593179821001165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9571008328231768, + 0.03145502135157585, + -0.288042650578485, + 0.25499664468849825 + ], + [ + 0.007923620201811081, + 0.9908772110939026, + 0.13453482902223718, + -0.1766861432132241 + ], + [ + 0.2896466923496647, + -0.13104574382305145, + 0.9481201693547171, + 0.08451525684722586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.955301093333265, + 0.03295386210083962, + -0.2937922406924881, + 0.258332303118485 + ], + [ + 0.006615505501070072, + 0.9911363124847414, + 0.132684137266244, + -0.17791548493395343 + ], + [ + 0.29556061048823523, + -0.12869688868522647, + 0.9466155749164005, + 0.08370720903603522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.953387536327222, + 0.032741911709308624, + -0.2999670345706346, + 0.26423664946959124 + ], + [ + 0.006989893958488381, + 0.9914325475692749, + 0.13043257635872546, + -0.17892818145138067 + ], + [ + 0.30166768369105657, + -0.12644954025745392, + 0.9449905267266745, + 0.08487938419535981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9523686703460684, + 0.029908427968621254, + -0.30347887675349766, + 0.26816034063372296 + ], + [ + 0.008887245045623568, + 0.9920340180397034, + 0.1256565605663459, + -0.1745360535474852 + ], + [ + 0.3048195548932345, + -0.1223684549331665, + 0.9445162728093681, + 0.08578014754531474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9513583323097557, + 0.024510039016604424, + -0.30711003305439866, + 0.2710585960632584 + ], + [ + 0.011923287207682112, + 0.9931545257568359, + 0.11619801336663872, + -0.16088628858228327 + ], + [ + 0.30785573337710964, + -0.11420771479606628, + 0.9445535675575212, + 0.08540247619082561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.950372352482956, + 0.02065594494342804, + -0.3104282972052534, + 0.2750662232929041 + ], + [ + 0.014391932127925689, + 0.9938064813613892, + 0.1101887505678226, + -0.15704010971800705 + ], + [ + 0.31078170130359856, + -0.1091880053281784, + 0.9441889134391083, + 0.08463960187791308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.94963446170959, + 0.019248055294156075, + -0.3127681592645718, + 0.27815275462983036 + ], + [ + 0.015242011202302902, + 0.9940930604934692, + 0.10745562688013958, + -0.15553389605840184 + ], + [ + 0.3129889700772473, + -0.10681077837944031, + 0.9437316334919155, + 0.08392098138431588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9496573567338049, + 0.02211976796388626, + -0.31250850457784457, + 0.28050732007580026 + ], + [ + 0.012466061794071443, + 0.9940463900566101, + 0.1082420570935134, + -0.15938759819611892 + ], + [ + 0.3130422571752183, + -0.10668861865997314, + 0.9437277566384528, + 0.08262979769064889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9489143000325323, + 0.027823036536574364, + -0.31430478374028414, + 0.2829637027568223 + ], + [ + 0.00820111247677077, + 0.9935935139656067, + 0.11271524205828902, + -0.16561361733815216 + ], + [ + 0.3154272656508488, + -0.10953475534915924, + 0.9426069092049213, + 0.08057284795921787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9483208897218145, + 0.031753066927194595, + -0.3157201101291536, + 0.2867612418257508 + ], + [ + 0.004312913678308937, + 0.9935987591743469, + 0.1128842701723851, + -0.16569295635734707 + ], + [ + 0.31728353003333853, + -0.10841218382120132, + 0.942113529756512, + 0.07791329028775468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9474462888665682, + 0.033333953469991684, + -0.3181735609149514, + 0.2889614256327676 + ], + [ + 0.0029993465111961886, + 0.9935874938964844, + 0.11302610999413236, + -0.16476968888049412 + ], + [ + 0.31990087761715386, + -0.1080404743552208, + 0.9412707825629508, + 0.07453677018457933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9452899946376557, + 0.030774319544434547, + -0.3247764765369507, + 0.29377062497337214 + ], + [ + 0.005401792471426507, + 0.9939277172088623, + 0.10990238177871199, + -0.1596569886477866 + ], + [ + 0.3261865136733897, + -0.10564399510622025, + 0.9393836731617544, + 0.07522404943793991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.944341978875267, + 0.02349771186709404, + -0.32812502216111233, + 0.2964041842273492 + ], + [ + 0.012356450135087235, + 0.9942081570625305, + 0.10675909978370636, + -0.1552219137223413 + ], + [ + 0.328733170146545, + -0.10487156361341476, + 0.9385821756810101, + 0.07540745713542421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9433100190943997, + 0.015050544403493404, + -0.33157156453870745, + 0.2998046406792302 + ], + [ + 0.02066943769723677, + 0.9943687915802002, + 0.10393979115702957, + -0.15109822395501568 + ], + [ + 0.3312687747049096, + -0.10490084439516068, + 0.9376869635079613, + 0.07475013892426488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9424838971618308, + 0.010385766625404358, + -0.3340901362437198, + 0.3026583879649756 + ], + [ + 0.025275693201936705, + 0.9944408535957336, + 0.10221781675931728, + -0.14740712608881973 + ], + [ + 0.3332945060113192, + -0.10478301346302032, + 0.9369820213943517, + 0.0739623925819981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9418715763286338, + 0.009501056745648384, + -0.335838735385643, + 0.30470776516987097 + ], + [ + 0.025706212165406524, + 0.9946318864822388, + 0.1002326468205508, + -0.14178441218036972 + ], + [ + 0.33498823491278956, + -0.10303942114114761, + 0.9365712708730726, + 0.07361870348258792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.941549496006909, + 0.010397516191005707, + -0.33671410372632055, + 0.3065821016540252 + ], + [ + 0.024135166779069576, + 0.9948729872703552, + 0.09820990989083506, + -0.13803679911343908 + ], + [ + 0.3360089187754214, + -0.10059614479541779, + 0.936471236080568, + 0.07209594379477237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9412995528034409, + 0.01040901429951191, + -0.3374118848364996, + 0.3075165405010154 + ], + [ + 0.022360163724334213, + 0.9954068064689636, + 0.09308746340366007, + -0.13268299396474045 + ], + [ + 0.3368310389533689, + -0.09516777098178864, + 0.9367432609501158, + 0.07038369349922632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9405831621585687, + 0.010217692703008652, + -0.33940968221394424, + 0.31072442478939966 + ], + [ + 0.02155439784862697, + 0.9957348108291626, + 0.08970815651428617, + -0.12740216303637839 + ], + [ + 0.3388786411210724, + -0.09169375896453857, + 0.9363511529844095, + 0.06778650013439974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9397993778225059, + 0.008302210830152035, + -0.34162590097493833, + 0.3136312595297181 + ], + [ + 0.02263416154980337, + 0.9959972500801086, + 0.0864704678024498, + -0.1210437691475822 + ], + [ + 0.34097634289905476, + -0.08899730443954468, + 0.9358496440844091, + 0.06771677673819435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9390863505377927, + 0.006477244198322296, + -0.34362030588543413, + 0.3175074352324768 + ], + [ + 0.023115846897057785, + 0.996367871761322, + 0.08195527095080403, + -0.11334418816548933 + ], + [ + 0.3429030736838145, + -0.08490615338087082, + 0.9355257268421792, + 0.06677854651453549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9385261528815773, + 0.005795727949589491, + -0.34515949750798564, + 0.32089530079169315 + ], + [ + 0.02313630439002496, + 0.9965548515319824, + 0.07964372473137227, + -0.10898530246728363 + ], + [ + 0.34443197893568267, + -0.08273343741893768, + 0.9351587267908376, + 0.06544313104861464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9380558103829014, + 0.005575501825660467, + -0.3464393368766067, + 0.3227120585995706 + ], + [ + 0.022940558643062704, + 0.9966771006584167, + 0.07815654023285333, + -0.10589274284548543 + ], + [ + 0.34572393327668827, + -0.08126270771026611, + 0.9348108722784869, + 0.06425744796178995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9376296642109413, + 0.004600787069648504, + -0.3476052658336491, + 0.3241894677799971 + ], + [ + 0.02364998810420986, + 0.996751606464386, + 0.07698610211251687, + -0.10341396656833113 + ], + [ + 0.3468303064364127, + -0.08040530979633331, + 0.9344750803719232, + 0.06269398813511738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9370295085563064, + 9.728828445076942e-05, + -0.34925014303511276, + 0.32618643121307983 + ], + [ + 0.02759756242615222, + 0.9968523979187012, + 0.07432126836023299, + -0.09903091029367417 + ], + [ + 0.3481580826089617, + -0.07927966862916946, + 0.9340774336481906, + 0.060480524913736324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/push_in/transforms.json b/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..95ca33ff81354dac7882b83d87761b81c0252a2e --- /dev/null +++ b/dynpose_eval/camera_controls/7ddd64c4-3cb6-4f8f-b411-ce33ec9c9084/push_in/transforms.json @@ -0,0 +1,4633 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 132, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -9.828373731579632e-05, + 9.285063424613327e-05, + -0.00014976847160141915 + ], + [ + 9.827211033552885e-05, + 1.0, + 0.00012523045006673783, + -8.855538908392191e-05 + ], + [ + -9.286294516641647e-05, + -0.00012522131146397442, + 1.0, + -0.00010745334293460473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999916136264801, + -0.01294904388487339, + -0.00021837842359673232, + -3.389837164214087e-05 + ], + [ + 0.012949429452419281, + 0.9999144077301025, + 0.001866100705228746, + -0.00730821066544896 + ], + [ + 0.00019419552700128406, + -0.0018687719712033868, + 0.9999982118606567, + -0.0001659530967665936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999650239944458, + -0.026443518698215485, + -0.0003294612397439778, + -0.0009581041158859455 + ], + [ + 0.02644440159201622, + 0.9996456503868103, + 0.003046155208721757, + -0.017597994242105206 + ], + [ + 0.000248793454375118, + -0.0030538022983819246, + 0.9999952912330627, + -0.0003680382849904531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993502497673035, + -0.036015111953020096, + -0.0014280525501817465, + 0.0009140788359773694 + ], + [ + 0.03601982817053795, + 0.9993451833724976, + 0.003424921305850148, + -0.02983053986654965 + ], + [ + 0.0013037684839218855, + -0.0034741342533379793, + 0.999993085861206, + -0.004416544232090921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9991211295127869, + -0.04119239002466202, + -0.007759077474474907, + 0.0033601832864024028 + ], + [ + 0.04122678190469742, + 0.9991404414176941, + 0.004325450863689184, + -0.04112286360237662 + ], + [ + 0.007574232295155525, + -0.004641530569642782, + 0.9999605417251587, + -0.010160858164193065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.998969316482544, + -0.042851220816373825, + -0.014970188960433006, + 0.004102624398265176 + ], + [ + 0.04293623939156532, + 0.9990631937980652, + 0.0054047489538788795, + -0.054693130758512794 + ], + [ + 0.01472456380724907, + -0.006041942164301872, + 0.9998733401298523, + -0.012790089330941666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989011883735657, + -0.039999574422836304, + -0.024422915652394295, + 0.006286418071827133 + ], + [ + 0.04018933326005936, + 0.9991651773452759, + 0.007328770123422146, + -0.0685254613221943 + ], + [ + 0.024109380319714546, + -0.008302257396280766, + 0.9996748566627502, + -0.01827491031860122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9987815022468567, + -0.032576192170381546, + -0.03707147762179375, + 0.008632579333511473 + ], + [ + 0.03300441429018974, + 0.9993947148323059, + 0.010998452082276344, + -0.08227271569167612 + ], + [ + 0.03669075295329094, + -0.012208573520183563, + 0.9992520809173584, + -0.023493252222547095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9985101819038391, + -0.025478586554527283, + -0.048251595348119736, + 0.009694917633674527 + ], + [ + 0.02618986740708351, + 0.9995566010475159, + 0.014166602864861488, + -0.09392762437804054 + ], + [ + 0.047869253903627396, + -0.015409201383590698, + 0.9987347722053528, + -0.020134557388324772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9982215166091919, + -0.02081267535686493, + -0.05586284399032593, + 0.011890463582204499 + ], + [ + 0.021763943135738373, + 0.999627411365509, + 0.016474582254886627, + -0.1055939620744636 + ], + [ + 0.05549915134906769, + -0.01766107976436615, + 0.9983025193214417, + -0.018191175384603384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9978117942810059, + -0.020943960174918175, + -0.06271310895681381, + 0.01541996546772145 + ], + [ + 0.02214238978922367, + 0.9995840787887573, + 0.018476037308573723, + -0.11381710424507392 + ], + [ + 0.06230006366968155, + -0.019824227318167686, + 0.9978605508804321, + -0.015124653956589807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.997459888458252, + -0.021583963185548782, + -0.06788194179534912, + 0.021515240935423903 + ], + [ + 0.023236460983753204, + 0.9994502663612366, + 0.02364896796643734, + -0.12461710841686444 + ], + [ + 0.06733419001102448, + -0.025166234001517296, + 0.9974130392074585, + -0.01556571546287937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9971305131912231, + -0.024515636265277863, + -0.07162203639745712, + 0.02603777289561188 + ], + [ + 0.02667420357465744, + 0.9992135763168335, + 0.029338805004954338, + -0.1338830937581663 + ], + [ + 0.07084644585847855, + -0.03116508014500141, + 0.9970002770423889, + -0.014181181523977345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9967191219329834, + -0.029953986406326294, + -0.07519122958183289, + 0.03119279013107751 + ], + [ + 0.03259342908859253, + 0.998885989189148, + 0.0341247096657753, + -0.14131222828540183 + ], + [ + 0.0740852952003479, + -0.03646349161863327, + 0.9965850710868835, + -0.013367895409464836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9963189959526062, + -0.03512512892484665, + -0.07819629460573196, + 0.03705176099111106 + ], + [ + 0.03820851445198059, + 0.9985359311103821, + 0.03829037770628929, + -0.147402947725913 + ], + [ + 0.07673685997724533, + -0.04113719239830971, + 0.9962024092674255, + -0.012099789720000202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9958879947662354, + -0.03979421779513359, + -0.08138523250818253, + 0.04307834860932736 + ], + [ + 0.043290432542562485, + 0.9981938004493713, + 0.041654787957668304, + -0.15352729767674708 + ], + [ + 0.07958061248064041, + -0.045006707310676575, + 0.9958118796348572, + -0.013370095005699696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9951409697532654, + -0.041185177862644196, + -0.08943275362253189, + 0.04947462560793826 + ], + [ + 0.045243844389915466, + 0.9980136156082153, + 0.043838921934366226, + -0.1591654034971281 + ], + [ + 0.0874495878815651, + -0.04767218604683876, + 0.9950276017189026, + -0.016085611733088964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9943174123764038, + -0.038176968693733215, + -0.09937511384487152, + 0.05427460537953231 + ], + [ + 0.04295849800109863, + 0.9979974627494812, + 0.04642873629927635, + -0.16703902508295673 + ], + [ + 0.09740360081195831, + -0.05043390765786171, + 0.993966281414032, + -0.016216484789971175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9934754371643066, + -0.033928997814655304, + -0.10888253897428513, + 0.0592560350894928 + ], + [ + 0.039470113813877106, + 0.9980114698410034, + 0.04914522543549538, + -0.17439321975102862 + ], + [ + 0.10699857026338577, + -0.053122181445360184, + 0.9928390383720398, + -0.014686636868437736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9928585886955261, + -0.030177876353263855, + -0.11541735380887985, + 0.06465694737684635 + ], + [ + 0.03642988204956055, + 0.9979589581489563, + 0.05244825407862663, + -0.18112086200702737 + ], + [ + 0.1135990098118782, + -0.05627833679318428, + 0.9919314384460449, + -0.01356058555818696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9923290610313416, + -0.02431524731218815, + -0.12120957672595978, + 0.06989751272756635 + ], + [ + 0.03188846632838249, + 0.9976320862770081, + 0.06093727424740791, + -0.18942700229755793 + ], + [ + 0.11944085359573364, + -0.06433501839637756, + 0.9907547235488892, + -0.011811354119359081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9919205904006958, + -0.020494868978857994, + -0.12519387900829315, + 0.07366382417105537 + ], + [ + 0.029464712366461754, + 0.9970961809158325, + 0.07022148370742798, + -0.19673218374488918 + ], + [ + 0.12339115142822266, + -0.0733429342508316, + 0.9896441102027893, + -0.0077941633448118455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9916766285896301, + -0.01598791591823101, + -0.12775704264640808, + 0.07709443381496968 + ], + [ + 0.026297712698578835, + 0.9964939951896667, + 0.0794239193201065, + -0.2054239470767611 + ], + [ + 0.1260392963886261, + -0.0821225643157959, + 0.9886202216148376, + -0.0047054925919261595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9915490746498108, + -0.010544007644057274, + -0.1293027549982071, + 0.08058798144791872 + ], + [ + 0.02183140628039837, + 0.9960394501686096, + 0.08619046956300735, + -0.2115928280046423 + ], + [ + 0.12788183987140656, + -0.0882849469780922, + 0.9878522157669067, + -0.0023551078527483324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9915359020233154, + -0.004142702091485262, + -0.12976671755313873, + 0.08302795166960199 + ], + [ + 0.016350410878658295, + 0.9955177307128906, + 0.09315089881420135, + -0.21750334298792687 + ], + [ + 0.1287991851568222, + -0.09448419511318207, + 0.9871593117713928, + 0.0010420353869900444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9914519190788269, + 0.0018206853419542313, + -0.1304600089788437, + 0.08583549273605565 + ], + [ + 0.011291952803730965, + 0.9949533939361572, + 0.09970048815011978, + -0.22253996483583488 + ], + [ + 0.12998314201831818, + -0.10032138973474503, + 0.986427903175354, + 0.0053683872057395145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9914724230766296, + 0.004540953319519758, + -0.1302376687526703, + 0.08741883675333198 + ], + [ + 0.00905531831085682, + 0.9945763945579529, + 0.10361381620168686, + -0.22642404554226928 + ], + [ + 0.13000181317329407, + -0.10390958935022354, + 0.9860539436340332, + 0.008838108115125705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9914451837539673, + 0.006487737409770489, + -0.1303623616695404, + 0.08887554739267771 + ], + [ + 0.007685455493628979, + 0.9941293597221375, + 0.10792499035596848, + -0.2298962547294511 + ], + [ + 0.1302972435951233, + -0.10800360888242722, + 0.9855749011039734, + 0.012121538826413737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9913902878761292, + 0.008740379475057125, + -0.13064786791801453, + 0.09044363014115632 + ], + [ + 0.005871292669326067, + 0.9937987923622131, + 0.11103834211826324, + -0.2338832161126246 + ], + [ + 0.13080820441246033, + -0.11084941029548645, + 0.9851911664009094, + 0.012982158111195075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9913384914398193, + 0.011354225687682629, + -0.13084007799625397, + 0.09076181616036946 + ], + [ + 0.0036008970346301794, + 0.993531346321106, + 0.11350105702877045, + -0.23764444895600545 + ], + [ + 0.13128243386745453, + -0.11298911273479462, + 0.9848849773406982, + 0.013968898209508595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9911317229270935, + 0.013875958509743214, + -0.1321566104888916, + 0.09143943157587342 + ], + [ + 0.0014597829431295395, + 0.9933360815048218, + 0.1152445524930954, + -0.2400522839477044 + ], + [ + 0.13287505507469177, + -0.11441545188426971, + 0.9845066666603088, + 0.014747615423736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9910696744918823, + 0.016631362959742546, + -0.13230402767658234, + 0.09136104779389069 + ], + [ + -0.001053085085004568, + 0.9931367039680481, + 0.11695440858602524, + -0.24167273844812662 + ], + [ + 0.13334108889102936, + -0.11577063053846359, + 0.9842851758003235, + 0.016002472696242897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9911016225814819, + 0.017985213547945023, + -0.131886824965477, + 0.09006698969893782 + ], + [ + -0.0023122215643525124, + 0.9930062890052795, + 0.11803897470235825, + -0.24214416221352933 + ], + [ + 0.1330874115228653, + -0.11668366938829422, + 0.9842116832733154, + 0.017471354163984078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9911332130432129, + 0.01776985451579094, + -0.13167816400527954, + 0.08947550942197101 + ], + [ + -0.001972915604710579, + 0.9928757548332214, + 0.1191377192735672, + -0.2417991202182442 + ], + [ + 0.13285711407661438, + -0.11782155930995941, + 0.984107255935669, + 0.018853664806979985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9912382960319519, + 0.01806313917040825, + -0.13084465265274048, + 0.08817086278937245 + ], + [ + -0.0021826671436429024, + 0.9927098751068115, + 0.12050865590572357, + -0.24164899039359494 + ], + [ + 0.13206753134727478, + -0.11916720867156982, + 0.9840514659881592, + 0.020744506208553115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9912962317466736, + 0.01997849904000759, + -0.1301252841949463, + 0.08709719521171264 + ], + [ + -0.004213593900203705, + 0.9927266240119934, + 0.12031687051057816, + -0.24102271595642766 + ], + [ + 0.1315825879573822, + -0.1187213733792305, + 0.9841703176498413, + 0.02308670505845763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9913049936294556, + 0.02414364367723465, + -0.12935017049312592, + 0.08613183687206442 + ], + [ + -0.008409195579588413, + 0.9926372170448303, + 0.12083324790000916, + -0.2399166337633861 + ], + [ + 0.13131515681743622, + -0.11869487166404724, + 0.9842092394828796, + 0.02460871355266858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9912711977958679, + 0.02833588793873787, + -0.12875759601593018, + 0.08511849564450388 + ], + [ + -0.0125613734126091, + 0.9924860596656799, + 0.12171125411987305, + -0.2392339032114917 + ], + [ + 0.1312389075756073, + -0.11903148889541626, + 0.9841787815093994, + 0.026445544322149274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9912682771682739, + 0.031257741153240204, + -0.12810219824314117, + 0.08418813912013105 + ], + [ + -0.015401010401546955, + 0.9922932386398315, + 0.12295114248991013, + -0.23898000688725757 + ], + [ + 0.13095812499523163, + -0.11990465968847275, + 0.9841101765632629, + 0.028299468771318143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9913491010665894, + 0.032198406755924225, + -0.127240851521492, + 0.0833366263458747 + ], + [ + -0.01619628816843033, + 0.9920433759689331, + 0.12485019117593765, + -0.23871284899024564 + ], + [ + 0.13024841248989105, + -0.12170929461717606, + 0.9839828014373779, + 0.031180225886432954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9914259314537048, + 0.03258928656578064, + -0.12654055655002594, + 0.08456718927348843 + ], + [ + -0.01647009514272213, + 0.9918427467346191, + 0.12639877200126648, + -0.23703184780728725 + ], + [ + 0.12962757050991058, + -0.12323088943958282, + 0.9838753938674927, + 0.033543873016672734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9914987087249756, + 0.036429017782211304, + -0.1249130517244339, + 0.08693825307920688 + ], + [ + -0.01973797008395195, + 0.9910075664520264, + 0.1323421448469162, + -0.23522917447426847 + ], + [ + 0.12861086428165436, + -0.12875153124332428, + 0.9833017587661743, + 0.0321395999943937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9915105700492859, + 0.040659476071596146, + -0.12350555509328842, + 0.08475141500243703 + ], + [ + -0.0234200619161129, + 0.9901615381240845, + 0.13795500993728638, + -0.23386896398231274 + ], + [ + 0.127899631857872, + -0.13389134407043457, + 0.9827078580856323, + 0.035780780515740164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9917261004447937, + 0.041076526045799255, + -0.12162257730960846, + 0.08333823927713714 + ], + [ + -0.02377650886774063, + 0.9898067116737366, + 0.14041830599308014, + -0.234888108757161 + ], + [ + 0.12615074217319489, + -0.13636474311351776, + 0.982593834400177, + 0.03788310896022288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9920752644538879, + 0.03863542154431343, + -0.11955723911523819, + 0.0816034289944263 + ], + [ + -0.021117843687534332, + 0.9892855882644653, + 0.14445780217647552, + -0.2378344923030329 + ], + [ + 0.12385744601488113, + -0.1407882124185562, + 0.9822616577148438, + 0.03923983450069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9924585819244385, + 0.03343809396028519, + -0.1179315373301506, + 0.07987421600304487 + ], + [ + -0.015816813334822655, + 0.9889650344848633, + 0.14730218052864075, + -0.24017417794875517 + ], + [ + 0.12155567854642868, + -0.14432600140571594, + 0.982035756111145, + 0.04114703719241132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.992786169052124, + 0.02796168625354767, + -0.11659218370914459, + 0.078216450883232 + ], + [ + -0.010168188251554966, + 0.9885579943656921, + 0.1504981815814972, + -0.24452632469985322 + ], + [ + 0.11946631968021393, + -0.14822697639465332, + 0.9817110300064087, + 0.04297620493293036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9928634762763977, + 0.02604028210043907, + -0.11637884378433228, + 0.07799632143200809 + ], + [ + -0.007983767427504063, + 0.9881938099861145, + 0.15300080180168152, + -0.24970249103680822 + ], + [ + 0.11898903548717499, + -0.15097975730895996, + 0.9813494682312012, + 0.045193575988061556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9929023385047913, + 0.029662666842341423, + -0.11517422646284103, + 0.0769584588763368 + ], + [ + -0.011685429140925407, + 0.9880440831184387, + 0.15372824668884277, + -0.25419345220536677 + ], + [ + 0.11835720390081406, + -0.15129128098487854, + 0.9813778400421143, + 0.04853457425443726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9927836656570435, + 0.03682120144367218, + -0.11412596702575684, + 0.0754699767773388 + ], + [ + -0.018700124695897102, + 0.9875865578651428, + 0.15595878660678864, + -0.2606832913656271 + ], + [ + 0.11845186352729797, + -0.15269915759563446, + 0.981148362159729, + 0.05377409829551937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9924215078353882, + 0.044360000640153885, + -0.11459407955408096, + 0.07631152748834086 + ], + [ + -0.025832969695329666, + 0.9870421886444092, + 0.15836772322654724, + -0.26743974985967156 + ], + [ + 0.1201343908905983, + -0.1542072296142578, + 0.9807078242301941, + 0.05748851833338956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.992223858833313, + 0.04730997234582901, + -0.1151241734623909, + 0.07725723141818557 + ], + [ + -0.028130076825618744, + 0.986249566078186, + 0.16285119950771332, + -0.2752515558864324 + ], + [ + 0.12124564498662949, + -0.15834639966487885, + 0.979911208152771, + 0.060776866665323274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9923818707466125, + 0.042389363050460815, + -0.11567764729261398, + 0.07873792291142559 + ], + [ + -0.022383898496627808, + 0.9853535294532776, + 0.1690485179424286, + -0.28536662245524747 + ], + [ + 0.12114923447370529, + -0.16517138481140137, + 0.9787958264350891, + 0.06422739712848463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9925474524497986, + 0.03471336141228676, + -0.11680997908115387, + 0.07933668382750213 + ], + [ + -0.014012545347213745, + 0.9847216010093689, + 0.17357149720191956, + -0.2942349540140793 + ], + [ + 0.12105055153369904, + -0.17064115405082703, + 0.9778692722320557, + 0.07085125885391963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9927124381065369, + 0.028756797313690186, + -0.11702607572078705, + 0.07757910303487123 + ], + [ + -0.008963450789451599, + 0.9860405325889587, + 0.1662641167640686, + -0.28171638127501686 + ], + [ + 0.12017367780208588, + -0.16400349140167236, + 0.979112446308136, + 0.07365699761923944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9928792715072632, + 0.024580206722021103, + -0.11656146496534348, + 0.0778734834423957 + ], + [ + -0.004974472336471081, + 0.9861819744110107, + 0.1655908077955246, + -0.2810524105456949 + ], + [ + 0.11902108043432236, + -0.16383184492588043, + 0.9792819619178772, + 0.07625803968492355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9929064512252808, + 0.023128408938646317, + -0.11662694811820984, + 0.07877075561812816 + ], + [ + -0.0032139960676431656, + 0.985760509967804, + 0.1681247353553772, + -0.2862826260446592 + ], + [ + 0.11885470151901245, + -0.16655728220939636, + 0.9788423180580139, + 0.07854471308470683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9928261637687683, + 0.022747265174984932, + -0.11738300323486328, + 0.08028589427926158 + ], + [ + -0.0024461206048727036, + 0.9853948950767517, + 0.17026714980602264, + -0.2883209472962918 + ], + [ + 0.1195417195558548, + -0.1687585562467575, + 0.9783815145492554, + 0.08214025485492844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9930099844932556, + 0.022849097847938538, + -0.11579745262861252, + 0.07705195078640494 + ], + [ + -0.002699139527976513, + 0.9852226376533508, + 0.17125746607780457, + -0.2871794150985834 + ], + [ + 0.1179993525147438, + -0.16974782943725586, + 0.9783976078033447, + 0.0849384654228014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9933046698570251, + 0.02288072556257248, + -0.11323580890893936, + 0.07225100345170225 + ], + [ + -0.0024843700230121613, + 0.9841940402984619, + 0.17707593739032745, + -0.29783971624747485 + ], + [ + 0.1154976412653923, + -0.1756090372800827, + 0.9776613712310791, + 0.08693134663555457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9934403300285339, + 0.020051345229148865, + -0.11257975548505783, + 0.07079151881332615 + ], + [ + -8.050911128520966e-05, + 0.9846288561820984, + 0.17465975880622864, + -0.2913102853389187 + ], + [ + 0.11435144394636154, + -0.17350497841835022, + 0.9781716465950012, + 0.08743626058442902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9933879971504211, + 0.018467066809535027, + -0.11331059783697128, + 0.07210619502508914 + ], + [ + 0.0016074273735284805, + 0.9846439957618713, + 0.17456695437431335, + -0.2914222304830114 + ], + [ + 0.11479433625936508, + -0.1735948622226715, + 0.9781038165092468, + 0.08968633519670435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9932674169540405, + 0.017860431224107742, + -0.11445901542901993, + 0.07472818499530545 + ], + [ + 0.002222334034740925, + 0.9849237203598022, + 0.17297489941120148, + -0.2888367278657797 + ], + [ + 0.11582279950380325, + -0.17206470668315887, + 0.9782529473304749, + 0.09109555813874907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9933902621269226, + 0.018203075975179672, + -0.1133333295583725, + 0.07303126289416816 + ], + [ + 0.0019585033878684044, + 0.984514057636261, + 0.17529478669166565, + -0.2937421853078231 + ], + [ + 0.11476916074752808, + -0.17435809969902039, + 0.9779710173606873, + 0.09193613914246777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9934770464897156, + 0.017390092834830284, + -0.11269858479499817, + 0.07160003197784642 + ], + [ + 0.0026198732666671276, + 0.984561562538147, + 0.17501908540725708, + -0.290611479482578 + ], + [ + 0.1140022873878479, + -0.17417269945144653, + 0.9780937433242798, + 0.09275197780883039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9934725165367126, + 0.018787387758493423, + -0.1125137060880661, + 0.07230041301204958 + ], + [ + 0.0019500171765685081, + 0.9834027290344238, + 0.1814255267381668, + -0.3008511065868021 + ], + [ + 0.11405479907989502, + -0.18046067655086517, + 0.976947009563446, + 0.09300646723340486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9932911992073059, + 0.01979290135204792, + -0.11393359303474426, + 0.07679115231255539 + ], + [ + 0.0016240589320659637, + 0.9827585220336914, + 0.18488670885562897, + -0.30565866006694675 + ], + [ + 0.11562864482402802, + -0.1838313788175583, + 0.9761332273483276, + 0.09400965042469156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9932050108909607, + 0.02142135612666607, + -0.11438953876495361, + 0.07793787799718725 + ], + [ + -0.0005697440356016159, + 0.9837968945503235, + 0.17928555607795715, + -0.2902098417509603 + ], + [ + 0.1163766086101532, + -0.17800214886665344, + 0.9771242141723633, + 0.09264575965304411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9928608536720276, + 0.023844929412007332, + -0.11687059700489044, + 0.0840785606444337 + ], + [ + -0.0024985168129205704, + 0.9837568998336792, + 0.17948856949806213, + -0.28877233171281014 + ], + [ + 0.11925214529037476, + -0.17791518568992615, + 0.9767932891845703, + 0.0945878574183879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9925211071968079, + 0.02706727385520935, + -0.11903426796197891, + 0.08744681790926075 + ], + [ + -0.0036742286756634712, + 0.9812901020050049, + 0.1925000250339508, + -0.3148927410822788 + ], + [ + 0.12201759964227676, + -0.1906229853630066, + 0.9740505814552307, + 0.09825490713119506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9924743175506592, + 0.02509712427854538, + -0.11985348910093307, + 0.0861904845210432 + ], + [ + -0.002266320399940014, + 0.9823687672615051, + 0.18693962693214417, + -0.299343945643374 + ], + [ + 0.12243197113275528, + -0.18526116013526917, + 0.9750326871871948, + 0.10111073108802315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.992477536201477, + 0.023849494755268097, + -0.12008147686719894, + 0.08636395477952848 + ], + [ + -0.0009439615532755852, + 0.9823033809661865, + 0.18729433417320251, + -0.297399720959081 + ], + [ + 0.12242331355810165, + -0.18577206134796143, + 0.9749365448951721, + 0.10280671677630367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9924887418746948, + 0.024094566702842712, + -0.1199399009346962, + 0.08665782268948227 + ], + [ + -0.00046757515519857407, + 0.9811527132987976, + 0.19323335587978363, + -0.3081956065338077 + ], + [ + 0.12233523279428482, + -0.19172583520412445, + 0.9737942814826965, + 0.10477751130593643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9925044178962708, + 0.023210110142827034, + -0.11998460441827774, + 0.08691063618273226 + ], + [ + 8.12876969575882e-05, + 0.9816736578941345, + 0.19056972861289978, + -0.3020805880996107 + ], + [ + 0.12220887094736099, + -0.18915104866027832, + 0.9743135571479797, + 0.10600098726403623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.992691695690155, + 0.018599845468997955, + -0.11923615634441376, + 0.08412866673169245 + ], + [ + 0.003242554608732462, + 0.9835831522941589, + 0.18042641878128052, + -0.276814053440822 + ], + [ + 0.12063457071781158, + -0.1794944405555725, + 0.9763345122337341, + 0.10414072965051382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9928070306777954, + 0.015479184687137604, + -0.1187208816409111, + 0.08242256566882133 + ], + [ + 0.006404985208064318, + 0.9833201766014099, + 0.18177011609077454, + -0.2758422959169359 + ], + [ + 0.11955428868532181, + -0.181223064661026, + 0.9761480093002319, + 0.10290436520603777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9926170110702515, + 0.013280008919537067, + -0.12056160718202591, + 0.0852046509394209 + ], + [ + 0.009052698500454426, + 0.9831040501594543, + 0.18282349407672882, + -0.2746364209033151 + ], + [ + 0.12095250934362411, + -0.1825651079416275, + 0.9757255911827087, + 0.10361296579469251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9928486943244934, + 0.013207655400037766, + -0.11864672601222992, + 0.07960437330353351 + ], + [ + 0.00940694846212864, + 0.9821150302886963, + 0.1880466192960739, + -0.28381397643389594 + ], + [ + 0.1190083920955658, + -0.18781794607639313, + 0.9749674201011658, + 0.1056957711472766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9932159185409546, + 0.012459802441298962, + -0.11561533063650131, + 0.07239508397934091 + ], + [ + 0.009416104294359684, + 0.9823605418205261, + 0.1867593675851822, + -0.27743580730361794 + ], + [ + 0.11590292304754257, + -0.18658103048801422, + 0.9755788445472717, + 0.10623801910808978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9936570525169373, + 0.010510153137147427, + -0.11196086555719376, + 0.06397498087914845 + ], + [ + 0.010816303081810474, + 0.9820739030838013, + 0.18818579614162445, + -0.27548706139089496 + ], + [ + 0.1119317039847374, + -0.1882031410932541, + 0.9757309556007385, + 0.10733866636420936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9940431714057922, + 0.006296114530414343, + -0.10880476236343384, + 0.05694612485306864 + ], + [ + 0.01421114057302475, + 0.9823186993598938, + 0.18667639791965485, + -0.2659830334987349 + ], + [ + 0.10805629193782806, + -0.18711064755916595, + 0.9763777256011963, + 0.1069399859215922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9942818880081177, + 0.002151782624423504, + -0.10676589608192444, + 0.05187796229169569 + ], + [ + 0.018197644501924515, + 0.9817590713500977, + 0.18925634026527405, + -0.2663456904751654 + ], + [ + 0.10522562265396118, + -0.1901170313358307, + 0.9761061072349548, + 0.10598450767743678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.994362473487854, + -0.0010711811482906342, + -0.10602900385856628, + 0.04860810065883717 + ], + [ + 0.02069167047739029, + 0.982685387134552, + 0.18412308394908905, + -0.2594596561357265 + ], + [ + 0.1039959192276001, + -0.1852789968252182, + 0.9771676063537598, + 0.10609774753337597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.994478166103363, + 0.0033728289417922497, + -0.10488968342542648, + 0.04535685948856914 + ], + [ + 0.01544073037803173, + 0.9839030504226685, + 0.17803476750850677, + -0.2553362194249648 + ], + [ + 0.10380176454782486, + -0.17867125570774078, + 0.9784179925918579, + 0.10659985394991991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9944828152656555, + 0.011168695986270905, + -0.10430360585451126, + 0.04352933167273762 + ], + [ + 0.007430237252265215, + 0.9843186140060425, + 0.17624318599700928, + -0.24682379815414662 + ], + [ + 0.10463639348745346, + -0.17604580521583557, + 0.9788049459457397, + 0.1065375657254503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9945669770240784, + 0.017045695334672928, + -0.10269355773925781, + 0.040323421359062195 + ], + [ + 0.0009325304999947548, + 0.9850041270256042, + 0.17252832651138306, + -0.238535851922654 + ], + [ + 0.10409444570541382, + -0.17168673872947693, + 0.9796366691589355, + 0.10799467586379015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9945834279060364, + 0.021880339831113815, + -0.10161252319812775, + 0.037761659584655105 + ], + [ + -0.004366994835436344, + 0.9855256080627441, + 0.16947020590305328, + -0.22939879682682854 + ], + [ + 0.10384981334209442, + -0.1681085079908371, + 0.9802830219268799, + 0.10953169040211284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9947808980941772, + 0.02354588732123375, + -0.09928032755851746, + 0.03659551067434194 + ], + [ + -0.006470225751399994, + 0.9856082797050476, + 0.1689213514328003, + -0.22517180704433498 + ], + [ + 0.1018289178609848, + -0.1673973798751831, + 0.9806166291236877, + 0.11066797715220743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9949642419815063, + 0.020473098382353783, + -0.09811731427907944, + 0.03580396480801451 + ], + [ + -0.00377664715051651, + 0.9858791828155518, + 0.16741561889648438, + -0.21982789942781433 + ], + [ + 0.10015933960676193, + -0.16620200872421265, + 0.9809918403625488, + 0.11086083390103042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9952659606933594, + 0.015079453587532043, + -0.0960116907954216, + 0.035509336233594035 + ], + [ + 0.0011159381829202175, + 0.9860516786575317, + 0.16643576323986053, + -0.2156197380359846 + ], + [ + 0.0971822515130043, + -0.1657549887895584, + 0.9813668727874756, + 0.11154185086488724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9956109523773193, + 0.008149625733494759, + -0.09323336184024811, + 0.03366960647679467 + ], + [ + 0.007038113195449114, + 0.9868606328964233, + 0.16142040491104126, + -0.21091772547659984 + ], + [ + 0.09332385659217834, + -0.16136810183525085, + 0.9824718832969666, + 0.11217533703182489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9956596493721008, + 0.004437596537172794, + -0.09296327084302902, + 0.033134195504297734 + ], + [ + 0.010123705491423607, + 0.9877716302871704, + 0.1555786281824112, + -0.20758780319499606 + ], + [ + 0.09251687675714493, + -0.15584449470043182, + 0.9834394454956055, + 0.11182811391603856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9957841038703918, + 0.003688798053190112, + -0.09165358543395996, + 0.032519477116697615 + ], + [ + 0.010133781470358372, + 0.9886506795883179, + 0.14989039301872253, + -0.2037120049918881 + ], + [ + 0.09116630256175995, + -0.15018728375434875, + 0.9844452738761902, + 0.11179284632547211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9958636164665222, + 0.007229715585708618, + -0.09057274460792542, + 0.031741399835539225 + ], + [ + 0.006083695217967033, + 0.9892867803573608, + 0.14585836231708527, + -0.20015706273208136 + ], + [ + 0.09065693616867065, + -0.14580605924129486, + 0.9851506948471069, + 0.11181758716133715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9959246516227722, + 0.01263041328638792, + -0.08930026739835739, + 0.030287779207903008 + ], + [ + 0.00021765939891338348, + 0.9898058176040649, + 0.14242321252822876, + -0.19601988530795994 + ], + [ + 0.09018879383802414, + -0.14186221361160278, + 0.9857692718505859, + 0.11268593611494276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9958869218826294, + 0.017821328714489937, + -0.0888347327709198, + 0.03042652642795148 + ], + [ + -0.005200809333473444, + 0.9900924563407898, + 0.14032061398029327, + -0.19139968467350224 + ], + [ + 0.09045529365539551, + -0.1392814666032791, + 0.9861128330230713, + 0.11357442346465496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9958194494247437, + 0.02160787768661976, + -0.08875075727701187, + 0.03233421249812796 + ], + [ + -0.009030792862176895, + 0.9901471734046936, + 0.13973897695541382, + -0.19169477340374283 + ], + [ + 0.09089577943086624, + -0.13835331797599792, + 0.9862029552459717, + 0.11573668162672575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9959654211997986, + 0.024601655080914497, + -0.08629950135946274, + 0.0318978963974323 + ], + [ + -0.012500869110226631, + 0.9903462529182434, + 0.13805091381072998, + -0.18901100925361836 + ], + [ + 0.08886266499757767, + -0.13641512393951416, + 0.9866581559181213, + 0.1176839846634228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.996125340461731, + 0.02665175497531891, + -0.08380890637636185, + 0.03121450999538407 + ], + [ + -0.014950004406273365, + 0.990420937538147, + 0.13726915419101715, + -0.18664727711495552 + ], + [ + 0.08666456490755081, + -0.13548435270786285, + 0.9869818687438965, + 0.11895411966069964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9962502121925354, + 0.028836939483880997, + -0.08157172799110413, + 0.030650063962426803 + ], + [ + -0.017497006803750992, + 0.9904909729957581, + 0.13646066188812256, + -0.1835304950257294 + ], + [ + 0.08473116159439087, + -0.1345216929912567, + 0.9872813820838928, + 0.11917949232436317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9963443875312805, + 0.029248423874378204, + -0.08026452362537384, + 0.030976061090713238 + ], + [ + -0.018076278269290924, + 0.9904693365097046, + 0.13654187321662903, + -0.18256578406759802 + ], + [ + 0.0834931880235672, + -0.13459184765815735, + 0.9873772859573364, + 0.11876939205836703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9964145421981812, + 0.028868649154901505, + -0.07952766865491867, + 0.0316734237582174 + ], + [ + -0.017764106392860413, + 0.9904181361198425, + 0.13695386052131653, + -0.18290163499253398 + ], + [ + 0.08271931856870651, + -0.13505008816719055, + 0.9873798489570618, + 0.11939541239092367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9964607357978821, + 0.028133450075984, + -0.0792115107178688, + 0.03278567930328027 + ], + [ + -0.017103174701333046, + 0.9904742240905762, + 0.13663184642791748, + -0.18252098064386207 + ], + [ + 0.08230087906122208, + -0.13479351997375488, + 0.9874498844146729, + 0.12031508356560278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9964845180511475, + 0.027206774801015854, + -0.07923655956983566, + 0.03388537712224567 + ], + [ + -0.01625506579875946, + 0.9906147122383118, + 0.13571399450302124, + -0.18092844361112317 + ], + [ + 0.08218524605035782, + -0.1339488923549652, + 0.9875744581222534, + 0.12127554214751449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9965053796768188, + 0.026743760332465172, + -0.07913178950548172, + 0.035401842885344995 + ], + [ + -0.01590479351580143, + 0.9907779097557068, + 0.1345592439174652, + -0.17899881505784188 + ], + [ + 0.08200065046548843, + -0.1328304409980774, + 0.9877408146858215, + 0.12241355359326793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.996483325958252, + 0.027620665729045868, + -0.07910839468240738, + 0.037719656151669625 + ], + [ + -0.016718413680791855, + 0.9906639456748962, + 0.13529762625694275, + -0.1775010554617598 + ], + [ + 0.08210685104131699, + -0.13349926471710205, + 0.9876418709754944, + 0.12201940165903732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9964585900306702, + 0.029726166278123856, + -0.07865497469902039, + 0.03914717737272495 + ], + [ + -0.01880757138133049, + 0.9905192852020264, + 0.13608011603355408, + -0.17493523780171197 + ], + [ + 0.08195440471172333, + -0.13411888480186462, + 0.987570583820343, + 0.12144992702448641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9964275360107422, + 0.03145502135157585, + -0.07837562263011932, + 0.040129698778836785 + ], + [ + -0.020806513726711273, + 0.9908772110939026, + 0.13315214216709137, + -0.16511765687747765 + ], + [ + 0.08184891939163208, + -0.13104574382305145, + 0.9879918098449707, + 0.12041344423671714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.996055543422699, + 0.032953862100839615, + -0.08238576352596283, + 0.04131867435142284 + ], + [ + -0.021953986957669258, + 0.9911363124847412, + 0.1310223937034607, + -0.16610979098855083 + ], + [ + 0.08597321808338165, + -0.12869688868522644, + 0.9879502654075623, + 0.11905860283788834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9956843256950378, + 0.032741911709308624, + -0.08683743327856064, + 0.04504938490745675 + ], + [ + -0.021363651379942894, + 0.9914325475692749, + 0.12886081635951996, + -0.16725887805223466 + ], + [ + 0.09031260758638382, + -0.12644954025745392, + 0.9878532886505127, + 0.11961828448617731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9956273436546326, + 0.029908427968621254, + -0.08849692344665527, + 0.04688270225097205 + ], + [ + -0.01872796006500721, + 0.9920340180397034, + 0.12457053363323212, + -0.1635700039963686 + ], + [ + 0.09151767194271088, + -0.1223684549331665, + 0.9882562756538391, + 0.1205981663278951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.995615541934967, + 0.024510039016604424, + -0.0902714878320694, + 0.047672802346353314 + ], + [ + -0.013934200629591942, + 0.9931545257568359, + 0.1159740537405014, + -0.15135204795435184 + ], + [ + 0.09249606728553772, + -0.11420771479606628, + 0.989141583442688, + 0.12037190974668693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.995569109916687, + 0.02065594494342804, + -0.09173594415187836, + 0.04959567673219979 + ], + [ + -0.010425037704408169, + 0.9938064813613892, + 0.11063456535339355, + -0.14849743929528098 + ], + [ + 0.09345303475856781, + -0.1091880053281784, + 0.9896183609962463, + 0.11973919034686707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9955552220344543, + 0.019248055294156075, + -0.09219182282686234, + 0.050646254147282084 + ], + [ + -0.009205641224980354, + 0.9940930604934692, + 0.10814012587070465, + -0.14732904160068236 + ], + [ + 0.09372874349355698, + -0.10681077837944031, + 0.989851713180542, + 0.11928567548517054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9957011342048645, + 0.02211976796388626, + -0.08994393795728683, + 0.05108358609198614 + ], + [ + -0.012303578667342663, + 0.9940463900566101, + 0.10826064646244049, + -0.15040546591955287 + ], + [ + 0.0918031558394432, + -0.10668861865997314, + 0.9900453090667725, + 0.11875226404375702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9955645799636841, + 0.027823036536574364, + -0.08987220376729965, + 0.05156265756556096 + ], + [ + -0.017691737040877342, + 0.9935935139656067, + 0.11161983013153076, + -0.1551340553369231 + ], + [ + 0.09240203350782394, + -0.10953475534915924, + 0.9896787405014038, + 0.11685489379722654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9954898357391357, + 0.031753066927194595, + -0.08939622342586517, + 0.05339293009565987 + ], + [ + -0.02173779159784317, + 0.9935987591743469, + 0.11085543781518936, + -0.15423960267132475 + ], + [ + 0.09234397113323212, + -0.10841218382120132, + 0.9898077249526978, + 0.11453166883581012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.995384156703949, + 0.033333953469991684, + -0.08999592065811157, + 0.05357043640759155 + ], + [ + -0.023269975557923317, + 0.9935874938964844, + 0.11064540594816208, + -0.1528757880264111 + ], + [ + 0.09310707449913025, + -0.1080404743552208, + 0.9897769093513489, + 0.11129261177061622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.995008111000061, + 0.030774319544434547, + -0.09493046253919601, + 0.056162385551529075 + ], + [ + -0.02042526938021183, + 0.9939277172088623, + 0.10812271386384964, + -0.14847443673674388 + ], + [ + 0.097681425511837, + -0.10564399510622025, + 0.9895946979522705, + 0.11121678314534307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9950633645057678, + 0.02349771186709404, + -0.09641941636800766, + 0.05668015627346876 + ], + [ + -0.013141891919076443, + 0.9942081570625305, + 0.10666526108980179, + -0.1457442746419488 + ], + [ + 0.0983673557639122, + -0.10487156361341476, + 0.9896089434623718, + 0.11154479777141837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9950702786445618, + 0.015050544403493404, + -0.09802364557981491, + 0.05796760633474088 + ], + [ + -0.004610295407474041, + 0.9943687915802002, + 0.1058746948838234, + -0.1436114065519726 + ], + [ + 0.0990651324391365, + -0.10490084439516068, + 0.9895362257957458, + 0.11102133008246204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9950652122497559, + 0.010385766625404358, + -0.09867795556783676, + 0.058767413074961146 + ], + [ + 6.271572783589363e-05, + 0.9944408535957336, + 0.10529643297195435, + -0.14101026959091653 + ], + [ + 0.09922298043966293, + -0.10478301346302032, + 0.9895328879356384, + 0.11049790497556443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9950883388519287, + 0.009501056745648384, + -0.09853385388851166, + 0.05880443535688269 + ], + [ + 0.000749299768358469, + 0.9946318864822388, + 0.10347381979227066, + -0.1356120838577511 + ], + [ + 0.09898802638053894, + -0.10303942114114761, + 0.9897394776344299, + 0.1105254789174513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9951838850975037, + 0.010397516191005707, + -0.09747243672609329, + 0.058705653301404634 + ], + [ + -0.0004890905693173409, + 0.9948729872703552, + 0.10113087296485901, + -0.13165796060143536 + ], + [ + 0.09802421182394028, + -0.10059614479541779, + 0.9900866746902466, + 0.10956094497601496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9953055381774902, + 0.01040901429951191, + -0.09622117131948471, + 0.057673115607436376 + ], + [ + -0.0011555347591638565, + 0.9954068064689636, + 0.09572835266590118, + -0.12642615733255866 + ], + [ + 0.09677564352750778, + -0.09516777098178864, + 0.9907459616661072, + 0.10850031524185688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9952955842018127, + 0.010217692703008652, + -0.09634478390216827, + 0.05886081583399809 + ], + [ + -0.001292170025408268, + 0.9957348108291626, + 0.09225223958492279, + -0.12127979344311561 + ], + [ + 0.09687645733356476, + -0.09169375896453857, + 0.99106365442276, + 0.10620560141578884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9952792525291443, + 0.008302210830152035, + -0.096697136759758, + 0.059734464772329986 + ], + [ + 0.00037586595863103867, + 0.9959972500801086, + 0.08938291668891907, + -0.11546960477610581 + ], + [ + 0.09705215692520142, + -0.08899730443954468, + 0.9912922382354736, + 0.10641398649548983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9952811002731323, + 0.006477244198322296, + -0.09681745618581772, + 0.06158743296529501 + ], + [ + 0.0017972083296626806, + 0.996367871761322, + 0.08513388782739639, + -0.10835398961683265 + ], + [ + 0.09701723605394363, + -0.08490615338087082, + 0.9916544556617737, + 0.10581478953418387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9953200817108154, + 0.005795727949589491, + -0.09645907580852509, + 0.06297340776401622 + ], + [ + 0.002231734339147806, + 0.9965548515319824, + 0.08290615677833557, + -0.10420920081038512 + ], + [ + 0.0966072678565979, + -0.08273343741893768, + 0.9918781518936157, + 0.10490483332652854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9953823685646057, + 0.005575501825660467, + -0.09582722932100296, + 0.06280029492865082 + ], + [ + 0.0022559347562491894, + 0.9966771006584167, + 0.08142250776290894, + -0.10118181328964597 + ], + [ + 0.09596278518438339, + -0.08126270771026611, + 0.9920622706413269, + 0.10420365541149643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9954595565795898, + 0.004600787069648504, + -0.09507407248020172, + 0.06229233246950703 + ], + [ + 0.0030795035418123007, + 0.996751606464386, + 0.08047793805599213, + -0.0989398425089494 + ], + [ + 0.09513549506664276, + -0.08040530979633331, + 0.9922117590904236, + 0.1031721199734691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9954935908317566, + 9.728828445076942e-05, + -0.09482865035533905, + 0.06228207349777222 + ], + [ + 0.007421438582241535, + 0.9968523979187012, + 0.07893160730600357, + -0.09574808850884438 + ], + [ + 0.09453785419464111, + -0.07927966862916946, + 0.992359459400177, + 0.10143444510176779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 867.1211751302083, + "fy": 867.222412109375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/aeaf70ae-dd8a-4730-b346-b1b5e57a2145/pan_left/transforms.json b/dynpose_eval/camera_controls/aeaf70ae-dd8a-4730-b346-b1b5e57a2145/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..11ac1f10ea64bbf5c6e9bcdc26ea68c8f269b474 --- /dev/null +++ b/dynpose_eval/camera_controls/aeaf70ae-dd8a-4730-b346-b1b5e57a2145/pan_left/transforms.json @@ -0,0 +1,4318 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 123, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -1.9279732441646047e-05, + 0.0001014402077998966, + -0.00016025583317968994 + ], + [ + 1.9262048226664774e-05, + 1.0, + 0.00017431349260732532, + -0.00030529723153449595 + ], + [ + -0.00010144356929231435, + -0.00017431154265068471, + 1.0, + -2.660828067746479e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999820288390969, + -0.001297139097005129, + 0.0058570454866005775, + -0.0018164828652516007 + ], + [ + 0.0012273848599103473, + 0.9999284744262698, + 0.011897370545040073, + 4.690320565714501e-05 + ], + [ + -0.0058720595214994615, + -0.011889967136085037, + 0.9999120850436316, + -0.01304475124925375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999459886441566, + 0.0014269264647737145, + 0.010295723522204878, + -0.0023451277520507574 + ], + [ + -0.0015870154095873519, + 0.9998776912689209, + 0.015557702848444963, + -0.002257714746519923 + ], + [ + -0.01027226432705721, + -0.015573202632367611, + 0.9998259623117524, + -0.023657914251089096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999005519869937, + 0.0034786066971719265, + 0.013665184713832072, + -0.003984456416219473 + ], + [ + -0.003621723835348732, + 0.9999387264251709, + 0.010462364627751323, + -0.0013303622836247087 + ], + [ + -0.013627953591591049, + -0.010510816238820553, + 0.9998519123267694, + -0.037765514105558395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999839586177294, + 0.004418448079377413, + 0.017358541892780573, + -0.005733594298362732 + ], + [ + -0.004346601429519731, + 0.9999818205833435, + -0.004174529967920791, + 0.0035423554945737123 + ], + [ + -0.01737667198881623, + 0.004098409321159124, + 0.9998406359049726, + -0.05118190497159958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999841917711903, + -0.0002533978840801865, + 0.017778544006446906, + -0.0027809555176645517 + ], + [ + 0.0006492117452602094, + 0.9997519850730896, + -0.022261341184453352, + 0.010808474384248257 + ], + [ + -0.017768491870917415, + 0.022269362583756447, + 0.9995940786903663, + -0.06572725623846054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998377622741171, + -0.0063381320796906965, + 0.016859275805803334, + -0.002866854192689061 + ], + [ + 0.007012552768908622, + 0.9991650581359866, + -0.04024936523388235, + 0.019699878990650177 + ], + [ + -0.016590091619616935, + 0.04036106541752816, + 0.9990474497039386, + -0.08187581598758698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998652056861813, + -0.010224192403256893, + 0.012845035546207794, + -0.002118146512657404 + ], + [ + 0.010904737837897438, + 0.9984771013259888, + -0.05407893521956178, + 0.027505487203598022 + ], + [ + -0.012272560849168791, + 0.05421171709895134, + 0.9984540694261519, + -0.09606143087148666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999268541637213, + -0.009866725653409958, + 0.006999352427879041, + -0.0038027192931622267 + ], + [ + 0.010299692720261305, + 0.9978459477424622, + -0.06478685934880506, + 0.03509334474802017 + ], + [ + -0.006345042899583531, + 0.0648542121052742, + 0.9978745758348554, + -0.11203816533088684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999867237426321, + -0.0037403046153485775, + -0.0035447776046254307, + -0.002129320288076997 + ], + [ + 0.0034751116267209745, + 0.9973931908607483, + -0.07207472277248327, + 0.04338386282324791 + ], + [ + 0.003805119086138796, + 0.0720614492893219, + 0.9973929402486619, + -0.12203262001276016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999140126348518, + 0.004133355338126421, + -0.012444635426271585, + -0.00017376970208715647 + ], + [ + -0.0051170282982814334, + 0.9967753291130066, + -0.08007962844204608, + 0.05176516994833946 + ], + [ + 0.012073507456567623, + 0.08013641834259033, + 0.9967107535630213, + -0.13066738843917847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997236067465871, + 0.01075182668864727, + -0.020906350350863873, + 0.00025725120212882757 + ], + [ + -0.012570694339728291, + 0.9959601163864136, + -0.0889122249208477, + 0.05419311672449112 + ], + [ + 0.01986592296904334, + 0.08915046602487564, + 0.9958200241233515, + -0.14356161653995514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994109289179705, + 0.016230981796979904, + -0.030237370972388204, + -0.001300464035011828 + ], + [ + -0.019262767877420848, + 0.9945116639137268, + -0.1028369904282676, + 0.0630321353673935 + ], + [ + 0.028402274676458773, + 0.10335886478424072, + 0.9942385541957708, + -0.15440170466899872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9989603767657963, + 0.021437084302306175, + -0.0402313923263985, + -0.004581289365887642 + ], + [ + -0.025931025925697723, + 0.9930580854415894, + -0.1147312410627333, + 0.07549254596233368 + ], + [ + 0.03749260583248316, + 0.11565521359443665, + 0.9925815486868274, + -0.16293971240520477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9982554423214305, + 0.026600027456879616, + -0.052711544083045764, + -0.00919366255402565 + ], + [ + -0.032840945386978175, + 0.9920710325241089, + -0.12131185441909666, + 0.08808989822864532 + ], + [ + 0.049066698232087175, + 0.1228313222527504, + 0.9912138406359642, + -0.17372830212116241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972429821453636, + 0.0322958417236805, + -0.0668089499284008, + -0.012856105342507362 + ], + [ + -0.04031603102125142, + 0.9916598796844485, + -0.12241459057969496, + 0.10383331030607224 + ], + [ + 0.06229826901944548, + 0.12477055937051776, + 0.9902278449398673, + -0.18409554660320282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9958996019258394, + 0.03944481909275055, + -0.0814132321255442, + -0.013361651450395584 + ], + [ + -0.04874976665040263, + 0.9920907020568848, + -0.11566953740467224, + 0.11837690323591232 + ], + [ + 0.07620674541591263, + 0.1191641166806221, + 0.9899456734578881, + -0.1922372728586197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9944210774595571, + 0.0471218079328537, + -0.09437292639970657, + -0.011373222805559635 + ], + [ + -0.0571824211629318, + 0.9926232099533081, + -0.10690785090867473, + 0.12996461987495422 + ], + [ + 0.0886390710113227, + 0.1117078959941864, + 0.9897800063404748, + -0.2001439481973648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9930630103868254, + 0.053499802947044386, + -0.10470742387428258, + -0.00025065874797292054 + ], + [ + -0.0640231570612766, + 0.9929386973381045, + -0.09986876385243092, + 0.1368217170238495 + ], + [ + 0.09862509130952166, + 0.10587967932224276, + 0.9894759265784431, + -0.20417453348636627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.992689644899494, + 0.06143620237708092, + -0.10388863452257457, + 0.010835221037268639 + ], + [ + -0.07162198320228037, + 0.9926707744598389, + -0.09733960822390851, + 0.13973084092140198 + ], + [ + 0.09714704024712045, + 0.10406872630119324, + 0.9898142071003581, + -0.2147371619939804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9933389174650405, + 0.0654890164732933, + -0.09481023321471341, + 0.014548932202160358 + ], + [ + -0.0750358224052511, + 0.9920623898506165, + -0.10090488438088013, + 0.1522178053855896 + ], + [ + 0.08744951008950712, + 0.10734691470861435, + 0.9903682529346926, + -0.22598831355571747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9940696719017773, + 0.06618525832891466, + -0.0862841316259719, + 0.020011240616440773 + ], + [ + -0.07496811864397965, + 0.9918649196624758, + -0.10287757842301096, + 0.1672835499048233 + ], + [ + 0.07877322784906109, + 0.10873603820800784, + 0.9909446264420692, + -0.23408760130405426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9951183962083948, + 0.06330182403326035, + -0.07571191181639346, + 0.017818495631217957 + ], + [ + -0.07073282363879396, + 0.9924829006195068, + -0.09987267398776184, + 0.17406855523586273 + ], + [ + 0.06882065484694483, + 0.1047404557466507, + 0.9921155169142782, + -0.24731750786304474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9959337340421185, + 0.05750853195786476, + -0.06934505610060565, + 0.01719788834452629 + ], + [ + -0.06412057216890434, + 0.9931938648223877, + -0.09723439348268469, + 0.18058693408966064 + ], + [ + 0.0632812768955017, + 0.10128546506166458, + 0.9928427518402498, + -0.2579447329044342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9965048080406161, + 0.05247130244970323, + -0.06499925643390628, + 0.01614747755229473 + ], + [ + -0.058462134980279454, + 0.9938557147979739, + -0.09398407818405746, + 0.1855052262544632 + ], + [ + 0.05966841658636735, + 0.09745557606220248, + 0.9934496005567427, + -0.26950645446777344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.996858116700361, + 0.04814800247550011, + -0.06289439793378761, + 0.01383250206708908 + ], + [ + -0.05361519777495761, + 0.9946457743644714, + -0.08834713644293586, + 0.18105123937129974 + ], + [ + 0.0583039065354813, + 0.09144166111946106, + 0.9941021283732572, + -0.286622017621994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9969301009183714, + 0.04340556263923645, + -0.06516373016259505, + 0.015874357894062996 + ], + [ + -0.04950787687346935, + 0.9942304491996765, + -0.09515661969121923, + 0.1863764226436615 + ], + [ + 0.06065743841833071, + 0.09809061139822006, + 0.9933271728194955, + -0.2939366102218628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9973967943715178, + 0.03387610241770744, + -0.06365577803424442, + 0.014453491196036339 + ], + [ + -0.04065126776414243, + 0.9932816028594971, + -0.10834740344783061, + 0.1929827779531479 + ], + [ + 0.0595577255435047, + 0.11065303534269333, + 0.9920729934348301, + -0.3049713671207428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9980076911424797, + 0.02009696513414383, + -0.05980587325372875, + 0.00991425197571516 + ], + [ + -0.02716857626804626, + 0.9924158453941345, + -0.11988622864158294, + 0.20017702877521515 + ], + [ + 0.056942945916486895, + 0.12127221375703812, + 0.9909846332785542, + -0.31852197647094727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9983946941038196, + 0.0035325665958225727, + -0.05652875157901813, + 0.0068635111674666405 + ], + [ + -0.010843329093798166, + 0.9915134906768799, + -0.1295506197875017, + 0.2069515436887741 + ], + [ + 0.05559137734941679, + 0.12995560467243195, + 0.9899601675390753, + -0.3301280736923218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984454147988584, + -0.01468252670019865, + -0.05377018955897735, + 0.004664829466491938 + ], + [ + 0.00703739529311258, + 0.9901688098907471, + -0.13970054360482567, + 0.21436671912670135 + ], + [ + 0.05529271833521329, + 0.139104962348938, + 0.9887327876535947, + -0.3400880992412567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982651201928264, + -0.03137931227684021, + -0.049820782732891096, + 0.0036008134484291077 + ], + [ + 0.023442084990598366, + 0.9880127906799316, + -0.15258189754873377, + 0.22253762185573578 + ], + [ + 0.05401148330022211, + 0.15114928781986237, + 0.9870342692264505, + -0.34797847270965576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9978164779423371, + -0.051729504019022, + -0.04106546441105237, + 0.01136011816561222 + ], + [ + 0.044007234840169954, + 0.9843453764915469, + -0.17066784293763052, + 0.23163633048534393 + ], + [ + 0.049251160031031756, + 0.16848799586296084, + 0.9844725059025902, + -0.34745359420776367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9971037779617251, + -0.07393494993448257, + -0.01782491936349213, + 0.008305003866553307 + ], + [ + 0.06929508795846437, + 0.9797803163528442, + -0.18769307505896404, + 0.24665769934654236 + ], + [ + 0.031341578615355796, + 0.1859142929315567, + 0.9820659633576923, + -0.3568574786186218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9953344628677342, + -0.09633859992027283, + 0.005305706712183992, + 0.0008478432428091764 + ], + [ + 0.09547474863363092, + 0.9754914045333862, + -0.19824518841895647, + 0.26435548067092896 + ], + [ + 0.013922992465399743, + 0.1978268176317215, + 0.98013809442763, + -0.3722347915172577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9922684198490923, + -0.12177760899066925, + 0.023950958047114525, + -0.011308616027235985 + ], + [ + 0.12410591737822128, + 0.9719082713127136, + -0.19998018399086412, + 0.27926111221313477 + ], + [ + 0.0010749679817935154, + 0.20140646398067474, + 0.9795071543956609, + -0.3880213499069214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9883782094407628, + -0.14870165288448334, + 0.03156392313587017, + -0.025607021525502205 + ], + [ + 0.15200545506009697, + 0.9690662622451782, + -0.19443500717554418, + 0.29468950629234314 + ], + [ + -0.0016747188537145328, + 0.19697320461273193, + 0.9804074553987685, + -0.4069784879684448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9848356985148126, + -0.1714208573102951, + 0.02671123907519399, + -0.031333379447460175 + ], + [ + 0.17340271191555112, + 0.9677376747131348, + -0.18279857763913124, + 0.29960283637046814 + ], + [ + 0.005486012043371598, + 0.18465836346149445, + 0.9827874722509937, + -0.4195611774921417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9829492401760009, + -0.1826678067445755, + 0.02105397813540683, + -0.036427877843379974 + ], + [ + 0.18346768049911769, + 0.9666736125946045, + -0.1785546853631364, + 0.3021904528141022 + ], + [ + 0.012263862218019709, + 0.1793729066848755, + 0.983704732726811, + -0.43211784958839417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9816057102858999, + -0.190021350979805, + 0.01849590921536123, + -0.03659427911043167 + ], + [ + 0.1901397537624073, + 0.964252769947052, + -0.18456284622116528, + 0.31230640411376953 + ], + [ + 0.017236152329638616, + 0.18468475341796875, + 0.9826466355755136, + -0.43512436747550964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9797019305442118, + -0.19905626773834229, + 0.023679763071823522, + -0.04003017023205757 + ], + [ + 0.19985153048851936, + 0.960695207118988, + -0.19267598765055988, + 0.32838085293769836 + ], + [ + 0.015604330605226589, + 0.1934974640607834, + 0.9809766757081234, + -0.4397273361682892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9769161486503282, + -0.21095678210258484, + 0.033646127987723005, + -0.046383704990148544 + ], + [ + 0.21343290605632784, + 0.957219660282135, + -0.19538909059534007, + 0.33955374360084534 + ], + [ + 0.00901191959168281, + 0.19805994629859924, + 0.9801485016594593, + -0.44844815135002136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9744050638758509, + -0.22062522172927856, + 0.04311964291168585, + -0.05222131684422493 + ], + [ + 0.22479244063874163, + 0.9547667503356934, + -0.1946503698472629, + 0.35309791564941406 + ], + [ + 0.0017755827396770919, + 0.19936126470565796, + 0.9799244559921161, + -0.45830073952674866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9740575251306177, + -0.22036322951316833, + 0.05149741508216605, + -0.05840642750263214 + ], + [ + 0.22618264260389834, + 0.9553524851799011, + -0.19011310834942846, + 0.3667535185813904 + ], + [ + -0.007304254092407692, + 0.1968289315700531, + 0.9804106261254891, + -0.46796944737434387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9752159344499348, + -0.21356785297393804, + 0.05781616000551014, + -0.06156572699546814 + ], + [ + 0.22061761584122677, + 0.9584446549415591, + -0.18086389599875022, + 0.36824721097946167 + ], + [ + -0.016786889510417822, + 0.18913662433624273, + 0.9818073028583103, + -0.4818841218948364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9769966688764101, + -0.20344053208827972, + 0.06394872639992212, + -0.06211782619357109 + ], + [ + 0.21168343585527516, + 0.9615014791488647, + -0.17522868871848293, + 0.37081101536750793 + ], + [ + -0.025838176541156332, + 0.18473471701145172, + 0.98244872009324, + -0.49324679374694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9776574739341032, + -0.19842255115509033, + 0.06938554431280303, + -0.06026843190193176 + ], + [ + 0.20776120323227565, + 0.962314248085022, + -0.17546088734933826, + 0.37531042098999023 + ], + [ + -0.031955305221758004, + 0.18595628440380096, + 0.9820382477799894, + -0.5000861883163452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9767591983630912, + -0.20150715112686157, + 0.07304996154739625, + -0.05755728855729103 + ], + [ + 0.21162868185654077, + 0.9607000946998596, + -0.17963484426632897, + 0.37856703996658325 + ], + [ + -0.03398141526496909, + 0.1909194439649582, + 0.9810173598545192, + -0.5065881013870239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9751581803724856, + -0.20814645290374756, + 0.07577348852680815, + -0.0651249960064888 + ], + [ + 0.21894807558200008, + 0.9576050043106079, + -0.1872281864037538, + 0.3838745355606079 + ], + [ + -0.03359018731776306, + 0.19916756451129913, + 0.9793895709578817, + -0.5127845406532288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.973714948206108, + -0.21678632497787476, + 0.06987793991848776, + -0.0729353055357933 + ], + [ + 0.22644768209472652, + 0.9543902277946472, + -0.19457839528301654, + 0.3854658901691437 + ], + [ + -0.02450888428199765, + 0.20528759062290192, + 0.9783947591803921, + -0.5237970948219299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9732438290702684, + -0.223460391163826, + 0.053497018648389655, + -0.06649161875247955 + ], + [ + 0.2297135803139465, + 0.9516213536262512, + -0.20407965784035317, + 0.3894099295139313 + ], + [ + -0.005305200841176689, + 0.21090824902057648, + 0.9774914739245235, + -0.5279970765113831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.974766546057995, + -0.2199935019016266, + 0.037855504519252035, + -0.0651906207203865 + ], + [ + 0.22294893684417819, + 0.9509947299957275, + -0.21424947629871358, + 0.3991634249687195 + ], + [ + 0.011133094954072659, + 0.21728305518627167, + 0.9760451426719554, + -0.5332883596420288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9785607492847499, + -0.20456741750240326, + 0.02389697716040438, + -0.07268382608890533 + ], + [ + 0.20481986732588403, + 0.954394519329071, + -0.21720938071585993, + 0.403062105178833 + ], + [ + 0.021626804936978432, + 0.21744714677333832, + 0.9758324909787509, + -0.5468769669532776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9824879909580893, + -0.18614377081394196, + 0.008235759506374861, + -0.07410286366939545 + ], + [ + 0.18341417228847484, + 0.9584059715270996, + -0.218671485335377, + 0.4097657799720764 + ], + [ + 0.032811139661762204, + 0.2163526713848114, + 0.9757637940433261, + -0.5556254982948303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9848238303561092, + -0.17345449328422546, + -0.0059609991863435186, + -0.07643305510282516 + ], + [ + 0.16803728179214972, + 0.9615340232849121, + -0.21729201609017998, + 0.4199255704879761 + ], + [ + 0.04342196822067984, + 0.21299269795417786, + 0.9760884420629418, + -0.560029923915863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9853922820603583, + -0.16940927505493164, + -0.017394576646539678, + -0.0798238217830658 + ], + [ + 0.16191306936724315, + 0.9636228680610657, + -0.21263847440065037, + 0.42561575770378113 + ], + [ + 0.0527847246867757, + 0.2067159116268158, + 0.9769760798579867, + -0.5628637671470642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9845535749398943, + -0.1727227121591568, + -0.028656117896253323, + -0.07990511506795883 + ], + [ + 0.1631814397258832, + 0.9645646214485168, + -0.20733281806475778, + 0.42187902331352234 + ], + [ + 0.06345175161855322, + 0.19945411384105682, + 0.9778506442792081, + -0.5707279443740845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9844871145805226, + -0.1694043874740601, + -0.04568663670872057, + -0.07958729565143585 + ], + [ + 0.15660705850108603, + 0.9658210277557375, + -0.2065526038560443, + 0.4279526472091675 + ], + [ + 0.07911602304822024, + 0.1961935162544251, + 0.9773682554633025, + -0.5746994018554688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9841067635300165, + -0.1647871732711792, + -0.06617447981532673, + -0.07972072809934616 + ], + [ + 0.14841872973439682, + 0.9678683280944824, + -0.20298461701924764, + 0.4361764192581177 + ], + [ + 0.0974974388119107, + 0.18993701040744781, + 0.9769432858050592, + -0.5769506692886353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9837151168682073, + -0.15806131064891815, + -0.0855642914624915, + -0.08031950145959854 + ], + [ + 0.13878651224785035, + 0.9704945683479309, + -0.19717648330531345, + 0.44494038820266724 + ], + [ + 0.11420565304595277, + 0.18209031224250793, + 0.9766269708418763, + -0.5790610313415527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.98387093713715, + -0.14856559038162231, + -0.09963081359386972, + -0.08136814087629318 + ], + [ + 0.1279755115495508, + 0.9737497568130493, + -0.18823829946735418, + 0.45060840249061584 + ], + [ + 0.12498121347962086, + 0.17245186865329742, + 0.9770568585860117, + -0.5861148834228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9844486362514288, + -0.13842722773551944, + -0.10816089896083, + -0.07740171253681183 + ], + [ + 0.11792284926718154, + 0.9770846366882326, + -0.17720011079074077, + 0.45317238569259644 + ], + [ + 0.13021166112673702, + 0.16168975830078128, + 0.9782133240192286, + -0.5911487936973572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9858010110357431, + -0.12832629680633545, + -0.10829934177642053, + -0.07521503418684006 + ], + [ + 0.10844819677375729, + 0.9789617657661438, + -0.17283762393800375, + 0.45853152871131897 + ], + [ + 0.12820052724775113, + 0.15863864123821259, + 0.9789782587170657, + -0.5927380919456482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9866105179609828, + -0.1275896728038788, + -0.10159034717411426, + -0.07637649774551392 + ], + [ + 0.10872901302057247, + 0.978831470012665, + -0.17339842641165382, + 0.4601365923881531 + ], + [ + 0.12156367086664663, + 0.1600308865308762, + 0.9795981005216647, + -0.594506561756134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9874095703726707, + -0.12717317044734955, + -0.09407063271493671, + -0.08190128952264786 + ], + [ + 0.10916963369527366, + 0.9782190322875977, + -0.1765489182400009, + 0.47127220034599304 + ], + [ + 0.11447397169926282, + 0.1640564352273941, + 0.9797863299189111, + -0.5967493057250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9871039072631638, + -0.1312144249677658, + -0.09169884026335721, + -0.08571972697973251 + ], + [ + 0.1138647045201344, + 0.9781494140625, + -0.17394993282790383, + 0.4718337953090668 + ], + [ + 0.11251990435993842, + 0.16126538813114166, + 0.9804757884996848, + -0.6070681810379028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.987455248218326, + -0.12806175649166107, + -0.09237079842110991, + -0.09181158244609833 + ], + [ + 0.11074914103290254, + 0.9786893725395203, + -0.17292113725506073, + 0.47721612453460693 + ], + [ + 0.11254689401150796, + 0.16052187979221344, + 0.9805946550118515, + -0.6120513081550598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9880999938980154, + -0.12049079686403277, + -0.09560510207871087, + -0.09693191200494766 + ], + [ + 0.10287140883590394, + 0.9797787666320803, + -0.17161304123719556, + 0.4840965270996094 + ], + [ + 0.114349643483543, + 0.15973581373691562, + 0.980514466107347, + -0.620106041431427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9886261338605231, + -0.1138821691274643, + -0.09823046384015448, + -0.10118259489536285 + ], + [ + 0.09594080819482195, + 0.9805524945259094, + -0.1712080529064712, + 0.4893939197063446 + ], + [ + 0.11581766565187308, + 0.15983645617961884, + 0.9803257459421794, + -0.629011332988739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9889233301852953, + -0.11093215644359591, + -0.09861394454137855, + -0.10601581633090973 + ], + [ + 0.09266269137082543, + 0.9804360270500185, + -0.17366298465521546, + 0.4939347207546234 + ], + [ + 0.11594947707341476, + 0.16260153055191043, + 0.979855346129959, + -0.6391821503639221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9888357816684485, + -0.11244247853755951, + -0.09777775656433157, + -0.11066468060016632 + ], + [ + 0.09353517758062413, + 0.9791880249977112, + -0.18011662181023647, + 0.5011856555938721 + ], + [ + 0.11599556834080879, + 0.1689601093530655, + 0.9787734925437114, + -0.6497201323509216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9882865662391374, + -0.11886391788721085, + -0.095713505833581, + -0.11762174218893051 + ], + [ + 0.09927299119057671, + 0.9770704507827759, + -0.18835653339607256, + 0.5101314187049866 + ], + [ + 0.11590762328643174, + 0.17664845287799835, + 0.9774255487304749, + -0.6608289480209351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9873923822065271, + -0.1276794672012329, + -0.0935641113378805, + -0.12459824234247208 + ], + [ + 0.10750298102336571, + 0.9747571349143982, + -0.1956825068994023, + 0.5213513970375061 + ], + [ + 0.11618692333061588, + 0.18315699696540833, + 0.9761936880309927, + -0.6694818735122681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9858281503877991, + -0.14018668234348297, + -0.09214420867737225, + -0.13030123710632324 + ], + [ + 0.11935210646156666, + 0.9720864295959473, + -0.20199764669552406, + 0.5322973132133484 + ], + [ + 0.11788951377531785, + 0.18813736736774445, + 0.9750417237761009, + -0.6779395341873169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9840712522597513, + -0.15355144441127777, + -0.08958614765454125, + -0.13747741281986237 + ], + [ + 0.13237596660506845, + 0.9692872762680054, + -0.2072650737010083, + 0.5443993210792542 + ], + [ + 0.11866056722781872, + 0.19210456311702728, + 0.9741742641745043, + -0.6878600120544434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9831855647192836, + -0.16110458970069885, + -0.085973766739784, + -0.1444328874349594 + ], + [ + 0.14026677273104332, + 0.967730700969696, + -0.2093382130184508, + 0.5548975467681885 + ], + [ + 0.11692479279328612, + 0.1937590390443802, + 0.9740564680478232, + -0.6982594728469849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9829920163522132, + -0.1639944612979889, + -0.082659282095871, + -0.15181057155132294 + ], + [ + 0.14368106160186872, + 0.9670843482017517, + -0.2100085368908103, + 0.5639786720275879 + ], + [ + 0.11437873068404161, + 0.19456014037132263, + 0.9741990831747768, + -0.7093294858932495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9830301191527979, + -0.1659265011548996, + -0.07823182401346684, + -0.16137129068374634 + ], + [ + 0.14634647741189663, + 0.9664822816848755, + -0.21093760043709403, + 0.5745433568954468 + ], + [ + 0.11060979497973768, + 0.1959090530872345, + 0.974363927647918, + -0.7181781530380249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9822435059692509, + -0.1724926382303238, + -0.07378321443201108, + -0.17245155572891235 + ], + [ + 0.15362519564701838, + 0.965243935585022, + -0.21143177879131683, + 0.5816424489021301 + ], + [ + 0.10768922787663929, + 0.19634254276752472, + 0.9746038526355196, + -0.7293380498886108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9821582102439261, + -0.17376986145973206, + -0.07189794033062498, + -0.189529687166214 + ], + [ + 0.15504489333618315, + 0.9645957946777344, + -0.21334487433250648, + 0.5884923338890076 + ], + [ + 0.10642535904268827, + 0.19839100539684296, + 0.9743278022849557, + -0.7395766973495483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.983113642080926, + -0.1655314564704895, + -0.07801868921338134, + -0.2043425738811493 + ], + [ + 0.14545431783519716, + 0.9655563235282898, + -0.2157407719876396, + 0.5951146483421326 + ], + [ + 0.11104331886552767, + 0.20074954628944397, + 0.9733288094841709, + -0.7489221096038818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9846697266853917, + -0.15011809766292572, + -0.088826281901177, + -0.2127789407968521 + ], + [ + 0.12787394924519943, + 0.9675961136817932, + -0.21772924616767048, + 0.6031231880187988 + ], + [ + 0.1186330631422331, + 0.20303283631801605, + 0.9719587880281167, + -0.7578650116920471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9857706175819484, + -0.13669736683368683, + -0.09782690163998, + -0.21477769315242767 + ], + [ + 0.11260846807860905, + 0.9691039323806763, + -0.21944696244188658, + 0.6117357015609741 + ], + [ + 0.12480225295845546, + 0.2053082287311554, + 0.9707074448648685, + -0.769010066986084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9873526695722712, + -0.12512968480587006, + -0.09735145003058937, + -0.21866749227046967 + ], + [ + 0.1013460670345669, + 0.9703619480133057, + -0.21937799628195945, + 0.6188327670097351 + ], + [ + 0.12191683019390026, + 0.20673725008964539, + 0.9707708208410128, + -0.7793074250221252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9889341898337264, + -0.114261269569397, + -0.09462323202751613, + -0.21551260352134705 + ], + [ + 0.0913303499939251, + 0.9715236425399782, + -0.21863351548892024, + 0.6252853870391846 + ], + [ + 0.11691004180745289, + 0.20757217705249792, + 0.9712084670871567, + -0.795758843421936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9913247082616665, + -0.10188272595405579, + -0.08303722018979864, + -0.22482998669147491 + ], + [ + 0.08150795011787565, + 0.9721526503562927, + -0.21971731211135015, + 0.6259344220161438 + ], + [ + 0.10311025101291026, + 0.21104300022125244, + 0.9720232297944357, + -0.8002827763557434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9925130182005871, + -0.09733670949935913, + -0.07377961316053648, + -0.22879359126091003 + ], + [ + 0.07835988875542016, + 0.9708166718482971, + -0.22665997361691015, + 0.6229557991027832 + ], + [ + 0.093688818974225, + 0.219181627035141, + 0.9711755044265629, + -0.8033643364906311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9926320128963005, + -0.09827379137277603, + -0.07087962464452993, + -0.2339051067829132 + ], + [ + 0.07855655422233597, + 0.9673289060592651, + -0.24104699200845942, + 0.6305549740791321 + ], + [ + 0.09225250946778084, + 0.2337029129266739, + 0.967921683879653, + -0.8044524788856506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9920249593983282, + -0.1009521633386612, + -0.07546604809104099, + -0.24426321685314178 + ], + [ + 0.07873332393128336, + 0.9638819098472595, + -0.2544261926397685, + 0.6403688788414001 + ], + [ + 0.09842524260856846, + 0.24645543098449707, + 0.9641432587074245, + -0.8032223582267761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9900712354658759, + -0.10333467274904251, + -0.0952936621995193, + -0.2462957352399826 + ], + [ + 0.0751998432857106, + 0.9621300101280212, + -0.2620130041330327, + 0.6432840824127197 + ], + [ + 0.11875992120139768, + 0.2522454857826233, + 0.9603479993150794, + -0.80910724401474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9881907497117356, + -0.10074769705533981, + -0.11545082898659687, + -0.24748864769935608 + ], + [ + 0.06651138599519146, + 0.960801362991333, + -0.2691412864813447, + 0.6471279859542847 + ], + [ + 0.13804068239456566, + 0.2582841217517853, + 0.9561558966953009, + -0.8142867684364319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9863626071488109, + -0.09329565614461899, + -0.13559010195433457, + -0.24736925959587097 + ], + [ + 0.05316383213066656, + 0.9602634906768799, + -0.2739846138015404, + 0.6512844562530518 + ], + [ + 0.1557638111100237, + 0.2630397081375122, + 0.9521280184949359, + -0.8204007148742676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9848536159664053, + -0.08027075976133348, + -0.15368794966826307, + -0.2397688627243042 + ], + [ + 0.035115429433099525, + 0.9603533744812014, + -0.27656521261250944, + 0.6533831357955933 + ], + [ + 0.16979484231470984, + 0.26697945594787603, + 0.9486262385341063, + -0.8266083598136902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9843285846869131, + -0.06438317894935609, + -0.16417079959979566, + -0.23581767082214355 + ], + [ + 0.016001503801507482, + 0.9597378373146059, + -0.28044107428556625, + 0.6575902700424194 + ], + [ + 0.17561661508953064, + 0.273419201374054, + 0.9457276172592513, + -0.835848331451416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9832662287109665, + -0.05401700362563133, + -0.1739818147291218, + -0.23004692792892456 + ], + [ + 0.0030926491173892505, + 0.9598407745361328, + -0.2805282976056828, + 0.6652323603630066 + ], + [ + 0.18214813492435383, + 0.2752959430217743, + 0.943946068709974, + -0.8481401801109314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9820287907931894, + -0.04574558511376381, + -0.18310338065308945, + -0.22832314670085907 + ], + [ + -0.006126102942148914, + 0.961942732334137, + -0.27318253147014765, + 0.6671206951141357 + ], + [ + 0.18863184678082742, + 0.26939481496810913, + 0.9443751488954054, + -0.8504256010055542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9805278881943342, + -0.04527817666530609, + -0.19108871757831364, + -0.22380423545837402 + ], + [ + -0.008161529066856603, + 0.9628207087516785, + -0.2700178942614604, + 0.6709588766098022 + ], + [ + 0.19621010243503859, + 0.2663196623325348, + 0.943703067010476, + -0.8585240244865417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9802799689766387, + -0.040459975600242615, + -0.19342758740563057, + -0.2176591455936432 + ], + [ + -0.01300439059817646, + 0.9634863138198853, + -0.2674415558321329, + 0.6736180782318115 + ], + [ + 0.19718551229458098, + 0.2646830081939697, + 0.943960181022327, + -0.8700891137123108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.980709307264508, + -0.036165520548820496, + -0.1920972762073324, + -0.2115524262189865 + ], + [ + -0.017204746575501424, + 0.962951123714447, + -0.26912660604621913, + 0.6747987866401672 + ], + [ + 0.19471338229619256, + 0.2672399580478668, + 0.9437528640408432, + -0.8728805184364319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9815690209375066, + -0.031038055196404457, + -0.1885705201689478, + -0.21096228063106537 + ], + [ + -0.022094853216165375, + 0.9616753458976746, + -0.2732991007726499, + 0.6747821569442749 + ], + [ + 0.1898262948892253, + 0.27242839336395264, + 0.9432649525709943, + -0.8760380148887634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9820304395064712, + -0.027403881773352623, + -0.18672249064529736, + -0.20850351452827454 + ], + [ + -0.026282253365426705, + 0.9599011540412903, + -0.27910397754347993, + 0.6770829558372498 + ], + [ + 0.18688366351266322, + 0.278996080160141, + 0.9419318963739501, + -0.87959223985672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9820320199255701, + -0.022780053317546844, + -0.18733428668362778, + -0.20148101449012756 + ], + [ + -0.03158978586502666, + 0.9588372707366943, + -0.2821936198260564, + 0.6809588074684143 + ], + [ + 0.18605147968758673, + 0.28304100036621094, + 0.9408892724770073, + -0.8860528469085693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9821314160004416, + -0.016727719455957413, + -0.1874515107281418, + -0.1991289108991623 + ], + [ + -0.03780177707360621, + 0.9582072496414185, + -0.28356630490030077, + 0.6855334639549255 + ], + [ + 0.1843608131363986, + 0.2855853736400604, + 0.9404531043366154, + -0.88698410987854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9824318466919721, + -0.00883852131664753, + -0.18641237149591877, + -0.20641683042049408 + ], + [ + -0.04517830758635016, + 0.9579024314880371, + -0.2835168608470634, + 0.6883652210235596 + ], + [ + 0.18107073743077443, + 0.2869577705860138, + 0.9406745678876375, + -0.893744945526123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.981933106706451, + -0.004486868157982826, + -0.18917513249505402, + -0.2034321129322052 + ], + [ + -0.050395124757234115, + 0.9574131965637207, + -0.2842890972377753, + 0.6903318166732788 + ], + [ + 0.1823943395113964, + 0.2886863648891449, + 0.9398896221219742, + -0.8971477746963501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9813542980336099, + 0.00020535150542855263, + -0.19220751896299948, + -0.20150943100452423 + ], + [ + -0.056094975290657434, + 0.9567708373069763, + -0.28538201857217765, + 0.69389408826828 + ], + [ + 0.1838399463406473, + 0.29084277153015137, + 0.9389426992929233, + -0.899064302444458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9806205982495744, + 0.003164697904139758, + -0.1958908490675442, + -0.199014812707901 + ], + [ + -0.06030700393681764, + 0.9561964273452761, + -0.286446340164607, + 0.695236325263977 + ], + [ + 0.1864036029603178, + 0.2927087545394898, + 0.9378567222202996, + -0.9024719595909119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9795215801941997, + 0.0027450541965663437, + -0.20132045108301577, + -0.19098162651062012 + ], + [ + -0.062216745017546926, + 0.955095708370209, + -0.2896916536205364, + 0.6958258748054504 + ], + [ + 0.19148507670756257, + 0.29628473520278936, + 0.9357076393617307, + -0.8995815515518188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9787294368013378, + 0.0025205560959875584, + -0.2051397516504389, + -0.19052498042583466 + ], + [ + -0.06399698044616711, + 0.9537797570228577, + -0.2936128779840895, + 0.6978548169136047 + ], + [ + 0.19491807724995316, + 0.3004958927631378, + 0.9336536457733076, + -0.9022424221038818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9776631718929913, + 0.002555137500166893, + -0.21016238961778555, + -0.19003379344940186 + ], + [ + -0.06615846351557284, + 0.9528378844261169, + -0.29618078079418164, + 0.6998887062072754 + ], + [ + 0.19949390535077952, + 0.3034690320491791, + 0.9317235566640617, + -0.9065715670585632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9764285698650509, + 0.0016382253961637616, + -0.21583457748758633, + -0.1892707645893097 + ], + [ + -0.06752477673930625, + 0.9520952701568604, + -0.29825329922761284, + 0.7031537294387817 + ], + [ + 0.20500647412060136, + 0.3057972192764282, + 0.9297636436762957, + -0.9105499982833862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.975286126611968, + -0.000894367229193449, + -0.2209438952388663, + -0.19171711802482605 + ], + [ + -0.06685418101223632, + 0.9519209861755371, + -0.29895970750667517, + 0.7062720060348511 + ], + [ + 0.21058851367228149, + 0.3063422441482544, + 0.9283355553108403, + -0.920646607875824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9738615020304026, + -0.0027471380308270454, + -0.2271260653855543, + -0.19001223146915436 + ], + [ + -0.06651689756135333, + 0.9526417851448059, + -0.29673073430408053, + 0.7151252627372742 + ], + [ + 0.21718494495830495, + 0.30408236384391785, + 0.9275584449924136, + -0.9190132021903992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.972380096644779, + -0.003830365603789688, + -0.23337159428186283, + -0.18737594783306122 + ], + [ + -0.0652163754793178, + 0.9555822014808657, + -0.28741858995040087, + 0.7163960933685303 + ], + [ + 0.22410665906974106, + 0.29469975829124456, + 0.9289393067672477, + -0.9186102747917175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9709599425088519, + -0.0039031407795846462, + -0.23921034011814818, + -0.18752910196781158 + ], + [ + -0.06514891745199611, + 0.9577667713165283, + -0.2800685283942112, + 0.7155024409294128 + ], + [ + 0.2302008693538076, + 0.2875196039676666, + 0.9296989132700734, + -0.9235931634902954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9698067537117394, + -0.002199224662035704, + -0.24386479309183057, + -0.18709968030452728 + ], + [ + -0.06725431988620605, + 0.9587715864181521, + -0.27610483286697873, + 0.7182291746139526 + ], + [ + 0.23441785080415722, + 0.28416928648948675, + 0.9296752510180585, + -0.9258966445922852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9691116901389901, + -0.00015539825835730883, + -0.24662215084804934, + -0.18675191700458527 + ], + [ + -0.06947958515106957, + 0.959323048591614, + -0.2736273085156936, + 0.7199907898902893 + ], + [ + 0.23663283137985705, + 0.28231060504913336, + 0.9296803706553419, + -0.9289514422416687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.968672244649463, + 0.0022718901745975018, + -0.24833237557289525, + -0.18706665933132172 + ], + [ + -0.07206140870375051, + 0.9595066905021667, + -0.2723124296036257, + 0.7223125100135803 + ], + [ + 0.23765790246402704, + 0.28167667984962463, + 0.9296111783330288, + -0.9301396012306213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9681592372926935, + 0.004286975134164095, + -0.2502983510168067, + -0.1869712471961975 + ], + [ + -0.0743200640296801, + 0.9596962332725525, + -0.27103439560424913, + 0.7245171666145325 + ], + [ + 0.23904847270258187, + 0.2810066342353821, + 0.9294574040742323, + -0.932684063911438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9678197927813529, + 0.005170790944248439, + -0.2515912214326899, + -0.18678991496562958 + ], + [ + -0.075271211684089, + 0.9599633216857912, + -0.26982339890902374, + 0.7267606854438782 + ], + [ + 0.24012314707087287, + 0.28007802367210394, + 0.9294607251476473, + -0.935726523399353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9675434002749616, + 0.005404723808169365, + -0.25264701558807995, + -0.18699772655963898 + ], + [ + -0.07558323211449901, + 0.9601938128471375, + -0.26891461612724205, + 0.7290880084037781 + ], + [ + 0.24113669357523448, + 0.27928245067596436, + 0.9294376984277295, + -0.9386862516403198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9671137502024653, + 0.005992142483592033, + -0.2542736118035601, + -0.18724586069583893 + ], + [ + -0.07633321747322519, + 0.9604753851890564, + -0.26769430752458434, + 0.7313917875289917 + ], + [ + 0.24261949444662864, + 0.27830037474632263, + 0.9293463937023922, + -0.941371500492096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9668058408366224, + 0.007938730530440807, + -0.2553887792832935, + -0.18694908916950226 + ], + [ + -0.07802145903744512, + 0.9609518051147461, + -0.26548881740011665, + 0.7338351607322693 + ], + [ + 0.24330865866895357, + 0.27660197019577026, + 0.9296731869617608, + -0.9446765780448914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 825.47998046875, + "fy": 825.65185546875, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/f81c0cc1-6033-42ed-b28b-c851c33f97df/boom_up/transforms.json b/dynpose_eval/camera_controls/f81c0cc1-6033-42ed-b28b-c851c33f97df/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d898764a420de6ea628babebefad3dddc37c5ef2 --- /dev/null +++ b/dynpose_eval/camera_controls/f81c0cc1-6033-42ed-b28b-c851c33f97df/boom_up/transforms.json @@ -0,0 +1,4318 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 123, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00028347570332698524, + -9.157287422567606e-05, + 0.00036897926474921405 + ], + [ + -0.0002834932820405811, + 0.9999999403953552, + -0.00019191644969396293, + 0.0005371859879232943 + ], + [ + 9.15184646146372e-05, + 0.00019194241031073034, + 1.0, + 0.0004717257688753307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999538660049438, + 0.0074102249927818775, + 0.006108197383582592, + -0.0005454607744945488 + ], + [ + -0.007452431600540876, + 0.9999483227729797, + 0.006916214246302843, + -0.0028447143428149773 + ], + [ + -0.006056630983948708, + -0.006961415987461805, + 0.9999574422836304, + -0.014784631454080465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998459219932556, + 0.012288196012377739, + 0.012533326633274555, + 0.0014815105060420808 + ], + [ + -0.012457441538572311, + 0.9998310208320618, + 0.01351623609662056, + -0.002198211958853253 + ], + [ + -0.012365118600428104, + -0.013670286163687706, + 0.9998301267623901, + -0.026781660614565748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997776746749878, + 0.010529182851314545, + 0.018269570544362068, + 0.0036072731346319443 + ], + [ + -0.010941116139292717, + 0.9996848106384277, + 0.022596020251512527, + -0.011523693369426689 + ], + [ + -0.018025895580649376, + -0.02279088646173477, + 0.9995777606964111, + -0.03783252845655699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997544884681702, + 0.013247979804873466, + 0.017759446054697037, + 0.007114710706118189 + ], + [ + -0.013763945549726486, + 0.9994772672653198, + 0.029252715408802032, + -0.020861916928017726 + ], + [ + -0.017362624406814575, + -0.029489975422620773, + 0.9994142651557922, + -0.047254370128522155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996630549430847, + 0.020652398467063904, + 0.015724288299679756, + 0.010286213311015582 + ], + [ + -0.02111871913075447, + 0.9993240237236023, + 0.030091289430856705, + -0.02508287742489674 + ], + [ + -0.01509220153093338, + -0.030413225293159485, + 0.9994234442710876, + -0.05782002967889192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995139837265015, + 0.02645120956003666, + 0.01649601012468338, + 0.010439806770472253 + ], + [ + -0.026927178725600243, + 0.9992069602012634, + 0.029331840574741364, + -0.025191925179030076 + ], + [ + -0.015707064419984818, + -0.029761776328086853, + 0.9994335770606995, + -0.07275330746760134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9994065761566162, + 0.02859164960682392, + 0.019211040809750557, + 0.009371983979019474 + ], + [ + -0.029176099225878716, + 0.9990976452827454, + 0.030864235013723373, + -0.027973160617908492 + ], + [ + -0.01831124536693096, + -0.03140642121434212, + 0.9993389248847961, + -0.08850968525607567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990125298500061, + 0.03581912815570831, + 0.026285231113433838, + 0.0050209607241950074 + ], + [ + -0.036682479083538055, + 0.9987775683403015, + 0.03313338756561279, + -0.02270689507732626 + ], + [ + -0.02506629005074501, + -0.034064874053001404, + 0.9991052150726318, + -0.1102808710248744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9983474612236023, + 0.043983906507492065, + 0.03698383644223213, + 0.0030768974149813417 + ], + [ + -0.04543638974428177, + 0.9981901049613953, + 0.03939574211835861, + -0.01732799408987897 + ], + [ + -0.035184118896722794, + -0.04101105034351349, + 0.9985390305519104, + -0.127012950902591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9976019859313965, + 0.04868532344698906, + 0.04919373244047165, + 0.005440677569598936 + ], + [ + -0.05094309523701668, + 0.9976538419723511, + 0.045734141021966934, + -0.014546831672797437 + ], + [ + -0.04685173183679581, + -0.04813055321574211, + 0.9977416396141052, + -0.139319385569848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9969243407249451, + 0.04823936149477959, + 0.061763945966959, + 0.008273992962280258 + ], + [ + -0.05152598395943642, + 0.997276246547699, + 0.05277414619922638, + -0.019093072344167312 + ], + [ + -0.05904992297291756, + -0.055794283747673035, + 0.9966945648193359, + -0.1516704857227255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9962369203567505, + 0.045919373631477356, + 0.07350760698318481, + 0.00986556369567015 + ], + [ + -0.05038526654243469, + 0.9969199895858765, + 0.06009881943464279, + -0.025752056188514977 + ], + [ + -0.07052150368690491, + -0.0635763630270958, + 0.9954822063446045, + -0.16353286888267174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9954670071601868, + 0.044414013624191284, + 0.08410042524337769, + 0.009831048142103876 + ], + [ + -0.05012428015470505, + 0.9964897632598877, + 0.06705033779144287, + -0.029934742326130633 + ], + [ + -0.08082723617553711, + -0.0709618628025055, + 0.9941988587379456, + -0.17711695381363884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9941519498825073, + 0.04647886008024216, + 0.09747632592916489, + 0.008734740130603314 + ], + [ + -0.05363500118255615, + 0.9959523677825928, + 0.07212629914283752, + -0.026125652782741142 + ], + [ + -0.0937294289469719, + -0.0769326388835907, + 0.9926208257675171, + -0.1907332545909725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9911763072013855, + 0.055607039481401443, + 0.12032180279493332, + 0.01035752344387965 + ], + [ + -0.06470850110054016, + 0.995222806930542, + 0.0731051117181778, + -0.010257316016607355 + ], + [ + -0.11568184942007065, + -0.08024589717388153, + 0.9900395274162292, + -0.2042689381442109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9872885346412659, + 0.05834165960550308, + 0.14784309267997742, + 0.0068210865538872656 + ], + [ + -0.07193993777036667, + 0.9934871196746826, + 0.08836250007152557, + -0.01597636543962433 + ], + [ + -0.14172500371932983, + -0.09787510335445404, + 0.9850555658340454, + -0.21502967970293077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9853941202163696, + 0.05426532030105591, + 0.16141146421432495, + 0.008384638062876756 + ], + [ + -0.0721702128648758, + 0.9916129112243652, + 0.10721614956855774, + -0.03257465810805071 + ], + [ + -0.15423956513404846, + -0.11729925870895386, + 0.9810459017753601, + -0.2224732444423144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9870916604995728, + 0.047897689044475555, + 0.15282633900642395, + 0.02408275416151422 + ], + [ + -0.06597597897052765, + 0.9911133050918579, + 0.11550559103488922, + -0.043613989504634354 + ], + [ + -0.1459357738494873, + -0.12409746646881104, + 0.9814797639846802, + -0.22896586773825472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.988565981388092, + 0.05190522223711014, + 0.14157377183437347, + 0.03738530542640412 + ], + [ + -0.06887984275817871, + 0.9906498193740845, + 0.11776456981897354, + -0.04837762290825609 + ], + [ + -0.13413743674755096, + -0.1261696219444275, + 0.982897937297821, + -0.23236515116496165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9892904162406921, + 0.059032510966062546, + 0.133490189909935, + 0.04476174950355389 + ], + [ + -0.0739995464682579, + 0.9911628365516663, + 0.11009203642606735, + -0.04377420280189788 + ], + [ + -0.12581150233745575, + -0.11879121512174606, + 0.9849162697792053, + -0.23469779493867374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9877877831459045, + 0.07350809872150421, + 0.13737483322620392, + 0.027945957039711904 + ], + [ + -0.08794456720352173, + 0.9908735752105713, + 0.10215359926223755, + -0.037432997136331 + ], + [ + -0.1286119669675827, + -0.1129874438047409, + 0.9852374196052551, + -0.2438729146587067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9872332215309143, + 0.0839344933629036, + 0.13537190854549408, + 0.02996326009513902 + ], + [ + -0.0976848378777504, + 0.9903460741043091, + 0.09834770858287811, + -0.0374598212418009 + ], + [ + -0.12581028044223785, + -0.11031590402126312, + 0.9859017133712769, + -0.24918577258215577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9864202737808228, + 0.09440792351961136, + 0.13439570367336273, + 0.03393127695336694 + ], + [ + -0.10757411271333694, + 0.9897125959396362, + 0.09432275593280792, + -0.0355745825611177 + ], + [ + -0.12410829961299896, + -0.1074993759393692, + 0.986428439617157, + -0.25412859507515784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9855707287788391, + 0.10151489824056625, + 0.13544411957263947, + 0.03906105656604298 + ], + [ + -0.11446227878332138, + 0.9892058968544006, + 0.09148818254470825, + -0.033681976987568085 + ], + [ + -0.12469471246004105, + -0.10567131638526917, + 0.9865520000457764, + -0.25687988752224405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9847438335418701, + 0.10623907297849655, + 0.13781455159187317, + 0.04221069406656945 + ], + [ + -0.11933911591768265, + 0.9887164235115051, + 0.0905429795384407, + -0.03415431431876343 + ], + [ + -0.12664031982421875, + -0.10560830682516098, + 0.9863108396530151, + -0.25867467217880197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9841949939727783, + 0.10895463079214096, + 0.13960322737693787, + 0.04532958635541259 + ], + [ + -0.12224633246660233, + 0.9883699417114258, + 0.09044744819402695, + -0.03663834239676839 + ], + [ + -0.12812495231628418, + -0.10608390718698502, + 0.986068069934845, + -0.2619195576451841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9836737513542175, + 0.11136926710605621, + 0.14136074483394623, + 0.04736575545346151 + ], + [ + -0.12476952373981476, + 0.988118588924408, + 0.08974529802799225, + -0.037093591045771465 + ], + [ + -0.12968631088733673, + -0.10591760277748108, + 0.9858818054199219, + -0.2643743989164712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9832843542098999, + 0.11349493265151978, + 0.1423753947019577, + 0.050203665565760405 + ], + [ + -0.12698881328105927, + 0.9878535270690918, + 0.08955018222332001, + -0.038177257727404115 + ], + [ + -0.1304825395345688, + -0.106133371591568, + 0.9857535362243652, + -0.26469825232615235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9830211400985718, + 0.11557959020137787, + 0.14251598715782166, + 0.05438958780198801 + ], + [ + -0.12916968762874603, + 0.9875217080116272, + 0.090089350938797, + -0.041050139020700926 + ], + [ + -0.13032513856887817, + -0.1069684773683548, + 0.9856840968132019, + -0.26550806671625277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9830673336982727, + 0.11724112182855606, + 0.14083002507686615, + 0.0602464317420467 + ], + [ + -0.1307220458984375, + 0.9872702360153198, + 0.09060501307249069, + -0.04464556398938914 + ], + [ + -0.12841464579105377, + -0.10748041421175003, + 0.985879123210907, + -0.2661356909475366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9828202724456787, + 0.12000133097171783, + 0.1402284801006317, + 0.06068063829033101 + ], + [ + -0.1333070546388626, + 0.9870098233222961, + 0.08967068046331406, + -0.04539339327421345 + ], + [ + -0.1276462972164154, + -0.10682360082864761, + 0.9860502481460571, + -0.2657726660431897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9824358820915222, + 0.12413183599710464, + 0.1393236219882965, + 0.06392940295035722 + ], + [ + -0.1372794210910797, + 0.986519455909729, + 0.08907139301300049, + -0.046858133473357225 + ], + [ + -0.12638887763023376, + -0.10663320124149323, + 0.9862328171730042, + -0.26613922080055613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9817596673965454, + 0.12810075283050537, + 0.14049258828163147, + 0.06595671802270608 + ], + [ + -0.14123964309692383, + 0.9860665202140808, + 0.08788745105266571, + -0.04807543616558685 + ], + [ + -0.12727659940719604, + -0.10612748563289642, + 0.9861732125282288, + -0.2647073740964053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9815177917480469, + 0.13035883009433746, + 0.14010511338710785, + 0.07085425086685869 + ], + [ + -0.14329378306865692, + 0.9858884215354919, + 0.08655036240816116, + -0.049387114372898326 + ], + [ + -0.12684540450572968, + -0.10502690821886063, + 0.9863466024398804, + -0.26379921640284726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9827468991279602, + 0.12835055589675903, + 0.1331717073917389, + 0.07897725762402424 + ], + [ + -0.14034488797187805, + 0.9864523410797119, + 0.08494137972593307, + -0.051108143948873544 + ], + [ + -0.12046527862548828, + -0.1021658405661583, + 0.9874463081359863, + -0.26050327385424593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9841293692588806, + 0.12751416862010956, + 0.12340818345546722, + 0.09007990499500368 + ], + [ + -0.1384478360414505, + 0.986760675907135, + 0.08447256684303284, + -0.05462407113709411 + ], + [ + -0.11100289225578308, + -0.10021752119064331, + 0.988754153251648, + -0.25699834667268345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9845192432403564, + 0.1272997260093689, + 0.12048506736755371, + 0.09196821355917414 + ], + [ + -0.13766708970069885, + 0.9870774149894714, + 0.08201193064451218, + -0.053157087665845135 + ], + [ + -0.10848799347877502, + -0.09732914716005325, + 0.9893217086791992, + -0.25323180885466395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9847487807273865, + 0.12602660059928894, + 0.1199464425444603, + 0.09381019487732746 + ], + [ + -0.13624894618988037, + 0.9873412251472473, + 0.08120063692331314, + -0.05314955126310958 + ], + [ + -0.10819462686777115, + -0.09630479663610458, + 0.9894540309906006, + -0.2505076883146997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9853595495223999, + 0.12181870639324188, + 0.11927616596221924, + 0.10087629938956166 + ], + [ + -0.13201694190502167, + 0.9878765940666199, + 0.08167855441570282, + -0.055920917040011925 + ], + [ + -0.10788016021251678, + -0.09622921049594879, + 0.9894957542419434, + -0.24715443069084747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9887418150901794, + 0.11451481282711029, + 0.09631168842315674, + 0.15525309936922105 + ], + [ + -0.12331774830818176, + 0.9881827235221863, + 0.09103619307279587, + -0.07327085629594131 + ], + [ + -0.08474855124950409, + -0.10188823193311691, + 0.991179347038269, + -0.2449121069712717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9867867827415466, + 0.10882250219583511, + 0.12003953754901886, + 0.11770251155754582 + ], + [ + -0.11921177059412003, + 0.9893897175788879, + 0.08304540067911148, + -0.05678106160437475 + ], + [ + -0.10972867906093597, + -0.09625823050737381, + 0.9892896413803101, + -0.2396959068772734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9888350367546082, + 0.10073048621416092, + 0.10981205105781555, + 0.14751919863409682 + ], + [ + -0.1108110323548317, + 0.9897652864456177, + 0.08991986513137817, + -0.06670704622004853 + ], + [ + -0.09963048994541168, + -0.10108429193496704, + 0.9898766279220581, + -0.23607503532386218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9884112477302551, + 0.08960571140050888, + 0.12253165245056152, + 0.13253266361282498 + ], + [ + -0.10109413415193558, + 0.9907069206237793, + 0.0909934714436531, + -0.06514809293458695 + ], + [ + -0.11323942244052887, + -0.10232620686292648, + 0.9882844686508179, + -0.22960109341217846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9891607165336609, + 0.0835404098033905, + 0.12075641751289368, + 0.1457297578698299 + ], + [ + -0.09495078027248383, + 0.9912176132202148, + 0.09204360842704773, + -0.06136841515659309 + ], + [ + -0.1120065301656723, + -0.10251183807849884, + 0.988405704498291, + -0.22747796148550314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9895917177200317, + 0.07846282422542572, + 0.12063092738389969, + 0.1572254427754488 + ], + [ + -0.08990742266178131, + 0.9916403889656067, + 0.09255289286375046, + -0.05822192401182457 + ], + [ + -0.11236052960157394, + -0.10243519395589828, + 0.9883734583854675, + -0.22373539810908621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9892686009407043, + 0.07816026359796524, + 0.12344476580619812, + 0.16175650672101582 + ], + [ + -0.08995293825864792, + 0.991591215133667, + 0.09303426742553711, + -0.054712644671318963 + ], + [ + -0.11513516306877136, + -0.10314010083675385, + 0.9879807829856873, + -0.220456526782669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9885327816009521, + 0.0771297737956047, + 0.1298227310180664, + 0.15771016771065408 + ], + [ + -0.08929393440485, + 0.9918724894523621, + 0.0906396359205246, + -0.04853800541614412 + ], + [ + -0.12177658081054688, + -0.10119263827800751, + 0.9873856902122498, + -0.21242660991236811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9878294467926025, + 0.07660368084907532, + 0.13536913692951202, + 0.15250774573107234 + ], + [ + -0.08918248116970062, + 0.9919917583465576, + 0.08943589776754379, + -0.0447388302046256 + ], + [ + -0.12743394076824188, + -0.10041997581720352, + 0.9867504239082336, + -0.20953043166731225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9863433241844177, + 0.08730471134185791, + 0.13965922594070435, + 0.18470558108853513 + ], + [ + -0.09961827099323273, + 0.9914954304695129, + 0.0837438553571701, + -0.03437266100930875 + ], + [ + -0.13116025924682617, + -0.0965128093957901, + 0.9866520762443542, + -0.20443991748768775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9808077812194824, + 0.0916849821805954, + 0.1720753163099289, + 0.217714682099272 + ], + [ + -0.10547071695327759, + 0.9917582869529724, + 0.07274235785007477, + -0.022761422377385078 + ], + [ + -0.16398774087429047, + -0.08949518203735352, + 0.9823943376541138, + -0.20230695214427885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9719122648239136, + 0.08371219784021378, + 0.21995174884796143, + 0.22073875763987907 + ], + [ + -0.10155991464853287, + 0.9922846555709839, + 0.0711110532283783, + -0.03146490855905854 + ], + [ + -0.21230188012123108, + -0.0914519876241684, + 0.9729154109954834, + -0.2019049270109075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9615211486816406, + 0.07721713185310364, + 0.26365625858306885, + 0.2207274858580261 + ], + [ + -0.09858864545822144, + 0.9927475452423096, + 0.06879391521215439, + -0.038182509864573604 + ], + [ + -0.25643205642700195, + -0.0921403244137764, + 0.9621604681015015, + -0.20102429182314482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9491924047470093, + 0.07247801870107651, + 0.3062364161014557, + 0.22041540840243706 + ], + [ + -0.09712324291467667, + 0.9930815100669861, + 0.0660015270113945, + -0.04310497544690601 + ], + [ + -0.2993340790271759, + -0.09239081293344498, + 0.9496647119522095, + -0.19936056737406332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9348945617675781, + 0.0681367963552475, + 0.34832385182380676, + 0.21502852413009424 + ], + [ + -0.09569375216960907, + 0.9934461712837219, + 0.06250885874032974, + -0.0472145093360641 + ], + [ + -0.3417818248271942, + -0.09177161008119583, + 0.9352877140045166, + -0.1978494422479731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9191308617591858, + 0.06265154480934143, + 0.3889386057853699, + 0.2067738479522408 + ], + [ + -0.09271897375583649, + 0.9939425587654114, + 0.05900375545024872, + -0.05075897585570079 + ], + [ + -0.3828859329223633, + -0.09029415249824524, + 0.9193722605705261, + -0.1969956622504797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9028504490852356, + 0.05522643029689789, + 0.4263930916786194, + 0.1927059311358655 + ], + [ + -0.08798083662986755, + 0.9944618344306946, + 0.05748912692070007, + -0.057036621590740376 + ], + [ + -0.420856773853302, + -0.08941850066184998, + 0.9027092456817627, + -0.1945286487946745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8892189264297485, + 0.050181321799755096, + 0.4547213613986969, + 0.1847099926200558 + ], + [ + -0.08401384204626083, + 0.9949736595153809, + 0.05448966473340988, + -0.059556491355426976 + ], + [ + -0.4497013986110687, + -0.0866561308503151, + 0.888965368270874, + -0.19118124458511346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8747541904449463, + 0.04710541293025017, + 0.48227185010910034, + 0.1775928122159399 + ], + [ + -0.08050154149532318, + 0.9955604076385498, + 0.048774950206279755, + -0.05754523884932526 + ], + [ + -0.47783321142196655, + -0.08148971945047379, + 0.8746626973152161, + -0.18616782806691576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8578189611434937, + 0.04633130878210068, + 0.5118594765663147, + 0.17255966428239813 + ], + [ + -0.07873304933309555, + 0.9960193037986755, + 0.0417923778295517, + -0.053525521096269624 + ], + [ + -0.5078856348991394, + -0.0761505514383316, + 0.8580520153045654, + -0.1825083019914197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8357737064361572, + 0.0419488400220871, + 0.5474693179130554, + 0.15901354761397252 + ], + [ + -0.07348167896270752, + 0.9966533780097961, + 0.03581131622195244, + -0.051214855599415604 + ], + [ + -0.5441349148750305, + -0.07015912234783173, + 0.8360591530799866, + -0.17681304084472968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8161856532096863, + 0.03399433195590973, + 0.5767889022827148, + 0.14579546377062796 + ], + [ + -0.06638697534799576, + 0.9971739053726196, + 0.0351702980697155, + -0.05624973857775331 + ], + [ + -0.5739632844924927, + -0.0669967532157898, + 0.816135823726654, + -0.1707333505153656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7971195578575134, + 0.02894013747572899, + 0.6031275987625122, + 0.1343036904137154 + ], + [ + -0.059758637100458145, + 0.9977281093597412, + 0.031105179339647293, + -0.053830206600307934 + ], + [ + -0.600857138633728, + -0.060836631804704666, + 0.7970380187034607, + -0.16477170110848105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7775494456291199, + 0.023861747235059738, + 0.6283689141273499, + 0.12271744196959695 + ], + [ + -0.053373370319604874, + 0.9981780648231506, + 0.028139783069491386, + -0.05237099727974503 + ], + [ + -0.6265526413917542, + -0.055418238043785095, + 0.7774063944816589, + -0.15983308015055345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7570767402648926, + 0.018520351499319077, + 0.6530634164810181, + 0.11040576921134698 + ], + [ + -0.04659819230437279, + 0.9985830187797546, + 0.025700876489281654, + -0.050354188795155685 + ], + [ + -0.6516621112823486, + -0.049889110028743744, + 0.7568670511245728, + -0.15273753008881552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7382491827011108, + 0.012517876923084259, + 0.674411952495575, + 0.09949188200054598 + ], + [ + -0.039598140865564346, + 0.998907744884491, + 0.024805448949337006, + -0.04949182127678737 + ], + [ + -0.6733648180961609, + -0.04501806199550629, + 0.7379385232925415, + -0.14865431439925414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7199732661247253, + 0.006396008655428886, + 0.6939724087715149, + 0.089336893283075 + ], + [ + -0.03261362016201019, + 0.9991645812988281, + 0.024626731872558594, + -0.0483769391831316 + ], + [ + -0.6932350993156433, + -0.04036353528499603, + 0.7195804119110107, + -0.1448684634488137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6986356973648071, + -0.0015586093068122864, + 0.7154759168624878, + 0.0744195317330419 + ], + [ + -0.024666592478752136, + 0.9993506669998169, + 0.026263024657964706, + -0.05002309751131985 + ], + [ + -0.7150522470474243, + -0.03599663823843002, + 0.6981436014175415, + -0.13472497262304922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6806330680847168, + -0.0066817570477724075, + 0.7325939536094666, + 0.0643051128468064 + ], + [ + -0.017601942643523216, + 0.9995205998420715, + 0.025469793006777763, + -0.04797617052605407 + ], + [ + -0.7324129939079285, + -0.03023066185414791, + 0.6801891922950745, + -0.12856431884965935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.6638915538787842, + -0.011270771734416485, + 0.7477440237998962, + 0.05424745349656241 + ], + [ + -0.01003671158105135, + 0.9996621012687683, + 0.02397913672029972, + -0.04500343582791384 + ], + [ + -0.7477615475654602, + -0.023424437269568443, + 0.6635540723800659, + -0.12282542910152039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6468384861946106, + -0.017234187573194504, + 0.7624322772026062, + 0.044891471226440105 + ], + [ + -0.0017366022802889347, + 0.9997087717056274, + 0.024070952087640762, + -0.04442977850310139 + ], + [ + -0.7626250386238098, + -0.016894061118364334, + 0.6466201543807983, + -0.11538914997191703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6308437585830688, + -0.02234169840812683, + 0.7755882143974304, + 0.036885389795557395 + ], + [ + 0.0065579842776060104, + 0.9997031688690186, + 0.02346348762512207, + -0.04361640031709046 + ], + [ + -0.7758821845054626, + -0.00971550028771162, + 0.6308029890060425, + -0.10971383690208074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6167765855789185, + -0.026026291772723198, + 0.7867078185081482, + 0.031428791289446784 + ], + [ + 0.014397220686078072, + 0.9996590614318848, + 0.02178388088941574, + -0.04115400949462516 + ], + [ + -0.7870065569877625, + -0.0021093813702464104, + 0.6169410347938538, + -0.10699773946868592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6027385592460632, + -0.030609486624598503, + 0.7973514199256897, + 0.024429881180346502 + ], + [ + 0.023171735927462578, + 0.9995139837265015, + 0.020854182541370392, + -0.040987601857937754 + ], + [ + -0.7976022362709045, + 0.005906395614147186, + 0.6031548976898193, + -0.10201766805448494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5922653675079346, + -0.03736495226621628, + 0.8048762083053589, + 0.013802758531003701 + ], + [ + 0.033645741641521454, + 0.9991997480392456, + 0.02162797376513481, + -0.04513148697795438 + ], + [ + -0.8050402402877808, + 0.014271154068410397, + 0.5930485725402832, + -0.09185563430159552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.5936816930770874, + -0.039154499769210815, + 0.8037468791007996, + 0.008902572431280965 + ], + [ + 0.04097359627485275, + 0.9989907741546631, + 0.018400954082608223, + -0.044406521118810924 + ], + [ + -0.8036561608314514, + 0.022008085623383522, + 0.5946868658065796, + -0.0892301029831049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5944150686264038, + -0.041090838611125946, + 0.8031079173088074, + 0.005123503805428255 + ], + [ + 0.045005105435848236, + 0.9988282322883606, + 0.017794590443372726, + -0.048884472586825246 + ], + [ + -0.802898108959198, + 0.02556658536195755, + 0.5955678224563599, + -0.08596391147765957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.5927132368087769, + -0.040753528475761414, + 0.8043819069862366, + 0.002025309840186698 + ], + [ + 0.04964476823806763, + 0.9986686110496521, + 0.014015925116837025, + -0.04850688144014996 + ], + [ + -0.8038821816444397, + 0.03162592649459839, + 0.5939472913742065, + -0.0812403111428511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.5942549109458923, + -0.040347859263420105, + 0.8032641410827637, + 0.0002118096793772748 + ], + [ + 0.05350501835346222, + 0.9985116124153137, + 0.010572100058197975, + -0.049035969205567104 + ], + [ + -0.8024951219558716, + 0.03669613599777222, + 0.5955291986465454, + -0.0817520874689837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.5956979393959045, + -0.03993546962738037, + 0.8022151589393616, + -0.002344529513941436 + ], + [ + 0.05739089846611023, + 0.9983266592025757, + 0.0070816464722156525, + -0.04954724727717581 + ], + [ + -0.8011556267738342, + 0.041821327060461044, + 0.596993088722229, + -0.08104301498378398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5973472595214844, + -0.038363587111234665, + 0.801064670085907, + -0.0025289959167359303 + ], + [ + 0.06010496988892555, + 0.9981876015663147, + 0.0029841717332601547, + -0.048909330954317196 + ], + [ + -0.7997272610664368, + 0.04636537283658981, + 0.5985704660415649, + -0.08421588823443553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.5971692800521851, + -0.03702281415462494, + 0.8012604117393494, + -0.005276103684159575 + ], + [ + 0.06257923692464828, + 0.9980398416519165, + -0.000524371862411499, + -0.049378761685773986 + ], + [ + -0.799670398235321, + 0.050455398857593536, + 0.5983155965805054, + -0.0820860787554354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.5994808673858643, + -0.03587711229920387, + 0.7995846271514893, + -0.006575868074156221 + ], + [ + 0.06523746252059937, + 0.9978612065315247, + -0.004137435927987099, + -0.05039533107373559 + ], + [ + -0.797726035118103, + 0.0546431839466095, + 0.6005392074584961, + -0.07933656595280913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.601736307144165, + -0.035621147602796555, + 0.7979001402854919, + -0.011197998823567491 + ], + [ + 0.06800945103168488, + 0.997661828994751, + -0.006750093773007393, + -0.05303865309010765 + ], + [ + -0.7957940697669983, + 0.05832652002573013, + 0.6027519106864929, + -0.07356772925399366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6069967746734619, + -0.03484553098678589, + 0.793940007686615, + -0.012609306802270842 + ], + [ + 0.07025502622127533, + 0.9974796175956726, + -0.009933831170201302, + -0.055333324384371774 + ], + [ + -0.7915927767753601, + 0.06180807948112488, + 0.6079149842262268, + -0.06920680476993811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6142799258232117, + -0.032584935426712036, + 0.7884150743484497, + -0.013039111953656205 + ], + [ + 0.07148395478725433, + 0.9973366856575012, + -0.014475880190730095, + -0.054541892326269006 + ], + [ + -0.7858436107635498, + 0.06525126844644547, + 0.614973247051239, + -0.07102655585794175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6219800710678101, + -0.030447611585259438, + 0.7824409604072571, + -0.011687533331454777 + ], + [ + 0.07144176214933395, + 0.9972826838493347, + -0.01798279955983162, + -0.05571333484449348 + ], + [ + -0.7797672152519226, + 0.06708389520645142, + 0.6224651336669922, + -0.07284530611311803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6278173923492432, + -0.02865266427397728, + 0.777833104133606, + -0.01192464236108983 + ], + [ + 0.07091732323169708, + 0.9972714185714722, + -0.020503947511315346, + -0.05766132463563661 + ], + [ + -0.7751232385635376, + 0.0680345818400383, + 0.6281363368034363, + -0.07500193236914815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6314291954040527, + -0.027056140825152397, + 0.7749614119529724, + -0.012378264844539712 + ], + [ + 0.07052654772996902, + 0.9972527623176575, + -0.02264721319079399, + -0.05931668424765106 + ], + [ + -0.772219717502594, + 0.06895546615123749, + 0.6316027045249939, + -0.07497973060998761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.627949595451355, + -0.025151390582323074, + 0.7778475284576416, + -0.015876027633298616 + ], + [ + 0.07146431505680084, + 0.9971184134483337, + -0.02545110136270523, + -0.05952656036700871 + ], + [ + -0.7749660015106201, + 0.07157034426927567, + 0.6279374957084656, + -0.05797896705812118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6360589861869812, + -0.023836009204387665, + 0.7712722420692444, + -0.012305660814535421 + ], + [ + 0.07095500081777573, + 0.9970948100090027, + -0.02770073711872101, + -0.05853629762642698 + ], + [ + -0.7683712840080261, + 0.07234492152929306, + 0.6359024047851562, + -0.07105825346757154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6390392184257507, + -0.022417807951569557, + 0.7688474655151367, + -0.011634573143464132 + ], + [ + 0.07028043270111084, + 0.9970956444740295, + -0.02934165671467781, + -0.05966320183189189 + ], + [ + -0.7659566402435303, + 0.0727853924036026, + 0.6387587785720825, + -0.07358212042294565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6296486854553223, + -0.02168269455432892, + 0.776577353477478, + -0.019013867857026273 + ], + [ + 0.07163391262292862, + 0.9969723224639893, + -0.03024444915354252, + -0.0625447833635768 + ], + [ + -0.7735704183578491, + 0.0746726542711258, + 0.6292955875396729, + -0.04752758583817326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6440064907073975, + -0.02113492228090763, + 0.7647280097007751, + -0.009443407382083232 + ], + [ + 0.06914228200912476, + 0.9971352815628052, + -0.03066933900117874, + -0.06264196489555915 + ], + [ + -0.7618890404701233, + 0.07262629270553589, + 0.643622875213623, + -0.07949081153654661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6435829997062683, + -0.02116709016263485, + 0.7650835514068604, + -0.01094840932637453 + ], + [ + 0.0691491961479187, + 0.9971374869346619, + -0.03058064542710781, + -0.06408871157308584 + ], + [ + -0.7622462511062622, + 0.07258609682321548, + 0.6432044506072998, + -0.07572262278590046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6427241563796997, + -0.01954827271401882, + 0.7658481597900391, + -0.010422316860774012 + ], + [ + 0.06962969899177551, + 0.9970273971557617, + -0.032986342906951904, + -0.0610598467717894 + ], + [ + -0.7629268169403076, + 0.07452689856290817, + 0.6421747803688049, + -0.06933883556210604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6217554807662964, + -0.016980761662125587, + 0.7830273509025574, + -0.015188013902697407 + ], + [ + 0.06643760204315186, + 0.9973049759864807, + -0.031126560643315315, + -0.06174898354000734 + ], + [ + -0.7803885340690613, + 0.07137556374073029, + 0.6212079524993896, + -0.013651293861206438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6446307897567749, + -0.015121184289455414, + 0.7643445134162903, + -0.0047181213274598115 + ], + [ + 0.06917298585176468, + 0.9968569278717041, + -0.038617901504039764, + -0.05227892854418913 + ], + [ + -0.7613582015037537, + 0.0777662843465805, + 0.6436506509780884, + -0.06452298810491797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.6360296010971069, + -0.019095387309789658, + 0.7714283466339111, + -0.012458957038575509 + ], + [ + 0.07192863523960114, + 0.9968084096908569, + -0.034629665315151215, + -0.06033514189671298 + ], + [ + -0.7683050632476807, + 0.07751328498125076, + 0.6353732347488403, + -0.04222240369828021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6345498561859131, + -0.01912127621471882, + 0.7726453542709351, + -0.01264935578753958 + ], + [ + 0.07191452383995056, + 0.9968176484107971, + -0.03439214080572128, + -0.06087640446961903 + ], + [ + -0.7695289850234985, + 0.07738795131444931, + 0.6339056491851807, + -0.03506315960625156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.648901641368866, + -0.019997594878077507, + 0.7606095671653748, + -0.0028232123519553514 + ], + [ + 0.06922922283411026, + 0.9970598816871643, + -0.032847560942173004, + -0.06220011443632549 + ], + [ + -0.7577163577079773, + 0.0739712342619896, + 0.6483782529830933, + -0.06828539122323521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.633558988571167, + -0.019843636080622673, + 0.773439884185791, + -0.012220280838855466 + ], + [ + 0.07184778153896332, + 0.9968603253364563, + -0.033277928829193115, + -0.06373243408247097 + ], + [ + -0.7703511714935303, + 0.07665347307920456, + 0.6329955458641052, + -0.02486294572104196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6602123379707336, + -0.020776934921741486, + 0.7507915496826172, + 0.008256588167831546 + ], + [ + 0.0647386834025383, + 0.997471272945404, + -0.029324892908334732, + -0.06874514826741376 + ], + [ + -0.7482837438583374, + 0.06796590983867645, + 0.6598879098892212, + -0.0860307085953775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6614090204238892, + -0.02194122225046158, + 0.7497044205665588, + 0.009609769193119691 + ], + [ + 0.06379302591085434, + 0.9975955486297607, + -0.02708376757800579, + -0.07315186634965119 + ], + [ + -0.7473075985908508, + 0.06573935598134995, + 0.6612184047698975, + -0.08394790661261707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.65960294008255, + -0.02171388640999794, + 0.7513005137443542, + 0.007066023911609025 + ], + [ + 0.0656004250049591, + 0.997431218624115, + -0.02876628376543522, + -0.07139424047142756 + ], + [ + -0.7487459778785706, + 0.06825995445251465, + 0.6593329906463623, + -0.07353100952554922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.661650538444519, + -0.02101094275712967, + 0.7495179176330566, + 0.00892350224197888 + ], + [ + 0.06497246026992798, + 0.997454047203064, + -0.02939438261091709, + -0.07093541142454403 + ], + [ + -0.7469921112060547, + 0.06814683228731155, + 0.6613311767578125, + -0.07109371490287976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.6641895771026611, + -0.021391475573182106, + 0.7472580671310425, + 0.010896943915696417 + ], + [ + 0.06481004506349564, + 0.9974746704101562, + -0.029051147401332855, + -0.07190998043009983 + ], + [ + -0.7447495460510254, + 0.0677252933382988, + 0.6638987064361572, + -0.07121154097992866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6672716736793518, + -0.02258181758224964, + 0.7444720268249512, + 0.014426248922150154 + ], + [ + 0.06400728225708008, + 0.9975811243057251, + -0.02711055800318718, + -0.07561406515477624 + ], + [ + -0.7420589923858643, + 0.06574173271656036, + 0.6671030521392822, + -0.07179880448784985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6696497201919556, + -0.023087695240974426, + 0.7423181533813477, + 0.016301438603244844 + ], + [ + 0.06343454867601395, + 0.9976421594619751, + -0.02619587816298008, + -0.07756302426034799 + ], + [ + -0.7399630546569824, + 0.06463067978620529, + 0.6695353984832764, + -0.07181237567155088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.673500657081604, + -0.022093571722507477, + 0.738856315612793, + 0.020306635043415868 + ], + [ + 0.06306353956460953, + 0.9976263046264648, + -0.027653826400637627, + -0.0761326926042799 + ], + [ + -0.7364915609359741, + 0.06521976739168167, + 0.673295259475708, + -0.07287063682299168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6755822896957397, + -0.021818211302161217, + 0.7369616627693176, + 0.021649421986619958 + ], + [ + 0.06253545731306076, + 0.9976557493209839, + -0.027790842577815056, + -0.07650994599537284 + ], + [ + -0.7346276640892029, + 0.0648612380027771, + 0.6753630042076111, + -0.07203031074805338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.6780432462692261, + -0.022131269797682762, + 0.7346887588500977, + 0.023664459593777287 + ], + [ + 0.06259956955909729, + 0.9976536631584167, + -0.027720415964722633, + -0.07781984489411116 + ], + [ + -0.7323514223098755, + 0.06478684395551682, + 0.6778377890586853, + -0.06958746808107759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6818660497665405, + -0.020374726504087448, + 0.7311933040618896, + 0.026794389189511048 + ], + [ + 0.06171989068388939, + 0.9976498484611511, + -0.029756644740700722, + -0.07640158978642012 + ], + [ + -0.7288686037063599, + 0.06541921198368073, + 0.6815210580825806, + -0.06902936965715689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6871442794799805, + -0.018713833764195442, + 0.7262799143791199, + 0.030967410148472572 + ], + [ + 0.060105159878730774, + 0.9977056384086609, + -0.03115881234407425, + -0.07617094433087795 + ], + [ + -0.7240304350852966, + 0.06506376713514328, + 0.6866925358772278, + -0.06998703972604431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6907595992088318, + -0.018935739994049072, + 0.7228365540504456, + 0.031832646932758266 + ], + [ + 0.05980662256479263, + 0.9977279901504517, + -0.031015697866678238, + -0.07811656898712037 + ], + [ + -0.7206069827079773, + 0.06465479731559753, + 0.6903226375579834, + -0.06899567888896974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.6945845484733582, + -0.019705699756741524, + 0.7191411256790161, + 0.0334725531321935 + ], + [ + 0.05916859954595566, + 0.9978029131889343, + -0.029806656762957573, + -0.08194111017357619 + ], + [ + -0.7169737815856934, + 0.06325381249189377, + 0.69422447681427, + -0.06716190599149367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7008114457130432, + -0.017081541940569878, + 0.7131420373916626, + 0.03772161355639091 + ], + [ + 0.05715719610452652, + 0.9978435635566711, + -0.032268065959215164, + -0.07956350482389576 + ], + [ + -0.7110530138015747, + 0.06337502598762512, + 0.7002765536308289, + -0.06779749063683338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7079348564147949, + -0.017595648765563965, + 0.7060585618019104, + 0.039594481995359795 + ], + [ + 0.05629321187734604, + 0.9979149103164673, + -0.0315738283097744, + -0.08200584441484488 + ], + [ + -0.7040308117866516, + 0.062098514288663864, + 0.7074492573738098, + -0.06754809957241914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7163532376289368, + -0.01857701875269413, + 0.6974905133247375, + 0.042610619641596174 + ], + [ + 0.05483105778694153, + 0.9980528950691223, + -0.02973167411983013, + -0.08554209612126723 + ], + [ + -0.6955800652503967, + 0.05954251438379288, + 0.7159770131111145, + -0.06900428185453181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7238614559173584, + -0.01963728480041027, + 0.6896658539772034, + 0.04079175751625759 + ], + [ + 0.05435003340244293, + 0.9981115460395813, + -0.028625020757317543, + -0.08762479538983499 + ], + [ + -0.6878013014793396, + 0.058203913271427155, + 0.7235617637634277, + -0.06238889598333445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7294814586639404, + -0.02807813137769699, + 0.6834241151809692, + 0.02174886908443248 + ], + [ + 0.05789816379547119, + 0.9981059432029724, + -0.020793365314602852, + -0.1014002566989206 + ], + [ + -0.6815458536148071, + 0.05473737418651581, + 0.7297253608703613, + -0.04455784176949595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7368404269218445, + -0.04521579295396805, + 0.6745530366897583, + -0.0077510674987904355 + ], + [ + 0.06493232399225235, + 0.9978814721107483, + -0.004039352759718895, + -0.1310061435230443 + ], + [ + -0.6729413270950317, + 0.04677664488554001, + 0.7382153272628784, + -0.01697108812141614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.7922411561012268, + -0.07566720247268677, + 0.6054985523223877, + -0.03253371641039848 + ], + [ + 0.08075152337551117, + 0.9965554475784302, + 0.018880125135183334, + -0.17844097167253495 + ], + [ + -0.6048414707183838, + 0.03393730893731117, + 0.7956224679946899, + 0.014284079149365424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/f81c0cc1-6033-42ed-b28b-c851c33f97df/pan_right/transforms.json b/dynpose_eval/camera_controls/f81c0cc1-6033-42ed-b28b-c851c33f97df/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..100922fe80710a8adab231726e724d53d2c07923 --- /dev/null +++ b/dynpose_eval/camera_controls/f81c0cc1-6033-42ed-b28b-c851c33f97df/pan_right/transforms.json @@ -0,0 +1,4318 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 123, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00028347570332698524, + -9.157287422567606e-05, + 0.00036897926474921405 + ], + [ + -0.0002834932820405811, + 0.9999999403953552, + -0.00019191644969396293, + 0.0005371859879232943 + ], + [ + 9.15184646146372e-05, + 0.00019194241031073034, + 1.0, + 0.0004717257688753307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999384561258255, + 0.007410224992781879, + 0.00825397929552025, + -0.0005393868195824325 + ], + [ + -0.007467255911192346, + 0.99994832277298, + 0.0069002061866487475, + -0.0020250845700502396 + ], + [ + -0.008202420688933124, + -0.006961415987461807, + 0.9999421430523556, + -0.014790337532758713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997829234003703, + 0.012288196012377739, + 0.016824330002977318, + 0.0015016550896689296 + ], + [ + -0.012515335521556037, + 0.9998310208320618, + 0.013462647016445659, + -0.0005591447115875781 + ], + [ + -0.01665605572962453, + -0.013670286163687706, + 0.9997678502268572, + -0.02680407091975212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996393444114369, + 0.010529182851314545, + 0.024705406110282584, + 0.003633164567872882 + ], + [ + -0.011086354584843708, + 0.9996848106384277, + 0.022525116994132812, + -0.00906545203179121 + ], + [ + -0.02446044922066291, + -0.02279088646173477, + 0.999441003268457, + -0.03788857161998749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9995652208909797, + 0.013247979804873466, + 0.026340165557361173, + 0.00715814670547843 + ], + [ + -0.014014528632456972, + 0.9994772672653198, + 0.029133495209024318, + -0.017584942281246185 + ], + [ + -0.025940438227527625, + -0.029489975422620773, + 0.9992284162231115, + -0.047351058572530746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9994368037375098, + 0.020652398467063904, + 0.026449045268643813, + 0.010370854288339615 + ], + [ + -0.02144036131671136, + 0.9993240237236023, + 0.029862968773116824, + -0.020987287163734436 + ], + [ + -0.025814424033704254, + -0.030413225293159485, + 0.9992039886917697, + -0.05794467404484749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9992187509280457, + 0.026451209560036666, + 0.029363409349923385, + 0.010569894686341286 + ], + [ + -0.027302594975664077, + 0.9992069602012636, + 0.02898272128729987, + -0.02027779258787632 + ], + [ + -0.028573493800466088, + -0.02976177632808686, + 0.9991485086217532, + -0.07289967685937881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9990052623540154, + 0.02859164960682392, + 0.03422067128314697, + 0.009536034427583218 + ], + [ + -0.029636410427120778, + 0.9990976452827454, + 0.030422507227641764, + -0.02224063314497471 + ], + [ + -0.033319961182541186, + -0.03140642121434212, + 0.9989511342821441, + -0.088689886033535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.998414102116054, + 0.03581912815570831, + 0.04343073644079502, + 0.005255840253084898 + ], + [ + -0.037245852492901625, + 0.9987775683403015, + 0.032498801752746595, + -0.01615753397345543 + ], + [ + -0.0422135660569642, + -0.034064874053001404, + 0.998527698425533, + -0.11050424724817276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9974470508717956, + 0.043983906507492065, + 0.056256894659724097, + 0.0034013688564300537 + ], + [ + -0.04618872165339535, + 0.9981901049613953, + 0.03851093353939444, + -0.009964296594262123 + ], + [ + -0.05446121230806961, + -0.04101105034351349, + 0.9976733403835261, + -0.127315491437912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9963167376318247, + 0.04868532344698906, + 0.0705882706996632, + 0.005839737597852945 + ], + [ + -0.05191269843245851, + 0.9976538419723511, + 0.04463050917035936, + -0.006369341164827347 + ], + [ + -0.06824980589964591, + -0.04813055321574211, + 0.9965066122162014, + -0.13971389830112457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9951888216227303, + 0.04823936149477959, + 0.08527681671144534, + 0.008708938024938107 + ], + [ + -0.05275724055722217, + 0.997276246547699, + 0.05154329344185149, + -0.010101237334311008 + ], + [ + -0.08255812646985584, + -0.055794283747673035, + 0.9950231679198732, + -0.15217354893684387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9940139679366237, + 0.045919373631477356, + 0.0991342590287821, + 0.01031722966581583 + ], + [ + -0.051915981403345815, + 0.9969199895858765, + 0.058781579231230584, + -0.0159462857991457 + ], + [ + -0.09612971341153159, + -0.0635763630270958, + 0.9933363900665275, + -0.16415821015834808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9927338680604821, + 0.044414013624191284, + 0.11183430187670369, + 0.010304312221705914 + ], + [ + -0.0519750150892376, + 0.9964897632598877, + 0.06562613096509251, + -0.019316408783197403 + ], + [ + -0.10852701385044293, + -0.0709618628025055, + 0.991557512244406, + -0.17787310481071472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.990775348066159, + 0.04647886008024216, + 0.12729471016590457, + 0.00926810409873724 + ], + [ + -0.05577733094066938, + 0.9959523677825928, + 0.07048266264146048, + -0.014696691185235977 + ], + [ + -0.12350351198898499, + -0.0769326388835907, + 0.989357464278963, + -0.19161608815193176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9867905710063559, + 0.05560703948140146, + 0.15215839496442032, + 0.011041216552257538 + ], + [ + -0.06702771573444899, + 0.9952228069305422, + 0.0709847363693616, + 0.001979029970243573 + ], + [ + -0.14748426024105044, + -0.08024589717388154, + 0.9858037071917254, + -0.20525556802749634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9816315619649825, + 0.05834165960550308, + 0.1816472054325842, + 0.0075862230733036995 + ], + [ + -0.07493081143747111, + 0.9934871196746826, + 0.08584089679527314, + -0.00294702616520226 + ], + [ + -0.17545606980288017, + -0.09787510335445404, + 0.9796099285068534, + -0.21631328761577606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9788514842775684, + 0.05426532030105591, + 0.19724351615301997, + 0.009140794165432453 + ], + [ + -0.07603259951386435, + 0.9916129112243652, + 0.1045126124658318, + -0.018757101148366928 + ], + [ + -0.1899177998714594, + -0.11729925870895386, + 0.9747677334293303, + -0.2241077423095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9804537685471828, + 0.04789768904447557, + 0.19083040602466309, + 0.024789441376924515 + ], + [ + -0.07038719341358467, + 0.9911133050918581, + 0.11287167210951211, + -0.028991006314754486 + ], + [ + -0.18372826851842577, + -0.12409746646881106, + 0.9751121476772268, + -0.23079681396484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.981973767709544, + 0.05190522223711014, + 0.18175079631059435, + 0.03819366544485092 + ], + [ + -0.07362277024354064, + 0.9906498193740845, + 0.11485910649446192, + -0.03294946998357773 + ], + [ + -0.1740896076224692, + -0.1261696219444275, + 0.976613544652832, + -0.23433008790016174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9826520805549742, + 0.059032510966062546, + 0.175812533821832, + 0.04572949558496475 + ], + [ + -0.07865487743868044, + 0.9911628365516663, + 0.10681572738624477, + -0.027525631710886955 + ], + [ + -0.16795324534281203, + -0.11879121512174606, + 0.9786114141859419, + -0.2366451919078827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9805964375526277, + 0.07350809872150423, + 0.18173380531789757, + 0.02921126037836075 + ], + [ + -0.09245716007973241, + 0.9908735752105715, + 0.09808811494179766, + -0.02037697657942772 + ], + [ + -0.17286494489137658, + -0.11298744380474093, + 0.9784434178149464, + -0.24581778049468994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9797447767997246, + 0.0839344933629036, + 0.18181077979925966, + 0.031476832926273346 + ], + [ + -0.10221724401171248, + 0.9903460741043091, + 0.09362817076796454, + -0.01960112154483795 + ], + [ + -0.17219696820811928, + -0.11031590402126312, + 0.9788659863501775, + -0.25117507576942444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9785885780121969, + 0.09440792351961136, + 0.18289766722339096, + 0.035711098462343216 + ], + [ + -0.11209658373972461, + 0.9897125959396362, + 0.08890066325233283, + -0.01691606640815735 + ], + [ + -0.1726231934281675, + -0.1074993759393692, + 0.9791042690178767, + -0.25615522265434265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9772914559637711, + 0.10151489824056628, + 0.18600048670009547, + 0.041058070957660675 + ], + [ + -0.11902020980368097, + 0.9892058968544009, + 0.08547450185811212, + -0.014222188852727413 + ], + [ + -0.17531584695803357, + -0.10567131638526919, + 0.9788247922458858, + -0.2589586675167084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9759372561411023, + 0.10623907297849655, + 0.19041990548517795, + 0.04438772425055504 + ], + [ + -0.12402249263107216, + 0.9887164235115051, + 0.0840135527952975, + -0.013893731869757175 + ], + [ + -0.17934577534291407, + -0.10560830682516098, + 0.9781011889824412, + -0.2608387768268585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9748786580608105, + 0.10895463079214096, + 0.19426901274441, + 0.04765157029032707 + ], + [ + -0.12709985688736344, + 0.9883699417114258, + 0.08348971832242576, + -0.015574720688164234 + ], + [ + -0.18291304927617966, + -0.10608390718698502, + 0.9773888982158383, + -0.26418036222457886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.973837392389775, + 0.11136926710605621, + 0.1980849375060369, + 0.04983048513531685 + ], + [ + -0.12975702248946566, + 0.988118588924408, + 0.0823697012684983, + -0.015225392766296864 + ], + [ + -0.18655795467511188, + -0.10591760277748108, + 0.9767177704112128, + -0.26671847701072693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.972960457601385, + 0.11349493265151978, + 0.20116367016591638, + 0.05280846729874611 + ], + [ + -0.13213704864416032, + 0.9878535270690918, + 0.08176303694440638, + -0.015505209565162659 + ], + [ + -0.18944054826014065, + -0.106133371591568, + 0.9761393373781884, + -0.2671341001987457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9722550931492888, + 0.11557959020137787, + 0.20337502875606966, + 0.05713697150349617 + ], + [ + -0.13452238343098175, + 0.9875217080116272, + 0.081881791081592, + -0.01757626235485077 + ], + [ + -0.19137338980753787, + -0.1069684773683548, + 0.975671054263181, + -0.26805076003074646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9719709931091395, + 0.11724112182855606, + 0.20378141991412002, + 0.06312941014766693 + ], + [ + -0.1362800998248152, + 0.9872702360153198, + 0.08200765860258305, + -0.02036842703819275 + ], + [ + -0.19157264808282995, + -0.10748041421175003, + 0.9755756697167477, + -0.26877865195274353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9713249338335199, + 0.12000133097171783, + 0.20525006084003838, + 0.06372985243797302 + ], + [ + -0.13897294843864977, + 0.9870098233222961, + 0.08061092577008944, + -0.02031363546848297 + ], + [ + -0.19291041611901652, + -0.10682360082864761, + 0.9753841501760987, + -0.26848703622817993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9705608545138433, + 0.12413183599710467, + 0.20640484914420895, + 0.06718531996011734 + ], + [ + -0.14306749559636103, + 0.9865194559097292, + 0.07944208086501513, + -0.02098221331834793 + ], + [ + -0.19376111468762588, + -0.10663320124149325, + 0.9752363551942881, + -0.2689361572265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9693584661390944, + 0.12810075283050537, + 0.20960528622415422, + 0.06942173838615417 + ], + [ + -0.14710416672722168, + 0.9860665202140808, + 0.07767370833281291, + -0.021403145045042038 + ], + [ + -0.1967347028822356, + -0.10612748563289642, + 0.974696052391075, + -0.26757803559303284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9686934564511136, + 0.13035883009433746, + 0.21128086932794232, + 0.07448720186948776 + ], + [ + -0.149221714605972, + 0.9858884215354919, + 0.07587458987806911, + -0.021911535412073135 + ], + [ + -0.198408436929896, + -0.10502690821886063, + 0.9744759971102177, + -0.26672619581222534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9699837354656652, + 0.12835055589675903, + 0.20653746470634995, + 0.08265944570302963 + ], + [ + -0.14632287695426469, + 0.9864523410797119, + 0.07417102702141366, + -0.02280828170478344 + ], + [ + -0.19421948124436036, + -0.1021658405661583, + 0.9756233330086348, + -0.2634342610836029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9716701458554523, + 0.12751416862010956, + 0.198990760677235, + 0.09384261816740036 + ], + [ + -0.14455412841533324, + 0.986760675907135, + 0.07353585391966533, + -0.02550654299557209 + ], + [ + -0.18697938777233, + -0.10021752119064331, + 0.9772385206334312, + -0.25995558500289917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9718613874124894, + 0.1272997260093689, + 0.19819242020268937, + 0.09582894295454025 + ], + [ + -0.14373814429762255, + 0.9870774149894714, + 0.0708345270936171, + -0.023221133276820183 + ], + [ + -0.18661404813676652, + -0.09732914716005325, + 0.9776002685305429, + -0.25618359446525574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.971706497410137, + 0.12602660059928894, + 0.19975933798966522, + 0.09773561358451843 + ], + [ + -0.14241030270888397, + 0.9873412251472473, + 0.06983283222789037, + -0.022396299988031387 + ], + [ + -0.188429832329031, + -0.09630479663610458, + 0.9773533419470453, + -0.2535073459148407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9719402586535127, + 0.12181870639324188, + 0.20122718307966322, + 0.10477050393819809 + ], + [ + -0.13838258653715685, + 0.9878765940666199, + 0.07035708169529974, + -0.02434125542640686 + ], + [ + -0.19021681781514252, + -0.09622921049594879, + 0.9770146052391394, + -0.250230610370636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9768447778635752, + 0.11451481282711029, + 0.1807224341231721, + 0.15900768339633942 + ], + [ + -0.13066831554286115, + 0.9881827235221863, + 0.08012893865626014, + -0.04087142273783684 + ], + [ + -0.16941083905105273, + -0.10188823193311691, + 0.9802646492382134, + -0.24825270473957062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9724223211957798, + 0.10882250219583511, + 0.20628251115546906, + 0.12135966122150421 + ], + [ + -0.12604772944598114, + 0.9893897175788879, + 0.07224925413907057, + -0.023531079292297363 + ], + [ + -0.19623145595533445, + -0.09625823050737381, + 0.975821496609134, + -0.2429308146238327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9749378942943459, + 0.10073048621416092, + 0.1983671311984893, + 0.15098696947097778 + ], + [ + -0.11845457770347013, + 0.9897652864456177, + 0.07958127956926399, + -0.032633159309625626 + ], + [ + -0.18832064361692752, + -0.10108429193496704, + 0.9768916563369828, + -0.2395549863576889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.972915970377391, + 0.08960571140050888, + 0.2130852296067584, + 0.13569089770317078 + ], + [ + -0.10904844226386741, + 0.9907069206237793, + 0.08129128517326097, + -0.030229734256863594 + ], + [ + -0.20382084869661152, + -0.10232620686292648, + 0.9736459415042447, + -0.23320767283439636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9733699700615219, + 0.08354040980339052, + 0.21347584614275691, + 0.1487426906824112 + ], + [ + -0.1032056497278074, + 0.9912176132202151, + 0.0826817415811153, + -0.02561958320438862 + ], + [ + -0.2046937506474158, + -0.10251183807849887, + 0.9734432535748606, + -0.23117510974407196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9733507246015914, + 0.07846282422542572, + 0.21548075398777408, + 0.16011956334114075 + ], + [ + -0.09841207971073877, + 0.9916403889656067, + 0.08345325154923718, + -0.02164502441883087 + ], + [ + -0.20713142753834493, + -0.10243519395589828, + 0.972935534133235, + -0.22751374542713165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9722872339722837, + 0.07816026359796524, + 0.2203372634545766, + 0.16470353305339813 + ], + [ + -0.09868366901598496, + 0.991591215133667, + 0.08371642303821882, + -0.0173247791826725 + ], + [ + -0.21194119609562723, + -0.10314010083675385, + 0.9718246049166688, + -0.22434541583061218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9704379213143484, + 0.0771297737956047, + 0.22869464939913114, + 0.1606815606355667 + ], + [ + -0.09796632706806305, + 0.9918724894523621, + 0.08118835558191954, + -0.010326524265110493 + ], + [ + -0.2205738915712326, + -0.10119263827800751, + 0.9701067957843356, + -0.21632501482963562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9686750382123137, + 0.07660368084907532, + 0.23622127238670237, + 0.15552166104316711 + ], + [ + -0.09790569111483552, + 0.9919917583465576, + 0.07979204474380243, + -0.0057096462696790695 + ], + [ + -0.22821718754320475, + -0.10041997581720352, + 0.968417639065229, + -0.2134813815355301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.966237719690796, + 0.08730471134185791, + 0.24240982158372817, + 0.1882120817899704 + ], + [ + -0.10785743347999027, + 0.9914954304695129, + 0.07282586950303617, + 0.005449696443974972 + ], + [ + -0.23399020033258433, + -0.0965128093957901, + 0.9674367779401953, + -0.20831625163555145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.956740189136503, + 0.0916849821805954, + 0.2761195912551201, + 0.22147226333618164 + ], + [ + -0.11265411258731643, + 0.9917582869529724, + 0.061029285407834886, + 0.017884409055113792 + ], + [ + -0.2682484268656247, + -0.08949518203735352, + 0.959183713006031, + -0.2059747874736786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.942073986667401, + 0.08371219784021378, + 0.3247904339432046, + 0.22423820197582245 + ], + [ + -0.108719235354952, + 0.9922846555709839, + 0.05959300310020536, + 0.01001584343612194 + ], + [ + -0.3172958978157677, + -0.0914519876241684, + 0.9439066683125009, + -0.20572791993618011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9261816367937096, + 0.07721713185310364, + 0.36908687015147124, + 0.22401870787143707 + ], + [ + -0.10563605011497555, + 0.9927475452423096, + 0.057387705125839863, + 0.004131319932639599 + ], + [ + -0.3619787892322775, + -0.0921403244137764, + 0.92762143252871, + -0.20495158433914185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9083060743188446, + 0.07247801870107651, + 0.41197941590759607, + 0.2235640436410904 + ], + [ + -0.10398611855529258, + 0.9930815100669861, + 0.05455284621267498, + 3.7090154364705086e-05 + ], + [ + -0.4051752728561797, + -0.09239081293344498, + 0.9095586590540717, + -0.20337426662445068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8883518442906794, + 0.0681367963552475, + 0.45407967155259654, + 0.21804441511631012 + ], + [ + -0.10227922007731052, + 0.9934461712837219, + 0.05102560892036606, + -0.003242301754653454 + ], + [ + -0.4476269739399237, + -0.09177161008119583, + 0.8894987442101244, + -0.20191146433353424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8669389488835635, + 0.06265154480934143, + 0.49446095803118056, + 0.20959830284118652 + ], + [ + -0.09902166901907251, + 0.9939425587654114, + 0.04767557358066607, + -0.005950090009719133 + ], + [ + -0.4884788171614516, + -0.09029415249824524, + 0.8678913735721406, + -0.2010663002729416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8452228007729556, + 0.05522643029689789, + 0.5315528375412774, + 0.19524091482162476 + ], + [ + -0.09423820548519346, + 0.9944618344306946, + 0.04652728183685632, + -0.011389193125069141 + ], + [ + -0.5260395186504534, + -0.08941850066184998, + 0.8457463160756573, + -0.1986331045627594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8270941505619652, + 0.05018132179975511, + 0.5598187936639324, + 0.18705452978610992 + ], + [ + -0.09003450677629579, + 0.9949736595153811, + 0.0438319154005689, + -0.013070017099380493 + ], + [ + -0.5548053995201099, + -0.08665613085031511, + 0.8274549791747304, + -0.1952299326658249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8081179455231329, + 0.04710541293025017, + 0.5871340709174684, + 0.17983224987983704 + ], + [ + -0.08593379676798106, + 0.9955604076385498, + 0.03840412118233716, + -0.010215317830443382 + ], + [ + -0.5827184088432698, + -0.08148971945047379, + 0.8085781768065022, + -0.1900419294834137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7863204510306746, + 0.04633130878210068, + 0.6160792498850783, + 0.17480027675628662 + ], + [ + -0.08337998420888904, + 0.9960193037986755, + 0.03151625192279497, + -0.005357374437153339 + ], + [ + -0.6121666428958052, + -0.0761505514383316, + 0.78705341650412, + -0.18619099259376526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7585615752062664, + 0.0419488400220871, + 0.6502497051493418, + 0.1610766053199768 + ], + [ + -0.07747156125943852, + 0.9966533780097961, + 0.026079967575749666, + -0.0021991156972944736 + ], + [ + -0.646979552931374, + -0.07015912234783173, + 0.7592727909806861, + -0.180263489484787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.7339170126720242, + 0.033994331955909736, + 0.6783879987237346, + 0.14749518036842346 + ], + [ + -0.07040967065720442, + 0.9971739053726199, + 0.02620417218902436, + -0.006391043309122324 + ], + [ + -0.6755800504327318, + -0.06699675321578981, + 0.734236426617954, + -0.1740831881761551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.71006805668215, + 0.02894013747572899, + 0.703538090502303, + 0.1357744187116623 + ], + [ + -0.06335672781267143, + 0.9977281093597412, + 0.022903098714517667, + -0.0031259912066161633 + ], + [ + -0.7012768791548746, + -0.060836631804704666, + 0.7102884224515057, + -0.1678633987903595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.685763131574557, + 0.023861747235059745, + 0.7274335433651609, + 0.12394964694976807 + ], + [ + -0.05667904864053989, + 0.9981780648231509, + 0.020689357062872376, + -0.0008257365552708507 + ], + [ + -0.7256145626948813, + -0.05541823804378511, + 0.6858661830277631, + -0.16269484162330627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6605397945983789, + 0.018520351499319077, + 0.7505625865628441, + 0.11137732863426208 + ], + [ + -0.04967803106322974, + 0.9985830187797546, + 0.01907930313280334, + 0.0020304941572248936 + ], + [ + -0.7491457682906476, + -0.049889110028743744, + 0.6605239270542667, + -0.15535466372966766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6373148239973351, + 0.012517876923084259, + 0.770501883541499, + 0.10015881806612015 + ], + [ + -0.04266229957035008, + 0.998907744884491, + 0.019059151422792922, + 0.003728673327714205 + ], + [ + -0.7694217275217271, + -0.04501806199550629, + 0.6371527663177285, + -0.1510528177022934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6148059354213149, + 0.006396008655428886, + 0.7886525659890832, + 0.08968290686607361 + ], + [ + -0.0357632861783399, + 0.9991645812988281, + 0.019776539245301074, + 0.005676226690411568 + ], + [ + -0.7878671851662584, + -0.04036353528499603, + 0.6145210904984356, + -0.14705206453800201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.5889137152276309, + -0.0015586093068122868, + 0.8081944452045048, + 0.07433393597602844 + ], + [ + -0.028175059158905592, + 0.9993506669998171, + 0.022457811337925702, + 0.004859275184571743 + ], + [ + -0.807704639118256, + -0.03599663823843003, + 0.5884874001664556, + -0.13670183718204498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.5668777286907801, + -0.0066817570477724075, + 0.8237747962580224, + 0.06393268704414368 + ], + [ + -0.021118277941261636, + 0.9995205998420715, + 0.022639723439777455, + 0.00773481372743845 + ], + [ + -0.8235312185509259, + -0.03023066185414791, + 0.5664648824351147, + -0.13024930655956268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.546315323085648, + -0.011270771734416487, + 0.8375038436937893, + 0.05361000820994377 + ], + [ + -0.013464447421830459, + 0.9996621012687685, + 0.022236079529377478, + 0.011534830555319786 + ], + [ + -0.8374713882761822, + -0.023424437269568447, + 0.5459789490524578, + -0.12415025383234024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.5254577572677533, + -0.017234187573194504, + 0.8506451374515874, + 0.043902624398469925 + ], + [ + -0.005319228811694253, + 0.9997087717056274, + 0.023540015436151345, + 0.012930560857057571 + ], + [ + -0.8508030552074578, + -0.016894061118364334, + 0.525213037573393, + -0.11635848134756088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.5058250348218932, + -0.02234169840812683, + 0.8623467749129919, + 0.035585176199674606 + ], + [ + 0.002920964706044728, + 0.9997031688690186, + 0.02418698771045343, + 0.014563046395778656 + ], + [ + -0.8626311520342003, + -0.00971550028771162, + 0.5057401217147742, + -0.11027924716472626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.48836255891509844, + -0.026026291772723198, + 0.872252577680419, + 0.02989281341433525 + ], + [ + 0.010873385504341039, + 0.9996590614318848, + 0.023739985631037623, + 0.017842262983322144 + ], + [ + -0.8725730647407474, + -0.0021093813702464104, + 0.48847907615698616, + -0.10712222754955292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.47096302175416394, + -0.030609486624598503, + 0.8816217385022449, + 0.022598329931497574 + ], + [ + 0.01963453441605162, + 0.9995139837265015, + 0.024213866556701394, + 0.018819382414221764 + ], + [ + -0.8819344368904208, + 0.005906395614147186, + 0.47133513229796553, + -0.10166425257921219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.4575387548251592, + -0.03736495226621628, + 0.8884043359182593, + 0.011536359786987305 + ], + [ + 0.029802394577826664, + 0.9991997480392456, + 0.026676252683255543, + 0.015475710853934288 + ], + [ + -0.8886901521718112, + 0.014271154068410397, + 0.45828616748437695, + -0.09099000692367554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.4572102741194684, + -0.039154499769210815, + 0.8884963497948392, + 0.006495533511042595 + ], + [ + 0.037495360869583876, + 0.9989907741546631, + 0.024729104636127906, + 0.017006846144795418 + ], + [ + -0.8885678811710049, + 0.022008085623383522, + 0.4582169941812195, + -0.08787714689970016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.45612999141188554, + -0.041090838611125946, + 0.8889640215378888, + 0.0025637466460466385 + ], + [ + 0.04151867477185962, + 0.9988282322883606, + 0.02486577184661148, + 0.013337614014744759 + ], + [ + -0.8889441654148085, + 0.02556658536195755, + 0.4573015146384672, + -0.08437123894691467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.45233311521714137, + -0.040753528475761414, + 0.8909174968834702, + -0.0005468390882015228 + ], + [ + 0.046663216830434326, + 0.9986686110496521, + 0.02199075636098273, + 0.014523842372000217 + ], + [ + -0.890627559086125, + 0.03162592649459839, + 0.4536325582368088, + -0.07924424856901169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.45212660628935164, + -0.040347859263420105, + 0.8910408023306308, + -0.002367807552218437 + ], + [ + 0.050995960766904304, + 0.9985116124153137, + 0.019338259334935902, + 0.014803297817707062 + ], + [ + -0.8904948261776249, + 0.03669613599777222, + 0.4535112035600085, + -0.07940594106912613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.45181280679741703, + -0.03993546962738037, + 0.8912184826665522, + -0.004930514842271805 + ], + [ + 0.055373412891999214, + 0.9983266592025757, + 0.016662835538916926, + 0.015098495408892632 + ], + [ + -0.8903926501416569, + 0.041821327060461044, + 0.4532681489661494, + -0.07833491265773773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.4517209190278532, + -0.038363587111234665, + 0.8913341491440246, + -0.005044640973210335 + ], + [ + 0.05871167536085682, + 0.9981876015663147, + 0.013208022660625407, + 0.016545593738555908 + ], + [ + -0.8902253593403361, + 0.04636537283658981, + 0.45315461433975324, + -0.0811755359172821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.4495980195891775, + -0.03702281415462494, + 0.8924634542883234, + -0.007734175771474838 + ], + [ + 0.061726961733602446, + 0.9980398416519165, + 0.010306214390343921, + 0.016884539276361465 + ], + [ + -0.8910956477900533, + 0.050455398857593536, + 0.4510020459099362, + -0.07873617112636566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.4502511017234147, + -0.03587711229920387, + 0.8921809411411709, + -0.008987280540168285 + ], + [ + 0.0649543733589072, + 0.9978612065315247, + 0.00734671856929955, + 0.01667402870953083 + ], + [ + -0.8905363185759396, + 0.0546431839466095, + 0.4516184585436474, + -0.07566382735967636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.45085373728674344, + -0.035621147602796555, + 0.8918868340645469, + -0.013621404767036438 + ], + [ + 0.06812947784205337, + 0.997661828994751, + 0.005405871303008925, + 0.014835061505436897 + ], + [ + -0.8899940144169023, + 0.05832652002573013, + 0.4522264052602708, + -0.06959961354732513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.4548240165072256, + -0.034845530986785896, + 0.8898993955934812, + -0.015008507296442986 + ], + [ + 0.07089769567432579, + 0.9974796175956728, + 0.0028224916546971818, + 0.013345600105822086 + ], + [ + -0.8877548119364855, + 0.06180807948112489, + 0.4561481625232247, + -0.06495116651058197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.4610778451885237, + -0.032584935426712036, + 0.886761172698461, + -0.01530937384814024 + ], + [ + 0.07292390646068825, + 0.9973366856575012, + -0.0012691594995844564, + 0.014944680035114288 + ], + [ + -0.884358129762185, + 0.06525126844644547, + 0.4622261064567519, + -0.0664803609251976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.46783953782940946, + -0.030447611585259438, + 0.8832888724376152, + -0.013833840377628803 + ], + [ + 0.07352851030308075, + 0.9972826838493347, + -0.004567781914762839, + 0.01458691991865635 + ], + [ + -0.8807495385684124, + 0.06708389520645142, + 0.468806999653731, + -0.0681164413690567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.4725341700873883, + -0.02865266427397728, + 0.8808464532040462, + -0.01396790612488985 + ], + [ + 0.07349076827091014, + 0.9972714185714722, + -0.006984667268178652, + 0.013455571606755257 + ], + [ + -0.8782428752344867, + 0.0680345818400383, + 0.47335055157243516, + -0.07015028595924377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.4747295435817183, + -0.027056140825152397, + 0.8797157946038298, + -0.01432985533028841 + ], + [ + 0.07352408955463513, + 0.9972527623176575, + -0.009005468071059076, + 0.012616301886737347 + ], + [ + -0.8770554105319008, + 0.06895546615123749, + 0.47541463515524185, + -0.07000589370727539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.4688764801699368, + -0.025151390582323074, + 0.8829056112057692, + -0.017710842192173004 + ], + [ + 0.07499621222581133, + 0.9971184134483337, + -0.011422567088595048, + 0.013214045204222202 + ], + [ + -0.8800741799976487, + 0.07157034426927567, + 0.46941158881672723, + -0.05275785177946091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.4762014101485501, + -0.023836009204387665, + 0.8790131525001557, + -0.014064054936170578 + ], + [ + 0.07495248384126996, + 0.9970948100090027, + -0.013567171554720165, + 0.015019876882433891 + ], + [ + -0.8761360755439195, + 0.07234492152929306, + 0.4766045274965262, + -0.06572133302688599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.47770813237351384, + -0.022417807951569557, + 0.8782325934394904, + -0.013306721113622189 + ], + [ + 0.07463807824923785, + 0.9970956444740295, + -0.015146924264616132, + 0.014710325747728348 + ], + [ + -0.8753422951300531, + 0.0727853924036026, + 0.4779939521505547, + -0.06815304607152939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.4650981521350368, + -0.021682694554328922, + 0.8849935377788212, + -0.020648956298828125 + ], + [ + 0.0761746752195847, + 0.9969723224639895, + -0.015606504972651026, + 0.012636736035346985 + ], + [ + -0.8819757536664202, + 0.07467265427112581, + 0.4653417009035297, + -0.04189653322100639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.479619901580427, + -0.021134922280907634, + 0.8772217729298264, + -0.011054512113332748 + ], + [ + 0.07385004527875084, + 0.9971352815628054, + -0.016353419474990905, + 0.013369167223572731 + ], + [ + -0.8743631005402526, + 0.0726262927055359, + 0.4798067151472272, + -0.07395454496145248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.47725023447864284, + -0.02116709016263485, + 0.8785124540007004, + -0.012579316273331642 + ], + [ + 0.07387397223399109, + 0.9971374869346619, + -0.016106626866396898, + 0.01273991446942091 + ], + [ + -0.8756568392149834, + 0.07258609682321548, + 0.47744781132875025, + -0.07012992352247238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4743680856686826, + -0.01954827271401882, + 0.8801094615710112, + -0.01194451842457056 + ], + [ + 0.07486595408418321, + 0.9970273971557617, + -0.01820666688675472, + 0.01657753251492977 + ], + [ + -0.8771373910197583, + 0.07452689856290817, + 0.47442151492469675, + -0.06353551149368286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.44843902462684293, + -0.016980761662125587, + 0.8936521422321612, + -0.01652420498430729 + ], + [ + 0.07139982675503478, + 0.9973049759864807, + -0.016878462076777602, + 0.016727473586797714 + ], + [ + -0.8909571233345099, + 0.07137556374073029, + 0.448442848905451, + -0.00803485605865717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.472762690040175, + -0.015121184289455414, + 0.8810600599266807, + -0.005920379422605038 + ], + [ + 0.07566032235184303, + 0.9968569278717041, + -0.02348957023530558, + 0.026979368180036545 + ], + [ + -0.8779356613442061, + 0.0777662843465805, + 0.47242083574040056, + -0.058339931070804596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.4609804864252972, + -0.019095387309789658, + 0.8872047895481465, + -0.013992848806083202 + ], + [ + 0.07757294421050354, + 0.9968084096908569, + -0.01885154141668744, + 0.019736353307962418 + ], + [ + -0.8840132986396965, + 0.07751328498125076, + 0.46099056983347314, + -0.03599592670798302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.4573724933491115, + -0.01912127621471882, + 0.889069606830443, + -0.014201000332832336 + ], + [ + 0.07754934298744294, + 0.9968176484107971, + -0.018455825382336893, + 0.02001289650797844 + ], + [ + -0.8858874673977432, + 0.07738795131444931, + 0.4573998534846656, + -0.028783317655324936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.4720491798345092, + -0.019997594878077507, + 0.8813454632845592, + -0.004462359473109245 + ], + [ + 0.07463614523474178, + 0.9970598816871643, + -0.01735204248966656, + 0.019526105374097824 + ], + [ + -0.8784071591591738, + 0.0739712342619896, + 0.47215389484527326, + -0.06222217530012131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.4524140460757263, + -0.019843636080622673, + 0.8915872236422193, + -0.013863073661923409 + ], + [ + 0.07732305312260662, + 0.9968603253364563, + -0.01704903853682066, + 0.018794527277350426 + ], + [ + -0.8884496082323913, + 0.07665347307920456, + 0.4525279904458526, + -0.018517043441534042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4814349892090392, + -0.020776934921741486, + 0.8762354897223122, + 0.00651950016617775 + ], + [ + 0.06956162488546387, + 0.997471272945404, + -0.014568006592303596, + 0.014649990946054459 + ], + [ + -0.8737170721588271, + 0.06796590983867645, + 0.4816628413722836, + -0.08034831285476685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.48095947544207385, + -0.02194122225046158, + 0.8764682501366571, + 0.007757354527711868 + ], + [ + 0.06817874729659622, + 0.9975955486297607, + -0.012439414702840549, + 0.011071364395320415 + ], + [ + -0.8740879472128491, + 0.06573935598134995, + 0.48129895725557076, + -0.07839778065681458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.4769630138528109, + -0.02171388640999794, + 0.8786550995325288, + 0.005215004086494446 + ], + [ + 0.07034024303990856, + 0.997431218624115, + -0.013533848365908496, + 0.013632683083415031 + ], + [ + -0.8761041694176772, + 0.06825995445251465, + 0.47726514252873636, + -0.06771212816238403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.47747051811399227, + -0.02101094275712967, + 0.8783965210591804, + 0.007115183398127556 + ], + [ + 0.06989735996789287, + 0.997454047203064, + -0.014135395011217767, + 0.014911043457686901 + ], + [ + -0.8758632088355617, + 0.06814683228731155, + 0.4777235382145462, + -0.06522861868143082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.4785677238066274, + -0.02139147557318211, + 0.877790035802855, + 0.009038340300321579 + ], + [ + 0.06969189803638616, + 0.9974746704101565, + -0.013687602220705471, + 0.014755851589143276 + ], + [ + -0.8752805374332172, + 0.06772529333829881, + 0.47885003867748616, + -0.06532721221446991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.4803182828427835, + -0.022581817582249645, + 0.8768035312352787, + 0.012445712462067604 + ], + [ + 0.06849773981547022, + 0.9975811243057253, + -0.01183106830991363, + 0.011878705583512783 + ], + [ + -0.8744154487985254, + 0.06574173271656038, + 0.48070329024955066, + -0.06603293120861053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.48124483492765435, + -0.023087695240974426, + 0.8762821448872008, + 0.014257609844207764 + ], + [ + 0.06775545839654165, + 0.9976421594619751, + -0.01092537669528121, + 0.010752839036285877 + ], + [ + -0.8739637529070857, + 0.06463067978620529, + 0.48167450698995334, + -0.06609097123146057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.4839117604184769, + -0.022093571722507477, + 0.8748378125909705, + 0.018332701176404953 + ], + [ + 0.06775575787742188, + 0.9976263046264648, + -0.012284193562047777, + 0.01299949362874031 + ], + [ + -0.8724898457831768, + 0.06521976739168167, + 0.48426004870071315, + -0.06704362481832504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.48450033293203193, + -0.021818211302161217, + 0.8745189248558353, + 0.019682206213474274 + ], + [ + 0.06730056709043708, + 0.9976557493209839, + -0.012395483929404339, + 0.013442621566355228 + ], + [ + -0.8721983661089012, + 0.0648612380027771, + 0.48483296345695326, + -0.06618216633796692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.48555035277349967, + -0.022131269797682762, + 0.8739285274629368, + 0.021650876849889755 + ], + [ + 0.06737269655975742, + 0.9976536631584167, + -0.012167470094820864, + 0.012950283475220203 + ], + [ + -0.8716087069931634, + 0.06478684395551682, + 0.48590218761492526, + -0.06369292736053467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.48821883520260256, + -0.020374726504087448, + 0.872483424875558, + 0.02492392249405384 + ], + [ + 0.06702894749497694, + 0.9976498484611511, + -0.01420996164566085, + 0.015185937285423279 + ], + [ + -0.870143423882497, + 0.06541921198368073, + 0.4884371156586117, + -0.06302367150783539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.4926490510917738, + -0.018713833764195446, + 0.8700268313741699, + 0.029234079644083977 + ], + [ + 0.06582848026073386, + 0.9977056384086611, + -0.01581496181794931, + 0.01623949594795704 + ], + [ + -0.8677346916231594, + 0.0650637671351433, + 0.49275066180875143, + -0.06396064162254333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.49512258965684863, + -0.018935739994049072, + 0.8686167906402481, + 0.030063241720199585 + ], + [ + 0.0655379548825773, + 0.9977279901504517, + -0.015607116536179744, + 0.015113751403987408 + ], + [ + -0.8663477696154486, + 0.06465479731559753, + 0.49523863897604326, + -0.06295416504144669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.497869282538482, + -0.019705699756741527, + 0.8670281605146621, + 0.03161504864692688 + ], + [ + 0.06465725571383975, + 0.9978029131889345, + -0.014449887306465986, + 0.012114082463085651 + ], + [ + -0.8648385185477105, + 0.06325381249189378, + 0.49804956031055586, + -0.061199456453323364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.5035205001099131, + -0.01708154194056988, + 0.8638144209878651, + 0.03609746694564819 + ], + [ + 0.06334510259521005, + 0.9978435635566714, + -0.01719218207447435, + 0.015313424170017242 + ], + [ + -0.8616580084511829, + 0.06337502598762514, + 0.5035167489501367, + -0.06177166849374771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.5103255793122777, + -0.017595648765563965, + 0.8598012890897563, + 0.03790703043341637 + ], + [ + 0.06237247676704433, + 0.9979149103164673, + -0.0165983878598917, + 0.013695831410586834 + ], + [ + -0.8577164723291516, + 0.062098514288663864, + 0.5103589803255769, + -0.06159275025129318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.5187757500305107, + -0.01857701875269413, + 0.854708545891374, + 0.04081382602453232 + ], + [ + 0.06053092919820504, + 0.9980528950691223, + -0.015047390285514172, + 0.010990888811647892 + ], + [ + -0.8527647673424371, + 0.05954251438379288, + 0.5188901252256188, + -0.0632452517747879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.5261816554739526, + -0.019637284800410274, + 0.850145436350507, + 0.03887631744146347 + ], + [ + 0.059818118683074344, + 0.9981115460395815, + -0.013968200364440521, + 0.009731986559927464 + ], + [ + -0.8482656467112853, + 0.05820391327142717, + 0.5263626591111882, + -0.056711629033088684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.531380410236236, + -0.02807813137769699, + 0.8466679274441253, + 0.018987085670232773 + ], + [ + 0.061284599242984725, + 0.9981059432029724, + -0.00536277051723235, + -0.0032259016297757626 + ], + [ + -0.8449137112833751, + 0.05473737418651581, + 0.5320946094091432, + -0.03917383775115013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.538952225630222, + -0.04521579295396805, + 0.8411219367856071, + -0.012235584668815136 + ], + [ + 0.06379281395742305, + 0.9978814721107483, + 0.012767143656507149, + -0.03203593194484711 + ], + [ + -0.8399172530214065, + 0.04677664488554001, + 0.5406948374039056, + -0.0123317651450634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6085316362042451, + -0.07566720247268677, + 0.7899137889818735, + -0.04010043665766716 + ], + [ + 0.07311344598168738, + 0.9965554475784302, + 0.03913683264226665, + -0.07878542691469193 + ], + [ + -0.7901542448060467, + 0.03393730893731117, + 0.6119677979221823, + 0.017677810043096542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/f81c0cc1-6033-42ed-b28b-c851c33f97df/pull_out/transforms.json b/dynpose_eval/camera_controls/f81c0cc1-6033-42ed-b28b-c851c33f97df/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1ecc4dfaf46891ea402cf86ca280cd5a9858e0e5 --- /dev/null +++ b/dynpose_eval/camera_controls/f81c0cc1-6033-42ed-b28b-c851c33f97df/pull_out/transforms.json @@ -0,0 +1,4318 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 123, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00028347570332698524, + -9.157287422567606e-05, + 0.00036897926474921405 + ], + [ + -0.0002834932820405811, + 0.9999999403953552, + -0.00019191644969396293, + 0.0005371859879232943 + ], + [ + 9.15184646146372e-05, + 0.00019194241031073034, + 1.0, + 0.0004717257688753307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999538660049438, + 0.0074102249927818775, + 0.006108197383582592, + -0.0005443935387493035 + ], + [ + -0.007452431600540876, + 0.9999483227729797, + 0.006916214246302843, + -0.0020307535981209796 + ], + [ + -0.006056630983948708, + -0.006961415987461805, + 0.9999574422836304, + -0.015609974780532181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998459219932556, + 0.012288196012377739, + 0.012533326633274555, + 0.0014811086525652007 + ], + [ + -0.012457441538572311, + 0.9998310208320618, + 0.01351623609662056, + -0.0005813024756803986 + ], + [ + -0.012365118600428104, + -0.013670286163687706, + 0.9998301267623901, + -0.02844313670132981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997776746749878, + 0.010529182851314545, + 0.018269570544362068, + 0.003588239394403139 + ], + [ + -0.010941116139292717, + 0.9996848106384277, + 0.022596020251512527, + -0.009121016016016241 + ], + [ + -0.018025895580649376, + -0.02279088646173477, + 0.9995777606964111, + -0.04034654972006063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997544884681702, + 0.013247979804873466, + 0.017759446054697037, + 0.007099919013495817 + ], + [ + -0.013763945549726486, + 0.9994772672653198, + 0.029252715408802032, + -0.017680852823570126 + ], + [ + -0.017362624406814575, + -0.029489975422620773, + 0.9994142651557922, + -0.050627826655008756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996630549430847, + 0.020652398467063904, + 0.015724288299679756, + 0.010306410483832731 + ], + [ + -0.02111871913075447, + 0.9993240237236023, + 0.030091289430856705, + -0.021110612120418273 + ], + [ + -0.01509220153093338, + -0.030413225293159485, + 0.9994234442710876, + -0.062040671767269975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995139837265015, + 0.02645120956003666, + 0.01649601012468338, + 0.010488766767695301 + ], + [ + -0.026927178725600243, + 0.9992069602012634, + 0.029331840574741364, + -0.02042204754152259 + ], + [ + -0.015707064419984818, + -0.029761776328086853, + 0.9994335770606995, + -0.07781492395967733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9994065761566162, + 0.02859164960682392, + 0.019211040809750557, + 0.009425807144248583 + ], + [ + -0.029176099225878716, + 0.9990976452827454, + 0.030864235013723373, + -0.02241772301800427 + ], + [ + -0.01831124536693096, + -0.03140642121434212, + 0.9993389248847961, + -0.0944237978976281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990125298500061, + 0.03581912815570831, + 0.026285231113433838, + 0.005083478081849266 + ], + [ + -0.036682479083538055, + 0.9987775683403015, + 0.03313338756561279, + -0.016374802088639777 + ], + [ + -0.02506629005074501, + -0.034064874053001404, + 0.9991052150726318, + -0.11705575685520642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9983474612236023, + 0.043983906507492065, + 0.03698383644223213, + 0.003128537276118505 + ], + [ + -0.04543638974428177, + 0.9981901049613953, + 0.03939574211835861, + -0.010254920921364768 + ], + [ + -0.035184118896722794, + -0.04101105034351349, + 0.9985390305519104, + -0.13468176297477033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9976019859313965, + 0.04868532344698906, + 0.04919373244047165, + 0.005436510282767112 + ], + [ + -0.05094309523701668, + 0.9976538419723511, + 0.045734141021966934, + -0.006744211173204125 + ], + [ + -0.04685173183679581, + -0.04813055321574211, + 0.9977416396141052, + -0.14789210846189593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9969243407249451, + 0.04823936149477959, + 0.061763945966959, + 0.008152049987531098 + ], + [ + -0.05152598395943642, + 0.997276246547699, + 0.05277414619922638, + -0.010577069800041737 + ], + [ + -0.05904992297291756, + -0.055794283747673035, + 0.9966945648193359, + -0.16116013927537887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9962369203567505, + 0.045919373631477356, + 0.07350760698318481, + 0.009594204023358274 + ], + [ + -0.05038526654243469, + 0.9969199895858765, + 0.06009881943464279, + -0.016537421728011037 + ], + [ + -0.07052150368690491, + -0.0635763630270958, + 0.9954822063446045, + -0.17394983841747536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9954670071601868, + 0.044414013624191284, + 0.08410042524337769, + 0.009408160149440414 + ], + [ + -0.05012428015470505, + 0.9964897632598877, + 0.06705033779144287, + -0.020030879595729172 + ], + [ + -0.08082723617553711, + -0.0709618628025055, + 0.9941988587379456, + -0.18846702707595514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9941519498825073, + 0.04647886008024216, + 0.09747632592916489, + 0.008149523309386167 + ], + [ + -0.05363500118255615, + 0.9959523677825928, + 0.07212629914283752, + -0.015524370027858702 + ], + [ + -0.0937294289469719, + -0.0769326388835907, + 0.9926208257675171, + -0.20300681893942787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9911763072013855, + 0.055607039481401443, + 0.12032180279493332, + 0.009561850124450981 + ], + [ + -0.06470850110054016, + 0.995222806930542, + 0.0731051117181778, + 0.0010801966294463053 + ], + [ + -0.11568184942007065, + -0.08024589717388153, + 0.9900395274162292, + -0.2174281851678598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9872885346412659, + 0.05834165960550308, + 0.14784309267997742, + 0.005647297267664652 + ], + [ + -0.07193993777036667, + 0.9934871196746826, + 0.08836250007152557, + -0.004105878625156694 + ], + [ + -0.14172500371932983, + -0.09787510335445404, + 0.9850555658340454, + -0.22923204913491108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9853941202163696, + 0.05426532030105591, + 0.16141146421432495, + 0.0068916180247410395 + ], + [ + -0.0721702128648758, + 0.9916129112243652, + 0.10721614956855774, + -0.020251096675141914 + ], + [ + -0.15423956513404846, + -0.11729925870895386, + 0.9810459017753601, + -0.2377780540556204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9870916604995728, + 0.047897689044475555, + 0.15282633900642395, + 0.022534626539124816 + ], + [ + -0.06597597897052765, + 0.9911133050918579, + 0.11550559103488922, + -0.030695187166088916 + ], + [ + -0.1459357738494873, + -0.12409746646881104, + 0.9814797639846802, + -0.2452776629416669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.988565981388092, + 0.05190522223711014, + 0.14157377183437347, + 0.03598882801464347 + ], + [ + -0.06887984275817871, + 0.9906498193740845, + 0.11776456981897354, + -0.03478350836600436 + ], + [ + -0.13413743674755096, + -0.1261696219444275, + 0.982897937297821, + -0.24963751479250484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9892904162406921, + 0.059032510966062546, + 0.133490189909935, + 0.04354113181594942 + ], + [ + -0.0739995464682579, + 0.9911628365516663, + 0.11009203642606735, + -0.029330419193281502 + ], + [ + -0.12581150233745575, + -0.11879121512174606, + 0.9849162697792053, + -0.25279136026491883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9877877831459045, + 0.07350809872150421, + 0.13737483322620392, + 0.026846611609712974 + ], + [ + -0.08794456720352173, + 0.9908735752105713, + 0.10215359926223755, + -0.02213535820607279 + ], + [ + -0.1286119669675827, + -0.1129874438047409, + 0.9852374196052551, + -0.26277678525838694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9872332215309143, + 0.0839344933629036, + 0.13537190854549408, + 0.02903570014922345 + ], + [ + -0.0976848378777504, + 0.9903460741043091, + 0.09834770858287811, + -0.02137460481436526 + ], + [ + -0.12581028044223785, + -0.11031590402126312, + 0.9859017133712769, + -0.26895363125644745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9864202737808228, + 0.09440792351961136, + 0.13439570367336273, + 0.03317740896686179 + ], + [ + -0.10757411271333694, + 0.9897125959396362, + 0.09432275593280792, + -0.018694282298693892 + ], + [ + -0.12410829961299896, + -0.1074993759393692, + 0.986428439617157, + -0.27475182438483003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9855707287788391, + 0.10151489824056625, + 0.13544411957263947, + 0.03839359647426449 + ], + [ + -0.11446227878332138, + 0.9892058968544006, + 0.09148818254470825, + -0.016021956378197085 + ], + [ + -0.12469471246004105, + -0.10567131638526917, + 0.9865520000457764, + -0.27836624784547775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9847438335418701, + 0.10623907297849655, + 0.13781455159187317, + 0.0415636555703937 + ], + [ + -0.11933911591768265, + 0.9887164235115051, + 0.0905429795384407, + -0.01574912079472522 + ], + [ + -0.12664031982421875, + -0.10560830682516098, + 0.9863108396530151, + -0.2810500645246662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9841949939727783, + 0.10895463079214096, + 0.13960322737693787, + 0.04467641954294971 + ], + [ + -0.12224633246660233, + 0.9883699417114258, + 0.09044744819402695, + -0.01750228925623366 + ], + [ + -0.12812495231628418, + -0.10608390718698502, + 0.986068069934845, + -0.28519492764941984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9836737513542175, + 0.11136926710605621, + 0.14136074483394623, + 0.046702009634893446 + ], + [ + -0.12476952373981476, + 0.988118588924408, + 0.08974529802799225, + -0.017211559198063907 + ], + [ + -0.12968631088733673, + -0.10591760277748108, + 0.9858818054199219, + -0.2885371727044465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9832843542098999, + 0.11349493265151978, + 0.1423753947019577, + 0.04954083528919298 + ], + [ + -0.12698881328105927, + 0.9878535270690918, + 0.08955018222332001, + -0.01756045964897656 + ], + [ + -0.1304825395345688, + -0.106133371591568, + 0.9857535362243652, + -0.28975795184979675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9830211400985718, + 0.11557959020137787, + 0.14251598715782166, + 0.053749296398925 + ], + [ + -0.12916968762874603, + 0.9875217080116272, + 0.090089350938797, + -0.01971773053290414 + ], + [ + -0.13032513856887817, + -0.1069684773683548, + 0.9856840968132019, + -0.2914809557746668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9830673336982727, + 0.11724112182855606, + 0.14083002507686615, + 0.05966637674413743 + ], + [ + -0.1307220458984375, + 0.9872702360153198, + 0.09060501307249069, + -0.022596419162926127 + ], + [ + -0.12841464579105377, + -0.10748041421175003, + 0.985879123210907, + -0.29302158121202815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9828202724456787, + 0.12000133097171783, + 0.1402284801006317, + 0.060166669746891395 + ], + [ + -0.1333070546388626, + 0.9870098233222961, + 0.08967068046331406, + -0.02259215275894423 + ], + [ + -0.1276462972164154, + -0.10682360082864761, + 0.9860502481460571, + -0.2935424113859896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9824358820915222, + 0.12413183599710464, + 0.1393236219882965, + 0.06353092987517842 + ], + [ + -0.1372794210910797, + 0.986519455909729, + 0.08907139301300049, + -0.023318512151475814 + ], + [ + -0.12638887763023376, + -0.10663320124149323, + 0.9862328171730042, + -0.29480455898847735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9817596673965454, + 0.12810075283050537, + 0.14049258828163147, + 0.06562152903099529 + ], + [ + -0.14123964309692383, + 0.9860665202140808, + 0.08788745105266571, + -0.02378042855712234 + ], + [ + -0.12727659940719604, + -0.10612748563289642, + 0.9861732125282288, + -0.29425321265322263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9815177917480469, + 0.13035883009433746, + 0.14010511338710785, + 0.0705826331357487 + ], + [ + -0.14329378306865692, + 0.9858884215354919, + 0.08655036240816116, + -0.02432359469230058 + ], + [ + -0.12684540450572968, + -0.10502690821886063, + 0.9863466024398804, + -0.29421454374907446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9827468991279602, + 0.12835055589675903, + 0.1331717073917389, + 0.07883894590080762 + ], + [ + -0.14034488797187805, + 0.9864523410797119, + 0.08494137972593307, + -0.025245124565773325 + ], + [ + -0.12046527862548828, + -0.1021658405661583, + 0.9874463081359863, + -0.29176263877602876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9841293692588806, + 0.12751416862010956, + 0.12340818345546722, + 0.09020106521297673 + ], + [ + -0.1384478360414505, + 0.986760675907135, + 0.08447256684303284, + -0.027999176115530437 + ], + [ + -0.11100289225578308, + -0.10021752119064331, + 0.988754153251648, + -0.28913193706606255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9845192432403564, + 0.1272997260093689, + 0.12048506736755371, + 0.0921748876327374 + ], + [ + -0.13766708970069885, + 0.9870774149894714, + 0.08201193064451218, + -0.025708380353743912 + ], + [ + -0.10848799347877502, + -0.09732914716005325, + 0.9893217086791992, + -0.28618761349896915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9847487807273865, + 0.12602660059928894, + 0.1199464425444603, + 0.09399957684952705 + ], + [ + -0.13624894618988037, + 0.9873412251472473, + 0.08120063692331314, + -0.02492550015449524 + ], + [ + -0.10819462686777115, + -0.09630479663610458, + 0.9894540309906006, + -0.28432640589651514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9853595495223999, + 0.12181870639324188, + 0.11927616596221924, + 0.10095757732137305 + ], + [ + -0.13201694190502167, + 0.9878765940666199, + 0.08167855441570282, + -0.02695229118231867 + ], + [ + -0.10788016021251678, + -0.09622921049594879, + 0.9894957542419434, + -0.28186203202263255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9887418150901794, + 0.11451481282711029, + 0.09631168842315674, + 0.15584992312017035 + ], + [ + -0.12331774830818176, + 0.9881827235221863, + 0.09103619307279587, + -0.04385621595333834 + ], + [ + -0.08474855124950409, + -0.10188823193311691, + 0.991179347038269, + -0.28075038824902204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9867867827415466, + 0.10882250219583511, + 0.12003953754901886, + 0.11732554561534866 + ], + [ + -0.11921177059412003, + 0.9893897175788879, + 0.08304540067911148, + -0.026321949315119962 + ], + [ + -0.10972867906093597, + -0.09625823050737381, + 0.9892896413803101, + -0.2761774337194005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9888350367546082, + 0.10073048621416092, + 0.10981205105781555, + 0.1472065545984956 + ], + [ + -0.1108110323548317, + 0.9897652864456177, + 0.08991986513137817, + -0.035728761223984544 + ], + [ + -0.09963048994541168, + -0.10108429193496704, + 0.9898766279220581, + -0.27363270633533354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9884112477302551, + 0.08960571140050888, + 0.12253165245056152, + 0.13137215913319197 + ], + [ + -0.10109413415193558, + 0.9907069206237793, + 0.0909934714436531, + -0.033436881201189074 + ], + [ + -0.11323942244052887, + -0.10232620686292648, + 0.9882844686508179, + -0.2680406500081547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9891607165336609, + 0.0835404098033905, + 0.12075641751289368, + 0.14438754119833963 + ], + [ + -0.09495078027248383, + 0.9912176132202148, + 0.09204360842704773, + -0.02893918875421657 + ], + [ + -0.1120065301656723, + -0.10251183807849884, + 0.988405704498291, + -0.26682252859483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9895917177200317, + 0.07846282422542572, + 0.12063092738389969, + 0.1556700619212428 + ], + [ + -0.08990742266178131, + 0.9916403889656067, + 0.09255289286375046, + -0.02505886063101839 + ], + [ + -0.11236052960157394, + -0.10243519395589828, + 0.9883734583854675, + -0.26397014348233333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9892686009407043, + 0.07816026359796524, + 0.12344476580619812, + 0.16004905827709887 + ], + [ + -0.08995293825864792, + 0.991591215133667, + 0.09303426742553711, + -0.020832628610192753 + ], + [ + -0.11513516306877136, + -0.10314010083675385, + 0.9879807829856873, + -0.2615971502710561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9885327816009521, + 0.0771297737956047, + 0.1298227310180664, + 0.155680193129133 + ], + [ + -0.08929393440485, + 0.9918724894523621, + 0.0906396359205246, + -0.013818379091556933 + ], + [ + -0.12177658081054688, + -0.10119263827800751, + 0.9873856902122498, + -0.25436364387879606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9878294467926025, + 0.07660368084907532, + 0.13536913692951202, + 0.15019566221315353 + ], + [ + -0.08918248116970062, + 0.9919917583465576, + 0.08943589776754379, + -0.009228435690041448 + ], + [ + -0.12743394076824188, + -0.10041997581720352, + 0.9867504239082336, + -0.252304349033559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9863433241844177, + 0.08730471134185791, + 0.13965922594070435, + 0.18260281779726997 + ], + [ + -0.09961827099323273, + 0.9914954304695129, + 0.0837438553571701, + 0.002086213728809943 + ], + [ + -0.13116025924682617, + -0.0965128093957901, + 0.9866520762443542, + -0.2479440809273329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9808077812194824, + 0.0916849821805954, + 0.1720753163099289, + 0.2144199962742993 + ], + [ + -0.10547071695327759, + 0.9917582869529724, + 0.07274235785007477, + 0.0149031648809304 + ], + [ + -0.16398774087429047, + -0.08949518203735352, + 0.9823943376541138, + -0.24623685049228983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9719122648239136, + 0.08371219784021378, + 0.21995174884796143, + 0.21504349772070275 + ], + [ + -0.10155991464853287, + 0.9922846555709839, + 0.0711110532283783, + 0.007043168260181536 + ], + [ + -0.21230188012123108, + -0.0914519876241684, + 0.9729154109954834, + -0.24639897400238475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9615211486816406, + 0.07721713185310364, + 0.26365625858306885, + 0.21278090012855216 + ], + [ + -0.09858864545822144, + 0.9927475452423096, + 0.06879391521215439, + 0.0011991202678592475 + ], + [ + -0.25643205642700195, + -0.0921403244137764, + 0.9621604681015015, + -0.24596170265166487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9491924047470093, + 0.07247801870107651, + 0.3062364161014557, + 0.21026033048258452 + ], + [ + -0.09712324291467667, + 0.9930815100669861, + 0.0660015270113945, + -0.0028301892977696465 + ], + [ + -0.2993340790271759, + -0.09239081293344498, + 0.9496647119522095, + -0.2446301926354893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9348945617675781, + 0.0681367963552475, + 0.34832385182380676, + 0.20262680200279737 + ], + [ + -0.09569375216960907, + 0.9934461712837219, + 0.06250885874032974, + -0.0060090873054549345 + ], + [ + -0.3417818248271942, + -0.09177161008119583, + 0.9352877140045166, + -0.2433094451173407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9191308617591858, + 0.06265154480934143, + 0.3889386057853699, + 0.19206418536725592 + ], + [ + -0.09271897375583649, + 0.9939425587654114, + 0.05900375545024872, + -0.008610095378377886 + ], + [ + -0.3828859329223633, + -0.09029415249824524, + 0.9193722605705261, + -0.24251341038062924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9028504490852356, + 0.05522643029689789, + 0.4263930916786194, + 0.1756687729085078 + ], + [ + -0.08798083662986755, + 0.9944618344306946, + 0.05748912692070007, + -0.014028038295199637 + ], + [ + -0.420856773853302, + -0.08941850066184998, + 0.9027092456817627, + -0.24006893879077473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8892189264297485, + 0.050181321799755096, + 0.4547213613986969, + 0.165809351425679 + ], + [ + -0.08401384204626083, + 0.9949736595153809, + 0.05448966473340988, + -0.015615845697580791 + ], + [ + -0.4497013986110687, + -0.0866561308503151, + 0.888965368270874, + -0.23676356052766082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8747541904449463, + 0.04710541293025017, + 0.48227185010910034, + 0.1569045717598962 + ], + [ + -0.08050154149532318, + 0.9955604076385498, + 0.048774950206279755, + -0.01253412693861078 + ], + [ + -0.47783321142196655, + -0.08148971945047379, + 0.8746626973152161, + -0.23162425443774365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8578189611434937, + 0.04633130878210068, + 0.5118594765663147, + 0.15004641682398123 + ], + [ + -0.07873304933309555, + 0.9960193037986755, + 0.0417923778295517, + -0.007378481233828381 + ], + [ + -0.5078856348991394, + -0.0761505514383316, + 0.8580520153045654, + -0.22768695071095327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8357737064361572, + 0.0419488400220871, + 0.5474693179130554, + 0.13415188476687573 + ], + [ + -0.07348167896270752, + 0.9966533780097961, + 0.03581131622195244, + -0.0039603279705052495 + ], + [ + -0.5441349148750305, + -0.07015912234783173, + 0.8360591530799866, + -0.22138115275101583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8161856532096863, + 0.03399433195590973, + 0.5767889022827148, + 0.11865573525428771 + ], + [ + -0.06638697534799576, + 0.9971739053726196, + 0.0351702980697155, + -0.008149558212608099 + ], + [ + -0.5739632844924927, + -0.0669967532157898, + 0.816135823726654, + -0.2148899793624878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7971195578575134, + 0.02894013747572899, + 0.6031275987625122, + 0.1051236718893051 + ], + [ + -0.059758637100458145, + 0.9977281093597412, + 0.031105179339647293, + -0.004706746222237584 + ], + [ + -0.600857138633728, + -0.060836631804704666, + 0.7970380187034607, + -0.20836860957692882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7775494456291199, + 0.023861747235059738, + 0.6283689141273499, + 0.09150108826942131 + ], + [ + -0.053373370319604874, + 0.9981780648231506, + 0.028139783069491386, + -0.002278856500662619 + ], + [ + -0.6265526413917542, + -0.055418238043785095, + 0.7774063944816589, + -0.20283959805965424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7570767402648926, + 0.018520351499319077, + 0.6530634164810181, + 0.0771182641631267 + ], + [ + -0.04659819230437279, + 0.9985830187797546, + 0.025700876489281654, + 0.0006822514561478229 + ], + [ + -0.6516621112823486, + -0.049889110028743744, + 0.7568670511245728, + -0.1950591647722682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7382491827011108, + 0.012517876923084259, + 0.674411952495575, + 0.06422703371184771 + ], + [ + -0.039598140865564346, + 0.998907744884491, + 0.024805448949337006, + 0.002407071539429856 + ], + [ + -0.6733648180961609, + -0.04501806199550629, + 0.7379385232925415, + -0.19036921443509275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7199732661247253, + 0.006396008655428886, + 0.6939724087715149, + 0.05214013721122116 + ], + [ + -0.03261362016201019, + 0.9991645812988281, + 0.024626731872558594, + 0.004343960867797742 + ], + [ + -0.6932350993156433, + -0.04036353528499603, + 0.7195804119110107, + -0.18598018518236817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6986356973648071, + -0.0015586093068122864, + 0.7154759168624878, + 0.03504140611554755 + ], + [ + -0.024666592478752136, + 0.9993506669998169, + 0.026263024657964706, + 0.003416961535322861 + ], + [ + -0.7150522470474243, + -0.03599663823843002, + 0.6981436014175415, + -0.1750425103746477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6806330680847168, + -0.0066817570477724075, + 0.7325939536094666, + 0.023099581433124225 + ], + [ + -0.017601942643523216, + 0.9995205998420715, + 0.025469793006777763, + 0.006315185920503296 + ], + [ + -0.7324129939079285, + -0.03023066185414791, + 0.6801891922950745, + -0.1681614910481406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.6638915538787842, + -0.011270771734416485, + 0.7477440237998962, + 0.011319567519621765 + ], + [ + -0.01003671158105135, + 0.9996621012687683, + 0.02397913672029972, + 0.010178633478515949 + ], + [ + -0.7477615475654602, + -0.023424437269568443, + 0.6635540723800659, + -0.16167913169645873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6468384861946106, + -0.017234187573194504, + 0.7624322772026062, + 0.0001565101327466109 + ], + [ + -0.0017366022802889347, + 0.9997087717056274, + 0.024070952087640762, + 0.011549440655307691 + ], + [ + -0.7626250386238098, + -0.016894061118364334, + 0.6466201543807983, + -0.15345963774645915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6308437585830688, + -0.02234169840812683, + 0.7755882143974304, + -0.009551514966077493 + ], + [ + 0.0065579842776060104, + 0.9997031688690186, + 0.02346348762512207, + 0.013197548345464175 + ], + [ + -0.7758821845054626, + -0.00971550028771162, + 0.6308029890060425, + -0.1469899129183566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6167765855789185, + -0.026026291772723198, + 0.7867078185081482, + -0.016535844727129233 + ], + [ + 0.014397220686078072, + 0.9996590614318848, + 0.02178388088941574, + 0.016556656898045148 + ], + [ + -0.7870065569877625, + -0.0021093813702464104, + 0.6169410347938538, + -0.14353186238984594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6027385592460632, + -0.030609486624598503, + 0.7973514199256897, + -0.02511204191651501 + ], + [ + 0.023171735927462578, + 0.9995139837265015, + 0.020854182541370392, + 0.017571550180188945 + ], + [ + -0.7976022362709045, + 0.005906395614147186, + 0.6031548976898193, + -0.13775466858852106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5922653675079346, + -0.03736495226621628, + 0.8048762083053589, + -0.03728400038891151 + ], + [ + 0.033645741641521454, + 0.9991997480392456, + 0.02162797376513481, + 0.014163850150147423 + ], + [ + -0.8050402402877808, + 0.014271154068410397, + 0.5930485725402832, + -0.12696180558595502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.5936816930770874, + -0.039154499769210815, + 0.8037468791007996, + -0.04291513528613771 + ], + [ + 0.04097359627485275, + 0.9989907741546631, + 0.018400954082608223, + 0.01587563995119245 + ], + [ + -0.8036561608314514, + 0.022008085623383522, + 0.5946868658065796, + -0.12443576569928498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5944150686264038, + -0.041090838611125946, + 0.8031079173088074, + -0.04746592689122333 + ], + [ + 0.045005105435848236, + 0.9988282322883606, + 0.017794590443372726, + 0.012229098544501868 + ], + [ + -0.802898108959198, + 0.02556658536195755, + 0.5955678224563599, + -0.12147218526386824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.5927132368087769, + -0.040753528475761414, + 0.8043819069862366, + -0.05131520534880826 + ], + [ + 0.04964476823806763, + 0.9986686110496521, + 0.014015925116837025, + 0.013639230704790012 + ], + [ + -0.8038821816444397, + 0.03162592649459839, + 0.5939472913742065, + -0.1167310858114821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.5942549109458923, + -0.040347859263420105, + 0.8032641410827637, + -0.05372403952308366 + ], + [ + 0.05350501835346222, + 0.9985116124153137, + 0.010572100058197975, + 0.014127376666445224 + ], + [ + -0.8024951219558716, + 0.03669613599777222, + 0.5955291986465454, + -0.11748075868751182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.5956979393959045, + -0.03993546962738037, + 0.8022151589393616, + -0.05687723415064031 + ], + [ + 0.05739089846611023, + 0.9983266592025757, + 0.0070816464722156525, + 0.014639929776675388 + ], + [ + -0.8011556267738342, + 0.041821327060461044, + 0.596993088722229, + -0.11699266184548864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5973472595214844, + -0.038363587111234665, + 0.801064670085907, + -0.05757347179851571 + ], + [ + 0.06010496988892555, + 0.9981876015663147, + 0.0029841717332601547, + 0.01634991034621098 + ], + [ + -0.7997272610664368, + 0.04636537283658981, + 0.5985704660415649, + -0.12042605828066341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.5971692800521851, + -0.03702281415462494, + 0.8012604117393494, + -0.06093261294433328 + ], + [ + 0.06257923692464828, + 0.9980398416519165, + -0.000524371862411499, + 0.01691935412952157 + ], + [ + -0.799670398235321, + 0.050455398857593536, + 0.5983155965805054, + -0.11846040335835004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.5994808673858643, + -0.03587711229920387, + 0.7995846271514893, + -0.0627298538405143 + ], + [ + 0.06523746252059937, + 0.9978612065315247, + -0.004137435927987099, + 0.016952118665346357 + ], + [ + -0.797726035118103, + 0.0546431839466095, + 0.6005392074584961, + -0.11602793802491955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.601736307144165, + -0.035621147602796555, + 0.7979001402854919, + -0.06790477496678712 + ], + [ + 0.06800945103168488, + 0.997661828994751, + -0.006750093773007393, + 0.015294289196551335 + ], + [ + -0.7957940697669983, + 0.05832652002573013, + 0.6027519106864929, + -0.11060650583173409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.6069967746734619, + -0.03484553098678589, + 0.793940007686615, + -0.06967322913716074 + ], + [ + 0.07025502622127533, + 0.9974796175956726, + -0.009933831170201302, + 0.014029568809344143 + ], + [ + -0.7915927767753601, + 0.06180807948112488, + 0.6079149842262268, + -0.10680760804746972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6142799258232117, + -0.032584935426712036, + 0.7884150743484497, + -0.07023993230684371 + ], + [ + 0.07148395478725433, + 0.9973366856575012, + -0.014475880190730095, + 0.015953245458238927 + ], + [ + -0.7858436107635498, + 0.06525126844644547, + 0.614973247051239, + -0.10932685764598066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6219800710678101, + -0.030447611585259438, + 0.7824409604072571, + -0.06898951463584528 + ], + [ + 0.07144176214933395, + 0.9972826838493347, + -0.01798279955983162, + 0.015854559887628086 + ], + [ + -0.7797672152519226, + 0.06708389520645142, + 0.6224651336669922, + -0.11199513111935287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6278173923492432, + -0.02865266427397728, + 0.777833104133606, + -0.06943633240326995 + ], + [ + 0.07091732323169708, + 0.9972714185714722, + -0.020503947511315346, + 0.01491773835551299 + ], + [ + -0.7751232385635376, + 0.0680345818400383, + 0.6281363368034363, + -0.11494361489522653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.6314291954040527, + -0.027056140825152397, + 0.7749614119529724, + -0.07022871127443725 + ], + [ + 0.07052654772996902, + 0.9972527623176575, + -0.02264721319079399, + 0.014249871362794618 + ], + [ + -0.772219717502594, + 0.06895546615123749, + 0.6316027045249939, + -0.11556412157465201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.627949595451355, + -0.025151390582323074, + 0.7778475284576416, + -0.07445545697309933 + ], + [ + 0.07146431505680084, + 0.9971184134483337, + -0.02545110136270523, + 0.015070723910190043 + ], + [ + -0.7749660015106201, + 0.07157034426927567, + 0.6279374957084656, + -0.09856640679425882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.6360589861869812, + -0.023836009204387665, + 0.7712722420692444, + -0.07096118754783616 + ], + [ + 0.07095500081777573, + 0.9970948100090027, + -0.02770073711872101, + 0.017063373882995277 + ], + [ + -0.7683712840080261, + 0.07234492152929306, + 0.6359024047851562, + -0.11263216616677457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6390392184257507, + -0.022417807951569557, + 0.7688474655151367, + -0.07065517960696435 + ], + [ + 0.07028043270111084, + 0.9970956444740295, + -0.02934165671467781, + 0.016898924732183823 + ], + [ + -0.7659566402435303, + 0.0727853924036026, + 0.6387587785720825, + -0.11579816807977489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6296486854553223, + -0.02168269455432892, + 0.776577353477478, + -0.07921052721680188 + ], + [ + 0.07163391262292862, + 0.9969723224639893, + -0.03024444915354252, + 0.014917464987909208 + ], + [ + -0.7735704183578491, + 0.0746726542711258, + 0.6292955875396729, + -0.08935161031416206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.6440064907073975, + -0.02113492228090763, + 0.7647280097007751, + -0.06934935219708037 + ], + [ + 0.06914228200912476, + 0.9971352815628052, + -0.03066933900117874, + 0.01570707585235111 + ], + [ + -0.7618890404701233, + 0.07262629270553589, + 0.643622875213623, + -0.1230176002031467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6435829997062683, + -0.02116709016263485, + 0.7650835514068604, + -0.07152837679156515 + ], + [ + 0.0691491961479187, + 0.9971374869346619, + -0.03058064542710781, + 0.015096128133476758 + ], + [ + -0.7622462511062622, + 0.07258609682321548, + 0.6432044506072998, + -0.11968829922500204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6427241563796997, + -0.01954827271401882, + 0.7658481597900391, + -0.07158023578527034 + ], + [ + 0.06962969899177551, + 0.9970273971557617, + -0.032986342906951904, + 0.01914614118391373 + ], + [ + -0.7629268169403076, + 0.07452689856290817, + 0.6421747803688049, + -0.11354092471912261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6217554807662964, + -0.016980761662125587, + 0.7830273509025574, + -0.0781394719405741 + ], + [ + 0.06643760204315186, + 0.9973049759864807, + -0.031126560643315315, + 0.01917677671938646 + ], + [ + -0.7803885340690613, + 0.07137556374073029, + 0.6212079524993896, + -0.056916793304510785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6446307897567749, + -0.015121184289455414, + 0.7643445134162903, + -0.06669203335816255 + ], + [ + 0.06917298585176468, + 0.9968569278717041, + -0.038617901504039764, + 0.03004980788978397 + ], + [ + -0.7613582015037537, + 0.0777662843465805, + 0.6436506509780884, + -0.10951543364857064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.6360296010971069, + -0.019095387309789658, + 0.7714283466339111, + -0.07596004386356131 + ], + [ + 0.07192863523960114, + 0.9968084096908569, + -0.034629665315151215, + 0.022518080521802434 + ], + [ + -0.7683050632476807, + 0.07751328498125076, + 0.6353732347488403, + -0.08703410458125052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6345498561859131, + -0.01912127621471882, + 0.7726453542709351, + -0.07689927088432626 + ], + [ + 0.07191452383995056, + 0.9968176484107971, + -0.03439214080572128, + 0.022803734163524676 + ], + [ + -0.7695289850234985, + 0.07738795131444931, + 0.6339056491851807, + -0.08022320230231911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.648901641368866, + -0.019997594878077507, + 0.7606095671653748, + -0.06680740596207439 + ], + [ + 0.06922922283411026, + 0.9970598816871643, + -0.032847560942173004, + 0.02221852840214479 + ], + [ + -0.7577163577079773, + 0.0739712342619896, + 0.6483782529830933, + -0.11536793374135847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.633558988571167, + -0.019843636080622673, + 0.773439884185791, + -0.07789375259861596 + ], + [ + 0.07184778153896332, + 0.9968603253364563, + -0.033277928829193115, + 0.02154950335255412 + ], + [ + -0.7703511714935303, + 0.07665347307920456, + 0.6329955458641052, + -0.0709207730581526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6602123379707336, + -0.020776934921741486, + 0.7507915496826172, + -0.05625159661056567 + ], + [ + 0.0647386834025383, + 0.997471272945404, + -0.029324892908334732, + 0.01710174428757097 + ], + [ + -0.7482837438583374, + 0.06796590983867645, + 0.6598879098892212, + -0.13551926925534108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6614090204238892, + -0.02194122225046158, + 0.7497044205665588, + -0.055537362946350075 + ], + [ + 0.06379302591085434, + 0.9975955486297607, + -0.02708376757800579, + 0.01335794477280779 + ], + [ + -0.7473075985908508, + 0.06573935598134995, + 0.6612184047698975, + -0.13422195745296167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.65960294008255, + -0.02171388640999794, + 0.7513005137443542, + -0.0588302856097456 + ], + [ + 0.0656004250049591, + 0.997431218624115, + -0.02876628376543522, + 0.01608489087981279 + ], + [ + -0.7487459778785706, + 0.06825995445251465, + 0.6593329906463623, + -0.12391756343059854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.661650538444519, + -0.02101094275712967, + 0.7495179176330566, + -0.05739250623422569 + ], + [ + 0.06497246026992798, + 0.997454047203064, + -0.02939438261091709, + 0.01744088786272485 + ], + [ + -0.7469921112060547, + 0.06814683228731155, + 0.6613311767578125, + -0.12214646586140648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.6641895771026611, + -0.021391475573182106, + 0.7472580671310425, + -0.05588736061434278 + ], + [ + 0.06481004506349564, + 0.9974746704101562, + -0.029051147401332855, + 0.017279967674832853 + ], + [ + -0.7447495460510254, + 0.0677252933382988, + 0.6638987064361572, + -0.12301021457695571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6672716736793518, + -0.02258181758224964, + 0.7444720268249512, + -0.05284814562831747 + ], + [ + 0.06400728225708008, + 0.9975811243057251, + -0.02711055800318718, + 0.01425643485100543 + ], + [ + -0.7420589923858643, + 0.06574173271656036, + 0.6671030521392822, + -0.12454114971590825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6696497201919556, + -0.023087695240974426, + 0.7423181533813477, + -0.051455800455124656 + ], + [ + 0.06343454867601395, + 0.9976421594619751, + -0.02619587816298008, + 0.013071818414648047 + ], + [ + -0.7399630546569824, + 0.06463067978620529, + 0.6695353984832764, + -0.12536131798243916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.673500657081604, + -0.022093571722507477, + 0.738856315612793, + -0.047679871284082284 + ], + [ + 0.06306353956460953, + 0.9976263046264648, + -0.027653826400637627, + 0.015470204348141541 + ], + [ + -0.7364915609359741, + 0.06521976739168167, + 0.673295259475708, + -0.12719869308295798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6755822896957397, + -0.021818211302161217, + 0.7369616627693176, + -0.046765156823103546 + ], + [ + 0.06253545731306076, + 0.9976557493209839, + -0.027790842577815056, + 0.015948353274191012 + ], + [ + -0.7346276640892029, + 0.0648612380027771, + 0.6753630042076111, + -0.12707555196324333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.6780432462692261, + -0.022131269797682762, + 0.7346887588500977, + -0.0451937561274552 + ], + [ + 0.06259956955909729, + 0.9976536631584167, + -0.027720415964722633, + 0.015472386894961361 + ], + [ + -0.7323514223098755, + 0.06478684395551682, + 0.6778377890586853, + -0.12536505406997245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6818660497665405, + -0.020374726504087448, + 0.7311933040618896, + -0.042202020173922924 + ], + [ + 0.06171989068388939, + 0.9976498484611511, + -0.029756644740700722, + 0.01791769483538925 + ], + [ + -0.7288686037063599, + 0.06541921198368073, + 0.6815210580825806, + -0.1255895391350887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6871442794799805, + -0.018713833764195442, + 0.7262799143791199, + -0.03803610914676894 + ], + [ + 0.060105159878730774, + 0.9977056384086609, + -0.03115881234407425, + 0.01912551709130162 + ], + [ + -0.7240304350852966, + 0.06506376713514328, + 0.6866925358772278, + -0.12756413060133576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6907595992088318, + -0.018935739994049072, + 0.7228365540504456, + -0.03748050185500598 + ], + [ + 0.05980662256479263, + 0.9977279901504517, + -0.031015697866678238, + 0.018011939565299964 + ], + [ + -0.7206069827079773, + 0.06465479731559753, + 0.6903226375579834, + -0.12745972297719266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.6945845484733582, + -0.019705699756741524, + 0.7191411256790161, + -0.03617284434740661 + ], + [ + 0.05916859954595566, + 0.9978029131889343, + -0.029806656762957573, + 0.014923726338282471 + ], + [ + -0.7169737815856934, + 0.06325381249189377, + 0.69422447681427, + -0.1266386489399144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.7008114457130432, + -0.017081541940569878, + 0.7131420373916626, + -0.03170948087191973 + ], + [ + 0.05715719610452652, + 0.9978435635566711, + -0.032268065959215164, + 0.018381535359581962 + ], + [ + -0.7110530138015747, + 0.06337502598762512, + 0.7002765536308289, + -0.12835534080618718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.7079348564147949, + -0.017595648765563965, + 0.7060585618019104, + -0.02980514311643899 + ], + [ + 0.05629321187734604, + 0.9979149103164673, + -0.0315738283097744, + 0.016723813305868477 + ], + [ + -0.7040308117866516, + 0.062098514288663864, + 0.7074492573738098, + -0.1294382937863225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.7163532376289368, + -0.01857701875269413, + 0.6974905133247375, + -0.026648371165893137 + ], + [ + 0.05483105778694153, + 0.9980528950691223, + -0.02973167411983013, + 0.013866575324877364 + ], + [ + -0.6955800652503967, + 0.05954251438379288, + 0.7159770131111145, + -0.1324954874691416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.7238614559173584, + -0.01963728480041027, + 0.6896658539772034, + -0.02839436831532932 + ], + [ + 0.05435003340244293, + 0.9981115460395813, + -0.028625020757317543, + 0.01252409924035434 + ], + [ + -0.6878013014793396, + 0.058203913271427155, + 0.7235617637634277, + -0.12728855517066895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.7294814586639404, + -0.02807813137769699, + 0.6834241151809692, + -0.04823495844592815 + ], + [ + 0.05789816379547119, + 0.9981059432029724, + -0.020793365314602852, + -0.0011806525824377767 + ], + [ + -0.6815458536148071, + 0.05473737418651581, + 0.7297253608703613, + -0.11095010275479224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.7368404269218445, + -0.04521579295396805, + 0.6745530366897583, + -0.07913797601263543 + ], + [ + 0.06493232399225235, + 0.9978814721107483, + -0.004039352759718895, + -0.03163530761376023 + ], + [ + -0.6729413270950317, + 0.04677664488554001, + 0.7382153272628784, + -0.08554820334080791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.7922411561012268, + -0.07566720247268677, + 0.6054985523223877, + -0.10065029188990593 + ], + [ + 0.08075152337551117, + 0.9965554475784302, + 0.018880125135183334, + -0.08067343942821026 + ], + [ + -0.6048414707183838, + 0.03393730893731117, + 0.7956224679946899, + -0.06188443675637245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 667.0482177734375, + "fy": 666.8503824869791, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/0b566118-f9ce-4d3a-9718-a129b9e145e3/caption.txt b/dynpose_eval/source/0b566118-f9ce-4d3a-9718-a129b9e145e3/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..1c7ee9a2752612e32f1523817a10ac87483c1fb3 --- /dev/null +++ b/dynpose_eval/source/0b566118-f9ce-4d3a-9718-a129b9e145e3/caption.txt @@ -0,0 +1 @@ +A man is talking to the camera while standing in front of a fireplace. diff --git a/dynpose_eval/source/0b566118-f9ce-4d3a-9718-a129b9e145e3/extras/source_metadata.json b/dynpose_eval/source/0b566118-f9ce-4d3a-9718-a129b9e145e3/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..965a6c6ddeeec6884390d22ffdb36a60b8bb8ea9 --- /dev/null +++ b/dynpose_eval/source/0b566118-f9ce-4d3a-9718-a129b9e145e3/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "0b566118-f9ce-4d3a-9718-a129b9e145e3", + "tar_name": "dpsp-ff87ee24", + "youtube_link": "https://www.youtube.com/watch?v=OMZc-ZPDjQQ", + "youtube_timestamp": "0:02:32.585-0:02:38.057", + "num_frames": 165, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/0b566118-f9ce-4d3a-9718-a129b9e145e3/transforms.json b/dynpose_eval/source/0b566118-f9ce-4d3a-9718-a129b9e145e3/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f5c83fa576440b3025ed2f199a1faeeb513c2bfa --- /dev/null +++ b/dynpose_eval/source/0b566118-f9ce-4d3a-9718-a129b9e145e3/transforms.json @@ -0,0 +1,5788 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 165, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -4.439832628122531e-05, + -0.00016110825526993722, + 0.001527518848888576 + ], + [ + 4.442198041942902e-05, + 1.0, + 0.00014682053006254137, + -0.0009800678817555308 + ], + [ + 0.0001611017360119149, + -0.00014682768960483372, + 1.0, + 0.0007530748844146729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999942183494568, + -0.0011540910927578807, + 0.003193532582372427, + 0.0060916319489479065 + ], + [ + 0.0011606070911511779, + 0.9999972581863403, + -0.0020392537117004395, + -0.002032486954703927 + ], + [ + -0.003191170282661915, + 0.002042948268353939, + 0.999992847442627, + -0.0012381018605083227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999746680259705, + -0.002374376403167844, + 0.006711910478770733, + 0.008475642651319504 + ], + [ + 0.0023959253448992968, + 0.9999920129776001, + -0.003204361302778125, + -0.0033970894291996956 + ], + [ + -0.006704248487949371, + 0.0032203614246100187, + 0.9999723434448242, + -0.0016623602714389563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999445080757141, + -0.004893841687589884, + 0.009329583495855331, + 0.014202075079083443 + ], + [ + 0.004927914123982191, + 0.9999812841415405, + -0.003632629755884409, + -0.007946462370455265 + ], + [ + -0.009311631321907043, + 0.003678403329104185, + 0.9999498724937439, + 0.00019601121312007308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999455809593201, + -0.004857736174017191, + 0.009231091476976871, + 0.023814266547560692 + ], + [ + 0.004898498300462961, + 0.9999783039093018, + -0.0043982258066535, + -0.008437504991889 + ], + [ + -0.009209525771439075, + 0.004443204961717129, + 0.999947726726532, + -0.0023054310586303473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999627470970154, + -0.005717379506677389, + 0.006471084896475077, + 0.031143680214881897 + ], + [ + 0.005744942929595709, + 0.9999744892120361, + -0.004248956684023142, + -0.013432060368359089 + ], + [ + -0.006446626503020525, + 0.004285973962396383, + 0.999970018863678, + 4.9348534957971424e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999703764915466, + -0.007429181598126888, + 0.0020140467677265406, + 0.03357616811990738 + ], + [ + 0.007439436390995979, + 0.9999591708183289, + -0.005132865160703659, + -0.015088018029928207 + ], + [ + -0.0019758313428610563, + 0.0051476964727044106, + 0.9999848008155823, + 0.0014631579397246242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999667406082153, + -0.00812834408134222, + -0.0006395980017259717, + 0.030101273208856583 + ], + [ + 0.008124143816530704, + 0.9999470710754395, + -0.006315370090305805, + -0.013268646784126759 + ], + [ + 0.0006908975774422288, + 0.006309963762760162, + 0.9999798536300659, + 0.0009987113298848271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999463558197021, + -0.008292521350085735, + -0.006207644008100033, + 0.040878232568502426 + ], + [ + 0.008248654194176197, + 0.9999410510063171, + -0.007059086579829454, + -0.015789978206157684 + ], + [ + 0.00626581534743309, + 0.007007503416389227, + 0.9999558329582214, + 0.004616605117917061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999143481254578, + -0.008307147771120071, + -0.010111372917890549, + 0.039199113845825195 + ], + [ + 0.008216418325901031, + 0.9999259114265442, + -0.008981720544397831, + -0.012142038904130459 + ], + [ + 0.010185236111283302, + 0.00889787171036005, + 0.9999085664749146, + 0.004425643943250179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998025298118591, + -0.009371018968522549, + -0.017522919923067093, + 0.05101243034005165 + ], + [ + 0.009199409745633602, + 0.9999091625213623, + -0.009848504327237606, + -0.015690449625253677 + ], + [ + 0.017613619565963745, + 0.009685358963906765, + 0.9997979402542114, + 0.006012727040797472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995611906051636, + -0.009652120061218739, + -0.02800559438765049, + 0.061362627893686295 + ], + [ + 0.00932264979928732, + 0.9998860955238342, + -0.01187124289572239, + -0.015341730788350105 + ], + [ + 0.028116988018155098, + 0.011604947969317436, + 0.9995372891426086, + 0.009229094721376896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9992915987968445, + -0.010385563597083092, + -0.03617176413536072, + 0.05772173032164574 + ], + [ + 0.009973345324397087, + 0.9998834729194641, + -0.011557970196008682, + -0.01876693218946457 + ], + [ + 0.0362875834107399, + 0.01118902862071991, + 0.999278724193573, + 0.0060442653484642506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9989844560623169, + -0.009765220806002617, + -0.04398548603057861, + 0.05975919961929321 + ], + [ + 0.009237313643097878, + 0.9998830556869507, + -0.012189149856567383, + -0.017633650451898575 + ], + [ + 0.044099368155002594, + 0.011770462617278099, + 0.9989578127861023, + 0.006325741298496723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9985423684120178, + -0.010569833219051361, + -0.05292871966958046, + 0.06448754668235779 + ], + [ + 0.009940199553966522, + 0.999876856803894, + -0.012145044282078743, + -0.018368443474173546 + ], + [ + 0.05305057391524315, + 0.011601218953728676, + 0.9985244274139404, + 0.004346464294940233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981343150138855, + -0.011149916797876358, + -0.06003020331263542, + 0.06523203104734421 + ], + [ + 0.010541556403040886, + 0.9998899102210999, + -0.010441417805850506, + -0.022245517000555992 + ], + [ + 0.06014001742005348, + 0.009789125062525272, + 0.9981419444084167, + 0.004070820286870003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9976465702056885, + -0.011377502232789993, + -0.06761586666107178, + 0.07594751566648483 + ], + [ + 0.010767653584480286, + 0.9998980760574341, + -0.009376954287290573, + -0.025101762264966965 + ], + [ + 0.06771565973758698, + 0.008626822382211685, + 0.9976673722267151, + 0.006712788715958595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9969590306282043, + -0.011465935967862606, + -0.0770791694521904, + 0.0808599591255188 + ], + [ + 0.010812279768288136, + 0.9999020099639893, + -0.008892310783267021, + -0.030448660254478455 + ], + [ + 0.07717356830835342, + 0.008031867444515228, + 0.9969853162765503, + 0.007407522760331631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9958589673042297, + -0.010015002451837063, + -0.09035829454660416, + 0.08817408233880997 + ], + [ + 0.009222897700965405, + 0.999915361404419, + -0.00917955581098795, + -0.033880915492773056 + ], + [ + 0.09044257551431656, + 0.00830817874521017, + 0.9958670139312744, + 0.00992580410093069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9944438338279724, + -0.00880285445600748, + -0.10489969700574875, + 0.0963951125741005 + ], + [ + 0.00793743971735239, + 0.9999309778213501, + -0.008664551191031933, + -0.03999308869242668 + ], + [ + 0.10496873408555984, + 0.0077837747521698475, + 0.9944450855255127, + 0.013578901998698711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.992946207523346, + -0.007922524586319923, + -0.11830064654350281, + 0.09809651225805283 + ], + [ + 0.006974614690989256, + 0.9999402165412903, + -0.008424579165875912, + -0.04094089940190315 + ], + [ + 0.11836031079292297, + 0.00754005229100585, + 0.9929420948028564, + 0.015201061964035034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9911705851554871, + -0.007859615609049797, + -0.1323596090078354, + 0.10826366394758224 + ], + [ + 0.006964615546166897, + 0.9999496340751648, + -0.007223485969007015, + -0.041932545602321625 + ], + [ + 0.1324097067117691, + 0.006237872876226902, + 0.9911754727363586, + 0.020323321223258972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9898715615272522, + -0.006857399363070726, + -0.14180012047290802, + 0.11402467638254166 + ], + [ + 0.006132031325250864, + 0.9999657869338989, + -0.005551768466830254, + -0.04421466588973999 + ], + [ + 0.1418333500623703, + 0.004626015201210976, + 0.9898797273635864, + 0.021560387685894966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9878621697425842, + -0.007283926475793123, + -0.1551620215177536, + 0.11922528594732285 + ], + [ + 0.006815169472247362, + 0.9999704360961914, + -0.0035528254229575396, + -0.047618575394153595 + ], + [ + 0.1551833301782608, + 0.0024522466119378805, + 0.987882673740387, + 0.024415472522377968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9852892756462097, + -0.007039033807814121, + -0.17074988782405853, + 0.12606143951416016 + ], + [ + 0.006933447904884815, + 0.9999752044677734, + -0.0012146868975833058, + -0.05133036896586418 + ], + [ + 0.17075420916080475, + 1.2932694517076015e-05, + 0.9853136539459229, + 0.029276398941874504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.982433021068573, + -0.005833321250975132, + -0.18652436137199402, + 0.13278698921203613 + ], + [ + 0.0060751838609576225, + 0.9999812841415405, + 0.0007251030765473843, + -0.05503929406404495 + ], + [ + 0.1865166425704956, + -0.0018455348908901215, + 0.9824500679969788, + 0.03271416202187538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9792695045471191, + -0.005203354172408581, + -0.202494814991951, + 0.13885349035263062 + ], + [ + 0.005848088301718235, + 0.999979555606842, + 0.0025857812725007534, + -0.0537688173353672 + ], + [ + 0.20247723162174225, + -0.0037163840606808662, + 0.9792799353599548, + 0.03702475503087044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9763435125350952, + -0.003788378555327654, + -0.2161920964717865, + 0.149922177195549 + ], + [ + 0.005294113885611296, + 0.9999656081199646, + 0.006386104039847851, + -0.055954672396183014 + ], + [ + 0.21616047620773315, + -0.007379576563835144, + 0.9763299822807312, + 0.041448477655649185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.97386634349823, + -0.0027873548679053783, + -0.22710470855236053, + 0.15306760370731354 + ], + [ + 0.005282003898173571, + 0.9999322295188904, + 0.010377593338489532, + -0.05935953930020332 + ], + [ + 0.22706039249897003, + -0.011305956169962883, + 0.9738150835037231, + 0.04190133884549141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9709995985031128, + -0.0022465670481324196, + -0.23907065391540527, + 0.16067026555538177 + ], + [ + 0.005670696496963501, + 0.999890923500061, + 0.013635811395943165, + -0.060510050505399704 + ], + [ + 0.2390139400959015, + -0.014596064575016499, + 0.9709064364433289, + 0.044320352375507355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9680551886558533, + -0.0007356491405516863, + -0.2507360577583313, + 0.16963161528110504 + ], + [ + 0.005315080285072327, + 0.9998311996459961, + 0.017587285488843918, + -0.06120812147855759 + ], + [ + 0.2506808042526245, + -0.018358144909143448, + 0.9678957462310791, + 0.048122111707925797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9655661582946777, + 0.0011296740267425776, + -0.2601551115512848, + 0.17474500834941864 + ], + [ + 0.0048023611307144165, + 0.9997428059577942, + 0.022165169939398766, + -0.06241186335682869 + ], + [ + 0.2601132094860077, + -0.022651297971606255, + 0.9653124213218689, + 0.049207549542188644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9631447196006775, + 0.002100566169247031, + -0.2689754366874695, + 0.18027424812316895 + ], + [ + 0.005217003636062145, + 0.9996355175971985, + 0.02648765966296196, + -0.06338629871606827 + ], + [ + 0.2689330577850342, + -0.026914697140455246, + 0.9627827405929565, + 0.05284958332777023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9610490798950195, + 0.003660590387880802, + -0.27635350823402405, + 0.18468676507472992 + ], + [ + 0.005159495398402214, + 0.9995003938674927, + 0.031182123348116875, + -0.0647636279463768 + ], + [ + 0.2763296067714691, + -0.031393393874168396, + 0.96055006980896, + 0.05378776788711548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9589778780937195, + 0.0054436782374978065, + -0.28342869877815247, + 0.18940114974975586 + ], + [ + 0.004862810485064983, + 0.9993525743484497, + 0.035647355020046234, + -0.0634099617600441 + ], + [ + 0.2834392488002777, + -0.035563282668590546, + 0.9583305716514587, + 0.05610590800642967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9572983384132385, + 0.006730498746037483, + -0.2890234589576721, + 0.1922336220741272 + ], + [ + 0.005035709589719772, + 0.9991890788078308, + 0.03994733467698097, + -0.0634159967303276 + ], + [ + 0.28905797004699707, + -0.03969695791602135, + 0.9564881920814514, + 0.05860398709774017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9558568596839905, + 0.008602107875049114, + -0.2937068045139313, + 0.19529855251312256 + ], + [ + 0.00462847575545311, + 0.9990065693855286, + 0.0443221740424633, + -0.06377624720335007 + ], + [ + 0.29379627108573914, + -0.04372506961226463, + 0.9548674821853638, + 0.060838162899017334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9542230367660522, + 0.011877814307808876, + -0.29886001348495483, + 0.1995064616203308 + ], + [ + 0.0027350164018571377, + 0.9988228678703308, + 0.04842953011393547, + -0.06397287547588348 + ], + [ + 0.2990834712982178, + -0.04702996090054512, + 0.9530673027038574, + 0.06383956223726273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.953028678894043, + 0.014134636148810387, + -0.3025500178337097, + 0.19849878549575806 + ], + [ + 0.0018658451735973358, + 0.9986175298690796, + 0.05253114551305771, + -0.06652168184518814 + ], + [ + 0.30287426710128784, + -0.05062820017337799, + 0.9516847729682922, + 0.06443115323781967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9519100785255432, + 0.015636300668120384, + -0.30597832798957825, + 0.1974646896123886 + ], + [ + 0.0015459060668945312, + 0.9984389543533325, + 0.05583224073052406, + -0.06483623385429382 + ], + [ + 0.3063736855983734, + -0.05362028256058693, + 0.9503999352455139, + 0.06536461412906647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9506387114524841, + 0.01766112446784973, + -0.3097969591617584, + 0.1992245763540268 + ], + [ + 0.0007391916587948799, + 0.9982472062110901, + 0.05917707085609436, + -0.0644678846001625 + ], + [ + 0.3102990686893463, + -0.05648501217365265, + 0.9489594101905823, + 0.06850779801607132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9494519233703613, + 0.019020933657884598, + -0.31333574652671814, + 0.19974948465824127 + ], + [ + 0.0003719991073012352, + 0.9980936646461487, + 0.06171613931655884, + -0.06270217895507812 + ], + [ + 0.3139123022556305, + -0.05871306359767914, + 0.9476348757743835, + 0.07101582735776901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9484657049179077, + 0.020714478567242622, + -0.3162020742893219, + 0.19831621646881104 + ], + [ + -0.0001381412148475647, + 0.9978880286216736, + 0.06495754420757294, + -0.06359310448169708 + ], + [ + 0.31687983870506287, + -0.061566323041915894, + 0.9464654326438904, + 0.0714784786105156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.947388231754303, + 0.023171722888946533, + -0.31924688816070557, + 0.19780860841274261 + ], + [ + -0.0017719492316246033, + 0.997740626335144, + 0.06716007739305496, + -0.061375513672828674 + ], + [ + 0.32008183002471924, + -0.06306097656488419, + 0.9452888369560242, + 0.07398634403944016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9464942216873169, + 0.02776765264570713, + -0.3215239644050598, + 0.19679157435894012 + ], + [ + -0.005761878564953804, + 0.9975866675376892, + 0.06919253617525101, + -0.06012880429625511 + ], + [ + 0.3226693272590637, + -0.06363775581121445, + 0.9443700313568115, + 0.07606395334005356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9455693960189819, + 0.0292217880487442, + -0.32410597801208496, + 0.1982860565185547 + ], + [ + -0.006448723375797272, + 0.99744713306427, + 0.0711170956492424, + -0.05962822958827019 + ], + [ + 0.32535672187805176, + -0.06515607982873917, + 0.9433438777923584, + 0.07739192247390747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9449748396873474, + 0.029899075627326965, + -0.3257739245891571, + 0.19672858715057373 + ], + [ + -0.006513695232570171, + 0.9973369836807251, + 0.07263988256454468, + -0.05998159945011139 + ], + [ + 0.327078253030777, + -0.06652086973190308, + 0.9426530599594116, + 0.07738859206438065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.944418728351593, + 0.03261763975024223, + -0.32712289690971375, + 0.1986217349767685 + ], + [ + -0.009234372526407242, + 0.997305154800415, + 0.07278189808130264, + -0.05667499452829361 + ], + [ + 0.32861533761024475, + -0.06571581214666367, + 0.9421748518943787, + 0.07977931201457977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9438896775245667, + 0.03484974056482315, + -0.3284171223640442, + 0.19871771335601807 + ], + [ + -0.011605189181864262, + 0.997302770614624, + 0.07247406989336014, + -0.053610123693943024 + ], + [ + 0.3300570249557495, + -0.06459618359804153, + 0.9417482018470764, + 0.07763741165399551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9437095522880554, + 0.03593343123793602, + -0.3288177251815796, + 0.2001609206199646 + ], + [ + -0.012908934615552425, + 0.9973254203796387, + 0.07193968445062637, + -0.05274154990911484 + ], + [ + 0.3305233120918274, + -0.06364547461271286, + 0.9416493773460388, + 0.07906100898981094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9435032606124878, + 0.034933120012283325, + -0.329516738653183, + 0.22719451785087585 + ], + [ + -0.012147491797804832, + 0.997405469417572, + 0.070956289768219, + -0.04829208925366402 + ], + [ + 0.3311404883861542, + -0.062944695353508, + 0.9414796829223633, + 0.08008109033107758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9539808630943298, + 0.031226221472024918, + -0.298237144947052, + 0.25162434577941895 + ], + [ + -0.011651617474853992, + 0.9976722598075867, + 0.06718853116035461, + -0.03187323734164238 + ], + [ + 0.299640953540802, + -0.060621634125709534, + 0.9521241188049316, + 0.09624245762825012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9643402695655823, + 0.027918003499507904, + -0.26318901777267456, + 0.23712116479873657 + ], + [ + -0.010746215470135212, + 0.9977312088012695, + 0.06646042317152023, + -0.02963176742196083 + ], + [ + 0.26444733142852783, + -0.06126217916607857, + 0.9624523520469666, + 0.0868903324007988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9724662899971008, + 0.025353483855724335, + -0.23166027665138245, + 0.23032376170158386 + ], + [ + -0.01020830124616623, + 0.997744619846344, + 0.06634315848350525, + -0.024599475786089897 + ], + [ + 0.2328198254108429, + -0.062151625752449036, + 0.9705318808555603, + 0.07830803841352463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9805566072463989, + 0.023556411266326904, + -0.19481758773326874, + 0.2379944771528244 + ], + [ + -0.010528949089348316, + 0.9976544380187988, + 0.06763725727796555, + -0.020582735538482666 + ], + [ + 0.19595392048358917, + -0.06427093595266342, + 0.9785046577453613, + 0.08974697440862656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9889794588088989, + 0.013441300019621849, + -0.14744144678115845, + 0.22014430165290833 + ], + [ + -0.0036847316659986973, + 0.9977964758872986, + 0.06624702364206314, + -0.005977741442620754 + ], + [ + 0.14800700545310974, + -0.06497365981340408, + 0.9868497252464294, + 0.07782410085201263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9943171143531799, + 0.003964884206652641, + -0.1063850000500679, + 0.20311778783798218 + ], + [ + 0.003105781739577651, + 0.9978005290031433, + 0.06621511280536652, + -0.0033811614848673344 + ], + [ + 0.10641355067491531, + -0.06616923213005066, + 0.9921178221702576, + 0.0674499124288559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9975162744522095, + -0.004056436009705067, + -0.07031911611557007, + 0.19329823553562164 + ], + [ + 0.008651643060147762, + 0.9978368878364563, + 0.06516711413860321, + 0.0047064111568033695 + ], + [ + 0.06990265846252441, + -0.06561362743377686, + 0.9953936338424683, + 0.06640434265136719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9994109869003296, + -0.013005413115024567, + -0.03175699710845947, + 0.173931285738945 + ], + [ + 0.015081064775586128, + 0.997704267501831, + 0.0660208985209465, + 0.0037383621092885733 + ], + [ + 0.03082546405494213, + -0.06646094471216202, + 0.9973127841949463, + 0.06069716811180115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9998815655708313, + -0.015211383812129498, + 0.0023388301488012075, + 0.15082038938999176 + ], + [ + 0.015026477165520191, + 0.9977569580078125, + 0.06523235887289047, + 0.005828903056681156 + ], + [ + -0.003325858386233449, + -0.06518948823213577, + 0.9978673458099365, + 0.05873892083764076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9995249509811401, + -0.016166118904948235, + 0.02623957395553589, + 0.13339070975780487 + ], + [ + 0.014592664316296577, + 0.9981461763381958, + 0.059087011963129044, + 0.012584240175783634 + ], + [ + -0.02714613825082779, + -0.058676037937402725, + 0.9979079365730286, + 0.05471960827708244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9987626075744629, + -0.01742594875395298, + 0.046579137444496155, + 0.12316770106554031 + ], + [ + 0.015029629692435265, + 0.998569667339325, + 0.051310352981090546, + 0.02314378134906292 + ], + [ + -0.0474066436290741, + -0.050546795129776, + 0.9975959062576294, + 0.054934967309236526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9975610971450806, + -0.019558971747756004, + 0.06700267642736435, + 0.1178450733423233 + ], + [ + 0.016649672761559486, + 0.9989056587219238, + 0.04370725527405739, + 0.03327549621462822 + ], + [ + -0.06778421252965927, + -0.042485084384679794, + 0.9967949986457825, + 0.05780230835080147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9957250356674194, + -0.02312234416604042, + 0.08942579478025436, + 0.10182874649763107 + ], + [ + 0.01997840404510498, + 0.9991558790206909, + 0.035893771797418594, + 0.03763245791196823 + ], + [ + -0.09018025547266006, + -0.033953744918107986, + 0.9953464865684509, + 0.05236918851733208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9938240647315979, + -0.026311606168746948, + 0.10780247300863266, + 0.08345583081245422 + ], + [ + 0.02329404279589653, + 0.99930340051651, + 0.029156090691685677, + 0.039209794253110886 + ], + [ + -0.10849452763795853, + -0.02646487019956112, + 0.9937447309494019, + 0.04971709102392197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9923442006111145, + -0.03057818114757538, + 0.11965779960155487, + 0.07119204103946686 + ], + [ + 0.028162945061922073, + 0.9993650913238525, + 0.02182415872812271, + 0.04226630926132202 + ], + [ + -0.12024916708469391, + -0.018287159502506256, + 0.9925752878189087, + 0.04479369893670082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9907280206680298, + -0.03424888104200363, + 0.1314724087715149, + 0.06817342340946198 + ], + [ + 0.03249574452638626, + 0.9993523359298706, + 0.015457630157470703, + 0.04941628500819206 + ], + [ + -0.13191667199134827, + -0.011042013764381409, + 0.9911993145942688, + 0.042436860501766205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9890601634979248, + -0.036591462790966034, + 0.14290237426757812, + 0.052930042147636414 + ], + [ + 0.03529610484838486, + 0.9993097186088562, + 0.01158998254686594, + 0.045700058341026306 + ], + [ + -0.14322781562805176, + -0.006419292651116848, + 0.9896689057350159, + 0.039019372314214706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9884700775146484, + -0.03775068372488022, + 0.146635040640831, + 0.040414389222860336 + ], + [ + 0.03700397163629532, + 0.999284565448761, + 0.007817765697836876, + 0.04495318979024887 + ], + [ + -0.14682526886463165, + -0.0023015488404780626, + 0.9891597628593445, + 0.03717072680592537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9884993433952332, + -0.03875203803181648, + 0.14617584645748138, + 0.04208795726299286 + ], + [ + 0.03849847987294197, + 0.999248206615448, + 0.004564239643514156, + 0.04257950931787491 + ], + [ + -0.14624284207820892, + 0.0011158010456711054, + 0.9892480969429016, + 0.038196008652448654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9885050058364868, + -0.03674291446805, + 0.14665547013282776, + 0.04326473921537399 + ], + [ + 0.037172023206949234, + 0.9993088841438293, + -0.00018554669804871082, + 0.04348120838403702 + ], + [ + -0.14654728770256042, + 0.005634893663227558, + 0.9891875982284546, + 0.03784092515707016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.988449215888977, + -0.03619961813092232, + 0.14716576039791107, + 0.03473791852593422 + ], + [ + 0.037326645106077194, + 0.9992910623550415, + -0.004902878776192665, + 0.04146125167608261 + ], + [ + -0.14688394963741302, + 0.010339450091123581, + 0.9890996813774109, + 0.03991544991731644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9889156222343445, + -0.03552296757698059, + 0.1441664695739746, + 0.029943156987428665 + ], + [ + 0.03723891079425812, + 0.9992638230323792, + -0.009220748208463192, + 0.03824201598763466 + ], + [ + -0.14373278617858887, + 0.014487144537270069, + 0.9895104765892029, + 0.036164987832307816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9891124367713928, + -0.03366889804601669, + 0.1432584971189499, + 0.018769903108477592 + ], + [ + 0.03624153882265091, + 0.9992246031761169, + -0.01538592018187046, + 0.044998541474342346 + ], + [ + -0.14262939989566803, + 0.020410312339663506, + 0.9895657300949097, + 0.03407932445406914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.989594578742981, + -0.03551527485251427, + 0.13943204283714294, + 0.027046842500567436 + ], + [ + 0.03863111510872841, + 0.99905925989151, + -0.01970336213707924, + 0.041841357946395874 + ], + [ + -0.13860109448432922, + 0.024884752929210663, + 0.9900355935096741, + 0.0342785008251667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9899305105209351, + -0.038137372583150864, + 0.13632000982761383, + 0.038634322583675385 + ], + [ + 0.04167826101183891, + 0.9988613724708557, + -0.023214761167764664, + 0.040268704295158386 + ], + [ + -0.13527943193912506, + 0.028662580996751785, + 0.990392804145813, + 0.041703399270772934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9901204109191895, + -0.03956949710845947, + 0.13452067971229553, + 0.044262249022722244 + ], + [ + 0.04330017417669296, + 0.9987512826919556, + -0.024920322000980377, + 0.03554665297269821 + ], + [ + -0.13336661458015442, + 0.030498888343572617, + 0.9905973672866821, + 0.03860600292682648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9902153611183167, + -0.03914317488670349, + 0.13394534587860107, + 0.04515206813812256 + ], + [ + 0.043236032128334045, + 0.99867844581604, + -0.027784012258052826, + 0.03874338045716286 + ], + [ + -0.1326807737350464, + 0.03330342099070549, + 0.9905991554260254, + 0.04366543889045715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9901901483535767, + -0.040389541536569595, + 0.13376159965991974, + 0.041649650782346725 + ], + [ + 0.04460245743393898, + 0.9985939264297485, + -0.02864920161664486, + 0.03530875965952873 + ], + [ + -0.13241638243198395, + 0.03433425351977348, + 0.9905993342399597, + 0.03683321550488472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9903178215026855, + -0.04112096503376961, + 0.13258858025074005, + 0.04542716592550278 + ], + [ + 0.04544490948319435, + 0.9985237121582031, + -0.029750989750027657, + 0.03450053185224533 + ], + [ + -0.13116945326328278, + 0.03548841178417206, + 0.9907245635986328, + 0.03642387315630913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9904946684837341, + -0.04236223176121712, + 0.13086560368537903, + 0.050747256726026535 + ], + [ + 0.04687526449561119, + 0.9984008073806763, + -0.031598906964063644, + 0.033223237842321396 + ], + [ + -0.1293177306652069, + 0.03743290528655052, + 0.9908964037895203, + 0.04154471680521965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9905446171760559, + -0.04423697665333748, + 0.129862979054451, + 0.04976506158709526 + ], + [ + 0.0488552488386631, + 0.9982739090919495, + -0.03259345144033432, + 0.028341829776763916 + ], + [ + -0.12819699943065643, + 0.03862975537776947, + 0.9909961223602295, + 0.039753977209329605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9907283186912537, + -0.046143192797899246, + 0.127781942486763, + 0.05054265260696411 + ], + [ + 0.050871286541223526, + 0.998126745223999, + -0.03398655727505684, + 0.02431872859597206 + ], + [ + -0.12597434222698212, + 0.040171872824430466, + 0.9912198185920715, + 0.03110060654580593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9909692406654358, + -0.04570223018527031, + 0.12606070935726166, + 0.04800784960389137 + ], + [ + 0.05070178583264351, + 0.9980378746986389, + -0.03673908859491348, + 0.025859465822577477 + ], + [ + -0.12413430958986282, + 0.042798809707164764, + 0.9913420081138611, + 0.03047533705830574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9912989139556885, + -0.046343445777893066, + 0.12320228666067123, + 0.05208075791597366 + ], + [ + 0.051224544644355774, + 0.9980108141899109, + -0.036749083548784256, + 0.019525207579135895 + ], + [ + -0.12125413864850998, + 0.04274030402302742, + 0.9917008876800537, + 0.028919866308569908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9914834499359131, + -0.04918166995048523, + 0.12058889120817184, + 0.038516659289598465 + ], + [ + 0.05386526882648468, + 0.9979029893875122, + -0.03589041903614998, + 0.010094902478158474 + ], + [ + -0.11857087165117264, + 0.04208030924201012, + 0.9920535087585449, + 0.002881888533011079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.992913007736206, + -0.04397578537464142, + 0.11040790379047394, + 0.031255025416612625 + ], + [ + 0.04846988618373871, + 0.9980879426002502, + -0.03835488110780716, + 0.017730075865983963 + ], + [ + -0.1085101068019867, + 0.043434515595436096, + 0.9931460022926331, + 0.017201101407408714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9949688911437988, + -0.04531983658671379, + 0.08934783190488815, + 0.004366539418697357 + ], + [ + 0.0490306131541729, + 0.998004674911499, + -0.03978300839662552, + 0.005774463526904583 + ], + [ + -0.08736658841371536, + 0.043963633477687836, + 0.9952056407928467, + -0.03958878293633461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9970210194587708, + -0.0469316765666008, + 0.06120866537094116, + 0.016483455896377563 + ], + [ + 0.04822705686092377, + 0.998638927936554, + -0.019859760999679565, + 0.002500066999346018 + ], + [ + -0.06019330769777298, + 0.022752512246370316, + 0.9979273676872253, + -0.03535676375031471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9987391829490662, + -0.04271207004785538, + 0.026376644149422646, + 0.021066272631287575 + ], + [ + 0.04296272248029709, + 0.9990360736846924, + -0.0090101957321167, + -0.006798133719712496 + ], + [ + -0.025966374203562737, + 0.010132048279047012, + 0.999611496925354, + -0.0012745747808367014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9994891881942749, + -0.025136971846222878, + -0.019735608249902725, + 0.024752458557486534 + ], + [ + 0.025141453370451927, + 0.9996839165687561, + -2.1034051314927638e-05, + -0.007461887318640947 + ], + [ + 0.019729897379875183, + -0.0004751585074700415, + 0.999805212020874, + 0.007203037850558758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.997890293598175, + -0.007556742522865534, + -0.06448162347078323, + 0.04432621970772743 + ], + [ + 0.008238516747951508, + 0.9999128580093384, + 0.010313808917999268, + -0.011186488904058933 + ], + [ + 0.06439807265996933, + -0.010823283344507217, + 0.997865617275238, + 0.01914607360959053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.994011402130127, + 0.006733445450663567, + -0.10906901955604553, + 0.056089844554662704 + ], + [ + -0.004315733909606934, + 0.9997400641441345, + 0.022387715056538582, + -0.017300119623541832 + ], + [ + 0.1091914176940918, + -0.021782929077744484, + 0.9937820434570312, + 0.027008457109332085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9860366582870483, + 0.020628739148378372, + -0.16524560749530792, + 0.0781218409538269 + ], + [ + -0.01478641852736473, + 0.9992239475250244, + 0.03650796040892601, + -0.028523480519652367 + ], + [ + 0.16587047278881073, + -0.0335547961294651, + 0.9855765104293823, + 0.04186268523335457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9732809662818909, + 0.03678110986948013, + -0.22665230929851532, + 0.10573635250329971 + ], + [ + -0.02618231065571308, + 0.9984262585639954, + 0.049593497067689896, + -0.031141096726059914 + ], + [ + 0.22811971604824066, + -0.04233412817120552, + 0.9727122783660889, + 0.07138560712337494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.958336353302002, + 0.05357031896710396, + -0.2805737853050232, + 0.1226200982928276 + ], + [ + -0.03733552619814873, + 0.9973215460777283, + 0.06289555132389069, + -0.03785068541765213 + ], + [ + 0.28319162130355835, + -0.04979972168803215, + 0.9577695727348328, + 0.08340225368738174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9379103779792786, + 0.06880231201648712, + -0.3399858772754669, + 0.13491396605968475 + ], + [ + -0.044876180589199066, + 0.9959622025489807, + 0.07775226980447769, + -0.05144476518034935 + ], + [ + 0.3439626395702362, + -0.05766739696264267, + 0.9372108578681946, + 0.09161539375782013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9045568704605103, + 0.0788724422454834, + -0.4189940094947815, + 0.1607540100812912 + ], + [ + -0.04418889805674553, + 0.9947906732559204, + 0.09186334908008575, + -0.06486328691244125 + ], + [ + 0.4240568280220032, + -0.06458073854446411, + 0.9033300280570984, + 0.11886011809110641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.8711894154548645, + 0.08852934837341309, + -0.48289909958839417, + 0.20679032802581787 + ], + [ + -0.04352492094039917, + 0.993661642074585, + 0.10364436358213425, + -0.07832633703947067 + ], + [ + 0.4890138804912567, + -0.06927572935819626, + 0.8695207238197327, + 0.15376874804496765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8412467241287231, + 0.0973844826221466, + -0.5318084359169006, + 0.22526341676712036 + ], + [ + -0.04192820191383362, + 0.992432713508606, + 0.11540919542312622, + -0.09566648304462433 + ], + [ + 0.539023220539093, + -0.07478983700275421, + 0.8389639854431152, + 0.17060139775276184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.805887758731842, + 0.10428086668252945, + -0.5828125476837158, + 0.24606724083423615 + ], + [ + -0.03648025542497635, + 0.9912423491477966, + 0.12691666185855865, + -0.10054059326648712 + ], + [ + 0.590943455696106, + -0.08101943135261536, + 0.8026342391967773, + 0.1951369345188141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.7669157385826111, + 0.11819039285182953, + -0.6307704448699951, + 0.2724931240081787 + ], + [ + -0.033881593495607376, + 0.9889807105064392, + 0.14411534368991852, + -0.11519671976566315 + ], + [ + 0.6408528089523315, + -0.08915282040834427, + 0.7624693512916565, + 0.21724072098731995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.7255514860153198, + 0.13471578061580658, + -0.6748530864715576, + 0.2800147831439972 + ], + [ + -0.032661888748407364, + 0.9862878918647766, + 0.16176952421665192, + -0.12542210519313812 + ], + [ + 0.6873923540115356, + -0.0953301340341568, + 0.7200027108192444, + 0.24927569925785065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6775104403495789, + 0.15012982487678528, + -0.7200282216072083, + 0.2835230231285095 + ], + [ + -0.028882432729005814, + 0.983622133731842, + 0.17791368067264557, + -0.13190008699893951 + ], + [ + 0.7349458336830139, + -0.09974221885204315, + 0.6707503795623779, + 0.2902425229549408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.6275190711021423, + 0.16594022512435913, + -0.7607126235961914, + 0.2929162085056305 + ], + [ + -0.023514747619628906, + 0.9806181788444519, + 0.19451242685317993, + -0.14342999458312988 + ], + [ + 0.7782460451126099, + -0.10417229682207108, + 0.6192586421966553, + 0.3209215998649597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.5795528888702393, + 0.17910262942314148, + -0.7950099110603333, + 0.29227644205093384 + ], + [ + -0.015633128583431244, + 0.9778143763542175, + 0.20888912677764893, + -0.14766483008861542 + ], + [ + 0.8147847056388855, + -0.10863381624221802, + 0.5694950819015503, + 0.3551711440086365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.5337716937065125, + 0.19257444143295288, + -0.823409378528595, + 0.2949049472808838 + ], + [ + -0.008084014058113098, + 0.9748420119285583, + 0.22275027632713318, + -0.15431086719036102 + ], + [ + 0.8455900549888611, + -0.11224135756492615, + 0.5218998193740845, + 0.3839273154735565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.48924964666366577, + 0.20794686675071716, + -0.8469905257225037, + 0.29703083634376526 + ], + [ + -0.0033197030425071716, + 0.9715962409973145, + 0.23662157356739044, + -0.15544016659259796 + ], + [ + 0.8721374869346619, + -0.1129552572965622, + 0.4760434031486511, + 0.420027494430542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4455159306526184, + 0.22041009366512299, + -0.8677182793617249, + 0.29232245683670044 + ], + [ + 0.0034597069025039673, + 0.9687897562980652, + 0.24785971641540527, + -0.15319159626960754 + ], + [ + 0.8952673077583313, + -0.11342751234769821, + 0.43084871768951416, + 0.4386354684829712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.3961661458015442, + 0.2327706217765808, + -0.8881837725639343, + 0.3036231994628906 + ], + [ + 0.011530503630638123, + 0.9659943580627441, + 0.25830593705177307, + -0.15411043167114258 + ], + [ + 0.9181064963340759, + -0.11257327347993851, + 0.38001030683517456, + 0.4895457327365875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.35773205757141113, + 0.24630609154701233, + -0.9007558822631836, + 0.29434287548065186 + ], + [ + 0.016376622021198273, + 0.9627851247787476, + 0.2697715163230896, + -0.15379363298416138 + ], + [ + 0.9336806535720825, + -0.11125726997852325, + 0.34038543701171875, + 0.5347270965576172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.3220863938331604, + 0.25966256856918335, + -0.9104042649269104, + 0.2929394245147705 + ], + [ + 0.019106552004814148, + 0.9596714377403259, + 0.28047406673431396, + -0.15393033623695374 + ], + [ + 0.9465175271034241, + -0.10773159563541412, + 0.304135799407959, + 0.5600997805595398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.28282463550567627, + 0.2692554295063019, + -0.9206039905548096, + 0.2884233593940735 + ], + [ + 0.022810615599155426, + 0.9576311111450195, + 0.28709280490875244, + -0.13898491859436035 + ], + [ + 0.9589003324508667, + -0.10219646245241165, + 0.2646998167037964, + 0.5969924330711365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.2528102397918701, + 0.27624577283859253, + -0.9272407293319702, + 0.28401339054107666 + ], + [ + 0.02608563005924225, + 0.9560779929161072, + 0.2919492721557617, + -0.12103451043367386 + ], + [ + 0.9671642780303955, + -0.09799544513225555, + 0.23450028896331787, + 0.6486959457397461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.23458313941955566, + 0.28662267327308655, + -0.9288801550865173, + 0.26793086528778076 + ], + [ + 0.025318145751953125, + 0.9534178972244263, + 0.3005882203578949, + -0.1210869550704956 + ], + [ + 0.9717664122581482, + -0.0940304771065712, + 0.21639901399612427, + 0.6790626049041748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.21928197145462036, + 0.29731863737106323, + -0.9292561411857605, + 0.24962306022644043 + ], + [ + 0.02310621738433838, + 0.9505873918533325, + 0.30959612131118774, + -0.12581142783164978 + ], + [ + 0.9753878712654114, + -0.08936043828725815, + 0.20157676935195923, + 0.6927790641784668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.2044094204902649, + 0.2970345616340637, + -0.9327311515808105, + 0.23512917757034302 + ], + [ + 0.02160872519016266, + 0.9512486457824707, + 0.30766719579696655, + -0.13170307874679565 + ], + [ + 0.978646993637085, + -0.08304522931575775, + 0.18802565336227417, + 0.7171103358268738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.20128858089447021, + 0.2903113067150116, + -0.9355224967002869, + 0.23322319984436035 + ], + [ + 0.017274558544158936, + 0.9538702368736267, + 0.2997218072414398, + -0.11620436608791351 + ], + [ + 0.9793797135353088, + -0.07649131864309311, + 0.18698817491531372, + 0.7401780486106873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.2132222056388855, + 0.28647512197494507, + -0.9340602159500122, + 0.2175615429878235 + ], + [ + 0.017817065119743347, + 0.9547464847564697, + 0.29688677191734314, + -0.1092221587896347 + ], + [ + 0.9768413305282593, + -0.07994509488344193, + 0.19846898317337036, + 0.7391805052757263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.22449427843093872, + 0.2769118845462799, + -0.9343031048774719, + 0.21249467134475708 + ], + [ + 0.03050001710653305, + 0.9563089609146118, + 0.29076263308525085, + -0.10576649010181427 + ], + [ + 0.9739980101585388, + -0.093770831823349, + 0.20624011754989624, + 0.7542870044708252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.23304980993270874, + 0.27321290969848633, + -0.9332965612411499, + 0.20589375495910645 + ], + [ + 0.03729096055030823, + 0.956506073474884, + 0.2893190383911133, + -0.10726291686296463 + ], + [ + 0.9717495441436768, + -0.1022292748093605, + 0.2127252221107483, + 0.7493640184402466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.23951077461242676, + 0.27156296372413635, + -0.9321417808532715, + 0.19703328609466553 + ], + [ + 0.03732723742723465, + 0.9568008184432983, + 0.2883380651473999, + -0.1059013158082962 + ], + [ + 0.9701759815216064, + -0.10385438054800034, + 0.21902740001678467, + 0.7442758083343506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.2467237114906311, + 0.2632964253425598, + -0.9326320290565491, + 0.1867855191230774 + ], + [ + 0.035081371665000916, + 0.9593257904052734, + 0.2801131308078766, + -0.11687257140874863 + ], + [ + 0.9684507250785828, + -0.10182856768369675, + 0.2274516224861145, + 0.7447954416275024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.25692325830459595, + 0.25131359696388245, + -0.9331837892532349, + 0.18705928325653076 + ], + [ + 0.03266594558954239, + 0.9627870917320251, + 0.2682795524597168, + -0.1052006334066391 + ], + [ + 0.9658796787261963, + -0.09941059350967407, + 0.2391529679298401, + 0.7513217926025391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.28369390964508057, + 0.24586732685565948, + -0.9268587827682495, + 0.17682147026062012 + ], + [ + 0.02832658588886261, + 0.9639997482299805, + 0.26438993215560913, + -0.10478897392749786 + ], + [ + 0.9584964513778687, + -0.10126055777072906, + 0.2665162682533264, + 0.7564769387245178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.3131400942802429, + 0.2353464663028717, + -0.920084536075592, + 0.1669611930847168 + ], + [ + 0.022641979157924652, + 0.9666833281517029, + 0.25497186183929443, + -0.09656240046024323 + ], + [ + 0.9494370818138123, + -0.10067445784807205, + 0.2973785996437073, + 0.7410492897033691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.338240385055542, + 0.22800776362419128, + -0.9130202531814575, + 0.16116845607757568 + ], + [ + 0.012903518974781036, + 0.968989372253418, + 0.2467651665210724, + -0.09106583893299103 + ], + [ + 0.9409713745117188, + -0.09524714201688766, + 0.3248092532157898, + 0.7280653715133667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.36231911182403564, + 0.21431377530097961, + -0.9070802330970764, + 0.1528836190700531 + ], + [ + -0.00043623894453048706, + 0.9732443690299988, + 0.22977198660373688, + -0.08560794591903687 + ], + [ + 0.9320541024208069, + -0.08285509049892426, + 0.3527185320854187, + 0.7117504477500916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.39363592863082886, + 0.1986345797777176, + -0.8975494503974915, + 0.15715277194976807 + ], + [ + -0.004852652549743652, + 0.9768111705780029, + 0.21404758095741272, + -0.08574151992797852 + ], + [ + 0.9192536473274231, + -0.0799013301730156, + 0.3854718804359436, + 0.6909066438674927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.4337984323501587, + 0.18850159645080566, + -0.8810709714889526, + 0.1561330258846283 + ], + [ + -0.011535845696926117, + 0.9789522290229797, + 0.2037631869316101, + -0.08236438035964966 + ], + [ + 0.9009361267089844, + -0.07822825759649277, + 0.42684251070022583, + 0.6502740979194641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.47381460666656494, + 0.1796947866678238, + -0.8620960116386414, + 0.15246862173080444 + ], + [ + -0.02323228120803833, + 0.9811696410179138, + 0.191745787858963, + -0.07479440420866013 + ], + [ + 0.8803181052207947, + -0.07082351297140121, + 0.46906721591949463, + 0.6204111576080322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.5241944193840027, + 0.1728011816740036, + -0.8338825106620789, + 0.150957852602005 + ], + [ + -0.03768816590309143, + 0.9829445481300354, + 0.17999905347824097, + -0.0735703557729721 + ], + [ + 0.8507643342018127, + -0.0629270076751709, + 0.5217666625976562, + 0.5743014216423035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.5752643346786499, + 0.16606076061725616, + -0.8009337186813354, + 0.14180077612400055 + ], + [ + -0.049630921334028244, + 0.9844574928283691, + 0.16846446692943573, + -0.06425713002681732 + ], + [ + 0.8164604902267456, + -0.05716053023934364, + 0.574565052986145, + 0.5437005758285522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.6137921810150146, + 0.1591493934392929, + -0.773259699344635, + 0.1409549117088318 + ], + [ + -0.055860865861177444, + 0.9857699871063232, + 0.15854664146900177, + -0.05631747841835022 + ], + [ + 0.7874888777732849, + -0.05411973595619202, + 0.6139481663703918, + 0.5173598527908325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.6522457599639893, + 0.15054738521575928, + -0.7429071664810181, + 0.1364055871963501 + ], + [ + -0.055990081280469894, + 0.9869700074195862, + 0.15084856748580933, + -0.0509166494011879 + ], + [ + 0.7559369802474976, + -0.0567949041724205, + 0.6521761417388916, + 0.48620980978012085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.6921155452728271, + 0.13935211300849915, + -0.7082070708274841, + 0.10765904188156128 + ], + [ + -0.0554942823946476, + 0.9885551333427429, + 0.14028215408325195, + -0.042528294026851654 + ], + [ + 0.7196503281593323, + -0.05779002606868744, + 0.6919276118278503, + 0.46471261978149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.7288804054260254, + 0.12725311517715454, + -0.6727110147476196, + 0.07416260242462158 + ], + [ + -0.05954844504594803, + 0.9906343221664429, + 0.12287239730358124, + -0.03411780297756195 + ], + [ + 0.6820465326309204, + -0.04950039088726044, + 0.7296316623687744, + 0.43499231338500977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.7593034505844116, + 0.1142730712890625, + -0.6406246423721313, + 0.061761222779750824 + ], + [ + -0.061551932245492935, + 0.9926589131355286, + 0.10411337018013, + -0.027082128450274467 + ], + [ + 0.6478191614151001, + -0.039621952921152115, + 0.7607630491256714, + 0.402365505695343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.7879200577735901, + 0.10238828510046005, + -0.6072055697441101, + 0.037798620760440826 + ], + [ + -0.06206177920103073, + 0.9942625761032104, + 0.08712224662303925, + -0.02209501340985298 + ], + [ + 0.6126421093940735, + -0.030961109325289726, + 0.789753794670105, + 0.36523687839508057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8117690086364746, + 0.08461815863847733, + -0.5778156518936157, + 0.02126433327794075 + ], + [ + -0.05525583401322365, + 0.9961368441581726, + 0.06825066357851028, + -0.005178126506507397 + ], + [ + 0.5813586711883545, + -0.023476088419556618, + 0.8133086562156677, + 0.33333754539489746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8318231701850891, + 0.07220827043056488, + -0.5503236651420593, + 0.013360526412725449 + ], + [ + -0.04923369362950325, + 0.9971922039985657, + 0.05642460286617279, + 0.007996605709195137 + ], + [ + 0.5528528094291687, + -0.019840829074382782, + 0.8330426812171936, + 0.30538323521614075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.851722240447998, + 0.06001179292798042, + -0.5205457210540771, + -0.0008799415081739426 + ], + [ + -0.041009072214365005, + 0.9980071783065796, + 0.04795710742473602, + 0.021043429151177406 + ], + [ + 0.5223863124847412, + -0.0194990411400795, + 0.8524859547615051, + 0.2773916721343994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8674163818359375, + 0.051108475774526596, + -0.4949513375759125, + -0.02214377373456955 + ], + [ + -0.03509824350476265, + 0.9985178709030151, + 0.041595883667469025, + 0.02945822849869728 + ], + [ + 0.4963436424732208, + -0.018709031865000725, + 0.8679245710372925, + 0.25749847292900085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8796372413635254, + 0.04474198445677757, + -0.4735361635684967, + -0.03150361403822899 + ], + [ + -0.03145277127623558, + 0.9988585114479065, + 0.035950541496276855, + 0.03503061458468437 + ], + [ + 0.4746040999889374, + -0.016729412600398064, + 0.8800404071807861, + 0.23897311091423035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8907404541969299, + 0.04250577092170715, + -0.4525204598903656, + -0.04363095015287399 + ], + [ + -0.031987980008125305, + 0.9990113377571106, + 0.030873209238052368, + 0.03732031211256981 + ], + [ + 0.4533853232860565, + -0.013024802319705486, + 0.891219437122345, + 0.22094956040382385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.8991385102272034, + 0.043232664465904236, + -0.4355236887931824, + -0.05424593389034271 + ], + [ + -0.03602580726146698, + 0.9990432262420654, + 0.024795696139335632, + 0.041871197521686554 + ], + [ + 0.436178982257843, + -0.006604672409594059, + 0.8998357057571411, + 0.20088227093219757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9052865505218506, + 0.04372430965304375, + -0.4225451946258545, + -0.06285329908132553 + ], + [ + -0.03954822197556496, + 0.9990436434745789, + 0.018648939207196236, + 0.0514146126806736 + ], + [ + 0.4229564666748047, + -0.00017172656953334808, + 0.9061499834060669, + 0.18457263708114624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9098848700523376, + 0.04335140809416771, + -0.41258955001831055, + -0.06543360650539398 + ], + [ + -0.04109503701329231, + 0.9990522861480713, + 0.014344938099384308, + 0.056768596172332764 + ], + [ + 0.41282039880752563, + 0.0039031398482620716, + 0.9108040928840637, + 0.1724594682455063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9141092896461487, + 0.042200252413749695, + -0.40326592326164246, + -0.06497248262166977 + ], + [ + -0.04136809706687927, + 0.9990858435630798, + 0.01077877264469862, + 0.060695383697748184 + ], + [ + 0.40335211157798767, + 0.006829367019236088, + 0.9150193929672241, + 0.15805871784687042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9185224771499634, + 0.041839346289634705, + -0.39314866065979004, + -0.0605459064245224 + ], + [ + -0.04233674705028534, + 0.9990758895874023, + 0.007410504389554262, + 0.062346573919057846 + ], + [ + 0.3930954337120056, + 0.00983792170882225, + 0.9194450378417969, + 0.14729712903499603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9221720695495605, + 0.04393783584237099, + -0.38427606225013733, + -0.05728888884186745 + ], + [ + -0.0464068241417408, + 0.9989185333251953, + 0.0028501348569989204, + 0.06219865754246712 + ], + [ + 0.3839857280254364, + 0.01520471554249525, + 0.9232138395309448, + 0.13764148950576782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9248703718185425, + 0.043179430067539215, + -0.37782320380210876, + -0.056359052658081055 + ], + [ + -0.047218069434165955, + 0.9988836050033569, + -0.001427563838660717, + 0.0634780079126358 + ], + [ + 0.37733975052833557, + 0.019160393625497818, + 0.9258766770362854, + 0.12474464625120163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9266238808631897, + 0.04276340454816818, + -0.3735498785972595, + -0.052216362208127975 + ], + [ + -0.04797738045454025, + 0.9988375306129456, + -0.0046668341383337975, + 0.06400763988494873 + ], + [ + 0.372916042804718, + 0.0222463421523571, + 0.9275983572006226, + 0.11358100175857544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9277480840682983, + 0.04330082982778549, + -0.3706865608692169, + -0.049600012600421906 + ], + [ + -0.04970546066761017, + 0.9987339377403259, + -0.007737359032034874, + 0.06430564820766449 + ], + [ + 0.369882196187973, + 0.025603463873267174, + 0.9287258386611938, + 0.1041315421462059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9283554553985596, + 0.042931217700242996, + -0.3692060708999634, + -0.044796787202358246 + ], + [ + -0.050203587859869, + 0.9986878633499146, + -0.010107873007655144, + 0.06228659301996231 + ], + [ + 0.36828768253326416, + 0.027919167652726173, + 0.9292925596237183, + 0.09430533647537231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9288544058799744, + 0.043138738721609116, + -0.36792460083961487, + -0.03487001359462738 + ], + [ + -0.05165781453251839, + 0.9985758662223816, + -0.013332320377230644, + 0.06528706848621368 + ], + [ + 0.36682549118995667, + 0.03138996660709381, + 0.9297600388526917, + 0.0894312709569931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9292664527893066, + 0.04380215331912041, + -0.3668041229248047, + -0.029898252338171005 + ], + [ + -0.05360059812664986, + 0.9984250664710999, + -0.01656489446759224, + 0.0658089816570282 + ], + [ + 0.36550086736679077, + 0.03505412116646767, + 0.9301506876945496, + 0.08297818899154663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.929033637046814, + 0.04338869825005531, + -0.3674424886703491, + -0.023222021758556366 + ], + [ + -0.054668303579092026, + 0.998297393321991, + -0.020340243354439735, + 0.06697094440460205 + ], + [ + 0.3659343123435974, + 0.03898422420024872, + 0.9298238158226013, + 0.07889442890882492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9286054372787476, + 0.04057444632053375, + -0.36884376406669617, + -0.017253166064620018 + ], + [ + -0.05353144556283951, + 0.9982541799545288, + -0.0249590203166008, + 0.07151336967945099 + ], + [ + 0.36718711256980896, + 0.04292181879281998, + 0.9291562438011169, + 0.07454856485128403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9283691644668579, + 0.0377831906080246, + -0.36973392963409424, + -0.013480465859174728 + ], + [ + -0.0519598126411438, + 0.9982436895370483, + -0.028455760329961777, + 0.07067319750785828 + ], + [ + 0.36800938844680786, + 0.04562875255942345, + 0.9287018179893494, + 0.0690503939986229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9282320737838745, + 0.03686854988336563, + -0.3701702058315277, + -0.00940137729048729 + ], + [ + -0.05214708298444748, + 0.9981472492218018, + -0.03134869039058685, + 0.06966760754585266 + ], + [ + 0.36832860112190247, + 0.048402152955532074, + 0.9284348487854004, + 0.06566864252090454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9284663796424866, + 0.037500906735658646, + -0.3695184886455536, + -0.006951013579964638 + ], + [ + -0.053888898342847824, + 0.9979636669158936, + -0.03412410616874695, + 0.0662808045744896 + ], + [ + 0.3674863278865814, + 0.0515960231423378, + 0.9285966157913208, + 0.0614580474793911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9291261434555054, + 0.036998551338911057, + -0.36790731549263, + -0.0075960117392241955 + ], + [ + -0.055122729390859604, + 0.9977225661277771, + -0.03887304663658142, + 0.06967321783304214 + ], + [ + 0.36563119292259216, + 0.056398019194602966, + 0.929049551486969, + 0.05491495877504349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9291077852249146, + 0.03607848286628723, + -0.36804500222206116, + -0.0019206590950489044 + ], + [ + -0.05608079582452774, + 0.9974653124809265, + -0.043793752789497375, + 0.06671639531850815 + ], + [ + 0.36553213000297546, + 0.061329372227191925, + 0.9287760853767395, + 0.05296362191438675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9286214709281921, + 0.03401796519756317, + -0.369465708732605, + 0.004564648028463125 + ], + [ + -0.057277336716651917, + 0.9969945549964905, + -0.052165158092975616, + 0.06501269340515137 + ], + [ + 0.3665807247161865, + 0.06960369646549225, + 0.9277790188789368, + 0.05344059690833092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.6707356770833, + "fy": 666.6539713541666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/3b594ec7-d95c-4155-afdb-7e279e1c7be7/caption.txt b/dynpose_eval/source/3b594ec7-d95c-4155-afdb-7e279e1c7be7/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..cea9bec837c919bcea45aee38335cf81e7f70b94 --- /dev/null +++ b/dynpose_eval/source/3b594ec7-d95c-4155-afdb-7e279e1c7be7/caption.txt @@ -0,0 +1 @@ +A woman is standing in front of a soccer goalpost in the backyard and she is talking to the camera. diff --git a/dynpose_eval/source/3b594ec7-d95c-4155-afdb-7e279e1c7be7/extras/source_metadata.json b/dynpose_eval/source/3b594ec7-d95c-4155-afdb-7e279e1c7be7/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f1de0a5cece57faed380b371944abaaa394792f0 --- /dev/null +++ b/dynpose_eval/source/3b594ec7-d95c-4155-afdb-7e279e1c7be7/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "3b594ec7-d95c-4155-afdb-7e279e1c7be7", + "tar_name": "dpsp-2285da3e", + "youtube_link": "https://www.youtube.com/watch?v=GpCb90xY5z8", + "youtube_timestamp": "0:08:53.165-0:08:57.270", + "num_frames": 123, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/3b594ec7-d95c-4155-afdb-7e279e1c7be7/transforms.json b/dynpose_eval/source/3b594ec7-d95c-4155-afdb-7e279e1c7be7/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..38eee63c9cad9a34352f221b6bdebe0166a42249 --- /dev/null +++ b/dynpose_eval/source/3b594ec7-d95c-4155-afdb-7e279e1c7be7/transforms.json @@ -0,0 +1,4318 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 123, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -3.377428947715089e-05, + 3.952880797442049e-05, + -0.0002380563091719523 + ], + [ + 3.377961547812447e-05, + 1.0, + -0.00013478206528816372, + 0.0004302417510189116 + ], + [ + -3.952425322495401e-05, + 0.00013478340406436473, + 1.0, + 7.419800385832787e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999014735221863, + -0.0005498459795489907, + -0.014027492143213749, + -0.005923010408878326 + ], + [ + 0.0004811440303456038, + 0.9999879002571106, + -0.004900571424514055, + -0.001254450879059732 + ], + [ + 0.014030016027390957, + 0.004893339704722166, + 0.999889612197876, + -0.012165523134171963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996371865272522, + -0.0009357461822219193, + -0.026917899027466774, + -0.010716909542679787 + ], + [ + 0.0006999062024988234, + 0.9999613165855408, + -0.008769542910158634, + -0.0024726823903620243 + ], + [ + 0.026925062760710716, + 0.008747520856559277, + 0.9995991587638855, + -0.01951030269265175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9992760419845581, + -0.000822338042780757, + -0.03803570941090584, + -0.017069539055228233 + ], + [ + 0.00036808507866226137, + 0.9999285340309143, + -0.011948266066610813, + -0.0017053451156243682 + ], + [ + 0.0380428172647953, + 0.011925616301596165, + 0.9992049336433411, + -0.0318816639482975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988673329353333, + -0.0007667497266083956, + -0.04757634922862053, + -0.024422306567430496 + ], + [ + 6.804356235079467e-05, + 0.9998921751976013, + -0.014685881324112415, + -0.0015155449509620667 + ], + [ + 0.0475824810564518, + 0.01466600876301527, + 0.9987596273422241, + -0.04783733934164047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9984722137451172, + -0.0008145570755004883, + -0.05525020882487297, + -0.03229032829403877 + ], + [ + -0.00014448928413912654, + 0.9998494386672974, + -0.017352024093270302, + -0.0017755072331055999 + ], + [ + 0.05525602772831917, + 0.01733349822461605, + 0.9983217716217041, + -0.06449437886476517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9981042146682739, + 0.0002822016249410808, + -0.06154605373740196, + -0.03889264166355133 + ], + [ + -0.001491091912612319, + 0.999806821346283, + -0.019597001373767853, + -0.0021996484138071537 + ], + [ + 0.061528634279966354, + 0.0196516215801239, + 0.997911810874939, + -0.07983724027872086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9978243708610535, + 0.0015631048008799553, + -0.065909244120121, + -0.04593551903963089 + ], + [ + -0.0030605969950556755, + 0.9997393488883972, + -0.022625671699643135, + -0.00040139383054338396 + ], + [ + 0.0658567026257515, + 0.022778170183300972, + 0.9975690841674805, + -0.09914609044790268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9976328015327454, + 0.0029277983121573925, + -0.06870421767234802, + -0.055002737790346146 + ], + [ + -0.004686084110289812, + 0.9996652603149414, + -0.025444915518164635, + -0.0005890959873795509 + ], + [ + 0.06860671937465668, + 0.025706635788083076, + 0.9973125457763672, + -0.11055846512317657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9975273013114929, + 0.004887836053967476, + -0.07010982930660248, + -0.06322899460792542 + ], + [ + -0.006897341459989548, + 0.9995714426040649, + -0.028448862954974174, + -0.00025850956444628537 + ], + [ + 0.0699407309293747, + 0.028862090781331062, + 0.9971335530281067, + -0.12595386803150177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9975498914718628, + 0.006721568759530783, + -0.0696348249912262, + -0.07201439142227173 + ], + [ + -0.00891901459544897, + 0.9994704127311707, + -0.03129401057958603, + 0.0015677715418860316 + ], + [ + 0.06938759982585907, + 0.03183840960264206, + 0.9970815777778625, + -0.13905274868011475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9976382851600647, + 0.008395038545131683, + -0.06817187368869781, + -0.08021718263626099 + ], + [ + -0.010732607915997505, + 0.9993643164634705, + -0.03399581462144852, + 0.005771619267761707 + ], + [ + 0.06784313917160034, + 0.03464718908071518, + 0.9970942139625549, + -0.1539337933063507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9978417158126831, + 0.010217161849141121, + -0.0648658275604248, + -0.08915950357913971 + ], + [ + -0.012635145336389542, + 0.9992362260818481, + -0.036976560950279236, + 0.009617122821509838 + ], + [ + 0.06443849205970764, + 0.037716343998909, + 0.9972086548805237, + -0.17093509435653687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9981120228767395, + 0.012091349810361862, + -0.06021745130419731, + -0.09737760573625565 + ], + [ + -0.014467237517237663, + 0.9991275668144226, + -0.03917673975229263, + 0.013514798134565353 + ], + [ + 0.05969121679663658, + 0.03997395932674408, + 0.9974161982536316, + -0.18497158586978912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9984360933303833, + 0.013496649451553822, + -0.054251741617918015, + -0.10865595191717148 + ], + [ + -0.015732258558273315, + 0.9990355372428894, + -0.04099450632929802, + 0.017505545169115067 + ], + [ + 0.05364612862467766, + 0.0417838953435421, + 0.997685432434082, + -0.2016386240720749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9987292289733887, + 0.014422143809497356, + -0.048290085047483444, + -0.11880993843078613 + ], + [ + -0.01649012416601181, + 0.9989517331123352, + -0.042703233659267426, + 0.02177286706864834 + ], + [ + 0.04762359336018562, + 0.043445274233818054, + 0.9979200959205627, + -0.22023308277130127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999018132686615, + 0.014883573167026043, + -0.04172789305448532, + -0.13087041676044464 + ], + [ + -0.016706960275769234, + 0.9989052414894104, + -0.043694447726011276, + 0.025974994525313377 + ], + [ + 0.04103188216686249, + 0.044348690658807755, + 0.9981731176376343, + -0.2361779361963272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992542266845703, + 0.015100931748747826, + -0.035537831485271454, + -0.1433335393667221 + ], + [ + -0.01667812652885914, + 0.9988696575164795, + -0.04451104253530502, + 0.02975882776081562 + ], + [ + 0.03482550382614136, + 0.045070551335811615, + 0.9983766078948975, + -0.2506272792816162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994459748268127, + 0.015717459842562675, + -0.029338661581277847, + -0.155949205160141 + ], + [ + -0.017042366787791252, + 0.9988203644752502, + -0.04546917974948883, + 0.034541066735982895 + ], + [ + 0.028589393943548203, + 0.04594399034976959, + 0.9985347986221313, + -0.26749587059020996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995917677879333, + 0.016357874497771263, + -0.023425264284014702, + -0.1663576066493988 + ], + [ + -0.01741182617843151, + 0.9988117218017578, + -0.04551843926310539, + 0.04051519185304642 + ], + [ + 0.022652843967080116, + 0.04590773209929466, + 0.998688817024231, + -0.2852209210395813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9996885657310486, + 0.017233585938811302, + -0.01805085316300392, + -0.1761719286441803 + ], + [ + -0.01804809458553791, + 0.9987794756889343, + -0.045976925641298294, + 0.048661209642887115 + ], + [ + 0.01723647490143776, + 0.0462883897125721, + 0.9987794160842896, + -0.30341285467147827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997345805168152, + 0.018566768616437912, + -0.013641273602843285, + -0.18522973358631134 + ], + [ + -0.019173983484506607, + 0.9987657070159912, + -0.04581988602876663, + 0.05638742819428444 + ], + [ + 0.012773709371685982, + 0.04606927931308746, + 0.9988565444946289, + -0.32391640543937683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999768853187561, + 0.01927431859076023, + -0.009527206420898438, + -0.19328778982162476 + ], + [ + -0.019687285646796227, + 0.9987775087356567, + -0.04534159600734711, + 0.06406279653310776 + ], + [ + 0.00864163227379322, + 0.04551868140697479, + 0.9989261031150818, + -0.3473372459411621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997886419296265, + 0.01963118650019169, + -0.006108437664806843, + -0.20183110237121582 + ], + [ + -0.01988520286977291, + 0.9988002181053162, + -0.044752154499292374, + 0.0720510482788086 + ], + [ + 0.0052225710824131966, + 0.04486415907740593, + 0.9989794492721558, + -0.36998823285102844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997873306274414, + 0.020429814234375954, + -0.0028117673937231302, + -0.2098933458328247 + ], + [ + -0.020534450188279152, + 0.9988054037094116, + -0.04434090852737427, + 0.07862268388271332 + ], + [ + 0.0019025320652872324, + 0.04438921809196472, + 0.9990125298500061, + -0.3916616439819336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9997788667678833, + 0.021018296480178833, + 0.00069885712582618, + -0.21658386290073395 + ], + [ + -0.02096780762076378, + 0.9988278746604919, + -0.043626125901937485, + 0.0850110799074173 + ], + [ + -0.0016149847069755197, + 0.04360182210803032, + 0.9990476965904236, + -0.41638121008872986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9997649192810059, + 0.021266251802444458, + 0.004230396822094917, + -0.2226247936487198 + ], + [ + -0.021065164357423782, + 0.9988551735877991, + -0.04294948652386665, + 0.09208542108535767 + ], + [ + -0.005138928070664406, + 0.042850274592638016, + 0.9990682601928711, + -0.44110870361328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9997443556785583, + 0.0210427213460207, + 0.00827066320925951, + -0.22911188006401062 + ], + [ + -0.020681021735072136, + 0.9989193677902222, + -0.041622623801231384, + 0.09784170240163803 + ], + [ + -0.00913757923990488, + 0.0414409413933754, + 0.9990991950035095, + -0.4613843560218811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997175335884094, + 0.020660515874624252, + 0.011749308556318283, + -0.23522867262363434 + ], + [ + -0.020173002034425735, + 0.9989880323410034, + -0.04019857570528984, + 0.10275642573833466 + ], + [ + -0.012567942962050438, + 0.03995020315051079, + 0.9991226196289062, + -0.48064985871315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9996927976608276, + 0.019584480673074722, + 0.015191188082098961, + -0.23920558393001556 + ], + [ + -0.018984179943799973, + 0.9990704655647278, + -0.038701895624399185, + 0.10627032071352005 + ], + [ + -0.015935024246573448, + 0.038401614874601364, + 0.9991353154182434, + -0.5026299357414246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999668300151825, + 0.01796012558043003, + 0.018458472564816475, + -0.24229229986667633 + ], + [ + -0.017265690490603447, + 0.9991617798805237, + -0.03711622953414917, + 0.10861527919769287 + ], + [ + -0.019109612330794334, + 0.036785222589969635, + 0.9991404414176941, + -0.5243103504180908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996300339698792, + 0.01584571599960327, + 0.022107485681772232, + -0.24526111781597137 + ], + [ + -0.015047742053866386, + 0.9992454648017883, + -0.03580618277192116, + 0.11117628961801529 + ], + [ + -0.022658180445432663, + 0.03546026721596718, + 0.9991142153739929, + -0.5441194772720337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995871186256409, + 0.013468239456415176, + 0.02538083866238594, + -0.2460297793149948 + ], + [ + -0.01257236860692501, + 0.9993035793304443, + -0.035132087767124176, + 0.11348655819892883 + ], + [ + -0.02583632990717888, + 0.03479848802089691, + 0.999060332775116, + -0.5645670294761658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9995182752609253, + 0.011290364898741245, + 0.028909940272569656, + -0.24600623548030853 + ], + [ + -0.010284391231834888, + 0.9993444085121155, + -0.034712135791778564, + 0.11483442783355713 + ], + [ + -0.02928290143609047, + 0.034398093819618225, + 0.9989790916442871, + -0.582192599773407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994409680366516, + 0.00880136527121067, + 0.03225335478782654, + -0.24412041902542114 + ], + [ + -0.0076918285340070724, + 0.9993797540664673, + -0.0343647338449955, + 0.11612352728843689 + ], + [ + -0.03253580629825592, + 0.03409743681550026, + 0.9988887906074524, + -0.6012173891067505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9993487000465393, + 0.005665107164531946, + 0.03563784807920456, + -0.24170923233032227 + ], + [ + -0.0044437372125685215, + 0.9994031190872192, + -0.03425803780555725, + 0.11645473539829254 + ], + [ + -0.035810649394989014, + 0.03407736122608185, + 0.9987773895263672, + -0.6180230975151062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9992151260375977, + 0.002618777332827449, + 0.039525583386421204, + -0.2401338666677475 + ], + [ + -0.0012616030871868134, + 0.9994100332260132, + -0.034322574734687805, + 0.11607156693935394 + ], + [ + -0.03959214687347412, + 0.03424576669931412, + 0.9986289143562317, + -0.635097861289978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9990746378898621, + -0.00037578598130494356, + 0.04300840571522713, + -0.2383713573217392 + ], + [ + 0.001865711878053844, + 0.9993992447853088, + -0.03460777550935745, + 0.11399205029010773 + ], + [ + -0.04296956583857536, + 0.03465599566698074, + 0.9984751343727112, + -0.6503013372421265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9989281892776489, + -0.0031414139084517956, + 0.04618031531572342, + -0.2349195033311844 + ], + [ + 0.004771286156028509, + 0.9993680119514465, + -0.03522591292858124, + 0.11243541538715363 + ], + [ + -0.04604046791791916, + 0.03540849685668945, + 0.9983118176460266, + -0.6676488518714905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9987755417823792, + -0.005902658682316542, + 0.04911753535270691, + -0.2317390888929367 + ], + [ + 0.0076757571659982204, + 0.9993227124214172, + -0.03598913550376892, + 0.10988769680261612 + ], + [ + -0.04887183755636215, + 0.03632208704948425, + 0.9981443881988525, + -0.6839342713356018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9986236095428467, + -0.008723524399101734, + 0.05171823129057884, + -0.22876308858394623 + ], + [ + 0.010658959858119488, + 0.9992485642433167, + -0.037265777587890625, + 0.10731534659862518 + ], + [ + -0.05135427787899971, + 0.0377657487988472, + 0.9979661703109741, + -0.7027595043182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9984663128852844, + -0.011849322356283665, + 0.05407928675413132, + -0.22418686747550964 + ], + [ + 0.013947929255664349, + 0.9991576075553894, + -0.03859514743089676, + 0.10335148125886917 + ], + [ + -0.053576402366161346, + 0.03929024934768677, + 0.9977904558181763, + -0.7211530804634094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9983234405517578, + -0.014858731999993324, + 0.0559421181678772, + -0.21814264357089996 + ], + [ + 0.017111165449023247, + 0.9990530610084534, + -0.040002331137657166, + 0.10085126757621765 + ], + [ + -0.05529475957155228, + 0.04089249670505524, + 0.9976323246955872, + -0.7400317192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9981427788734436, + -0.017221752554178238, + 0.058432843536138535, + -0.21258985996246338 + ], + [ + 0.01966957375407219, + 0.9989416599273682, + -0.04157791659235954, + 0.09867162257432938 + ], + [ + -0.057654958218336105, + 0.042650047689676285, + 0.9974251389503479, + -0.7572619318962097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979331493377686, + -0.019397513940930367, + 0.061263564974069595, + -0.2075052708387375 + ], + [ + 0.022030038759112358, + 0.998849630355835, + -0.04259149357676506, + 0.09482026845216751 + ], + [ + -0.0603669248521328, + 0.04385310038924217, + 0.9972124695777893, + -0.7758037447929382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9976948499679565, + -0.021150365471839905, + 0.06447986513376236, + -0.2060966193675995 + ], + [ + 0.024006783962249756, + 0.9987496137619019, + -0.04385130852460861, + 0.08915123343467712 + ], + [ + -0.06347177177667618, + 0.04529818147420883, + 0.9969550967216492, + -0.7880231142044067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9975266456604004, + -0.022369151934981346, + 0.06663504242897034, + -0.20549538731575012 + ], + [ + 0.025414923205971718, + 0.9986538290977478, + -0.04521680250763893, + 0.08454971760511398 + ], + [ + -0.06553387641906738, + 0.04679848626255989, + 0.9967523217201233, + -0.7995606660842896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9974087476730347, + -0.023759078234434128, + 0.06790656596422195, + -0.20196221768856049 + ], + [ + 0.026945333927869797, + 0.9985595941543579, + -0.046396929770708084, + 0.08056313544511795 + ], + [ + -0.06670641154050827, + 0.048106465488672256, + 0.9966122508049011, + -0.8148112297058105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9973213076591492, + -0.024435648694634438, + 0.06894315034151077, + -0.19917847216129303 + ], + [ + 0.027739549055695534, + 0.9984917640686035, + -0.04737888649106026, + 0.07852184772491455 + ], + [ + -0.0676814392209053, + 0.04916442558169365, + 0.9964948892593384, + -0.8346081972122192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9972401857376099, + -0.025591837242245674, + 0.06969238072633743, + -0.1965886801481247 + ], + [ + 0.02898833341896534, + 0.9984185099601746, + -0.04816839471459389, + 0.07931911200284958 + ], + [ + -0.0683494433760643, + 0.05005572363734245, + 0.9964049458503723, + -0.8556848764419556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9971857070922852, + -0.02595372125506401, + 0.07033547759056091, + -0.19556592404842377 + ], + [ + 0.02942061796784401, + 0.9983794689178467, + -0.0487116277217865, + 0.08035802841186523 + ], + [ + -0.06895725429058075, + 0.05064385384321213, + 0.9963333010673523, + -0.8729164600372314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9971588253974915, + -0.026602599769830704, + 0.07047391682863235, + -0.1949007362127304 + ], + [ + 0.03010902926325798, + 0.9983365535736084, + -0.04916909709572792, + 0.08162498474121094 + ], + [ + -0.06904866546392441, + 0.051151301711797714, + 0.9963010549545288, + -0.8894706964492798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9971303939819336, + -0.026547959074378014, + 0.07089527696371078, + -0.19730865955352783 + ], + [ + 0.030089301988482475, + 0.9983277320861816, + -0.04936004430055618, + 0.0819377526640892 + ], + [ + -0.06946631520986557, + 0.05135159194469452, + 0.996261715888977, + -0.9063187837600708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9971582889556885, + -0.02648095041513443, + 0.07052739709615707, + -0.19957908987998962 + ], + [ + 0.02998827025294304, + 0.9983413815498352, + -0.04914432764053345, + 0.08285549283027649 + ], + [ + -0.06910903006792068, + 0.051119670271873474, + 0.9962984919548035, + -0.9223204255104065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9971980452537537, + -0.02657119184732437, + 0.06992866098880768, + -0.20291312038898468 + ], + [ + 0.030028361827135086, + 0.9983541369438171, + -0.04886072501540184, + 0.08268189430236816 + ], + [ + -0.06851527094841003, + 0.05082366243004799, + 0.9963546395301819, + -0.9348556399345398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9972586035728455, + -0.02716981992125511, + 0.06882677972316742, + -0.20449447631835938 + ], + [ + 0.03055519610643387, + 0.9983497858047485, + -0.048621270805597305, + 0.08324254304170609 + ], + [ + -0.06739217042922974, + 0.05059099569916725, + 0.9964430928230286, + -0.9516680240631104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9973109364509583, + -0.027759607881307602, + 0.06782586127519608, + -0.20610865950584412 + ], + [ + 0.031036537140607834, + 0.9983771443367004, + -0.04774753749370575, + 0.08434829860925674 + ], + [ + -0.06639034301042557, + 0.04972422122955322, + 0.9965539574623108, + -0.965673565864563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9973658919334412, + -0.02798205055296421, + 0.06691987812519073, + -0.20873816311359406 + ], + [ + 0.031149299815297127, + 0.9984201788902283, + -0.04676347225904465, + 0.0855904147028923 + ], + [ + -0.06550562381744385, + 0.04872480034828186, + 0.996661901473999, + -0.9754446148872375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.997402012348175, + -0.029221132397651672, + 0.06584358215332031, + -0.2098122537136078 + ], + [ + 0.03225439041852951, + 0.998444139957428, + -0.04548545926809311, + 0.0865836963057518 + ], + [ + -0.06441199779510498, + 0.047491028904914856, + 0.996792733669281, + -0.9852984547615051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9974368810653687, + -0.029660383239388466, + 0.0651143342256546, + -0.21325315535068512 + ], + [ + 0.03258330002427101, + 0.9984869956970215, + -0.04429562762379646, + 0.08727996796369553 + ], + [ + -0.06370198726654053, + 0.046303730458021164, + 0.9968941807746887, + -0.9937499165534973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9974561333656311, + -0.031311918050050735, + 0.06403756141662598, + -0.21278198063373566 + ], + [ + 0.03409329429268837, + 0.9985012412071228, + -0.04281198978424072, + 0.08922582864761353 + ], + [ + -0.06260105967521667, + 0.04488633573055267, + 0.9970287680625916, + -1.0010730028152466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9974648356437683, + -0.03257244825363159, + 0.06326910853385925, + -0.2126886248588562 + ], + [ + 0.03523143380880356, + 0.9985222816467285, + -0.04137565940618515, + 0.09163467586040497 + ], + [ + -0.06182791292667389, + 0.04349982738494873, + 0.9971384406089783, + -1.0091603994369507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9974694848060608, + -0.03384945169091225, + 0.06252041459083557, + -0.21159791946411133 + ], + [ + 0.03632180020213127, + 0.998585045337677, + -0.03884067013859749, + 0.09262334555387497 + ], + [ + -0.06111721321940422, + 0.041013237088918686, + 0.9972876310348511, + -1.0151022672653198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9974633455276489, + -0.035067468881607056, + 0.06194454804062843, + -0.20898135006427765 + ], + [ + 0.037325792014598846, + 0.9986658096313477, + -0.0356840156018734, + 0.09260277450084686 + ], + [ + -0.060610558837652206, + 0.037905629724264145, + 0.9974414706230164, + -1.0221928358078003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9974074363708496, + -0.03695709630846977, + 0.06174589693546295, + -0.20895107090473175 + ], + [ + 0.0389791838824749, + 0.9987316131591797, + -0.03187105432152748, + 0.0946468636393547 + ], + [ + -0.060489721596241, + 0.03419523313641548, + 0.9975829124450684, + -1.0231282711029053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9973524808883667, + -0.038591768592596054, + 0.06163359805941582, + -0.20637130737304688 + ], + [ + 0.04029158875346184, + 0.9988344311714172, + -0.02657858096063137, + 0.0967557430267334 + ], + [ + -0.06053604558110237, + 0.02899152971804142, + 0.9977449178695679, + -1.0265265703201294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9973194003105164, + -0.03976374492049217, + 0.06142367422580719, + -0.2043531835079193 + ], + [ + 0.04102487489581108, + 0.9989696145057678, + -0.01940835826098919, + 0.0987551212310791 + ], + [ + -0.06058863550424576, + 0.021876228973269463, + 0.9979230761528015, + -1.0274325609207153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9972559213638306, + -0.04106714203953743, + 0.06159622222185135, + -0.20108628273010254 + ], + [ + 0.04181915149092674, + 0.9990649819374084, + -0.010969067923724651, + 0.10188435018062592 + ], + [ + -0.061088159680366516, + 0.013514869846403599, + 0.9980408549308777, + -1.0336380004882812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9972035884857178, + -0.041930388659238815, + 0.06186121702194214, + -0.1994750052690506 + ], + [ + 0.04201498255133629, + 0.9991169571876526, + -6.668607238680124e-05, + 0.10421392321586609 + ], + [ + -0.06180379539728165, + 0.002665597014129162, + 0.9980847835540771, + -1.0346485376358032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9971857070922852, + -0.04225517809391022, + 0.061929114162921906, + -0.19668017327785492 + ], + [ + 0.04153526574373245, + 0.9990541934967041, + 0.012867014855146408, + 0.1099652647972107 + ], + [ + -0.06241423636674881, + -0.010258561000227928, + 0.9979975819587708, + -1.0373237133026123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9971684217453003, + -0.042238976806402206, + 0.06221786513924599, + -0.19392214715480804 + ], + [ + 0.04049639776349068, + 0.9987584948539734, + 0.029007956385612488, + 0.11599617451429367 + ], + [ + -0.0633658915758133, + -0.026406217366456985, + 0.9976409673690796, + -1.0358293056488037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.997167706489563, + -0.04180038347840309, + 0.06252394616603851, + -0.18911202251911163 + ], + [ + 0.03886963799595833, + 0.9981204867362976, + 0.047378141433000565, + 0.12416691333055496 + ], + [ + -0.06438685953617096, + -0.044813673943281174, + 0.996918261051178, + -1.0319390296936035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9971372485160828, + -0.04081643745303154, + 0.0636504590511322, + -0.185800701379776 + ], + [ + 0.036472875624895096, + 0.997020423412323, + 0.0679706260561943, + 0.13521981239318848 + ], + [ + -0.06623512506484985, + -0.06545452028512955, + 0.9956548810005188, + -1.0274244546890259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9970552921295166, + -0.03998129442334175, + 0.06543897837400436, + -0.1841869205236435 + ], + [ + 0.03391735628247261, + 0.9952467679977417, + 0.09128774702548981, + 0.14838235080242157 + ], + [ + -0.06877773255109787, + -0.08879941701889038, + 0.9936721324920654, + -1.0212602615356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9969722032546997, + -0.038543831557035446, + 0.06753408908843994, + -0.18169379234313965 + ], + [ + 0.030515318736433983, + 0.992766261100769, + 0.11612048745155334, + 0.16675150394439697 + ], + [ + -0.07152129709720612, + -0.11370806396007538, + 0.9909365177154541, + -1.0149319171905518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968390464782715, + -0.03705954924225807, + 0.07027418911457062, + -0.17885127663612366 + ], + [ + 0.026749055832624435, + 0.9894534945487976, + 0.14235946536064148, + 0.18806159496307373 + ], + [ + -0.07480882108211517, + -0.1400296986103058, + 0.9873172044754028, + -1.010048747062683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9965935349464417, + -0.03593815118074417, + 0.07422751933336258, + -0.17591510713100433 + ], + [ + 0.022855591028928757, + 0.9851594567298889, + 0.17011314630508423, + 0.2092123180627823 + ], + [ + -0.07923949509859085, + -0.16783714294433594, + 0.9826249480247498, + -1.0054816007614136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9961892366409302, + -0.03520026430487633, + 0.07979930192232132, + -0.17427890002727509 + ], + [ + 0.018691014498472214, + 0.979844331741333, + 0.19888636469841003, + 0.23083125054836273 + ], + [ + -0.0851917490363121, + -0.19663691520690918, + 0.9767683148384094, + -1.0012919902801514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9956385493278503, + -0.0348622128367424, + 0.08653637021780014, + -0.17226213216781616 + ], + [ + 0.014304889366030693, + 0.973636269569397, + 0.22765709459781647, + 0.25233590602874756 + ], + [ + -0.09219158440828323, + -0.22542627155780792, + 0.9698885083198547, + -0.9965178370475769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9948747754096985, + -0.034887321293354034, + 0.09490533918142319, + -0.17098107933998108 + ], + [ + 0.00957098975777626, + 0.9668695330619812, + 0.2550916075706482, + 0.2761520445346832 + ], + [ + -0.100660540163517, + -0.2528758645057678, + 0.9622480273246765, + -0.9940481781959534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9939424991607666, + -0.035192642360925674, + 0.10411422699689865, + -0.1656240075826645 + ], + [ + 0.004520386457443237, + 0.9596326947212219, + 0.28122004866600037, + 0.30065256357192993 + ], + [ + -0.1098082885146141, + -0.2790459096431732, + 0.9539787769317627, + -0.9950090646743774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9926543831825256, + -0.037123240530490875, + 0.11514846980571747, + -0.1604873687028885 + ], + [ + -1.4882534742355347e-06, + 0.9517565965652466, + 0.3068540394306183, + 0.3184838891029358 + ], + [ + -0.12098473310470581, + -0.30460014939308167, + 0.9447652697563171, + -0.9963099956512451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9909525513648987, + -0.03995813801884651, + 0.12812623381614685, + -0.1553352177143097 + ], + [ + -0.004729732871055603, + 0.9436622858047485, + 0.3308762311935425, + 0.33681967854499817 + ], + [ + -0.1341291069984436, + -0.32848864793777466, + 0.9349355697631836, + -0.9934280514717102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9889360666275024, + -0.04334868863224983, + 0.14186720550060272, + -0.14660631120204926 + ], + [ + -0.009609576314687729, + 0.9356215596199036, + 0.35287389159202576, + 0.3550416827201843 + ], + [ + -0.148030623793602, + -0.35033300518989563, + 0.9248533248901367, + -0.9870701432228088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9865769147872925, + -0.04714023321866989, + 0.15634526312351227, + -0.13638776540756226 + ], + [ + -0.014593854546546936, + 0.9281426668167114, + 0.3719384968280792, + 0.37310531735420227 + ], + [ + -0.16264398396015167, + -0.3692276179790497, + 0.9149961471557617, + -0.9810073971748352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.983755350112915, + -0.05122872442007065, + 0.1720496118068695, + -0.12765881419181824 + ], + [ + -0.020210333168506622, + 0.9207165241241455, + 0.3897083103656769, + 0.38599899411201477 + ], + [ + -0.17837318778038025, + -0.38685479760169983, + 0.9047244787216187, + -0.9719828367233276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9809114336967468, + -0.055542003363370895, + 0.1863541603088379, + -0.11339247971773148 + ], + [ + -0.02523178979754448, + 0.9138836860656738, + 0.4051913619041443, + 0.39700111746788025 + ], + [ + -0.19281116127967834, + -0.40215885639190674, + 0.8950375318527222, + -0.9662100672721863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9779070019721985, + -0.06021245941519737, + 0.20018085837364197, + -0.09712865948677063 + ], + [ + -0.02972198650240898, + 0.9078388810157776, + 0.4182645082473755, + 0.40962037444114685 + ], + [ + -0.2069166898727417, + -0.41497355699539185, + 0.8859923481941223, + -0.9607945084571838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9748627543449402, + -0.06464719772338867, + 0.21322129666805267, + -0.08344101905822754 + ], + [ + -0.03422049060463905, + 0.902182936668396, + 0.42999401688575745, + 0.4205596148967743 + ], + [ + -0.2201625257730484, + -0.426481693983078, + 0.8772923350334167, + -0.9511820077896118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9717596173286438, + -0.06884428858757019, + 0.22570709884166718, + -0.07373487204313278 + ], + [ + -0.038468167185783386, + 0.8974832892417908, + 0.43936771154403687, + 0.4283673167228699 + ], + [ + -0.23281629383563995, + -0.4356423616409302, + 0.8694896697998047, + -0.9433814287185669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9688310027122498, + -0.07251998782157898, + 0.23686982691287994, + -0.06691230833530426 + ], + [ + -0.042530614882707596, + 0.8932980298995972, + 0.4474480450153351, + 0.43162620067596436 + ], + [ + -0.24404428899288177, + -0.44357576966285706, + 0.8623705506324768, + -0.9367176294326782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9662557244300842, + -0.07548373192548752, + 0.24627651274204254, + -0.06400685757398605 + ], + [ + -0.04604814574122429, + 0.8900777101516724, + 0.45347681641578674, + 0.4336162209510803 + ], + [ + -0.2534353733062744, + -0.44951513409614563, + 0.8565667867660522, + -0.933611273765564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9641768336296082, + -0.07761312276124954, + 0.253651887178421, + -0.06252444535493851 + ], + [ + -0.049019936472177505, + 0.8876335024833679, + 0.45793429017066956, + 0.4349043667316437 + ], + [ + -0.2606916129589081, + -0.45396360754966736, + 0.8520310521125793, + -0.9325674772262573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9625160694122314, + -0.07934737950563431, + 0.2593584656715393, + -0.06278307735919952 + ], + [ + -0.051361970603466034, + 0.8856227397918701, + 0.46155646443367004, + 0.4351893961429596 + ], + [ + -0.26631706953048706, + -0.4575766623020172, + 0.8483506441116333, + -0.9316040873527527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9614818096160889, + -0.08016261458396912, + 0.2629196047782898, + -0.06397998332977295 + ], + [ + -0.05323391035199165, + 0.8841115832328796, + 0.46423372626304626, + 0.43440788984298706 + ], + [ + -0.269664466381073, + -0.460348516702652, + 0.8457897901535034, + -0.9312753677368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9607738256454468, + -0.08051794767379761, + 0.26538750529289246, + -0.06489963084459305 + ], + [ + -0.054785192012786865, + 0.8829670548439026, + 0.4662272036075592, + 0.4335431456565857 + ], + [ + -0.2718680799007416, + -0.4624781906604767, + 0.8439204096794128, + -0.92954021692276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9604928493499756, + -0.08042401075363159, + 0.2664310038089752, + -0.06655705720186234 + ], + [ + -0.05586235597729683, + 0.8821386694908142, + 0.46766525506973267, + 0.4316030442714691 + ], + [ + -0.2726406157016754, + -0.464072585105896, + 0.842795193195343, + -0.9301573634147644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9605717062950134, + -0.07987840473651886, + 0.26631078124046326, + -0.06825894117355347 + ], + [ + -0.056603625416755676, + 0.8815968036651611, + 0.4685969054698944, + 0.43101969361305237 + ], + [ + -0.272209495306015, + -0.46519508957862854, + 0.8423155546188354, + -0.9292571544647217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9609795212745667, + -0.07910004258155823, + 0.26506897807121277, + -0.06939374655485153 + ], + [ + -0.05693419277667999, + 0.8811688423156738, + 0.46936121582984924, + 0.4311438798904419 + ], + [ + -0.2706970274448395, + -0.46613797545433044, + 0.842281699180603, + -0.9279252290725708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9615573883056641, + -0.07805569469928741, + 0.26327675580978394, + -0.07111380994319916 + ], + [ + -0.057064238935709, + 0.8810237050056458, + 0.4696178436279297, + 0.4313960075378418 + ], + [ + -0.2686094045639038, + -0.46658819913864136, + 0.842700719833374, + -0.9264872074127197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.962310254573822, + -0.07690193504095078, + 0.2608546018600464, + -0.0724097341299057 + ], + [ + -0.05705829709768295, + 0.8807443976402283, + 0.4701421558856964, + 0.43067967891693115 + ], + [ + -0.2659010887145996, + -0.467306524515152, + 0.8431614637374878, + -0.9254538416862488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9632278084754944, + -0.07567174732685089, + 0.25780993700027466, + -0.07353667914867401 + ], + [ + -0.05689779296517372, + 0.8803131580352783, + 0.470968633890152, + 0.42896759510040283 + ], + [ + -0.26259249448776245, + -0.468318909406662, + 0.8436365723609924, + -0.925452470779419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9640336632728577, + -0.0743095874786377, + 0.25518059730529785, + -0.07630611956119537 + ], + [ + -0.05690746009349823, + 0.8801413774490356, + 0.47128841280937195, + 0.4293191134929657 + ], + [ + -0.25961625576019287, + -0.46885958313941956, + 0.844257116317749, + -0.9235532879829407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9650061726570129, + -0.07378197461366653, + 0.2516332268714905, + -0.07650325447320938 + ], + [ + -0.05560718849301338, + 0.8801984190940857, + 0.47133705019950867, + 0.4292154014110565 + ], + [ + -0.2562633156776428, + -0.4688358008861542, + 0.8452941179275513, + -0.9242876768112183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.965937077999115, + -0.07334855943918228, + 0.24816428124904633, + -0.07719002664089203 + ], + [ + -0.05433100834488869, + 0.8801319003105164, + 0.47161003947257996, + 0.42962050437927246 + ], + [ + -0.25300922989845276, + -0.46902868151664734, + 0.8461669683456421, + -0.9254740476608276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9666710495948792, + -0.07341078668832779, + 0.24527117609977722, + -0.07955457270145416 + ], + [ + -0.05318271368741989, + 0.8795342445373535, + 0.4728541970252991, + 0.42841240763664246 + ], + [ + -0.2504369914531708, + -0.47013866901397705, + 0.8463160991668701, + -0.9252595901489258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9673346877098083, + -0.07378830760717392, + 0.24252603948116302, + -0.08250530064105988 + ], + [ + -0.05169106274843216, + 0.8791865110397339, + 0.47366565465927124, + 0.4293537139892578 + ], + [ + -0.24817661941051483, + -0.47072964906692505, + 0.846653401851654, + -0.9251061081886292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9681270718574524, + -0.07436700165271759, + 0.23916426301002502, + -0.08221763372421265 + ], + [ + -0.04962270334362984, + 0.8790189623832703, + 0.47419747710227966, + 0.42989224195480347 + ], + [ + -0.24549457430839539, + -0.4709514081478119, + 0.8473117351531982, + -0.9256327748298645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9686552286148071, + -0.07565817981958389, + 0.23660694062709808, + -0.08236736059188843 + ], + [ + -0.047372713685035706, + 0.878746509552002, + 0.4749319851398468, + 0.42765742540359497 + ], + [ + -0.2438500076532364, + -0.4712540805339813, + 0.8476182818412781, + -0.9264286756515503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9691341519355774, + -0.07729589939117432, + 0.234103262424469, + -0.0807071104645729 + ], + [ + -0.04479144513607025, + 0.878568708896637, + 0.47551101446151733, + 0.42683395743370056 + ], + [ + -0.24243086576461792, + -0.4713197946548462, + 0.8479887843132019, + -0.9272024631500244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9693931341171265, + -0.0789697915315628, + 0.23246659338474274, + -0.08035887032747269 + ], + [ + -0.042718686163425446, + 0.8781614303588867, + 0.47645312547683716, + 0.4257882237434387 + ], + [ + -0.24176861345767975, + -0.4718010425567627, + 0.8479102253913879, + -0.9278674125671387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9694045186042786, + -0.08085866272449493, + 0.23176871240139008, + -0.08108010143041611 + ], + [ + -0.04086882621049881, + 0.877844512462616, + 0.47719889879226685, + 0.4240395426750183 + ], + [ + -0.24204255640506744, + -0.4720708727836609, + 0.8476818799972534, + -0.9279734492301941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9693132042884827, + -0.08347822725772858, + 0.2312212884426117, + -0.08088450133800507 + ], + [ + -0.03844517096877098, + 0.8775273561477661, + 0.4779829978942871, + 0.42157062888145447 + ], + [ + -0.2428041696548462, + -0.4722045660018921, + 0.8473895192146301, + -0.9279816150665283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9691945910453796, + -0.08553886413574219, + 0.23096519708633423, + -0.07983483374118805 + ], + [ + -0.036589883267879486, + 0.8773421049118042, + 0.47846847772598267, + 0.4203175902366638 + ], + [ + -0.24356314539909363, + -0.4721800684928894, + 0.8471853733062744, + -0.927293062210083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.969068706035614, + -0.08726300299167633, + 0.23084847629070282, + -0.07816608250141144 + ], + [ + -0.03500925377011299, + 0.8773325681686401, + 0.4786042273044586, + 0.4181957542896271 + ], + [ + -0.24429531395435333, + -0.4718821942806244, + 0.8471404910087585, + -0.9290642142295837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9687420129776001, + -0.08843039721250534, + 0.2317734956741333, + -0.08086579293012619 + ], + [ + -0.03450470417737961, + 0.8771907091140747, + 0.4789007604122162, + 0.41178515553474426 + ], + [ + -0.24565893411636353, + -0.47192856669425964, + 0.8467202186584473, + -0.9368172883987427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9701439738273621, + -0.09680888056755066, + 0.2223706841468811, + 0.041308317333459854 + ], + [ + -0.028244733810424805, + 0.8655429482460022, + 0.500037670135498, + 0.5324243903160095 + ], + [ + -0.24087947607040405, + -0.49138930439949036, + 0.8369669318199158, + -0.5706526637077332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9692326188087463, + -0.10182783007621765, + 0.22409632802009583, + 0.10266745090484619 + ], + [ + -0.028377804905176163, + 0.8581221699714661, + 0.5126607418060303, + 0.6421176195144653 + ], + [ + -0.2445051670074463, + -0.5032469034194946, + 0.828830361366272, + -0.30387285351753235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9664482474327087, + -0.11048927903175354, + 0.23188328742980957, + 0.21716192364692688 + ], + [ + -0.033327993005514145, + 0.841185450553894, + 0.539718747138977, + 0.8791525363922119 + ], + [ + -0.2546899914741516, + -0.5293384790420532, + 0.8092797994613647, + 0.21555505692958832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9649520516395569, + -0.11501576006412506, + 0.2358790934085846, + 0.27195245027542114 + ], + [ + -0.03564264997839928, + 0.8330698013305664, + 0.552018404006958, + 0.9919176697731018 + ], + [ + -0.2599945664405823, + -0.5410786867141724, + 0.7997729182243347, + 0.4402132034301758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9622074365615845, + -0.12041573226451874, + 0.2442476898431778, + 0.3496503531932831 + ], + [ + -0.04103116691112518, + 0.8225741386413574, + 0.5671756863594055, + 1.1683194637298584 + ], + [ + -0.269208699464798, + -0.5557624697685242, + 0.7865461111068726, + 0.7551674842834473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9612470269203186, + -0.12286090850830078, + 0.2467983067035675, + 0.3800885081291199 + ], + [ + -0.04279686138033867, + 0.8178542852401733, + 0.5738317370414734, + 1.22971510887146 + ], + [ + -0.27234652638435364, + -0.5621562600135803, + 0.7809019088745117, + 0.8620985746383667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9603772163391113, + -0.12383531033992767, + 0.2496805638074875, + 0.3909534811973572 + ], + [ + -0.0444888137280941, + 0.816260814666748, + 0.5759678483009338, + 1.2550389766693115 + ], + [ + -0.27512964606285095, + -0.5642544627189636, + 0.7784090638160706, + 0.9048108458518982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 720.9332682291666, + "fy": 721.1012369791666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/7e7c7298-d741-46cb-82d8-296bb05027de/caption.txt b/dynpose_eval/source/7e7c7298-d741-46cb-82d8-296bb05027de/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..f1f68d90a021bc779dd97907f5fd34189ecfaf46 --- /dev/null +++ b/dynpose_eval/source/7e7c7298-d741-46cb-82d8-296bb05027de/caption.txt @@ -0,0 +1 @@ +There are various types of rocks and minerals scattered on the ground. diff --git a/dynpose_eval/source/7e7c7298-d741-46cb-82d8-296bb05027de/extras/source_metadata.json b/dynpose_eval/source/7e7c7298-d741-46cb-82d8-296bb05027de/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..555e99f1d12cd076987f262fae25ecf1531c9698 --- /dev/null +++ b/dynpose_eval/source/7e7c7298-d741-46cb-82d8-296bb05027de/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "7e7c7298-d741-46cb-82d8-296bb05027de", + "tar_name": "dpsp-061bfc4f", + "youtube_link": "https://www.youtube.com/watch?v=1tKNftMvz40", + "youtube_timestamp": "0:09:21.894-0:09:26.866", + "num_frames": 149, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/7e7c7298-d741-46cb-82d8-296bb05027de/transforms.json b/dynpose_eval/source/7e7c7298-d741-46cb-82d8-296bb05027de/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4fd7fc1ce74457af781dedfb83699406f2399834 --- /dev/null +++ b/dynpose_eval/source/7e7c7298-d741-46cb-82d8-296bb05027de/transforms.json @@ -0,0 +1,5228 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 149, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999903440475464, + -0.003359242109581828, + -0.0028436011634767056, + 0.0012029960053041577 + ], + [ + 0.0033557817805558443, + 0.999993622303009, + -0.00122077704872936, + 0.002118110889568925 + ], + [ + 0.00284768408164382, + 0.00121122261043638, + 0.999995231628418, + 0.006819253787398338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999160170555115, + -0.006001915317028761, + -0.011483758687973022, + 0.011573619209229946 + ], + [ + 0.00601152190938592, + 0.9999815821647644, + 0.0008022043621167541, + -0.01142183318734169 + ], + [ + 0.011478733271360397, + -0.0008711718255653977, + 0.9999337196350098, + 0.007762113586068153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996400475502014, + -0.013507463969290257, + -0.02318147011101246, + 0.023329293355345726 + ], + [ + 0.01337470579892397, + 0.999893307685852, + -0.005872469395399094, + -0.018531428650021553 + ], + [ + 0.02325831912457943, + 0.005560309626162052, + 0.9997140169143677, + 0.006180353928357363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9994731545448303, + -0.02233506552875042, + -0.023549934849143028, + 0.03620493784546852 + ], + [ + 0.0221847053617239, + 0.9997318983078003, + -0.006626781076192856, + -0.03350582346320152 + ], + [ + 0.023691629990935326, + 0.006100841797888279, + 0.9997007250785828, + -0.001948992838151753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9986146092414856, + -0.030429428443312645, + -0.04292962700128555, + 0.06756289303302765 + ], + [ + 0.030262621119618416, + 0.9995316863059998, + -0.004530321341007948, + -0.050812557339668274 + ], + [ + 0.04304737597703934, + 0.0032248820643872023, + 0.9990678429603577, + 0.005688199307769537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9991327524185181, + -0.033900827169418335, + -0.024177098646759987, + 0.06629541516304016 + ], + [ + 0.03321826457977295, + 0.9990531206130981, + -0.02809561975300312, + -0.04040839523077011 + ], + [ + 0.02510667033493519, + 0.02726813219487667, + 0.9993128180503845, + -0.01622643508017063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9992446303367615, + -0.036734193563461304, + -0.012681578285992146, + 0.07150322198867798 + ], + [ + 0.03633923828601837, + 0.9988865852355957, + -0.030083350837230682, + -0.049557458609342575 + ], + [ + 0.01377254631370306, + 0.029599785804748535, + 0.9994669556617737, + -0.04150712862610817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9990383982658386, + -0.04316231235861778, + -0.007698785047978163, + 0.08162638545036316 + ], + [ + 0.04290953651070595, + 0.9986154437065125, + -0.030430365353822708, + -0.05489395931363106 + ], + [ + 0.00900156982243061, + 0.030070751905441284, + 0.9995072484016418, + -0.0663093701004982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9987440705299377, + -0.04940331354737282, + -0.008345315232872963, + 0.09542349725961685 + ], + [ + 0.04916970059275627, + 0.9984467625617981, + -0.02619844116270542, + -0.06490945816040039 + ], + [ + 0.009626643732190132, + 0.025755198672413826, + 0.9996219277381897, + -0.0836486965417862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9983890056610107, + -0.05613987520337105, + -0.008226401172578335, + 0.11716241389513016 + ], + [ + 0.055898021906614304, + 0.9980671405792236, + -0.02715582773089409, + -0.07070896029472351 + ], + [ + 0.00973502453416586, + 0.02665223926305771, + 0.9995973706245422, + -0.1034354493021965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9978880286216736, + -0.06472457945346832, + -0.005492028780281544, + 0.1346786618232727 + ], + [ + 0.0646013468503952, + 0.9977058172225952, + -0.020243333652615547, + -0.08198753744363785 + ], + [ + 0.006789670325815678, + 0.019845789298415184, + 0.999779999256134, + -0.14213736355304718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9974207282066345, + -0.0717756524682045, + -0.0004359771846793592, + 0.14866754412651062 + ], + [ + 0.07175207883119583, + 0.9972162842750549, + -0.020281175151467323, + -0.08210626989603043 + ], + [ + 0.00189045793376863, + 0.020197583362460136, + 0.9997942447662354, + -0.17940717935562134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9970254898071289, + -0.07670945674180984, + -0.007471049670130014, + 0.17270714044570923 + ], + [ + 0.07657160609960556, + 0.9969146847724915, + -0.017258822917938232, + -0.0851035863161087 + ], + [ + 0.008771914057433605, + 0.016635417938232422, + 0.9998231530189514, + -0.2043112814426422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9965988993644714, + -0.08210469037294388, + -0.007034479174762964, + 0.18801751732826233 + ], + [ + 0.08199334889650345, + 0.9965218901634216, + -0.014874930493533611, + -0.0893029272556305 + ], + [ + 0.008231313899159431, + 0.014247558079659939, + 0.9998646378517151, + -0.2339724451303482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9962483048439026, + -0.08642686158418655, + -0.00443738978356123, + 0.20208293199539185 + ], + [ + 0.08634480088949203, + 0.9961337447166443, + -0.016191883012652397, + -0.08665040135383606 + ], + [ + 0.0058196475729346275, + 0.01574799232184887, + 0.9998590350151062, + -0.26494279503822327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9956422448158264, + -0.0928526520729065, + -0.008654686622321606, + 0.22781743109226227 + ], + [ + 0.09281879663467407, + 0.9956740140914917, + -0.004235465545207262, + -0.09931697696447372 + ], + [ + 0.00901052076369524, + 0.003413690719753504, + 0.99995356798172, + -0.2948165237903595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9951251149177551, + -0.09835198521614075, + -0.007274174131453037, + 0.24679559469223022 + ], + [ + 0.09832149744033813, + 0.995144784450531, + -0.00443675322458148, + -0.10102209448814392 + ], + [ + 0.007675220258533955, + 0.0036999168805778027, + 0.9999637007713318, + -0.32468798756599426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9946017265319824, + -0.10327786207199097, + -0.010056733153760433, + 0.26464277505874634 + ], + [ + 0.1031932383775711, + 0.994624137878418, + -0.00859965942800045, + -0.09580273926258087 + ], + [ + 0.010890823788940907, + 0.0075154490768909454, + 0.999912440776825, + -0.34739360213279724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9942502379417419, + -0.10691988468170166, + -0.005878326017409563, + 0.2713398039340973 + ], + [ + 0.10689389705657959, + 0.9942598938941956, + -0.004571863450109959, + -0.09875817596912384 + ], + [ + 0.0063334074802696705, + 0.003917219117283821, + 0.9999722838401794, + -0.368931382894516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9937165379524231, + -0.11190173774957657, + -0.0023231031373143196, + 0.28082406520843506 + ], + [ + 0.11190121620893478, + 0.9937192797660828, + -0.00035603780997917056, + -0.10357209295034409 + ], + [ + 0.0023483536206185818, + 9.384262375533581e-05, + 0.9999972581863403, + -0.3911362588405609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9930869936943054, + -0.11737985163927078, + 0.00043849594658240676, + 0.2905157208442688 + ], + [ + 0.11737901717424393, + 0.9930859208106995, + 0.0015868417685851455, + -0.10462935268878937 + ], + [ + -0.0006217273767106235, + -0.001524401712231338, + 0.9999986290931702, + -0.412203848361969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.992602527141571, + -0.12140431255102158, + -0.0011021500686183572, + 0.3012746274471283 + ], + [ + 0.12140738219022751, + 0.9925970435142517, + 0.0033739341888576746, + -0.1063704863190651 + ], + [ + 0.0006843807641416788, + -0.003482784843072295, + 0.9999936819076538, + -0.4298378527164459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.992193877696991, + -0.12469246238470078, + 0.0017475038766860962, + 0.3023451566696167 + ], + [ + 0.12466410547494888, + 0.9921309947967529, + 0.011614730581641197, + -0.11745312064886093 + ], + [ + -0.003182021901011467, + -0.011306213214993477, + 0.9999310374259949, + -0.4433601200580597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.991856038570404, + -0.12735329568386078, + 0.0016616706270724535, + 0.30754172801971436 + ], + [ + 0.12730960547924042, + 0.991728663444519, + 0.016323866322636604, + -0.125685453414917 + ], + [ + -0.0037268244195729494, + -0.015979377552866936, + 0.9998653531074524, + -0.4573095738887787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9915229678153992, + -0.12993085384368896, + 0.0003514111740514636, + 0.3122847378253937 + ], + [ + 0.12990373373031616, + 0.9913645386695862, + 0.017926881089806557, + -0.13178658485412598 + ], + [ + -0.002677631564438343, + -0.017729265615344048, + 0.9998392462730408, + -0.47078949213027954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9912145733833313, + -0.13225580751895905, + -0.0014261474134400487, + 0.3173227310180664 + ], + [ + 0.13225774466991425, + 0.9910131096839905, + 0.02002141997218132, + -0.14013181626796722 + ], + [ + -0.0012346181320026517, + -0.020034141838550568, + 0.9997985363006592, + -0.4802399277687073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9908658266067505, + -0.13485151529312134, + -7.932889275252819e-05, + 0.3170470893383026 + ], + [ + 0.13482069969177246, + 0.9906263947486877, + 0.021970190107822418, + -0.1501762419939041 + ], + [ + -0.0028841278981417418, + -0.02178020402789116, + 0.9997586011886597, + -0.48695433139801025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9903990626335144, + -0.13821138441562653, + 0.0027122851461172104, + 0.3140144646167755 + ], + [ + 0.13810838758945465, + 0.9901294112205505, + 0.023870522156357765, + -0.1618722826242447 + ], + [ + -0.005984690971672535, + -0.023266753181815147, + 0.9997113943099976, + -0.4925169050693512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9899541139602661, + -0.14118608832359314, + 0.007568956818431616, + 0.3078402578830719 + ], + [ + 0.14096438884735107, + 0.9897119998931885, + 0.024478035047650337, + -0.1732058823108673 + ], + [ + -0.010947044938802719, + -0.023165179416537285, + 0.9996716976165771, + -0.4942389130592346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9894848465919495, + -0.14444337785243988, + 0.007471466436982155, + 0.3070223927497864 + ], + [ + 0.14417366683483124, + 0.989130973815918, + 0.028877198696136475, + -0.189987450838089 + ], + [ + -0.011561378836631775, + -0.02749636396765709, + 0.9995550513267517, + -0.49776265025138855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9891470670700073, + -0.14674332737922668, + 0.007381826639175415, + 0.3048369288444519 + ], + [ + 0.14644166827201843, + 0.9887101650238037, + 0.031734492629766464, + -0.20426763594150543 + ], + [ + -0.01195531152188778, + -0.030309071764349937, + 0.9994691014289856, + -0.5020696520805359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9886561632156372, + -0.14967787265777588, + 0.012471749447286129, + 0.2968449890613556 + ], + [ + 0.14915812015533447, + 0.988177478313446, + 0.03545674309134483, + -0.2200489491224289 + ], + [ + -0.017631391063332558, + -0.03319426253437996, + 0.9992933869361877, + -0.5063310265541077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9884202480316162, + -0.15131480991840363, + 0.01136983372271061, + 0.29573750495910645 + ], + [ + 0.15083684027194977, + 0.9879353642463684, + 0.03509967774152756, + -0.2292170524597168 + ], + [ + -0.016543760895729065, + -0.03297824412584305, + 0.9993191361427307, + -0.5165873765945435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9887043237686157, + -0.1496930867433548, + 0.007463235408067703, + 0.30036434531211853 + ], + [ + 0.14934425055980682, + 0.9881572127342224, + 0.035236820578575134, + -0.23647211492061615 + ], + [ + -0.01264955848455429, + -0.03372420370578766, + 0.9993511438369751, + -0.520765483379364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9886518120765686, + -0.14957955479621887, + 0.01391151174902916, + 0.2899419367313385 + ], + [ + 0.14885202050209045, + 0.9878979325294495, + 0.04359735921025276, + -0.25674179196357727 + ], + [ + -0.020264428108930588, + -0.0410318486392498, + 0.998952329158783, + -0.5222723484039307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9885746240615845, + -0.14985467493534088, + 0.01624300703406334, + 0.2865728437900543 + ], + [ + 0.14913524687290192, + 0.9880496859550476, + 0.03894275799393654, + -0.2588889002799988 + ], + [ + -0.021884649991989136, + -0.0360754169523716, + 0.9991093873977661, + -0.5248252153396606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.988689124584198, + -0.14982321858406067, + 0.006842237897217274, + 0.30121931433677673 + ], + [ + 0.14945673942565918, + 0.9880232810974121, + 0.038375645875930786, + -0.26628538966178894 + ], + [ + -0.012509853579103947, + -0.036918967962265015, + 0.999239981174469, + -0.5283409953117371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9889296293258667, + -0.14812812209129333, + 0.008729628287255764, + 0.3032709062099457 + ], + [ + 0.14754703640937805, + 0.9878848195075989, + 0.0480981282889843, + -0.2864091992378235 + ], + [ + -0.015748552978038788, + -0.04627763107419014, + 0.9988044500350952, + -0.5320356488227844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9890186786651611, + -0.14666685461997986, + 0.018191784620285034, + 0.2933856248855591 + ], + [ + 0.1456654965877533, + 0.9881831407546997, + 0.04770367220044136, + -0.2911524772644043 + ], + [ + -0.02497335895895958, + -0.044529903680086136, + 0.9986958503723145, + -0.5343419909477234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9894620776176453, + -0.14456267654895782, + 0.008151360787451267, + 0.31201210618019104 + ], + [ + 0.1440485566854477, + 0.988517165184021, + 0.04564893618226051, + -0.2930349111557007 + ], + [ + -0.014656892977654934, + -0.04399370029568672, + 0.9989243149757385, + -0.5389596819877625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9899550080299377, + -0.14137524366378784, + 0.0014621233567595482, + 0.32835835218429565 + ], + [ + 0.14116206765174866, + 0.9889342188835144, + 0.04563349485397339, + -0.2967125177383423 + ], + [ + -0.007897389121353626, + -0.04496870934963226, + 0.9989571571350098, + -0.5388392806053162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9905396103858948, + -0.13721975684165955, + 0.0014137926045805216, + 0.3343499004840851 + ], + [ + 0.13701212406158447, + 0.9895122647285461, + 0.04575100541114807, + -0.2996523380279541 + ], + [ + -0.007676905952394009, + -0.04512447863817215, + 0.9989518523216248, + -0.5319591164588928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9911158680915833, + -0.13296352326869965, + 0.003167178714647889, + 0.34006059169769287 + ], + [ + 0.13269485533237457, + 0.9901677966117859, + 0.044269856065511703, + -0.30086785554885864 + ], + [ + -0.009022314101457596, + -0.043456289917230606, + 0.9990146160125732, + -0.5226380228996277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9917351007461548, + -0.12825332581996918, + -0.003543935716152191, + 0.3572419285774231 + ], + [ + 0.12828044593334198, + 0.9906781911849976, + 0.04583551734685898, + -0.3058372735977173 + ], + [ + -0.002367657143622637, + -0.045911312103271484, + 0.9989427328109741, + -0.5159642100334167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9925285577774048, + -0.12170464545488358, + -0.008662225678563118, + 0.37556764483451843 + ], + [ + 0.12198714166879654, + 0.9912662506103516, + 0.05010375753045082, + -0.31638050079345703 + ], + [ + 0.0024887120816856623, + -0.0507860891520977, + 0.9987064599990845, + -0.5100219249725342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9934762716293335, + -0.11378078162670135, + -0.0076697515323758125, + 0.38504230976104736 + ], + [ + 0.11402606964111328, + 0.9921269416809082, + 0.051790378987789154, + -0.3226693868637085 + ], + [ + 0.0017166177276521921, + -0.05232706665992737, + 0.9986284971237183, + -0.5058807730674744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9943081736564636, + -0.10601083189249039, + -0.010630689561367035, + 0.3963142931461334 + ], + [ + 0.10641052573919296, + 0.9930856227874756, + 0.04957520216703415, + -0.3223096430301666 + ], + [ + 0.005301676690578461, + -0.0504242479801178, + 0.9987137913703918, + -0.5027947425842285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9951690435409546, + -0.09691904485225677, + -0.015659522265195847, + 0.4132835566997528 + ], + [ + 0.09756176173686981, + 0.9940959215164185, + 0.047487422823905945, + -0.32194459438323975 + ], + [ + 0.010964632034301758, + -0.04878578335046768, + 0.9987490773200989, + -0.4956676959991455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9959805011749268, + -0.0881342664361, + -0.015974225476384163, + 0.422595351934433 + ], + [ + 0.0887734517455101, + 0.9950305819511414, + 0.04509333148598671, + -0.32130858302116394 + ], + [ + 0.011920575983822346, + -0.04633016511797905, + 0.9988550543785095, + -0.4854918122291565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9967134594917297, + -0.08073469996452332, + -0.006650086492300034, + 0.4071696698665619 + ], + [ + 0.080959752202034, + 0.9955925345420837, + 0.047339919954538345, + -0.32915326952934265 + ], + [ + 0.0027988029178231955, + -0.047722723335027695, + 0.9988567233085632, + -0.47772112488746643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9971489310264587, + -0.07045925408601761, + -0.02701004594564438, + 0.429365336894989 + ], + [ + 0.07162833958864212, + 0.9964120388031006, + 0.04508228227496147, + -0.33064499497413635 + ], + [ + 0.02373667061328888, + -0.046888429671525955, + 0.9986180663108826, + -0.46736305952072144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9972401857376099, + -0.05875270813703537, + -0.04538837447762489, + 0.4549202024936676 + ], + [ + 0.06077614426612854, + 0.997156023979187, + 0.04456636309623718, + -0.3329080045223236 + ], + [ + 0.04264089837670326, + -0.04720190167427063, + 0.9979748129844666, + -0.459027498960495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9970781803131104, + -0.047094687819480896, + -0.06014305353164673, + 0.4689423143863678 + ], + [ + 0.049784645438194275, + 0.9977886080741882, + 0.0440390482544899, + -0.3340856432914734 + ], + [ + 0.05793604999780655, + -0.04690457135438919, + 0.9972178339958191, + -0.45155611634254456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9968034029006958, + -0.03525152429938316, + -0.07169593870639801, + 0.47781237959861755 + ], + [ + 0.03845706954598427, + 0.9982984662055969, + 0.04383225739002228, + -0.3360852003097534 + ], + [ + 0.07002879679203033, + -0.04644935578107834, + 0.9964629411697388, + -0.4428676962852478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9968487024307251, + -0.021424224600195885, + -0.07637868821620941, + 0.47173479199409485 + ], + [ + 0.024964073672890663, + 0.9986433982849121, + 0.045696549117565155, + -0.3420408070087433 + ], + [ + 0.0752960592508316, + -0.04745926707983017, + 0.9960311651229858, + -0.43535682559013367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9974866509437561, + -0.01201068889349699, + -0.06982956826686859, + 0.4564951956272125 + ], + [ + 0.01416951697319746, + 0.999434232711792, + 0.030502978712320328, + -0.3248272240161896 + ], + [ + 0.06942370533943176, + -0.03141576424241066, + 0.9970924854278564, + -0.4386967122554779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9967945218086243, + 0.0030561801977455616, + -0.07994578778743744, + 0.45538079738616943 + ], + [ + -0.0004657258978113532, + 0.999474823474884, + 0.03240123391151428, + -0.3285134434700012 + ], + [ + 0.08000282943248749, + -0.032260142266750336, + 0.9962724447250366, + -0.43167850375175476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9974452257156372, + 0.013119644485414028, + -0.0702204629778862, + 0.4341404438018799 + ], + [ + -0.011310975067317486, + 0.9995955228805542, + 0.026092957705259323, + -0.32021695375442505 + ], + [ + 0.07053438574075699, + -0.025232035666704178, + 0.9971901774406433, + -0.41637444496154785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9979272484779358, + 0.02268075942993164, + -0.06022313982248306, + 0.3917141854763031 + ], + [ + -0.02161438763141632, + 0.9995988607406616, + 0.01829988695681095, + -0.3059958815574646 + ], + [ + 0.06061404198408127, + -0.01696026884019375, + 0.9980171918869019, + -0.4059394299983978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9954171180725098, + 0.03661233186721802, + -0.08834180980920792, + 0.38014447689056396 + ], + [ + -0.03459658473730087, + 0.999107301235199, + 0.024242408573627472, + -0.3052332103252411 + ], + [ + 0.08915051072835922, + -0.021074984222650528, + 0.9957951903343201, + -0.38759946823120117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9909608364105225, + 0.04697103425860405, + -0.12565962970256805, + 0.3830195665359497 + ], + [ + -0.043758224695920944, + 0.9986438155174255, + 0.028208300471305847, + -0.30679237842559814 + ], + [ + 0.12681420147418976, + -0.022454679012298584, + 0.9916722774505615, + -0.36151114106178284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9847360253334045, + 0.062249183654785156, + -0.16254232823848724, + 0.3830462396144867 + ], + [ + -0.056915558874607086, + 0.997683048248291, + 0.03727126494050026, + -0.3085463345050812 + ], + [ + 0.16448582708835602, + -0.0274511706084013, + 0.9859973788261414, + -0.33577361702919006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.976532518863678, + 0.0735374391078949, + -0.20242656767368317, + 0.39069515466690063 + ], + [ + -0.0646449625492096, + 0.9966446161270142, + 0.05020482465624809, + -0.31549617648124695 + ], + [ + 0.20543928444385529, + -0.035940784960985184, + 0.9780097007751465, + -0.3015128970146179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9626617431640625, + 0.08637114614248276, + -0.2565586566925049, + 0.40625303983688354 + ], + [ + -0.0707806870341301, + 0.9950740337371826, + 0.06941034644842148, + -0.3253003656864166 + ], + [ + 0.26128989458084106, + -0.04865929111838341, + 0.9640331268310547, + -0.2981320023536682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9553760290145874, + 0.09375722706317902, + -0.28011825680732727, + 0.3929670751094818 + ], + [ + -0.07530806958675385, + 0.994264543056488, + 0.07593923807144165, + -0.31903448700904846 + ], + [ + 0.2856315076351166, + -0.051455363631248474, + 0.9569571614265442, + -0.26156342029571533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9521833658218384, + 0.0987296849489212, + -0.2891353368759155, + 0.37371328473091125 + ], + [ + -0.07900622487068176, + 0.9937278032302856, + 0.07913949340581894, + -0.31171417236328125 + ], + [ + 0.2951352596282959, + -0.05251181870698929, + 0.9540113806724548, + -0.24333225190639496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9506308436393738, + 0.09780371934175491, + -0.2945088744163513, + 0.3527027368545532 + ], + [ + -0.07034239917993546, + 0.9922467470169067, + 0.1024613231420517, + -0.3199494779109955 + ], + [ + 0.3022465705871582, + -0.07668642699718475, + 0.950140118598938, + -0.22532756626605988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9466661810874939, + 0.10068148374557495, + -0.3060823678970337, + 0.33743056654930115 + ], + [ + -0.0723215788602829, + 0.9920846819877625, + 0.1026526615023613, + -0.3107103407382965 + ], + [ + 0.313994824886322, + -0.07504145056009293, + 0.9464544653892517, + -0.20580565929412842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9438556432723999, + 0.10563081502914429, + -0.3130154013633728, + 0.32236912846565247 + ], + [ + -0.07859937846660614, + 0.9920984506607056, + 0.09778974205255508, + -0.29768985509872437 + ], + [ + 0.3208717107772827, + -0.06769657880067825, + 0.9447002410888672, + -0.18791691958904266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9444388151168823, + 0.10875484347343445, + -0.31017374992370605, + 0.30602356791496277 + ], + [ + -0.08235515654087067, + 0.9918698668479919, + 0.0970141664147377, + -0.28816837072372437 + ], + [ + 0.3182027339935303, + -0.0660795345902443, + 0.945716917514801, + -0.18428148329257965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9385650753974915, + 0.11113239824771881, + -0.32671889662742615, + 0.29844456911087036 + ], + [ + -0.07999113202095032, + 0.9910039901733398, + 0.10729644447565079, + -0.285173237323761 + ], + [ + 0.3357038199901581, + -0.07457008212804794, + 0.9390113353729248, + -0.1489550769329071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9378134608268738, + 0.10934168845415115, + -0.3294697105884552, + 0.28676968812942505 + ], + [ + -0.0747738853096962, + 0.9904467463493347, + 0.11586244404315948, + -0.2815922498703003 + ], + [ + 0.3389907777309418, + -0.08402162790298462, + 0.9370301961898804, + -0.13020358979701996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9344645142555237, + 0.11281964182853699, + -0.3377096951007843, + 0.2791591286659241 + ], + [ + -0.07331766188144684, + 0.9891169667243958, + 0.12756243348121643, + -0.2797631025314331 + ], + [ + 0.348425954580307, + -0.09444248676300049, + 0.9325663447380066, + -0.10459648817777634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9327950477600098, + 0.1109674870967865, + -0.34289881587028503, + 0.27093952894210815 + ], + [ + -0.06803552806377411, + 0.9885308146476746, + 0.13482573628425598, + -0.2726837396621704 + ], + [ + 0.353927344083786, + -0.10243547707796097, + 0.929646372795105, + -0.07931745052337646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9339647889137268, + 0.10759429633617401, + -0.3407832384109497, + 0.25560733675956726 + ], + [ + -0.06319712102413177, + 0.9882975816726685, + 0.13883106410503387, + -0.26449137926101685 + ], + [ + 0.35173267126083374, + -0.10812680423259735, + 0.92983478307724, + -0.06269677728414536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9301060438156128, + 0.10052300989627838, + -0.35326749086380005, + 0.2561321258544922 + ], + [ + -0.0568663589656353, + 0.9896331429481506, + 0.13188070058822632, + -0.2478809654712677 + ], + [ + 0.362862229347229, + -0.10257400572299957, + 0.9261801242828369, + -0.04054694250226021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9309514760971069, + 0.10695859789848328, + -0.3491264283657074, + 0.25037360191345215 + ], + [ + -0.05600050091743469, + 0.9866469502449036, + 0.15294352173805237, + -0.26137271523475647 + ], + [ + 0.3608231246471405, + -0.12283173203468323, + 0.92451012134552, + -0.038431357592344284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9296371936798096, + 0.10544244945049286, + -0.3530673086643219, + 0.24996913969516754 + ], + [ + -0.053418856114149094, + 0.9866259098052979, + 0.1539992392063141, + -0.2569219470024109 + ], + [ + 0.36458340287208557, + -0.12430297583341599, + 0.9228367805480957, + -0.023334570229053497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9315801858901978, + 0.10393691062927246, + -0.34836113452911377, + 0.2425619661808014 + ], + [ + -0.04880904778838158, + 0.985341489315033, + 0.16346202790737152, + -0.2644692063331604 + ], + [ + 0.36024439334869385, + -0.13527481257915497, + 0.9229976534843445, + -0.021091792732477188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9300329685211182, + 0.10149065405130386, + -0.35318318009376526, + 0.24693872034549713 + ], + [ + -0.0459020659327507, + 0.9856622815132141, + 0.16236640512943268, + -0.2644827365875244 + ], + [ + 0.36459800601005554, + -0.13479427993297577, + 0.9213570356369019, + -0.024581287056207657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9293169975280762, + 0.09727271646261215, + -0.3562414348125458, + 0.2511548697948456 + ], + [ + -0.04270777851343155, + 0.9865212440490723, + 0.15796178579330444, + -0.2610343396663666 + ], + [ + 0.3668051064014435, + -0.13158228993415833, + 0.9209452271461487, + -0.0245193038135767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9300276041030884, + 0.09418239444494247, + -0.3552159368991852, + 0.2505771815776825 + ], + [ + -0.03852512687444687, + 0.9862622022628784, + 0.1606321632862091, + -0.26350316405296326 + ], + [ + 0.3654647767543793, + -0.13570761680603027, + 0.9208794236183167, + -0.029075849801301956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9301431179046631, + 0.09162045270204544, + -0.3555833697319031, + 0.2532235383987427 + ], + [ + -0.03655985742807388, + 0.9866669774055481, + 0.1585928499698639, + -0.26317957043647766 + ], + [ + 0.3653727173805237, + -0.1345139741897583, + 0.9210910797119141, + -0.038266371935606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9292762875556946, + 0.08705318719148636, + -0.3589809536933899, + 0.2591359317302704 + ], + [ + -0.030388765037059784, + 0.9865557551383972, + 0.16057473421096802, + -0.2659769058227539 + ], + [ + 0.3681332468986511, + -0.1383092999458313, + 0.9194283485412598, + -0.045791659504175186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9299178719520569, + 0.08386191725730896, + -0.35807809233665466, + 0.261609822511673 + ], + [ + -0.02854344993829727, + 0.987174928188324, + 0.15706999599933624, + -0.26330795884132385 + ], + [ + 0.36665788292884827, + -0.13584141433238983, + 0.9203853011131287, + -0.057547107338905334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9299682974815369, + 0.0829693153500557, + -0.3581550121307373, + 0.2662277817726135 + ], + [ + -0.025969194248318672, + 0.9865928888320923, + 0.16112130880355835, + -0.26958397030830383 + ], + [ + 0.36672133207321167, + -0.14053672552108765, + 0.9196547865867615, + -0.06967432051897049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9313582181930542, + 0.07780908048152924, + -0.3556930720806122, + 0.268156498670578 + ], + [ + -0.0223303884267807, + 0.9872668981552124, + 0.15749740600585938, + -0.27023136615753174 + ], + [ + 0.36341872811317444, + -0.13874375820159912, + 0.9212366938591003, + -0.08297397196292877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.930733323097229, + 0.07144378125667572, + -0.3586520552635193, + 0.2751309275627136 + ], + [ + -0.01625596545636654, + 0.9878443479537964, + 0.1545937955379486, + -0.27137547731399536 + ], + [ + 0.36533719301223755, + -0.13805535435676575, + 0.920581042766571, + -0.10153450071811676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9274245500564575, + 0.0667559951543808, + -0.36800462007522583, + 0.28807687759399414 + ], + [ + -0.010352181270718575, + 0.9881470799446106, + 0.15316078066825867, + -0.2722926139831543 + ], + [ + 0.37386709451675415, + -0.1382354199886322, + 0.9171229004859924, + -0.11409971117973328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9307047128677368, + 0.06514090299606323, + -0.35992422699928284, + 0.2889619767665863 + ], + [ + -0.00948830135166645, + 0.9879823923110962, + 0.1542748659849167, + -0.2802737355232239 + ], + [ + 0.36564841866493225, + -0.14016927778720856, + 0.9201379418373108, + -0.13877393305301666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9312804341316223, + 0.06036026030778885, + -0.359267920255661, + 0.2944057881832123 + ], + [ + -0.004684751853346825, + 0.9880810976028442, + 0.15386296808719635, + -0.2888166606426239 + ], + [ + 0.3642730414867401, + -0.14160649478435516, + 0.9204633235931396, + -0.1704140156507492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9304084777832031, + 0.05695892870426178, + -0.3620714247226715, + 0.3038017153739929 + ], + [ + -0.0012636836618185043, + 0.9883438348770142, + 0.15223313868045807, + -0.29347914457321167 + ], + [ + 0.3665221035480499, + -0.14118145406246185, + 0.9196354746818542, + -0.1950472891330719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9317473769187927, + 0.05310160294175148, + -0.3592032790184021, + 0.3100176155567169 + ], + [ + 0.0008522868156433105, + 0.9889262318611145, + 0.14840534329414368, + -0.29622775316238403 + ], + [ + 0.3631061315536499, + -0.13858243823051453, + 0.9213842153549194, + -0.2226421982049942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9318637251853943, + 0.04952797293663025, + -0.3594120144844055, + 0.3168966770172119 + ], + [ + 0.005235053598880768, + 0.9886996150016785, + 0.14981873333454132, + -0.3065504729747772 + ], + [ + 0.3627707362174988, + -0.14149217307567596, + 0.9210740327835083, + -0.2504267990589142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9334543943405151, + 0.04444358870387077, + -0.35593220591545105, + 0.31910231709480286 + ], + [ + 0.01093437522649765, + 0.9883074760437012, + 0.1520814448595047, + -0.31828001141548157 + ], + [ + 0.3585294783115387, + -0.14585299789905548, + 0.9220539927482605, + -0.278262197971344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9320775866508484, + 0.040881164371967316, + -0.35994458198547363, + 0.3300083875656128 + ], + [ + 0.014798643998801708, + 0.98848557472229, + 0.15058965981006622, + -0.32502421736717224 + ], + [ + 0.36195629835128784, + -0.14568795263767242, + 0.9207403063774109, + -0.30367353558540344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9339962005615234, + 0.03900738060474396, + -0.35514721274375916, + 0.3301374614238739 + ], + [ + 0.01826203614473343, + 0.9875107407569885, + 0.15648971498012543, + -0.3430019021034241 + ], + [ + 0.35681596398353577, + -0.1526464968919754, + 0.9216189384460449, + -0.32605844736099243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9340887069702148, + 0.03446714207530022, + -0.35537347197532654, + 0.3344307541847229 + ], + [ + 0.020806066691875458, + 0.988383412361145, + 0.1505499929189682, + -0.34566015005111694 + ], + [ + 0.35643425583839417, + -0.14802096784114838, + 0.9225206971168518, + -0.3496560752391815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9342889189720154, + 0.033986885100603104, + -0.3548930883407593, + 0.33703362941741943 + ], + [ + 0.02212289534509182, + 0.9880005121231079, + 0.1528579741716385, + -0.3592565059661865 + ], + [ + 0.35582971572875977, + -0.15066476166248322, + 0.9223260283470154, + -0.37290501594543457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9362084865570068, + 0.0363888256251812, + -0.3495562672615051, + 0.3375033140182495 + ], + [ + 0.022288942709565163, + 0.9864751696586609, + 0.16238808631896973, + -0.3837975561618805 + ], + [ + 0.35073769092559814, + -0.1598203480243683, + 0.922735333442688, + -0.39887601137161255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9580973982810974, + 0.056410226970911026, + -0.28083327412605286, + 0.2535136938095093 + ], + [ + 0.04191650077700615, + 0.9422520995140076, + 0.3322710394859314, + -0.6431454420089722 + ], + [ + 0.28335919976234436, + -0.3301195502281189, + 0.900404691696167, + -0.4276938736438751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9607471823692322, + 0.056562408804893494, + -0.27159807085990906, + 0.2456945776939392 + ], + [ + 0.040472015738487244, + 0.9399456977844238, + 0.338916152715683, + -0.6669562458992004 + ], + [ + 0.2744573652744293, + -0.33660486340522766, + 0.9007610082626343, + -0.44491899013519287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9607136845588684, + 0.056434519588947296, + -0.2717432975769043, + 0.2504708766937256 + ], + [ + 0.03959960490465164, + 0.9412189722061157, + 0.3354678750038147, + -0.6756308078765869 + ], + [ + 0.27470189332962036, + -0.333049476146698, + 0.9020071625709534, + -0.46028339862823486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9621075987815857, + 0.05388763174414635, + -0.2672920823097229, + 0.2506309747695923 + ], + [ + 0.03820609673857689, + 0.943963885307312, + 0.3278299570083618, + -0.6776111125946045 + ], + [ + 0.2699800729751587, + -0.3256198763847351, + 0.9061360359191895, + -0.47728464007377625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9640454649925232, + 0.050379231572151184, + -0.26091820001602173, + 0.24749284982681274 + ], + [ + 0.036104604601860046, + 0.9479284882545471, + 0.3164302110671997, + -0.6717638969421387 + ], + [ + 0.26327329874038696, + -0.3144734501838684, + 0.9120272397994995, + -0.4972223937511444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9673060178756714, + 0.04821716994047165, + -0.24898618459701538, + 0.2370687574148178 + ], + [ + 0.031278058886528015, + 0.9515842199325562, + 0.3057927191257477, + -0.6628543138504028 + ], + [ + 0.2516757845878601, + -0.30358293652534485, + 0.9189650416374207, + -0.5135705471038818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.96905118227005, + 0.04588380455970764, + -0.24255813658237457, + 0.23115718364715576 + ], + [ + 0.028294792398810387, + 0.9554538726806641, + 0.29378098249435425, + -0.6504932641983032 + ], + [ + 0.24523289501667023, + -0.29155194759368896, + 0.9245854616165161, + -0.5256392955780029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9698971509933472, + 0.04134020954370499, + -0.23998019099235535, + 0.23024840652942657 + ], + [ + 0.027217982336878777, + 0.960905909538269, + 0.2755340039730072, + -0.6286593079566956 + ], + [ + 0.24198901653289795, + -0.2737714350223541, + 0.9308547377586365, + -0.5382192134857178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9696997404098511, + 0.037127651274204254, + -0.24146224558353424, + 0.2334597110748291 + ], + [ + 0.026082022115588188, + 0.9670015573501587, + 0.25343188643455505, + -0.5991305708885193 + ], + [ + 0.2429036945104599, + -0.2520506680011749, + 0.9367327690124512, + -0.5477975606918335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9701499938964844, + 0.0346396267414093, + -0.2400190681219101, + 0.23371672630310059 + ], + [ + 0.022784914821386337, + 0.9723473191261292, + 0.23242543637752533, + -0.5701285600662231 + ], + [ + 0.2414330095052719, + -0.2309563308954239, + 0.9425334334373474, + -0.5550442934036255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9701919555664062, + 0.03165402635931969, + -0.24026146531105042, + 0.23400911688804626 + ], + [ + 0.021355893462896347, + 0.9764077067375183, + 0.21487657725811005, + -0.5463367104530334 + ], + [ + 0.24139484763145447, + -0.21360252797603607, + 0.9466269016265869, + -0.5581209659576416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.968593180179596, + 0.03041655756533146, + -0.2467835694551468, + 0.2395637482404709 + ], + [ + 0.02045624516904354, + 0.9793779850006104, + 0.20099835097789764, + -0.5281602144241333 + ], + [ + 0.2478080838918686, + -0.1997338980436325, + 0.9479966163635254, + -0.5604912638664246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9667506814002991, + 0.02889433316886425, + -0.25408318638801575, + 0.2510276436805725 + ], + [ + 0.020415058359503746, + 0.9817039966583252, + 0.1893157958984375, + -0.5128105878829956 + ], + [ + 0.2549046576023102, + -0.18820828199386597, + 0.9484730958938599, + -0.5609014630317688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9649392366409302, + 0.027213305234909058, + -0.2610588073730469, + 0.26264309883117676 + ], + [ + 0.0206264927983284, + 0.9836726784706116, + 0.17878079414367676, + -0.5009618401527405 + ], + [ + 0.2616616487503052, + -0.17789733409881592, + 0.9486230611801147, + -0.5593937635421753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9630255103111267, + 0.026228908449411392, + -0.268130362033844, + 0.2752298414707184 + ], + [ + 0.02008979022502899, + 0.985487163066864, + 0.16855695843696594, + -0.48932069540023804 + ], + [ + 0.2686600685119629, + -0.16771134734153748, + 0.9485223889350891, + -0.5606507062911987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9614623785018921, + 0.023914985358715057, + -0.2738944888114929, + 0.28484806418418884 + ], + [ + 0.020184241235256195, + 0.9873817563056946, + 0.15706637501716614, + -0.4750094711780548 + ], + [ + 0.2741946578025818, + -0.15654176473617554, + 0.9488477110862732, + -0.5575345754623413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9592667818069458, + 0.02044634148478508, + -0.28176096081733704, + 0.297343373298645 + ], + [ + 0.021615829318761826, + 0.9891411662101746, + 0.1453702747821808, + -0.46090200543403625 + ], + [ + 0.2816736400127411, + -0.14553937315940857, + 0.9484082460403442, + -0.552599310874939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9568381309509277, + 0.017406146973371506, + -0.2900996804237366, + 0.30998507142066956 + ], + [ + 0.023058801889419556, + 0.990510880947113, + 0.13548627495765686, + -0.44882118701934814 + ], + [ + 0.28970515727996826, + -0.13632777333259583, + 0.947357177734375, + -0.5459843277931213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9542105793952942, + 0.008222689852118492, + -0.2990226149559021, + 0.32513293623924255 + ], + [ + 0.02875850908458233, + 0.9924701452255249, + 0.11906274408102036, + -0.43131744861602783 + ], + [ + 0.2977500557899475, + -0.12221037596464157, + 0.9467890858650208, + -0.5555235147476196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9525198936462402, + 0.009554160758852959, + -0.3043263852596283, + 0.3320915400981903 + ], + [ + 0.026117363944649696, + 0.993259847164154, + 0.1129283607006073, + -0.4209859371185303 + ], + [ + 0.3033541142940521, + -0.11551471054553986, + 0.9458502531051636, + -0.5506463646888733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9548306465148926, + 0.005689103156328201, + -0.29709598422050476, + 0.32194942235946655 + ], + [ + 0.025004113093018532, + 0.9947324991226196, + 0.09940838813781738, + -0.4049431085586548 + ], + [ + 0.2960965931415558, + -0.10234679281711578, + 0.9496588706970215, + -0.558678925037384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9512574672698975, + 0.0004384126514196396, + -0.308397501707077, + 0.34015119075775146 + ], + [ + 0.031632475554943085, + 0.9945860505104065, + 0.09898481518030167, + -0.40758129954338074 + ], + [ + 0.30677124857902527, + -0.10391541570425034, + 0.9460935592651367, + -0.5605124235153198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9533478617668152, + 0.006709967739880085, + -0.3017992377281189, + 0.3326641917228699 + ], + [ + 0.024241581559181213, + 0.9948225021362305, + 0.09869438409805298, + -0.4067085385322571 + ], + [ + 0.3008989095687866, + -0.10140617191791534, + 0.9482492208480835, + -0.5656631588935852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.953799843788147, + 0.002573658712208271, + -0.3004317581653595, + 0.3322826027870178 + ], + [ + 0.026940692216157913, + 0.995202362537384, + 0.09405577927827835, + -0.398959755897522 + ], + [ + 0.29923245310783386, + -0.0978042259812355, + 0.9491544961929321, + -0.5600181818008423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.95235675573349, + -0.001288052648305893, + -0.304983526468277, + 0.3372940421104431 + ], + [ + 0.029714249074459076, + 0.9956255555152893, + 0.08858231455087662, + -0.3921319842338562 + ], + [ + 0.3035353124141693, + -0.09342432767152786, + 0.9482290148735046, + -0.5610111355781555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9522692561149597, + -0.003450675867497921, + -0.3052397668361664, + 0.33798137307167053 + ], + [ + 0.02933448553085327, + 0.9963428378105164, + 0.08025257289409637, + -0.3814684748649597 + ], + [ + 0.3038465082645416, + -0.08537611365318298, + 0.9488878846168518, + -0.5668781995773315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9528438448905945, + -0.0011175014078617096, + -0.30345892906188965, + 0.3364337384700775 + ], + [ + 0.025141257792711258, + 0.996846079826355, + 0.07527120411396027, + -0.37258288264274597 + ], + [ + 0.3024177551269531, + -0.0793510377407074, + 0.949866771697998, + -0.5686391592025757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9534839987754822, + -0.0034738779067993164, + -0.3014236390590668, + 0.3320768177509308 + ], + [ + 0.02792137861251831, + 0.9966526627540588, + 0.07683650404214859, + -0.37431204319000244 + ], + [ + 0.30014774203300476, + -0.08167854696512222, + 0.9503893852233887, + -0.5619046688079834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9541430473327637, + -0.003016469068825245, + -0.29933592677116394, + 0.3281022906303406 + ], + [ + 0.027020122855901718, + 0.9967352747917175, + 0.0760832130908966, + -0.3724454641342163 + ], + [ + 0.2981291711330414, + -0.08068236708641052, + 0.9511095285415649, + -0.5654536485671997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9548208117485046, + -0.0004237443208694458, + -0.29718178510665894, + 0.3231135904788971 + ], + [ + 0.023051630705595016, + 0.9970917105674744, + 0.0726412832736969, + -0.3640610873699188 + ], + [ + 0.2962867021560669, + -0.07620993256568909, + 0.9520536661148071, + -0.5680491924285889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9561979174613953, + 0.001150442287325859, + -0.2927187383174896, + 0.31514406204223633 + ], + [ + 0.022669829428195953, + 0.9966978430747986, + 0.0779707133769989, + -0.37079277634620667 + ], + [ + 0.2918418347835541, + -0.08119131624698639, + 0.9530143141746521, + -0.5766412615776062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9564942121505737, + 0.0016624955460429192, + -0.2917465567588806, + 0.314047247171402 + ], + [ + 0.021345719695091248, + 0.9969049692153931, + 0.07566296309232712, + -0.3672875761985779 + ], + [ + 0.2909693717956543, + -0.07859873026609421, + 0.953498363494873, + -0.5895102620124817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9470890760421753, + -0.007937914691865444, + -0.3208726942539215, + 0.3575696051120758 + ], + [ + 0.035560622811317444, + 0.9961347579956055, + 0.08031798899173737, + -0.3747251331806183 + ], + [ + 0.3189949095249176, + -0.08747872710227966, + 0.9437106251716614, + -0.5677921175956726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9377362132072449, + -0.016711093485355377, + -0.34694594144821167, + 0.3991406559944153 + ], + [ + 0.05029097944498062, + 0.9948492646217346, + 0.08800983428955078, + -0.3917224109172821 + ], + [ + 0.3436881899833679, + -0.09997826814651489, + 0.9337466359138489, + -0.5706647038459778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9400054216384888, + -0.01623597927391529, + -0.3407730162143707, + 0.388925701379776 + ], + [ + 0.0515371635556221, + 0.9941617250442505, + 0.0947963073849678, + -0.40271830558776855 + ], + [ + 0.3372443616390228, + -0.1066715195775032, + 0.9353541731834412, + -0.5762696266174316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9376819133758545, + -0.01757221855223179, + -0.34705018997192383, + 0.39815613627433777 + ], + [ + 0.05412816256284714, + 0.9939160943031311, + 0.0959218367934227, + -0.4055767357349396 + ], + [ + 0.3432531952857971, + -0.10872935503721237, + 0.9329282641410828, + -0.5756495594978333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9380862712860107, + -0.018448475748300552, + -0.3459100127220154, + 0.3954053819179535 + ], + [ + 0.053593795746564865, + 0.9942865371704102, + 0.09231457114219666, + -0.40041235089302063 + ], + [ + 0.3422306180000305, + -0.1051376610994339, + 0.933715283870697, + -0.5767697095870972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9384495615959167, + -0.020200630649924278, + -0.3448251783847809, + 0.3931701183319092 + ], + [ + 0.055097028613090515, + 0.9942610859870911, + 0.09170179814100266, + -0.4005333185195923 + ], + [ + 0.3409937918186188, + -0.10505635291337967, + 0.9341768622398376, + -0.578626275062561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9376405477523804, + -0.01986442320048809, + -0.3470383286476135, + 0.3957178592681885 + ], + [ + 0.05525708198547363, + 0.994188666343689, + 0.09238836169242859, + -0.40286630392074585 + ], + [ + 0.34318631887435913, + -0.10580340027809143, + 0.9332892298698425, + -0.5813716650009155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9341364502906799, + -0.019718565046787262, + -0.3563709557056427, + 0.4101502001285553 + ], + [ + 0.05697781592607498, + 0.9939064383506775, + 0.09435856342315674, + -0.40705734491348267 + ], + [ + 0.3523387610912323, + -0.10844901204109192, + 0.9295677542686462, + -0.5793967247009277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9375932812690735, + -0.016962969675660133, + -0.3473198711872101, + 0.3965722620487213 + ], + [ + 0.056787267327308655, + 0.9928699731826782, + 0.10480637848377228, + -0.42557790875434875 + ], + [ + 0.34306564927101135, + -0.11798910796642303, + 0.9318715333938599, + -0.5861552357673645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9405922889709473, + -0.018981095403432846, + -0.3390071988105774, + 0.3828975260257721 + ], + [ + 0.05260889604687691, + 0.9945257306098938, + 0.09028226882219315, + -0.40519505739212036 + ], + [ + 0.33543771505355835, + -0.10275360196828842, + 0.9364417791366577, + -0.5920912027359009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9372541904449463, + -0.01801159977912903, + -0.34818127751350403, + 0.3979732394218445 + ], + [ + 0.05636351555585861, + 0.9933558702468872, + 0.10033571720123291, + -0.4240369498729706 + ], + [ + 0.3440606892108917, + -0.11366479098796844, + 0.932042121887207, + -0.5919651389122009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9361111521720886, + -0.021277107298374176, + -0.35106009244918823, + 0.3996266722679138 + ], + [ + 0.05677851289510727, + 0.9942178130149841, + 0.09114371985197067, + -0.40964192152023315 + ], + [ + 0.3470908999443054, + -0.10525331646203995, + 0.9319064617156982, + -0.5842467546463013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9388207197189331, + -0.015280243009328842, + -0.3440670371055603, + 0.38763612508773804 + ], + [ + 0.05151068791747093, + 0.9940081834793091, + 0.09640742093324661, + -0.41813477873802185 + ], + [ + 0.3405323028564453, + -0.10823241621255875, + 0.9339826107025146, + -0.5894349217414856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9340149164199829, + -0.018462013453245163, + -0.3567565679550171, + 0.4069516360759735 + ], + [ + 0.05430339649319649, + 0.9943956732749939, + 0.09071069955825806, + -0.4118850529193878 + ], + [ + 0.35308247804641724, + -0.10409824550151825, + 0.9297829270362854, + -0.58470618724823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9361413717269897, + -0.022784534841775894, + -0.35088494420051575, + 0.39632484316825867 + ], + [ + 0.058502402156591415, + 0.9940822720527649, + 0.09153091162443161, + -0.4169096350669861 + ], + [ + 0.3467229902744293, + -0.10621348768472672, + 0.9319344758987427, + -0.5861483812332153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9354510307312012, + -0.023728007450699806, + -0.3526588976383209, + 0.39844292402267456 + ], + [ + 0.05838838219642639, + 0.9944102168083191, + 0.08797197043895721, + -0.4146586060523987 + ], + [ + 0.34860023856163025, + -0.10288465023040771, + 0.9316075444221497, + -0.5855637788772583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9348129630088806, + -0.025447102263569832, + -0.35422754287719727, + 0.3990608751773834 + ], + [ + 0.0596727654337883, + 0.9945035576820374, + 0.08603409677743912, + -0.41460031270980835 + ], + [ + 0.35009121894836426, + -0.10156352072954178, + 0.9311933517456055, + -0.5828070640563965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1117.7950846354165, + "fy": 1117.8546549479165, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/82d50a7b-09da-4521-8c07-cec3a170b1be/caption.txt b/dynpose_eval/source/82d50a7b-09da-4521-8c07-cec3a170b1be/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..9c055e691080b17d6b098d868ac2ca305751f60c --- /dev/null +++ b/dynpose_eval/source/82d50a7b-09da-4521-8c07-cec3a170b1be/caption.txt @@ -0,0 +1 @@ +A car driving down a street with a rainbow painted crosswalk. diff --git a/dynpose_eval/source/82d50a7b-09da-4521-8c07-cec3a170b1be/extras/source_metadata.json b/dynpose_eval/source/82d50a7b-09da-4521-8c07-cec3a170b1be/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d05fb69504ebdc252d386c1c0efca5eb3fc2b8ef --- /dev/null +++ b/dynpose_eval/source/82d50a7b-09da-4521-8c07-cec3a170b1be/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "82d50a7b-09da-4521-8c07-cec3a170b1be", + "tar_name": "dpsp-6dbb4e2f", + "youtube_link": "https://www.youtube.com/watch?v=RmGlvZ_l8mY", + "youtube_timestamp": "0:08:38.700-0:08:46.033", + "num_frames": 221, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/82d50a7b-09da-4521-8c07-cec3a170b1be/transforms.json b/dynpose_eval/source/82d50a7b-09da-4521-8c07-cec3a170b1be/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2ec422e6ec2bda1bd7d45ef36d08fbda5f5034e3 --- /dev/null +++ b/dynpose_eval/source/82d50a7b-09da-4521-8c07-cec3a170b1be/transforms.json @@ -0,0 +1,7748 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 221, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.0001338403526460752, + 2.2740261556464247e-05, + -0.0002634133561514318 + ], + [ + -0.0001338400034001097, + 1.0, + -1.5229074051603675e-05, + -0.00011514681682456285 + ], + [ + -2.274229882459622e-05, + 1.5226030882331543e-05, + 1.0, + -0.00014447211287915707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999947547912598, + -0.0025838552974164486, + 0.0019517821492627263, + 0.0020793103612959385 + ], + [ + 0.002582050394266844, + 0.9999962449073792, + 0.0009266128181479871, + -0.000362048129318282 + ], + [ + -0.001954169012606144, + -0.0009215683094225824, + 0.9999976754188538, + 0.0006450696382671595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999771118164062, + -0.003967287950217724, + 0.005479675251990557, + 0.006684843450784683 + ], + [ + 0.003958446905016899, + 0.9999908208847046, + 0.0016233413480222225, + 1.668029472057242e-05 + ], + [ + -0.0054860650561749935, + -0.001601613126695156, + 0.9999836683273315, + 0.0006219643983058631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999287128448486, + -0.004328396636992693, + 0.011125946417450905, + 0.008223566226661205 + ], + [ + 0.004296014551073313, + 0.999986469745636, + 0.00293273595161736, + 0.00043463759357109666 + ], + [ + -0.011138489469885826, + -0.0028847295325249434, + 0.9999337792396545, + 0.0017274814890697598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999839723110199, + -0.003436100436374545, + 0.017571495845913887, + 0.009022676385939121 + ], + [ + 0.003356252098456025, + 0.9999839067459106, + 0.004571674391627312, + 0.0012171630514785647 + ], + [ + -0.017586922273039818, + -0.004511967301368713, + 0.9998351335525513, + 0.0017647602362558246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996973872184753, + -0.0036856646183878183, + 0.024321846663951874, + 0.01092749647796154 + ], + [ + 0.0035060637164860964, + 0.9999663233757019, + 0.007422861643135548, + 0.002063164720311761 + ], + [ + -0.024348385632038116, + -0.007335341535508633, + 0.9996766448020935, + 0.0026152029167860746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995284080505371, + -0.005369747988879681, + 0.030234038829803467, + 0.011558626778423786 + ], + [ + 0.005064013414084911, + 0.9999353885650635, + 0.010179776698350906, + 0.000946108833886683 + ], + [ + -0.030286747962236404, + -0.010021870955824852, + 0.9994910359382629, + 0.003910154104232788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993436932563782, + -0.0048529463820159435, + 0.03589782491326332, + 0.009905414655804634 + ], + [ + 0.004422555211931467, + 0.9999175071716309, + 0.012059043161571026, + 0.0009396011591888964 + ], + [ + -0.03595338389277458, + -0.011892368085682392, + 0.999282717704773, + 0.004811831284314394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9992147088050842, + -0.005559819750487804, + 0.039230529218912125, + 0.012164302170276642 + ], + [ + 0.00503165926784277, + 0.9998955726623535, + 0.01354891899973154, + 0.0011613459791988134 + ], + [ + -0.03930176421999931, + -0.013340883888304234, + 0.9991382956504822, + 0.005460584070533514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9989309906959534, + -0.004640501458197832, + 0.045992881059646606, + 0.014584735035896301 + ], + [ + 0.0039455401711165905, + 0.999876856803894, + 0.015189477242529392, + 0.0007399616879411042 + ], + [ + -0.046057701110839844, + -0.01499177236109972, + 0.998826265335083, + 0.007892192341387272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.998646080493927, + -0.004279977176338434, + 0.051842451095581055, + 0.012111609801650047 + ], + [ + 0.0034781484864652157, + 0.9998731017112732, + 0.015546998009085655, + 0.00015264410467352718 + ], + [ + -0.0519024133682251, + -0.015345633029937744, + 0.9985342621803284, + 0.008562649600207806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9984567761421204, + -0.003825897118076682, + 0.05540235713124275, + 0.012626473791897297 + ], + [ + 0.0029683492612093687, + 0.9998746514320374, + 0.015552574768662453, + 0.0004019891784992069 + ], + [ + -0.05545491352677345, + -0.015364119783043861, + 0.9983429908752441, + 0.009174065664410591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9982390403747559, + -0.00451951427385211, + 0.05914680287241936, + 0.012560696341097355 + ], + [ + 0.003595228074118495, + 0.9998698830604553, + 0.01572408154606819, + 0.0006271532620303333 + ], + [ + -0.059210170060396194, + -0.01548374630510807, + 0.998125433921814, + 0.009652538225054741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9980174899101257, + -0.004759245552122593, + 0.06275717914104462, + 0.011311749927699566 + ], + [ + 0.0037797463592141867, + 0.9998693466186523, + 0.01571725867688656, + 0.0005400133668445051 + ], + [ + -0.06282378733158112, + -0.015448893420398235, + 0.9979050755500793, + 0.00996825098991394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9978376030921936, + -0.006021320819854736, + 0.06545151770114899, + 0.010074724443256855 + ], + [ + 0.004973278380930424, + 0.9998570084571838, + 0.016163652762770653, + 0.0007209947798401117 + ], + [ + -0.06553947925567627, + -0.01580318994820118, + 0.9977248311042786, + 0.010537868365645409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9976708292961121, + -0.0061904690228402615, + 0.06793063879013062, + 0.0077850110828876495 + ], + [ + 0.005051113199442625, + 0.9998438954353333, + 0.016931302845478058, + 0.0004455829912330955 + ], + [ + -0.06802484393119812, + -0.01654874160885811, + 0.997546374797821, + 0.01077359914779663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997582197189331, + -0.005255772266536951, + 0.06929715722799301, + 0.007488241419196129 + ], + [ + 0.004078664351254702, + 0.9998451471328735, + 0.017116939648985863, + -1.7057431250577793e-05 + ], + [ + -0.0693763867020607, + -0.016792913898825645, + 0.9974492192268372, + 0.010523106902837753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9975053668022156, + -0.005543104372918606, + 0.0703725814819336, + 0.005911437328904867 + ], + [ + 0.0043418919667601585, + 0.9998424649238586, + 0.017210830003023148, + 0.00042676349403336644 + ], + [ + -0.07045689225196838, + -0.01686234399676323, + 0.9973722696304321, + 0.010285209864377975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9974365234375, + -0.007955499924719334, + 0.07111310213804245, + 0.0044510154984891415 + ], + [ + 0.0067440783604979515, + 0.9998282790184021, + 0.017259040847420692, + -0.00044520662049762905 + ], + [ + -0.0712381973862648, + -0.016735205426812172, + 0.9973189234733582, + 0.009896877221763134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973833560943604, + -0.009079325944185257, + 0.07172199338674545, + 0.0021607468370348215 + ], + [ + 0.007859162986278534, + 0.9998198747634888, + 0.017276322469115257, + -0.0005835321499034762 + ], + [ + -0.07186592370271683, + -0.01666744239628315, + 0.9972750544548035, + 0.010664000175893307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9973797798156738, + -0.008681319653987885, + 0.07182049006223679, + 0.0006951742107048631 + ], + [ + 0.007445658091455698, + 0.9998199343681335, + 0.017454732209444046, + -7.196167280199006e-05 + ], + [ + -0.07195908576250076, + -0.016874246299266815, + 0.9972648620605469, + 0.010899156332015991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9973446130752563, + -0.012067202478647232, + 0.0718197152018547, + -2.3889757358119823e-05 + ], + [ + 0.010842377319931984, + 0.9997894763946533, + 0.017419666051864624, + -0.0005425052368082106 + ], + [ + -0.07201480120420456, + -0.016594715416431427, + 0.9972655177116394, + 0.010880048386752605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9972736239433289, + -0.01498686894774437, + 0.07225453108549118, + -0.0017823134548962116 + ], + [ + 0.01381637528538704, + 0.9997655153274536, + 0.016672303900122643, + -0.0010520435171201825 + ], + [ + -0.07248745113611221, + -0.015628552064299583, + 0.9972468614578247, + 0.010332288220524788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9972468614578247, + -0.017763378098607063, + 0.07199423760175705, + -0.0030498860869556665 + ], + [ + 0.01666497252881527, + 0.9997358322143555, + 0.015828963369131088, + -0.0006241350783966482 + ], + [ + -0.07225639373064041, + -0.014585601165890694, + 0.9972794651985168, + 0.00976114347577095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9971713423728943, + -0.02195262908935547, + 0.07188478112220764, + -0.0034774679224938154 + ], + [ + 0.020956482738256454, + 0.9996740221977234, + 0.014582631178200245, + -8.53729943628423e-06 + ], + [ + -0.07218147814273834, + -0.013034929521381855, + 0.9973063468933105, + 0.008903609588742256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9970858097076416, + -0.0246011670678854, + 0.0722125768661499, + -0.005192778073251247 + ], + [ + 0.023637956008315086, + 0.999620258808136, + 0.014163118787109852, + 0.0003204824461136013 + ], + [ + -0.07253357768058777, + -0.012414886616170406, + 0.997288703918457, + 0.008257048204541206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9970577955245972, + -0.02611483260989189, + 0.07206809520721436, + -0.005964191164821386 + ], + [ + 0.02517048269510269, + 0.9995853900909424, + 0.013980922289192677, + 0.001197182573378086 + ], + [ + -0.07240332663059235, + -0.012125798501074314, + 0.9973016977310181, + 0.008565319702029228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9969894886016846, + -0.029013430699706078, + 0.07190389931201935, + -0.007048142608255148 + ], + [ + 0.028139179572463036, + 0.9995176196098328, + 0.01314211543649435, + 0.002039561280980706 + ], + [ + -0.07225051522254944, + -0.011079234071075916, + 0.9973250031471252, + 0.007613989058881998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9969658255577087, + -0.029882747679948807, + 0.07187632471323013, + -0.007394009735435247 + ], + [ + 0.029001448303461075, + 0.9994912147521973, + 0.013274070806801319, + 0.0024152796249836683 + ], + [ + -0.07223642617464066, + -0.011149276979267597, + 0.9973252415657043, + 0.007769757881760597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9970245361328125, + -0.025999968871474266, + 0.07256750762462616, + -0.002103305421769619 + ], + [ + 0.02502547763288021, + 0.999584436416626, + 0.0143059641122818, + 0.004552709870040417 + ], + [ + -0.07290931046009064, + -0.012447360903024673, + 0.9972608685493469, + 0.008018390275537968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9967665672302246, + -0.023873746395111084, + 0.07672344148159027, + -0.006323786452412605 + ], + [ + 0.022685017436742783, + 0.9996092915534973, + 0.016328144818544388, + 0.007288497406989336 + ], + [ + -0.0770832747220993, + -0.014534876681864262, + 0.9969186782836914, + 0.008397990837693214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9966375827789307, + -0.024582872167229652, + 0.07816118746995926, + -0.0019076777389273047 + ], + [ + 0.02306455560028553, + 0.9995284676551819, + 0.020269358530640602, + 0.006059341598302126 + ], + [ + -0.07862261682748795, + -0.018398450687527657, + 0.9967346787452698, + 0.010976039804518223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9962194561958313, + -0.023432228714227676, + 0.08365259319543839, + -0.001722337561659515 + ], + [ + 0.02176012471318245, + 0.9995458722114563, + 0.02084486559033394, + 0.004282286390662193 + ], + [ + -0.0841030403971672, + -0.018945768475532532, + 0.9962769150733948, + 0.012467186897993088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9958463311195374, + -0.022881682962179184, + 0.08812764286994934, + 0.0007075044559314847 + ], + [ + 0.02109527960419655, + 0.9995537400245667, + 0.021149050444364548, + 0.005850028712302446 + ], + [ + -0.08857224881649017, + -0.019202128052711487, + 0.9958846569061279, + 0.016902882605791092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9952805638313293, + -0.021884312853217125, + 0.09453931450843811, + 0.005415719002485275 + ], + [ + 0.019808771088719368, + 0.9995429515838623, + 0.022837337106466293, + 0.0024116719141602516 + ], + [ + -0.0949958860874176, + -0.02085684984922409, + 0.995259165763855, + 0.020566409453749657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9943771958351135, + -0.02001609280705452, + 0.10398745536804199, + 0.002315982710570097 + ], + [ + 0.017963819205760956, + 0.9996256828308105, + 0.02063506841659546, + -0.0012311157770454884 + ], + [ + -0.10436156392097473, + -0.018651030957698822, + 0.9943645000457764, + 0.022249529138207436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9939719438552856, + -0.01875920593738556, + 0.10801782459020615, + 0.0018896692199632525 + ], + [ + 0.017133347690105438, + 0.9997258186340332, + 0.01596027798950672, + -0.004357866942882538 + ], + [ + -0.10828761011362076, + -0.014013361185789108, + 0.9940208196640015, + 0.028792105615139008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9936705231666565, + -0.016445262357592583, + 0.11112339794635773, + 0.002323542721569538 + ], + [ + 0.015588878653943539, + 0.9998417496681213, + 0.008571106009185314, + -0.005808464251458645 + ], + [ + -0.11124676465988159, + -0.0067845662124454975, + 0.993769645690918, + 0.02816246636211872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9937499165534973, + -0.013059851713478565, + 0.11086295545101166, + 0.005576085764914751 + ], + [ + 0.012894726358354092, + 0.9999144077301025, + 0.0022063401993364096, + -0.003903025761246681 + ], + [ + -0.11088228225708008, + -0.0007630030158907175, + 0.9938332438468933, + 0.030677970498800278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9937002658843994, + -0.012239624746143818, + 0.11140009015798569, + 0.00901156384497881 + ], + [ + 0.012381081469357014, + 0.9999231696128845, + -0.0005780906067229807, + -0.003409622237086296 + ], + [ + -0.11138445883989334, + 0.0019537024199962616, + 0.993775486946106, + 0.038923002779483795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9936301708221436, + -0.00780424103140831, + 0.1124197393655777, + 0.011255962774157524 + ], + [ + 0.008459048345685005, + 0.9999499320983887, + -0.005348845850676298, + -0.008333559148013592 + ], + [ + -0.11237236857414246, + 0.006265738513320684, + 0.9936463832855225, + 0.04325227439403534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9934762716293335, + 0.0005825121770612895, + 0.11403729766607285, + 0.026246327906847 + ], + [ + 0.0012345623690634966, + 0.9998733997344971, + -0.01586276851594448, + -0.010677529498934746 + ], + [ + -0.11403209716081619, + 0.01590006984770298, + 0.9933498501777649, + 0.05511259287595749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9922988414764404, + 0.0034182891249656677, + 0.12381961196660995, + 0.025801394134759903 + ], + [ + -0.0001287644263356924, + 0.9996470808982849, + -0.026565341278910637, + -0.010794433765113354 + ], + [ + -0.12386671453714371, + 0.026344815269112587, + 0.9919490814208984, + 0.05725535377860069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9917821884155273, + 0.0016971430741250515, + 0.12792661786079407, + 0.02229260466992855 + ], + [ + 0.002405615523457527, + 0.9994878768920898, + -0.03190986067056656, + -0.009867480956017971 + ], + [ + -0.12791526317596436, + 0.031955376267433167, + 0.9912701845169067, + 0.07330832630395889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9911468029022217, + -0.0033560728188604116, + 0.13272833824157715, + 0.03049090877175331 + ], + [ + 0.008397976867854595, + 0.9992634057998657, + -0.03744511678814888, + -0.01532879937440157 + ], + [ + -0.1325049102306366, + 0.03822825476527214, + 0.9904448986053467, + 0.0672353208065033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9905770421028137, + -0.007608676794916391, + 0.13674494624137878, + 0.030401887372136116 + ], + [ + 0.014006737619638443, + 0.9988484382629395, + -0.045887164771556854, + -0.02147207036614418 + ], + [ + -0.13623833656311035, + 0.047370120882987976, + 0.9895429015159607, + 0.08533412218093872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9905806183815002, + -0.012824236415326595, + 0.13632889091968536, + 0.02941150590777397 + ], + [ + 0.020537065342068672, + 0.9982574582099915, + -0.05532011389732361, + -0.025647075846791267 + ], + [ + -0.13538189232349396, + 0.05759882926940918, + 0.9891178607940674, + 0.08160141855478287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9909797310829163, + -0.0179839376360178, + 0.13279955089092255, + 0.024780310690402985 + ], + [ + 0.026317881420254707, + 0.9977742433547974, + -0.061269622296094894, + -0.025485100224614143 + ], + [ + -0.13140209019184113, + 0.06421195715665817, + 0.9892473220825195, + 0.07818960398435593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9919515252113342, + -0.017935756593942642, + 0.1253415048122406, + 0.0336652547121048 + ], + [ + 0.026608552783727646, + 0.9973396062850952, + -0.06786541640758514, + -0.03021088056266308 + ], + [ + -0.12379082292318344, + 0.07065436244010925, + 0.9897897839546204, + 0.08247630298137665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9923340678215027, + -0.02272600121796131, + 0.12147709727287292, + 0.029792293906211853 + ], + [ + 0.031979065388441086, + 0.9966877102851868, + -0.07477286458015442, + -0.031840551644563675 + ], + [ + -0.11937543749809265, + 0.07808437943458557, + 0.9897738695144653, + 0.08687909692525864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9931229948997498, + -0.024083640426397324, + 0.11457192152738571, + 0.028522640466690063 + ], + [ + 0.03337283059954643, + 0.9962470531463623, + -0.07986311614513397, + -0.02471904456615448 + ], + [ + -0.11221853643655777, + 0.08313748240470886, + 0.9901995658874512, + 0.08831261843442917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9941426515579224, + -0.0225340835750103, + 0.10570045560598373, + 0.030834374949336052 + ], + [ + 0.03099696710705757, + 0.9963831901550293, + -0.07911818474531174, + -0.018958834931254387 + ], + [ + -0.10353530198335648, + 0.08193115144968033, + 0.9912455677986145, + 0.10821477323770523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9946560859680176, + -0.024896860122680664, + 0.10019678622484207, + 0.0314762182533741 + ], + [ + 0.03247867897152901, + 0.9966722130775452, + -0.07476393133401871, + -0.023128392174839973 + ], + [ + -0.09800196439027786, + 0.07761866599321365, + 0.9921547174453735, + 0.12112563848495483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.994953989982605, + -0.027663160115480423, + 0.0964430496096611, + 0.03934556618332863 + ], + [ + 0.03493410721421242, + 0.996606171131134, + -0.07453678548336029, + -0.02599211409687996 + ], + [ + -0.09405381232500076, + 0.07752983272075653, + 0.9925436973571777, + 0.11217071115970612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9950868487358093, + -0.02789548598229885, + 0.09499463438987732, + 0.03920120745897293 + ], + [ + 0.03507132828235626, + 0.9965870380401611, + -0.07472778111696243, + -0.027083981782197952 + ], + [ + -0.09258586168289185, + 0.07769221812486649, + 0.9926690459251404, + 0.11967223882675171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9952860474586487, + -0.029533647000789642, + 0.09237679094076157, + 0.03449665382504463 + ], + [ + 0.036375828087329865, + 0.9966475367546082, + -0.07328376919031143, + -0.026363926008343697 + ], + [ + -0.08990276604890823, + 0.07629858702421188, + 0.993023693561554, + 0.12254567444324493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9957146644592285, + -0.03053351864218712, + 0.08729298412799835, + 0.03989056125283241 + ], + [ + 0.03682326152920723, + 0.9967695474624634, + -0.07137547433376312, + -0.028323041275143623 + ], + [ + -0.08483164012432098, + 0.07428401708602905, + 0.9936224222183228, + 0.12892648577690125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.995751678943634, + -0.031120555475354195, + 0.08666073530912399, + 0.04074312001466751 + ], + [ + 0.03730423003435135, + 0.9968016147613525, + -0.07067479193210602, + -0.029085177928209305 + ], + [ + -0.08418411761522293, + 0.07360735535621643, + 0.9937278032302856, + 0.13186833262443542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9957559704780579, + -0.03097865730524063, + 0.086662657558918, + 0.042582686990499496 + ], + [ + 0.037067681550979614, + 0.9968889951705933, + -0.06955799460411072, + -0.03531727194786072 + ], + [ + -0.08423823863267899, + 0.07247516512870789, + 0.9938064813613892, + 0.13505738973617554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9959577918052673, + -0.0255538709461689, + 0.08611072599887848, + 0.03841903433203697 + ], + [ + 0.031904544681310654, + 0.9968068599700928, + -0.07320000976324081, + -0.036987341940402985 + ], + [ + -0.08396521210670471, + 0.07565144449472427, + 0.9935927987098694, + 0.13420119881629944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.99596107006073, + -0.026118628680706024, + 0.08590307086706161, + 0.03837508708238602 + ], + [ + 0.032589782029390335, + 0.9966649413108826, + -0.0748126208782196, + -0.0358896367251873 + ], + [ + -0.08366257697343826, + 0.07731002569198608, + 0.9934906959533691, + 0.13608406484127045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9958487749099731, + -0.029650963842868805, + 0.08605844527482986, + 0.03793668374419212 + ], + [ + 0.036166757345199585, + 0.9965146780014038, + -0.07516986131668091, + -0.03788766264915466 + ], + [ + -0.08352964371442795, + 0.07797026634216309, + 0.9934502840042114, + 0.13740532100200653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9957345724105835, + -0.033475611358881, + 0.08597712963819504, + 0.036942899227142334 + ], + [ + 0.03996068611741066, + 0.9963938593864441, + -0.07484947890043259, + -0.03939366713166237 + ], + [ + -0.08316145092248917, + 0.07796592265367508, + 0.9934815168380737, + 0.14053648710250854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9955117106437683, + -0.03891179710626602, + 0.08626911044120789, + 0.03727837651968002 + ], + [ + 0.045411840081214905, + 0.996170699596405, + -0.07471073418855667, + -0.03933931887149811 + ], + [ + -0.08303163945674896, + 0.07829304784536362, + 0.9934666156768799, + 0.14383187890052795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9954595565795898, + -0.03910375386476517, + 0.08678212761878967, + 0.036234624683856964 + ], + [ + 0.045496754348278046, + 0.9962969422340393, + -0.07295544445514679, + -0.03879939392209053 + ], + [ + -0.08360794186592102, + 0.07657250761985779, + 0.9935523867607117, + 0.1477614939212799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953498840332031, + -0.040773458778858185, + 0.08727016299962997, + 0.03515498712658882 + ], + [ + 0.047024816274642944, + 0.9963802099227905, + -0.07081776857376099, + -0.04199809953570366 + ], + [ + -0.08406677097082138, + 0.07459232211112976, + 0.9936643242835999, + 0.15088434517383575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9951185584068298, + -0.04523026943206787, + 0.08771151304244995, + 0.0353788360953331 + ], + [ + 0.05166482925415039, + 0.996026873588562, + -0.07253393530845642, + -0.044936493039131165 + ], + [ + -0.08408229053020477, + 0.07671146094799042, + 0.9935016632080078, + 0.15367598831653595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9947946071624756, + -0.04861908778548241, + 0.08955369144678116, + 0.034470733255147934 + ], + [ + 0.055429015308618546, + 0.9956271052360535, + -0.07519517093896866, + -0.04732087627053261 + ], + [ + -0.08550616353750229, + 0.0797676220536232, + 0.993139386177063, + 0.15062054991722107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9945214986801147, + -0.05156166851520538, + 0.09093055874109268, + 0.03238695114850998 + ], + [ + 0.05866213142871857, + 0.9952864050865173, + -0.07722516357898712, + -0.04511604458093643 + ], + [ + -0.08652009814977646, + 0.08213627338409424, + 0.9928584694862366, + 0.14882980287075043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9942601323127747, + -0.0544448085129261, + 0.09210071712732315, + 0.031447771936655045 + ], + [ + 0.0616832934319973, + 0.9950696229934692, + -0.07766353338956833, + -0.04464508220553398 + ], + [ + -0.08741825073957443, + 0.0828988328576088, + 0.992716372013092, + 0.15308718383312225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9940946698188782, + -0.05659658834338188, + 0.09258817136287689, + 0.03493722528219223 + ], + [ + 0.06391891092061996, + 0.9948919415473938, + -0.07813046127557755, + -0.04692944511771202 + ], + [ + -0.08769330382347107, + 0.08358720690011978, + 0.9926344156265259, + 0.15488801896572113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9935994744300842, + -0.05724585801362991, + 0.09738080203533173, + 0.0339825302362442 + ], + [ + 0.06511805951595306, + 0.9946912527084351, + -0.07968007773160934, + -0.04539790004491806 + ], + [ + -0.09230247139930725, + 0.08551133424043655, + 0.992052435874939, + 0.15811289846897125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9933021068572998, + -0.05779753625392914, + 0.10005208849906921, + 0.03311770036816597 + ], + [ + 0.06591185927391052, + 0.9946300983428955, + -0.0797906219959259, + -0.04361211135983467 + ], + [ + -0.0949031263589859, + 0.0858508050441742, + 0.9917777180671692, + 0.16179874539375305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9930812120437622, + -0.05730615556240082, + 0.10249755531549454, + 0.03338650241494179 + ], + [ + 0.06552885472774506, + 0.9947390556335449, + -0.0787414014339447, + -0.04498399421572685 + ], + [ + -0.09744595736265182, + 0.08491314947605133, + 0.9916118383407593, + 0.15917934477329254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9926641583442688, + -0.05700639262795448, + 0.10662157088518143, + 0.035224564373493195 + ], + [ + 0.06556207686662674, + 0.9947529435157776, + -0.07853800058364868, + -0.04409651458263397 + ], + [ + -0.10158494859933853, + 0.08495219051837921, + 0.9911930561065674, + 0.15867286920547485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9920243620872498, + -0.05736556649208069, + 0.1122356578707695, + 0.035100601613521576 + ], + [ + 0.06641445308923721, + 0.9946900010108948, + -0.07861848175525665, + -0.044588979333639145 + ], + [ + -0.10712970048189163, + 0.08544552326202393, + 0.9905666708946228, + 0.16193965077400208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9915318489074707, + -0.05630471184849739, + 0.11702314019203186, + 0.03316757455468178 + ], + [ + 0.06572269648313522, + 0.9947656393051147, + -0.07824227213859558, + -0.04493040218949318 + ], + [ + -0.11200518906116486, + 0.08527077734470367, + 0.9900422692298889, + 0.1593538075685501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9910002946853638, + -0.056689951568841934, + 0.12126271426677704, + 0.03502143546938896 + ], + [ + 0.06645521521568298, + 0.9947312474250793, + -0.07806090265512466, + -0.04390357434749603 + ], + [ + -0.11619853973388672, + 0.08541692048311234, + 0.9895462989807129, + 0.16231080889701843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.990302324295044, + -0.057638075202703476, + 0.12640881538391113, + 0.03461330384016037 + ], + [ + 0.0677807554602623, + 0.994688868522644, + -0.07745888829231262, + -0.04443567991256714 + ], + [ + -0.12127285450696945, + 0.085275799036026, + 0.9889494180679321, + 0.1639307141304016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9897915124893188, + -0.05709127336740494, + 0.13058853149414062, + 0.032750654965639114 + ], + [ + 0.06755691021680832, + 0.994726836681366, + -0.07716631144285202, + -0.045133478939533234 + ], + [ + -0.12549439072608948, + 0.0852007195353508, + 0.988429069519043, + 0.16085630655288696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9892618656158447, + -0.056411564350128174, + 0.13482822477817535, + 0.03202664852142334 + ], + [ + 0.06723728030920029, + 0.9947509765625, + -0.07713381946086884, + -0.04438848793506622 + ], + [ + -0.12976928055286407, + 0.08537103235721588, + 0.9878621697425842, + 0.16232268512248993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9882909655570984, + -0.05807250738143921, + 0.1410975456237793, + 0.032831255346536636 + ], + [ + 0.06941689550876617, + 0.9946229457855225, + -0.07685351371765137, + -0.045490022748708725 + ], + [ + -0.13587579131126404, + 0.08574818074703217, + 0.9870080947875977, + 0.15743385255336761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9874552488327026, + -0.0574604868888855, + 0.1470727026462555, + 0.03453916311264038 + ], + [ + 0.06927233934402466, + 0.9946610331535339, + -0.07649027556180954, + -0.04438772425055504 + ], + [ + -0.14189231395721436, + 0.0857188031077385, + 0.9861637353897095, + 0.16184261441230774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9865991473197937, + -0.05659155175089836, + 0.15303444862365723, + 0.031975820660591125 + ], + [ + 0.06886252760887146, + 0.9947188496589661, + -0.07610724866390228, + -0.04488161951303482 + ], + [ + -0.14791923761367798, + 0.08562567830085754, + 0.9852858185768127, + 0.16001221537590027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9860734343528748, + -0.056857600808143616, + 0.15628930926322937, + 0.030195606872439384 + ], + [ + 0.06940633058547974, + 0.9946861863136292, + -0.07604020088911057, + -0.04470010846853256 + ], + [ + -0.15113535523414612, + 0.08582868427038193, + 0.984779953956604, + 0.16031809151172638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9857046604156494, + -0.05621219798922539, + 0.1588287204504013, + 0.031123675405979156 + ], + [ + 0.06894125044345856, + 0.9947367906570435, + -0.07580096274614334, + -0.04454437270760536 + ], + [ + -0.1537318378686905, + 0.0856672152876854, + 0.9843920469284058, + 0.16026173532009125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9851660132408142, + -0.0542830228805542, + 0.16279219090938568, + 0.031353551894426346 + ], + [ + 0.06726308912038803, + 0.9948890805244446, + -0.07530903816223145, + -0.04220215976238251 + ], + [ + -0.15787215530872345, + 0.08514180779457092, + 0.9837821125984192, + 0.16307863593101501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9849432706832886, + -0.05440152809023857, + 0.1640952080488205, + 0.035217463970184326 + ], + [ + 0.06713875383138657, + 0.9950623512268066, + -0.07309751212596893, + -0.038765061646699905 + ], + [ + -0.15930835902690887, + 0.08301405608654022, + 0.9837324619293213, + 0.16302931308746338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9842911958694458, + -0.05376749113202095, + 0.16816620528697968, + 0.032916586846113205 + ], + [ + 0.06628026813268661, + 0.9953637719154358, + -0.06969816237688065, + -0.04046550765633583 + ], + [ + -0.16363905370235443, + 0.07974938303232193, + 0.9832915663719177, + 0.16109836101531982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9834380745887756, + -0.055733174085617065, + 0.17246268689632416, + 0.03387708589434624 + ], + [ + 0.0681481584906578, + 0.9954283833503723, + -0.0669194757938385, + -0.03879930451512337 + ], + [ + -0.16794462502002716, + 0.07756417989730835, + 0.9827402830123901, + 0.1643567979335785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9826157093048096, + -0.05678785219788551, + 0.17675268650054932, + 0.03397616371512413 + ], + [ + 0.06906867027282715, + 0.9955493807792664, + -0.06411699950695038, + -0.039890825748443604 + ], + [ + -0.17232495546340942, + 0.07521043717861176, + 0.9821646809577942, + 0.1647225320339203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9819343090057373, + -0.05523983761668205, + 0.18097956478595734, + 0.03172631561756134 + ], + [ + 0.06744781136512756, + 0.9957941770553589, + -0.06200593709945679, + -0.04029110446572304 + ], + [ + -0.1767932027578354, + 0.07309243083000183, + 0.9815302491188049, + 0.16345712542533875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9812183380126953, + -0.0553460493683815, + 0.18479029834270477, + 0.032708775252103806 + ], + [ + 0.06751447170972824, + 0.995899498462677, + -0.060216024518013, + -0.04070212319493294 + ], + [ + -0.18069984018802643, + 0.07156108319759369, + 0.9809314608573914, + 0.16488829255104065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9808103442192078, + -0.05678887292742729, + 0.18651026487350464, + 0.03357575833797455 + ], + [ + 0.06890609860420227, + 0.9958688616752625, + -0.05913639813661575, + -0.040646620094776154 + ], + [ + -0.18238148093223572, + 0.07085328549146652, + 0.9806715846061707, + 0.1651287078857422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9803913831710815, + -0.05680623650550842, + 0.1886948049068451, + 0.03281877562403679 + ], + [ + 0.06892023980617523, + 0.9959192276000977, + -0.058265428990125656, + -0.04151365906000137 + ], + [ + -0.18461495637893677, + 0.07012781500816345, + 0.9803057909011841, + 0.1646658331155777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9801427125930786, + -0.056529801338911057, + 0.19006481766700745, + 0.03159499168395996 + ], + [ + 0.06874062865972519, + 0.9959311485290527, + -0.05827398598194122, + -0.04135499522089958 + ], + [ + -0.18599724769592285, + 0.07018199563026428, + 0.9800405502319336, + 0.16429394483566284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9800222516059875, + -0.056265752762556076, + 0.1907632201910019, + 0.02386217564344406 + ], + [ + 0.0684935450553894, + 0.9959572553634644, + -0.05811871215701103, + -0.04092781990766525 + ], + [ + -0.18672190606594086, + 0.07002367824316025, + 0.9799140691757202, + 0.16424007713794708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9812629818916321, + -0.05364999175071716, + 0.18505294620990753, + 0.02087721787393093 + ], + [ + 0.06535975635051727, + 0.9961884021759033, + -0.05776514858007431, + -0.041279226541519165 + ], + [ + -0.1812485009431839, + 0.06877782195806503, + 0.9810293316841125, + 0.16285349428653717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9826830625534058, + -0.048938434571027756, + 0.1787148416042328, + 0.017738187685608864 + ], + [ + 0.06014746055006981, + 0.9965118765830994, + -0.057847246527671814, + -0.04104285687208176 + ], + [ + -0.1752605140209198, + 0.0675947517156601, + 0.9821988940238953, + 0.1633909046649933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9845317602157593, + -0.048412665724754333, + 0.1683848649263382, + 0.01078256219625473 + ], + [ + 0.05900748819112778, + 0.9965423345565796, + -0.05849384143948555, + -0.0421379990875721 + ], + [ + -0.16497080028057098, + 0.06752501428127289, + 0.9839842319488525, + 0.16129007935523987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9865566492080688, + -0.04813593253493309, + 0.1561695784330368, + 0.011354750022292137 + ], + [ + 0.058025237172842026, + 0.996546745300293, + -0.059393610805273056, + -0.04098471254110336 + ], + [ + -0.15277130901813507, + 0.06765693426132202, + 0.9859429597854614, + 0.15947024524211884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9879884719848633, + -0.04825446009635925, + 0.14680011570453644, + 0.010199497453868389 + ], + [ + 0.057477571070194244, + 0.9965872764587402, + -0.05924655497074127, + -0.040967244654893875 + ], + [ + -0.14344020187854767, + 0.06697262823581696, + 0.9873902797698975, + 0.1592220962047577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.989329993724823, + -0.04935641214251518, + 0.13707707822322845, + 0.006340937688946724 + ], + [ + 0.05795175954699516, + 0.9965485334396362, + -0.059436287730932236, + -0.04006423428654671 + ], + [ + -0.1336704045534134, + 0.06674595922231674, + 0.9887756109237671, + 0.157892107963562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9907627701759338, + -0.04969958961009979, + 0.12617075443267822, + 0.00623848894611001 + ], + [ + 0.057376883924007416, + 0.9966686964035034, + -0.05795995891094208, + -0.03583008795976639 + ], + [ + -0.12286985665559769, + 0.0646638572216034, + 0.9903138875961304, + 0.15876953303813934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9918634295463562, + -0.05115488916635513, + 0.11657644808292389, + 0.0069887652061879635 + ], + [ + 0.057588011026382446, + 0.9969591498374939, + -0.05249868333339691, + -0.036604441702365875 + ], + [ + -0.11353638768196106, + 0.058784931898117065, + 0.9917932152748108, + 0.16015779972076416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9926494359970093, + -0.05213243514299393, + 0.10922154039144516, + 0.008773446083068848 + ], + [ + 0.05792228877544403, + 0.9970418214797974, + -0.05052400007843971, + -0.03958839550614357 + ], + [ + -0.10626449435949326, + 0.05647898092865944, + 0.992732584476471, + 0.15693114697933197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9933483004570007, + -0.051179952919483185, + 0.1031491756439209, + 0.005464115180075169 + ], + [ + 0.0565190389752388, + 0.9971727132797241, + -0.04951891303062439, + -0.037989672273397446 + ], + [ + -0.10032317042350769, + 0.05501942336559296, + 0.9934325218200684, + 0.16099020838737488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9942178130149841, + -0.05185754969716072, + 0.09403067827224731, + 0.004715710878372192 + ], + [ + 0.056482601910829544, + 0.9972867965698242, + -0.0472097210586071, + -0.037908077239990234 + ], + [ + -0.09132736921310425, + 0.05224784091114998, + 0.9944493174552917, + 0.1597534865140915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9948061108589172, + -0.05324993282556534, + 0.08674828708171844, + 0.006601739674806595 + ], + [ + 0.057375699281692505, + 0.9973024129867554, + -0.04578084126114845, + -0.03799469769001007 + ], + [ + -0.08407644927501678, + 0.05052030459046364, + 0.9951778054237366, + 0.15936432778835297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9951421022415161, + -0.05480195954442024, + 0.08178611844778061, + 0.005744473543018103 + ], + [ + 0.0585026778280735, + 0.9973365068435669, + -0.043558523058891296, + -0.037449855357408524 + ], + [ + -0.07918118685483932, + 0.04813162982463837, + 0.9956976175308228, + 0.16265012323856354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9955736994743347, + -0.05522257089614868, + 0.07604905962944031, + 0.0025145153049379587 + ], + [ + 0.058543138206005096, + 0.9973947405815125, + -0.042147889733314514, + -0.038703855127096176 + ], + [ + -0.07352341711521149, + 0.04641348123550415, + 0.996212899684906, + 0.1626703292131424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9961386322975159, + -0.0553392730653286, + 0.06815695017576218, + 0.001329162740148604 + ], + [ + 0.05824088677763939, + 0.9974459409713745, + -0.041346680372953415, + -0.03840076923370361 + ], + [ + -0.06569478660821915, + 0.04515654966235161, + 0.9968174695968628, + 0.16250179708003998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9966971278190613, + -0.053819168359041214, + 0.06081432104110718, + 0.0006771391490474343 + ], + [ + 0.05630800500512123, + 0.9976126551628113, + -0.03997975215315819, + -0.038621604442596436 + ], + [ + -0.0585174635052681, + 0.04327203705906868, + 0.9973481297492981, + 0.1621597558259964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9972432255744934, + -0.052058640867471695, + 0.052875369787216187, + -4.356954013928771e-05 + ], + [ + 0.05417007580399513, + 0.9977574348449707, + -0.039315953850746155, + -0.039168208837509155 + ], + [ + -0.05071005970239639, + 0.042071834206581116, + 0.997826874256134, + 0.16310402750968933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9976938366889954, + -0.05104844272136688, + 0.04473317041993141, + -0.0012836430687457323 + ], + [ + 0.05281542241573334, + 0.9978325963020325, + -0.039250925183296204, + -0.03963677957653999 + ], + [ + -0.04263251647353172, + 0.04152300953865051, + 0.998227596282959, + 0.1623355597257614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9980366826057434, + -0.050560254603624344, + 0.03696538507938385, + -0.00011202174937352538 + ], + [ + 0.052004124969244, + 0.9978771209716797, + -0.03920166939496994, + -0.039744000881910324 + ], + [ + -0.03490486741065979, + 0.04104705899953842, + 0.9985473155975342, + 0.16269570589065552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9983497262001038, + -0.04910269379615784, + 0.029778307303786278, + -0.0006383602158166468 + ], + [ + 0.05026361346244812, + 0.9979515075683594, + -0.03957777097821236, + -0.03952529653906822 + ], + [ + -0.02777392975986004, + 0.041009221225976944, + 0.9987726807594299, + 0.16466736793518066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9985855221748352, + -0.04810565710067749, + 0.02264532633125782, + -0.0013750564539805055 + ], + [ + 0.048976726830005646, + 0.9980135560035706, + -0.03962646797299385, + -0.04010824114084244 + ], + [ + -0.020694086328148842, + 0.040679510682821274, + 0.9989579319953918, + 0.16387616097927094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9987848401069641, + -0.046383246779441833, + 0.0166560597717762, + -0.0009095627465285361 + ], + [ + 0.04701454937458038, + 0.9981027841567993, + -0.03975546360015869, + -0.04022182524204254 + ], + [ + -0.014780472032725811, + 0.04049023240804672, + 0.9990705847740173, + 0.16455356776714325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9989953637123108, + -0.043556131422519684, + 0.010539542883634567, + 0.00044892204459756613 + ], + [ + 0.04394412040710449, + 0.9982364177703857, + -0.03991221636533737, + -0.040470629930496216 + ], + [ + -0.008782533928751945, + 0.040335267782211304, + 0.9991475939750671, + 0.16606581211090088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9990999698638916, + -0.042024604976177216, + 0.005760916508734226, + 0.001615710905753076 + ], + [ + 0.042222440242767334, + 0.9983018636703491, + -0.04013250023126602, + -0.04041660577058792 + ], + [ + -0.004064581356942654, + 0.04033961892127991, + 0.9991777539253235, + 0.16437631845474243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9991635084152222, + -0.04081207141280174, + 0.00257967971265316, + 0.002521040616557002 + ], + [ + 0.040882427245378494, + 0.9983720779418945, + -0.03977278992533684, + -0.04011164605617523 + ], + [ + -0.0009522704058326781, + 0.03984498605132103, + 0.9992054104804993, + 0.16493533551692963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9992030262947083, + -0.039912398904561996, + -0.0005686557851731777, + 0.004473681561648846 + ], + [ + 0.0398588590323925, + 0.9984250664710999, + -0.03947976604104042, + -0.039398159831762314 + ], + [ + 0.0021434922236949205, + 0.03942563757300377, + 0.9992201924324036, + 0.16708216071128845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9992309212684631, + -0.03906726837158203, + -0.0033696205355226994, + -0.0004088934510946274 + ], + [ + 0.03891389071941376, + 0.9985398054122925, + -0.03746951371431351, + -0.03940563276410103 + ], + [ + 0.004828531760722399, + 0.03730957210063934, + 0.9992920756340027, + 0.16891007125377655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9992491006851196, + -0.038066696375608444, + -0.00722009502351284, + 0.004233347252011299 + ], + [ + 0.03778349235653877, + 0.9986382126808167, + -0.03597388416528702, + -0.039842639118433 + ], + [ + 0.008579669520258904, + 0.0356740728020668, + 0.9993266463279724, + 0.16879621148109436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9992973804473877, + -0.0366341769695282, + -0.007920612581074238, + 0.003331315703690052 + ], + [ + 0.03633701056241989, + 0.9987309575080872, + -0.03487240523099899, + -0.039282720535993576 + ], + [ + 0.009188083000481129, + 0.03456009179353714, + 0.9993603825569153, + 0.1694009006023407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9992758631706238, + -0.036258090287446976, + -0.011539239436388016, + 0.0015706010162830353 + ], + [ + 0.03587083891034126, + 0.9988387823104858, + -0.032162126153707504, + -0.03654837608337402 + ], + [ + 0.012691976502537727, + 0.03172491118311882, + 0.9994160532951355, + 0.16820596158504486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9991945028305054, + -0.03664728254079819, + -0.016350606456398964, + 0.002816236112266779 + ], + [ + 0.03619486093521118, + 0.9989756941795349, + -0.02715739980340004, + -0.03648244962096214 + ], + [ + 0.017329102382063866, + 0.026543717831373215, + 0.9994974136352539, + 0.17129682004451752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.999116837978363, + -0.03683730214834213, + -0.020212363451719284, + 0.00016198723460547626 + ], + [ + 0.03635955601930618, + 0.9990620613098145, + -0.023515494540333748, + -0.0378764271736145 + ], + [ + 0.021059654653072357, + 0.02275981567800045, + 0.9995191097259521, + 0.17137858271598816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9989937543869019, + -0.03645884618163109, + -0.026118764653801918, + -0.0012095856945961714 + ], + [ + 0.03593195602297783, + 0.9991466999053955, + -0.020365910604596138, + -0.03777832165360451 + ], + [ + 0.026838993653655052, + 0.019406920298933983, + 0.9994513988494873, + 0.1709882616996765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9988448023796082, + -0.03466435521841049, + -0.03327743709087372, + 7.83871510066092e-05 + ], + [ + 0.034127987921237946, + 0.9992803931236267, + -0.016553057357668877, + -0.037089549005031586 + ], + [ + 0.0338272899389267, + 0.015398243442177773, + 0.9993090629577637, + 0.17034968733787537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9986677169799805, + -0.03462271764874458, + -0.03826366364955902, + 0.0040542627684772015 + ], + [ + 0.03414047136902809, + 0.9993300437927246, + -0.013185854069888592, + -0.03722461313009262 + ], + [ + 0.038694560527801514, + 0.011861947365105152, + 0.9991806745529175, + 0.1738765835762024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9985255599021912, + -0.035270944237709045, + -0.04126346483826637, + 0.0016792260576039553 + ], + [ + 0.03487645834684372, + 0.9993391633033752, + -0.010241521522402763, + -0.03687053173780441 + ], + [ + 0.04159742221236229, + 0.008787296712398529, + 0.9990957975387573, + 0.17601753771305084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9982255101203918, + -0.03542007878422737, + -0.04786641150712967, + 0.003373675048351288 + ], + [ + 0.03516291454434395, + 0.9993623495101929, + -0.006204139441251755, + -0.036227595061063766 + ], + [ + 0.04805564135313034, + 0.004510007798671722, + 0.998834490776062, + 0.17558705806732178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9980335831642151, + -0.03562784567475319, + -0.05157178267836571, + 0.008575298823416233 + ], + [ + 0.03554372861981392, + 0.9993648529052734, + -0.002547553041949868, + -0.03728276863694191 + ], + [ + 0.051629792898893356, + 0.0007094901520758867, + 0.9986660480499268, + 0.177057683467865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9980654120445251, + -0.033239468932151794, + -0.05254153162240982, + 0.010035335086286068 + ], + [ + 0.033335790038108826, + 0.999443769454956, + 0.0009576970478519797, + -0.03659005090594292 + ], + [ + 0.05248047411441803, + -0.00270735751837492, + 0.9986183047294617, + 0.18070371448993683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9982656836509705, + -0.028760436922311783, + -0.05136644095182419, + 0.012556426227092743 + ], + [ + 0.028987225145101547, + 0.9995730519294739, + 0.003675465239211917, + -0.03788361698389053 + ], + [ + 0.05123879760503769, + -0.005158061161637306, + 0.9986730813980103, + 0.18228885531425476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9983667135238647, + -0.0250232070684433, + -0.05135934799909592, + 0.007784292101860046 + ], + [ + 0.025330927222967148, + 0.9996647834777832, + 0.005349234212189913, + -0.039046622812747955 + ], + [ + 0.05120828002691269, + -0.006641476880759001, + 0.9986659288406372, + 0.18182413280010223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9981539845466614, + -0.02298610657453537, + -0.0562160387635231, + 0.0073211099952459335 + ], + [ + 0.02336721122264862, + 0.9997081756591797, + 0.006131329108029604, + -0.03997793793678284 + ], + [ + 0.056058697402477264, + -0.007433622609823942, + 0.9983997941017151, + 0.18320973217487335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9978097677230835, + -0.0219400767236948, + -0.06240474805235863, + 0.007129876874387264 + ], + [ + 0.0223365668207407, + 0.9997344613075256, + 0.005662944167852402, + -0.04079262167215347 + ], + [ + 0.06226393207907677, + -0.007044448517262936, + 0.9980348348617554, + 0.18339604139328003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9973514080047607, + -0.021892528980970383, + -0.06936050206422806, + 0.01135967392474413 + ], + [ + 0.022276122123003006, + 0.9997405409812927, + 0.0047616977244615555, + -0.04250262677669525 + ], + [ + 0.06923825293779373, + -0.006294168531894684, + 0.9975802898406982, + 0.1836991012096405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9970741271972656, + -0.020919712260365486, + -0.07352267950773239, + 0.01596252992749214 + ], + [ + 0.021188469603657722, + 0.9997713565826416, + 0.0028772857040166855, + -0.04359837621450424 + ], + [ + 0.07344567030668259, + -0.004426700063049793, + 0.9972894191741943, + 0.18525810539722443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9969319701194763, + -0.019068630412220955, + -0.0759144201874733, + 0.017650436609983444 + ], + [ + 0.019201012328267097, + 0.9998151063919067, + 0.0010142598766833544, + -0.041674960404634476 + ], + [ + 0.07588104158639908, + -0.002468781778588891, + 0.997113823890686, + 0.18656206130981445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9968037605285645, + -0.018738744780421257, + -0.07766010612249374, + 0.020870575681328773 + ], + [ + 0.01881229691207409, + 0.9998230338096619, + 0.00021557608852162957, + -0.0418555848300457 + ], + [ + 0.07764231413602829, + -0.0016758518759161234, + 0.9969798922538757, + 0.18793153762817383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9966640472412109, + -0.019168933853507042, + -0.07933052629232407, + 0.021285999566316605 + ], + [ + 0.019165048375725746, + 0.9998160004615784, + -0.0008104115258902311, + -0.042195938527584076 + ], + [ + 0.07933146506547928, + -0.0007126652635633945, + 0.9968480467796326, + 0.18962150812149048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9964694976806641, + -0.01717943325638771, + -0.08217889815568924, + 0.02262125536799431 + ], + [ + 0.017108067870140076, + 0.9998524188995361, + -0.0015725560951977968, + -0.041884586215019226 + ], + [ + 0.0821937844157219, + 0.0001610821927897632, + 0.9966163635253906, + 0.18983960151672363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9962170720100403, + -0.01667047291994095, + -0.08528559654951096, + 0.025341995060443878 + ], + [ + 0.016554906964302063, + 0.9998608231544495, + -0.0020621661096811295, + -0.04194396361708641 + ], + [ + 0.08530811220407486, + 0.0006424700259231031, + 0.9963544011116028, + 0.1899767965078354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9960153102874756, + -0.01687675714492798, + -0.08757112175226212, + 0.028020985424518585 + ], + [ + 0.0167098268866539, + 0.9998568892478943, + -0.002638974692672491, + -0.04136677086353302 + ], + [ + 0.0876031294465065, + 0.0011651611421257257, + 0.99615478515625, + 0.19137635827064514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9958894848823547, + -0.01589396968483925, + -0.08917137235403061, + 0.028977811336517334 + ], + [ + 0.01570206880569458, + 0.999872624874115, + -0.002853164914995432, + -0.041270628571510315 + ], + [ + 0.08920536190271378, + 0.001441262080334127, + 0.9960122108459473, + 0.19327424466609955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9957553744316101, + -0.013591228984296322, + -0.09103000909090042, + 0.033075299113988876 + ], + [ + 0.013367253355681896, + 0.9999059438705444, + -0.003069717902690172, + -0.04044836014509201 + ], + [ + 0.09106316417455673, + 0.0018398672109469771, + 0.9958434104919434, + 0.19599871337413788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9957507848739624, + -0.011507227085530758, + -0.0913674533367157, + 0.03232666105031967 + ], + [ + 0.011254499666392803, + 0.999931275844574, + -0.0032808182295411825, + -0.0399361215531826 + ], + [ + 0.0913989245891571, + 0.0022385825868695974, + 0.9958118200302124, + 0.19711510837078094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9955921769142151, + -0.010290554724633694, + -0.0932220071554184, + 0.0351305715739727 + ], + [ + 0.010029853321611881, + 0.9999443888664246, + -0.003264659084379673, + -0.039993926882743835 + ], + [ + 0.09325042366981506, + 0.0023152660578489304, + 0.995639979839325, + 0.1981394737958908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9955981373786926, + -0.006369479466229677, + -0.09350818395614624, + 0.03534013777971268 + ], + [ + 0.0060942810960114, + 0.9999762177467346, + -0.003228306071832776, + -0.03906913474202156 + ], + [ + 0.09352652728557587, + 0.00264423037879169, + 0.9956132769584656, + 0.1998641937971115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9955713748931885, + -0.005205210298299789, + -0.09386421740055084, + 0.03716135025024414 + ], + [ + 0.004944969899952412, + 0.9999832510948181, + -0.003004903206601739, + -0.038769371807575226 + ], + [ + 0.09387828409671783, + 0.0025274401996284723, + 0.9955804944038391, + 0.2018302083015442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9955637454986572, + -0.006906879134476185, + -0.09383544325828552, + 0.03996962308883667 + ], + [ + 0.006643759086728096, + 0.9999730587005615, + -0.003116168547421694, + -0.03826572746038437 + ], + [ + 0.09385444223880768, + 0.0024789245799183846, + 0.9955828189849854, + 0.2036193311214447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9957108497619629, + -0.012014859355986118, + -0.09173641353845596, + 0.04346761479973793 + ], + [ + 0.011757985688745975, + 0.9999253153800964, + -0.0033400990068912506, + -0.03818871080875397 + ], + [ + 0.09176968783140182, + 0.0022471374832093716, + 0.9957777261734009, + 0.20742085576057434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9960361123085022, + -0.016791686415672302, + -0.08735063672065735, + 0.04428359121084213 + ], + [ + 0.016554374247789383, + 0.9998570680618286, + -0.0034405034966766834, + -0.038927849382162094 + ], + [ + 0.08739592134952545, + 0.0019808304496109486, + 0.9961717128753662, + 0.2107274979352951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9963306188583374, + -0.022136257961392403, + -0.08267592638731003, + 0.04519452154636383 + ], + [ + 0.021898431703448296, + 0.9997530579566956, + -0.0037824215833097696, + -0.038688283413648605 + ], + [ + 0.08273924142122269, + 0.0019580696243792772, + 0.9965693354606628, + 0.2149847149848938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9966931343078613, + -0.02606860175728798, + -0.07696233689785004, + 0.04413088038563728 + ], + [ + 0.025847796350717545, + 0.9996584057807922, + -0.0038638957776129246, + -0.039456311613321304 + ], + [ + 0.0770367681980133, + 0.001861811731941998, + 0.9970265030860901, + 0.21733148396015167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9970375299453735, + -0.02760995738208294, + -0.0717906579375267, + 0.042644351720809937 + ], + [ + 0.027393409982323647, + 0.9996167421340942, + -0.0039993710815906525, + -0.039053626358509064 + ], + [ + 0.07187356799840927, + 0.00202093250118196, + 0.9974117279052734, + 0.2201438546180725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9974468350410461, + -0.027754057198762894, + -0.06579874455928802, + 0.040170587599277496 + ], + [ + 0.027596037834882736, + 0.9996137022972107, + -0.003309376770630479, + -0.036779291927814484 + ], + [ + 0.0658651739358902, + 0.0014851430896669626, + 0.997827410697937, + 0.223973348736763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9977898597717285, + -0.027106482535600662, + -0.0606682263314724, + 0.03957260027527809 + ], + [ + 0.027156926691532135, + 0.9996311664581299, + 6.967864464968443e-06, + -0.03693052753806114 + ], + [ + 0.060645658522844315, + -0.0016545148100703955, + 0.9981579780578613, + 0.2258155643939972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9981955289840698, + -0.026339184492826462, + -0.053962212055921555, + 0.04250694438815117 + ], + [ + 0.026516523212194443, + 0.9996450543403625, + 0.002572867553681135, + -0.041800327599048615 + ], + [ + 0.05387529358267784, + -0.003999114967882633, + 0.9985396862030029, + 0.23199895024299622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9987688660621643, + -0.026324991136789322, + -0.042044516652822495, + 0.04280760511755943 + ], + [ + 0.026497606188058853, + 0.999642550945282, + 0.0035533946938812733, + -0.039701659232378006 + ], + [ + 0.04193594679236412, + -0.004663099069148302, + 0.9991094470024109, + 0.23578506708145142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9992602467536926, + -0.02485080063343048, + -0.029348693788051605, + 0.038912322372198105 + ], + [ + 0.025001540780067444, + 0.999675989151001, + 0.004780414514243603, + -0.04202580451965332 + ], + [ + 0.02922038733959198, + -0.005510641261935234, + 0.9995577931404114, + 0.23861362040042877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9996088743209839, + -0.022285299375653267, + -0.016895143315196037, + 0.0389983206987381 + ], + [ + 0.02237946353852749, + 0.9997349381446838, + 0.005405051168054342, + -0.043469637632369995 + ], + [ + 0.01677021197974682, + -0.005781040992587805, + 0.999842643737793, + 0.2432418018579483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9997454285621643, + -0.02246270887553692, + -0.0021219286136329174, + 0.03184308856725693 + ], + [ + 0.022474853321909904, + 0.999730110168457, + 0.005884111393243074, + -0.04517999291419983 + ], + [ + 0.0019891830161213875, + -0.005930303130298853, + 0.9999804496765137, + 0.24793803691864014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9996567368507385, + -0.025230415165424347, + 0.007059630937874317, + 0.027075307443737984 + ], + [ + 0.025193925946950912, + 0.9996690154075623, + 0.005210914183408022, + -0.0466303713619709 + ], + [ + -0.007188768126070499, + -0.005031265784054995, + 0.9999614953994751, + 0.25170794129371643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9993383288383484, + -0.031184298917651176, + 0.018720222637057304, + 0.02827657014131546 + ], + [ + 0.03109128586947918, + 0.9995028376579285, + 0.005239357240498066, + -0.04629194363951683 + ], + [ + -0.01887430064380169, + -0.004653855226933956, + 0.999811053276062, + 0.260964035987854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9986876845359802, + -0.040366437286138535, + 0.03151895850896835, + 0.013927454128861427 + ], + [ + 0.04020640626549721, + 0.9991751909255981, + 0.0056948428973555565, + -0.04894286394119263 + ], + [ + -0.031722843647003174, + -0.004420105367898941, + 0.9994869232177734, + 0.26223209500312805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9984075427055359, + -0.0437094010412693, + 0.035663407295942307, + 0.005329732317477465 + ], + [ + 0.04353411868214607, + 0.9990358352661133, + 0.005677059292793274, + -0.05133378505706787 + ], + [ + -0.03587716445326805, + -0.004115443676710129, + 0.9993477463722229, + 0.26476436853408813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9983382821083069, + -0.04094492644071579, + 0.04054907709360123, + 0.00889198575168848 + ], + [ + 0.040745094418525696, + 0.9991530776023865, + 0.00574268214404583, + -0.051859308034181595 + ], + [ + -0.040749870240688324, + -0.00408096332103014, + 0.9991610646247864, + 0.269929975271225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9977113604545593, + -0.042629506438970566, + 0.052485570311546326, + 0.009556866250932217 + ], + [ + 0.04236955568194389, + 0.9990836381912231, + 0.006056006066501141, + -0.052876830101013184 + ], + [ + -0.05269563943147659, + -0.0038183555006980896, + 0.998603343963623, + 0.2789273262023926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9966207146644592, + -0.04648572951555252, + 0.06772209703922272, + 0.0020070872269570827 + ], + [ + 0.04631677269935608, + 0.9989185333251953, + 0.004063726402819157, + -0.055276088416576385 + ], + [ + -0.06783775985240936, + -0.0009133247658610344, + 0.9976959228515625, + 0.2806178629398346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9955387711524963, + -0.051473669707775116, + 0.07907583564519882, + -0.009791763499379158 + ], + [ + 0.05130329728126526, + 0.9986743330955505, + 0.004185955971479416, + -0.05561799928545952 + ], + [ + -0.07918647676706314, + -0.0001104304101318121, + 0.9968597888946533, + 0.2864299416542053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9946205615997314, + -0.05921420454978943, + 0.08499167114496231, + -0.01686355657875538 + ], + [ + 0.05914073437452316, + 0.9982439279556274, + 0.003384219016879797, + -0.05796602740883827 + ], + [ + -0.0850428119301796, + 0.0016604553675279021, + 0.9963759183883667, + 0.2908802926540375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9938361048698425, + -0.06618492305278778, + 0.08893471211194992, + -0.02133064717054367 + ], + [ + 0.06619052588939667, + 0.9978027939796448, + 0.0028894436545670033, + -0.05797678977251053 + ], + [ + -0.08893053978681564, + 0.003015001304447651, + 0.996033251285553, + 0.2949623167514801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9928536415100098, + -0.07195000350475311, + 0.0952095240354538, + -0.024871665984392166 + ], + [ + 0.07201534509658813, + 0.9973997473716736, + 0.0027540659066289663, + -0.058374568819999695 + ], + [ + -0.095160111784935, + 0.0041221617721021175, + 0.995453417301178, + 0.30027034878730774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9917391538619995, + -0.0791555717587471, + 0.10093468427658081, + -0.036611080169677734 + ], + [ + 0.07932127267122269, + 0.9968462586402893, + 0.002377015771344304, + -0.06035073846578598 + ], + [ + -0.10080452263355255, + 0.005648888647556305, + 0.9948902130126953, + 0.3061627745628357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9910087585449219, + -0.08532292395830154, + 0.10306152701377869, + -0.039702482521533966 + ], + [ + 0.0856640562415123, + 0.9963234663009644, + 0.0011196848936378956, + -0.06016356125473976 + ], + [ + -0.10277815163135529, + 0.007719049695879221, + 0.9946743249893188, + 0.31023141741752625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9901637434959412, + -0.0892777070403099, + 0.10772750526666641, + -0.04899848625063896 + ], + [ + 0.08987192064523697, + 0.9959530830383301, + -0.0006637903861701488, + -0.06292222440242767 + ], + [ + -0.10723228007555008, + 0.010338937863707542, + 0.9941802620887756, + 0.3134589195251465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9896685481071472, + -0.09369344264268875, + 0.10852523148059845, + -0.055157165974378586 + ], + [ + 0.09462950378656387, + 0.9955064058303833, + -0.003496123943477869, + -0.06251956522464752 + ], + [ + -0.10771000385284424, + 0.013729693368077278, + 0.9940875172615051, + 0.3171065151691437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9892995357513428, + -0.0972462072968483, + 0.10876399278640747, + -0.06020015850663185 + ], + [ + 0.09824048727750778, + 0.995155394077301, + -0.003808105830103159, + -0.06325225532054901 + ], + [ + -0.10786674916744232, + 0.014452384784817696, + 0.9940602779388428, + 0.3216138482093811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9892327785491943, + -0.09746376425027847, + 0.10917573422193527, + -0.06514457613229752 + ], + [ + 0.098604716360569, + 0.9951136708259583, + -0.005088033154606819, + -0.06293623894453049 + ], + [ + -0.10814636200666428, + 0.01579849049448967, + 0.9940094351768494, + 0.3240865170955658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.989525318145752, + -0.09452766180038452, + 0.10910636186599731, + -0.06861311942338943 + ], + [ + 0.09577043354511261, + 0.995384156703949, + -0.006195148918777704, + -0.06197062507271767 + ], + [ + -0.10801713168621063, + 0.016579419374465942, + 0.9940107464790344, + 0.32801443338394165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9894266128540039, + -0.09152387082576752, + 0.11250940710306168, + -0.06553616374731064 + ], + [ + 0.0928223580121994, + 0.9956624507904053, + -0.006346375215798616, + -0.062141381204128265 + ], + [ + -0.11144054681062698, + 0.0167226605117321, + 0.9936304092407227, + 0.3344730734825134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9889030456542969, + -0.08935775607824326, + 0.11868437379598618, + -0.06691120564937592 + ], + [ + 0.0906936302781105, + 0.9958614110946655, + -0.005891798529773951, + -0.0602489709854126 + ], + [ + -0.11766671389341354, + 0.016590334475040436, + 0.9929145574569702, + 0.3375800848007202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9882957935333252, + -0.08747215569019318, + 0.12498033046722412, + -0.0710979551076889 + ], + [ + 0.08868853747844696, + 0.9960505962371826, + -0.004191209562122822, + -0.06244020164012909 + ], + [ + -0.12412011623382568, + 0.015226476825773716, + 0.9921503663063049, + 0.34092018008232117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9879857301712036, + -0.08287643641233444, + 0.1304444521665573, + -0.07849130034446716 + ], + [ + 0.08402953296899796, + 0.9964576363563538, + -0.0033510439097881317, + -0.06381584703922272 + ], + [ + -0.12970463931560516, + 0.014271968975663185, + 0.9914499521255493, + 0.3448488712310791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9884755611419678, + -0.07983215153217316, + 0.1286192536354065, + -0.07838287949562073 + ], + [ + 0.08089792728424072, + 0.996717631816864, + -0.003075049724429846, + -0.06451298296451569 + ], + [ + -0.12795159220695496, + 0.01344463974237442, + 0.9916892647743225, + 0.3484306037425995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9882067441940308, + -0.07835345715284348, + 0.13156041502952576, + -0.08226608484983444 + ], + [ + 0.07941219955682755, + 0.9968379139900208, + -0.002812167163938284, + -0.06563553214073181 + ], + [ + -0.1309240758419037, + 0.013226503506302834, + 0.9913041591644287, + 0.3512198328971863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9883277416229248, + -0.07507099211215973, + 0.1325615793466568, + -0.08598087728023529 + ], + [ + 0.0760648250579834, + 0.9970998764038086, + -0.0024418821558356285, + -0.06669331341981888 + ], + [ + -0.13199381530284882, + 0.012496652081608772, + 0.9911717772483826, + 0.35648471117019653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9885004162788391, + -0.07085845619440079, + 0.13358914852142334, + -0.0942988246679306 + ], + [ + 0.07184083014726639, + 0.9974128603935242, + -0.0025417385622859, + -0.07239430397748947 + ], + [ + -0.1330634355545044, + 0.012109664268791676, + 0.9910335540771484, + 0.3553031384944916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9899342060089111, + -0.06548681110143661, + 0.12546631693840027, + -0.0997755154967308 + ], + [ + 0.06653543561697006, + 0.9977753162384033, + -0.004181001801043749, + -0.0698639377951622 + ], + [ + -0.12491339445114136, + 0.01248687133193016, + 0.9920890927314758, + 0.35882899165153503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9911519289016724, + -0.06342783570289612, + 0.1165965348482132, + -0.10067008435726166 + ], + [ + 0.06448382139205933, + 0.9979046583175659, + -0.005303200334310532, + -0.06935206800699234 + ], + [ + -0.11601585149765015, + 0.012774867936968803, + 0.9931651949882507, + 0.36213406920433044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9923681020736694, + -0.060831472277641296, + 0.10726163536310196, + -0.10843908786773682 + ], + [ + 0.06182795763015747, + 0.9980688691139221, + -0.005986266769468784, + -0.0708753690123558 + ], + [ + -0.10669033974409103, + 0.012572347186505795, + 0.994212806224823, + 0.36640629172325134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9940966367721558, + -0.06055106595158577, + 0.09003031998872757, + -0.11714239418506622 + ], + [ + 0.06153292581439018, + 0.9980716109275818, + -0.008168084546923637, + -0.07210933417081833 + ], + [ + -0.08936212211847305, + 0.01365969330072403, + 0.9959055185317993, + 0.3689434230327606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9958508014678955, + -0.059024978429079056, + 0.06926248222589493, + -0.11624281853437424 + ], + [ + 0.05986354127526283, + 0.9981555342674255, + -0.01009269431233406, + -0.07276931405067444 + ], + [ + -0.06853901594877243, + 0.01419711485505104, + 0.9975473880767822, + 0.3710602819919586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9968846440315247, + -0.05886780843138695, + 0.05249326676130295, + -0.10923396050930023 + ], + [ + 0.059447478502988815, + 0.9981857538223267, + -0.009549194946885109, + -0.06703612208366394 + ], + [ + -0.05183589458465576, + 0.012640038505196571, + 0.9985756278038025, + 0.37871253490448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9974640011787415, + -0.057525284588336945, + 0.04190944880247116, + -0.10882346332073212 + ], + [ + 0.05788136273622513, + 0.9982965588569641, + -0.0073320940136909485, + -0.06502272188663483 + ], + [ + -0.04141627997159958, + 0.009739276021718979, + 0.9990944862365723, + 0.38215529918670654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9979941248893738, + -0.055096134543418884, + 0.031179513782262802, + -0.11083580553531647 + ], + [ + 0.055221691727638245, + 0.9984690546989441, + -0.0031796121038496494, + -0.06529015302658081 + ], + [ + -0.03095659613609314, + 0.004895019810646772, + 0.9995087385177612, + 0.38822099566459656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9983182549476624, + -0.05520505830645561, + 0.017694491893053055, + -0.11268988996744156 + ], + [ + 0.055211763828992844, + 0.998474657535553, + 0.00010984943946823478, + -0.06807427108287811 + ], + [ + -0.017673566937446594, + 0.0008672794210724533, + 0.999843418598175, + 0.3931836783885956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9985188245773315, + -0.05425054579973221, + 0.00412027770653367, + -0.10759411752223969 + ], + [ + 0.054250411689281464, + 0.9985273480415344, + 0.00014492178161162883, + -0.06799013167619705 + ], + [ + -0.0041220723651349545, + 7.881963392719626e-05, + 0.9999914765357971, + 0.39795270562171936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.998632550239563, + -0.0518827885389328, + -0.006418257020413876, + -0.1040010005235672 + ], + [ + 0.051888786256313324, + 0.9986525774002075, + 0.0007708566263318062, + -0.06798113137483597 + ], + [ + 0.006369614973664284, + -0.0011028379667550325, + 0.9999790787696838, + 0.4039979577064514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9985406994819641, + -0.051958970725536346, + -0.014723054133355618, + -0.10082557797431946 + ], + [ + 0.051982685923576355, + 0.9986472129821777, + 0.0012324296403676271, + -0.0680496022105217 + ], + [ + 0.01463910099118948, + -0.0019959749188274145, + 0.9998908638954163, + 0.4117286503314972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9983291029930115, + -0.05308273807168007, + -0.0228294488042593, + -0.09911505877971649 + ], + [ + 0.05312994495034218, + 0.9985865354537964, + 0.0014657669235020876, + -0.06965289264917374 + ], + [ + 0.022719373926520348, + -0.0026762450579553843, + 0.9997382760047913, + 0.41676536202430725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9982191920280457, + -0.052632395178079605, + -0.02807645872235298, + -0.09028217941522598 + ], + [ + 0.05270404741168022, + 0.9986085295677185, + 0.0018177437596023083, + -0.06934212148189545 + ], + [ + 0.027941718697547913, + -0.0032942495308816433, + 0.9996041059494019, + 0.4236181676387787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9983559846878052, + -0.0487339086830616, + -0.030172256752848625, + -0.09147617220878601 + ], + [ + 0.04880359396338463, + 0.9988071322441101, + 0.0015771181788295507, + -0.07364395260810852 + ], + [ + 0.03005940653383732, + -0.0030470399651676416, + 0.9995434880256653, + 0.42703670263290405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9981080293655396, + -0.04834596440196037, + -0.0379871129989624, + -0.08923977613449097 + ], + [ + 0.04843190684914589, + 0.9988256096839905, + 0.0013449550606310368, + -0.07878328859806061 + ], + [ + 0.03787747770547867, + -0.003182198852300644, + 0.9992773532867432, + 0.4335184395313263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9980760216712952, + -0.04601825773715973, + -0.041552405804395676, + -0.07521519064903259 + ], + [ + 0.04588043689727783, + 0.9989378452301025, + -0.00426492840051651, + -0.08194456249475479 + ], + [ + 0.041704531759023666, + 0.0023502802941948175, + 0.999127209186554, + 0.44032320380210876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9984968304634094, + -0.03983147442340851, + -0.03765042498707771, + -0.07146373391151428 + ], + [ + 0.03953780233860016, + 0.9991818070411682, + -0.008512950502336025, + -0.08035121113061905 + ], + [ + 0.03795870020985603, + 0.007011539302766323, + 0.9992547035217285, + 0.4459179639816284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9985121488571167, + -0.040327318012714386, + -0.03670397400856018, + -0.07150055468082428 + ], + [ + 0.03990738093852997, + 0.9991300702095032, + -0.012103153392672539, + -0.08071979135274887 + ], + [ + 0.03716013580560684, + 0.01062038540840149, + 0.9992529153823853, + 0.4512293040752411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9983592629432678, + -0.04151908680796623, + -0.03943286091089249, + -0.07125237584114075 + ], + [ + 0.04103824123740196, + 0.9990739822387695, + -0.012926442548632622, + -0.08193971961736679 + ], + [ + 0.039933040738105774, + 0.011286977678537369, + 0.999138593673706, + 0.45648282766342163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9982271194458008, + -0.039942871779203415, + -0.044126514345407486, + -0.06673295050859451 + ], + [ + 0.039301399141550064, + 0.9991101026535034, + -0.015310530550777912, + -0.08564257621765137 + ], + [ + 0.044698793441057205, + 0.013549153693020344, + 0.9989086389541626, + 0.4605514109134674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9980133175849915, + -0.039888933300971985, + -0.04876736178994179, + -0.06163712590932846 + ], + [ + 0.03905395418405533, + 0.9990757703781128, + -0.01795663870871067, + -0.08519982546567917 + ], + [ + 0.049438562244176865, + 0.016016406938433647, + 0.9986487627029419, + 0.4663359224796295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9977502226829529, + -0.0431533120572567, + -0.05130522698163986, + -0.04971541836857796 + ], + [ + 0.042134929448366165, + 0.998896062374115, + -0.020768551155924797, + -0.08948428928852081 + ], + [ + 0.052144818007946014, + 0.018560083582997322, + 0.9984670281410217, + 0.4734000563621521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9979753494262695, + -0.04101799800992012, + -0.04860839992761612, + -0.046390924602746964 + ], + [ + 0.03983898088335991, + 0.9988937973976135, + -0.02498130314052105, + -0.08829178661108017 + ], + [ + 0.04957931488752365, + 0.022994214668869972, + 0.9985054731369019, + 0.4781436622142792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9980672001838684, + -0.038950204849243164, + -0.048422664403915405, + -0.04197509586811066 + ], + [ + 0.037730149924755096, + 0.9989532828330994, + -0.02585999295115471, + -0.084121473133564 + ], + [ + 0.04937922954559326, + 0.02398301661014557, + 0.9984921216964722, + 0.48378506302833557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9979420900344849, + -0.042195212095975876, + -0.04828137531876564, + -0.037606481462717056 + ], + [ + 0.04110183194279671, + 0.9988804459571838, + -0.02341943420469761, + -0.087849922478199 + ], + [ + 0.04921550676226616, + 0.021386785432696342, + 0.9985591769218445, + 0.4894416034221649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9978255033493042, + -0.04478096589446068, + -0.048362065106630325, + -0.03203636407852173 + ], + [ + 0.04362231865525246, + 0.9987413883209229, + -0.024753715842962265, + -0.08970154076814651 + ], + [ + 0.049409691244363785, + 0.02259022369980812, + 0.9985231161117554, + 0.49487563967704773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9979022145271301, + -0.04413763806223869, + -0.04736047983169556, + -0.02848094515502453 + ], + [ + 0.04297792539000511, + 0.9987573623657227, + -0.025232523679733276, + -0.08991166949272156 + ], + [ + 0.04841533303260803, + 0.023144137114286423, + 0.9985591173171997, + 0.5003889799118042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 877.6382649739583, + "fy": 877.6066080729166, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/82da340f-da91-4ee1-aa8f-6afaa9487e8f/caption.txt b/dynpose_eval/source/82da340f-da91-4ee1-aa8f-6afaa9487e8f/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..ed035bfaf280b7b885280ee483a1005fd6cf4833 --- /dev/null +++ b/dynpose_eval/source/82da340f-da91-4ee1-aa8f-6afaa9487e8f/caption.txt @@ -0,0 +1 @@ +There is a woman in a red shirt walking down a hallway at an event. diff --git a/dynpose_eval/source/82da340f-da91-4ee1-aa8f-6afaa9487e8f/extras/source_metadata.json b/dynpose_eval/source/82da340f-da91-4ee1-aa8f-6afaa9487e8f/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d4a15145464193e4781ccb0b1a410c22ebf69ea6 --- /dev/null +++ b/dynpose_eval/source/82da340f-da91-4ee1-aa8f-6afaa9487e8f/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "82da340f-da91-4ee1-aa8f-6afaa9487e8f", + "tar_name": "dpsp-6dbb4e2f", + "youtube_link": "https://www.youtube.com/watch?v=BE0Anqxw3pY", + "youtube_timestamp": "0:00:25.325-0:00:29.362", + "num_frames": 121, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/82da340f-da91-4ee1-aa8f-6afaa9487e8f/transforms.json b/dynpose_eval/source/82da340f-da91-4ee1-aa8f-6afaa9487e8f/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9aabc559c5889032af93465282ab97d111cccf1f --- /dev/null +++ b/dynpose_eval/source/82da340f-da91-4ee1-aa8f-6afaa9487e8f/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, + 9.941093139786972e-07, + -4.179961251793429e-06, + -6.555440450028982e-06 + ], + [ + -9.939099072653335e-07, + 1.0, + 4.7714154788991436e-05, + 5.819800935569219e-05 + ], + [ + 4.1800085455179214e-06, + -4.771414751303382e-05, + 1.0, + 0.00019903942302335054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999781250953674, + -0.0008155666291713715, + -0.006566259544342756, + -0.01754830963909626 + ], + [ + 0.0008246657671406865, + 0.9999986886978149, + 0.0013831468531861901, + 0.004743217956274748 + ], + [ + 0.006565123330801725, + -0.0013885315274819732, + 0.9999774694442749, + 0.025204414501786232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999908447265625, + 0.000926785811316222, + -0.013500532135367393, + -0.03920206055045128 + ], + [ + -0.0008898820378817618, + 0.9999958276748657, + 0.0027392553165555, + 0.01160681527107954 + ], + [ + 0.013503015041351318, + -0.002726990729570389, + 0.9999051094055176, + 0.04038538411259651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999765157699585, + 0.0032177413813769817, + -0.02143074758350849, + -0.06896717846393585 + ], + [ + -0.003129030577838421, + 0.9999864101409912, + 0.004171671345829964, + 0.022737396880984306 + ], + [ + 0.02144387923181057, + -0.0041036345064640045, + 0.9997616410255432, + 0.06314851343631744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9995089769363403, + 0.006261338945478201, + -0.030701894313097, + -0.08117888867855072 + ], + [ + -0.006071873474866152, + 0.9999619722366333, + 0.006260496564209461, + 0.025567008182406425 + ], + [ + 0.030739925801753998, + -0.006071004085242748, + 0.9995089769363403, + 0.08232778310775757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9991270303726196, + 0.010198451578617096, + -0.04051146283745766, + -0.09078124910593033 + ], + [ + -0.009855689480900764, + 0.9999139904975891, + 0.008651595562696457, + 0.026310689747333527 + ], + [ + 0.040596213191747665, + -0.008244775235652924, + 0.9991416335105896, + 0.0954258143901825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9986053109169006, + 0.015904419124126434, + -0.05034400522708893, + -0.10911184549331665 + ], + [ + -0.015345125459134579, + 0.9998164176940918, + 0.011476550251245499, + 0.027011016383767128 + ], + [ + 0.05051729083061218, + -0.01068800874054432, + 0.998665988445282, + 0.10227607935667038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9978422522544861, + 0.02242640033364296, + -0.061708517372608185, + -0.11656222492456436 + ], + [ + -0.021584589034318924, + 0.9996651411056519, + 0.014274767599999905, + 0.029162384569644928 + ], + [ + 0.06200798600912094, + -0.012912013567984104, + 0.9979921579360962, + 0.1198359951376915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9969093799591064, + 0.029992036521434784, + -0.07260975241661072, + -0.12998229265213013 + ], + [ + -0.02882574126124382, + 0.9994388818740845, + 0.017057694494724274, + 0.03355254977941513 + ], + [ + 0.07308059930801392, + -0.014911945909261703, + 0.9972145557403564, + 0.1438453644514084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9959168434143066, + 0.03662469983100891, + -0.08251190185546875, + -0.1453748196363449 + ], + [ + -0.035120539367198944, + 0.9991906881332397, + 0.019608313217759132, + 0.03528493642807007 + ], + [ + 0.08316327631473541, + -0.01663038693368435, + 0.9963971376419067, + 0.16159909963607788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9949726462364197, + 0.0406075045466423, + -0.09154461324214935, + -0.16005057096481323 + ], + [ + -0.038805827498435974, + 0.9990180730819702, + 0.021376414224505424, + 0.037324029952287674 + ], + [ + 0.09232276678085327, + -0.017716484144330025, + 0.995571494102478, + 0.17366699874401093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9937283992767334, + 0.04252999648451805, + -0.10341694951057434, + -0.17030823230743408 + ], + [ + -0.04034781828522682, + 0.9989185929298401, + 0.02310292422771454, + 0.03910822793841362 + ], + [ + 0.10428768396377563, + -0.01878538355231285, + 0.9943697452545166, + 0.19615742564201355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9923683404922485, + 0.04296125844120979, + -0.11558274924755096, + -0.17857059836387634 + ], + [ + -0.04036114737391472, + 0.9988787174224854, + 0.024743836373090744, + 0.039846669882535934 + ], + [ + 0.11651617288589478, + -0.019889947026968002, + 0.9929895997047424, + 0.2133791446685791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9908779263496399, + 0.04263249412178993, + -0.12784148752689362, + -0.19600990414619446 + ], + [ + -0.039735060185194016, + 0.9988941550254822, + 0.02513078786432743, + 0.04548271372914314 + ], + [ + 0.12877149879932404, + -0.019821753725409508, + 0.9914761781692505, + 0.2444726973772049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9893572330474854, + 0.04195309057831764, + -0.13932766020298004, + -0.2189645916223526 + ], + [ + -0.039014268666505814, + 0.9989561438560486, + 0.02375876158475876, + 0.05709778517484665 + ], + [ + 0.14017896354198456, + -0.01807013526558876, + 0.9899612665176392, + 0.29000580310821533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9879360198974609, + 0.042817097157239914, + -0.14882583916187286, + -0.2327999323606491 + ], + [ + -0.03988043591380119, + 0.9989474415779114, + 0.022662151604890823, + 0.058703288435935974 + ], + [ + 0.1496395319700241, + -0.016453515738248825, + 0.9886037111282349, + 0.3120867609977722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9867644309997559, + 0.04360520839691162, + -0.1561877280473709, + -0.24556657671928406 + ], + [ + -0.04089947044849396, + 0.9989529848098755, + 0.020497191697359085, + 0.062022481113672256 + ], + [ + 0.1569179743528366, + -0.01383790373802185, + 0.9875146746635437, + 0.3314334452152252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9852742552757263, + 0.04565145820379257, + -0.16477420926094055, + -0.26825594902038574 + ], + [ + -0.04359464347362518, + 0.9989199042320251, + 0.016079414635896683, + 0.06625526398420334 + ], + [ + 0.16533029079437256, + -0.0086593609303236, + 0.986200213432312, + 0.36874374747276306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9831662774085999, + 0.04619317874312401, + -0.17677757143974304, + -0.2715529203414917 + ], + [ + -0.04480808600783348, + 0.9989256858825684, + 0.011821392923593521, + 0.06278839707374573 + ], + [ + 0.177133709192276, + -0.0037013310939073563, + 0.9841798543930054, + 0.38675656914711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9817166328430176, + 0.04147588089108467, + -0.18577447533607483, + -0.30184268951416016 + ], + [ + -0.040495794266462326, + 0.9991385340690613, + 0.0090688057243824, + 0.05861397460103035 + ], + [ + 0.185990571975708, + -0.001379913417622447, + 0.9825505614280701, + 0.4235534071922302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9797073006629944, + 0.03648043051362038, + -0.1970856636762619, + -0.31622377038002014 + ], + [ + -0.035533394664525986, + 0.9993336796760559, + 0.008340534754097462, + 0.05869048833847046 + ], + [ + 0.1972586065530777, + -0.0011681613977998495, + 0.9803507924079895, + 0.45511093735694885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9778174161911011, + 0.0339081697165966, + -0.20669624209403992, + -0.3463491201400757 + ], + [ + -0.03261347487568855, + 0.9994212985038757, + 0.009668895974755287, + 0.04636022821068764 + ], + [ + 0.20690447092056274, + -0.0027133331168442965, + 0.9783573746681213, + 0.4756680130958557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9758109450340271, + 0.03410590440034866, + -0.2159392535686493, + -0.3578910827636719 + ], + [ + -0.03267429769039154, + 0.9994140267372131, + 0.010197228752076626, + 0.04214584827423096 + ], + [ + 0.21616050601005554, + -0.002894904464483261, + 0.9763535261154175, + 0.49346238374710083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9739013314247131, + 0.035255301743745804, + -0.22421707212924957, + -0.3813822567462921 + ], + [ + -0.03374899551272392, + 0.9993746876716614, + 0.010548104532063007, + 0.03896954655647278 + ], + [ + 0.22444872558116913, + -0.002705712802708149, + 0.9744821190834045, + 0.5226988792419434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9718735218048096, + 0.03778295964002609, + -0.23245283961296082, + -0.40269988775253296 + ], + [ + -0.03586559742689133, + 0.9992787837982178, + 0.01247086189687252, + 0.03444778174161911 + ], + [ + 0.2327563762664795, + -0.00378304161131382, + 0.9725277423858643, + 0.5489695072174072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9693189263343811, + 0.042973171919584274, + -0.2420208901166916, + -0.41404590010643005 + ], + [ + -0.040026139467954636, + 0.9990525841712952, + 0.017082665115594864, + 0.02328256517648697 + ], + [ + 0.24252568185329437, + -0.0068713896907866, + 0.9701206684112549, + 0.5671004056930542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.966850996017456, + 0.051497988402843475, + -0.25009414553642273, + -0.4246037006378174 + ], + [ + -0.047443971037864685, + 0.9986268281936646, + 0.02221570536494255, + 0.013939132913947105 + ], + [ + 0.25089481472969055, + -0.009613816626369953, + 0.967966616153717, + 0.5817199945449829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9645038843154907, + 0.06083444133400917, + -0.2569658160209656, + -0.44296392798423767 + ], + [ + -0.05620434507727623, + 0.9980978965759277, + 0.025331849232316017, + 0.010329307988286018 + ], + [ + 0.2580180764198303, + -0.00999007560312748, + 0.9660884141921997, + 0.602828860282898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9623434543609619, + 0.06827378273010254, + -0.26312318444252014, + -0.4585883319377899 + ], + [ + -0.06376974284648895, + 0.9976354837417603, + 0.025630386546254158, + 0.009958203881978989 + ], + [ + 0.26425090432167053, + -0.007885938510298729, + 0.9644217491149902, + 0.6222896575927734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9601221680641174, + 0.07380198687314987, + -0.26966404914855957, + -0.4818148910999298 + ], + [ + -0.0696922317147255, + 0.997260332107544, + 0.024796541780233383, + 0.01148911938071251 + ], + [ + 0.2707552909851074, + -0.005014222115278244, + 0.9626351594924927, + 0.6488553881645203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9579412341117859, + 0.07677672058343887, + -0.2765029966831207, + -0.5035721659660339 + ], + [ + -0.07304861396551132, + 0.9970449805259705, + 0.023773949593305588, + 0.011144505813717842 + ], + [ + 0.27751120924949646, + -0.0025758882984519005, + 0.9607189297676086, + 0.6760266423225403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9564064145088196, + 0.07733587175607681, + -0.2816131114959717, + -0.5377159118652344 + ], + [ + -0.07416590303182602, + 0.9970051050186157, + 0.02191486582159996, + 0.01460878923535347 + ], + [ + 0.28246450424194336, + -7.343199104070663e-05, + 0.9592777490615845, + 0.701673150062561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9547471404075623, + 0.07801378518342972, + -0.2870047688484192, + -0.551770806312561 + ], + [ + -0.07555495947599411, + 0.9969480037689209, + 0.01965058594942093, + 0.014062974601984024 + ], + [ + 0.2876618504524231, + 0.0029232921078801155, + 0.9577275514602661, + 0.7179592251777649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9535595178604126, + 0.07884487509727478, + -0.2907021641731262, + -0.575275719165802 + ], + [ + -0.07756116986274719, + 0.9968599081039429, + 0.01595485210418701, + 0.016832642257213593 + ], + [ + 0.29104727506637573, + 0.007333292625844479, + 0.9566805958747864, + 0.7399020791053772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9527880549430847, + 0.0799289122223854, + -0.29292720556259155, + -0.6068159341812134 + ], + [ + -0.07981208711862564, + 0.9967331886291504, + 0.012370962649583817, + 0.020359735935926437 + ], + [ + 0.2929590344429016, + 0.01159222237765789, + 0.9560546875, + 0.7653948068618774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9522832632064819, + 0.07904843986034393, + -0.2948015332221985, + -0.6210834980010986 + ], + [ + -0.07947602868080139, + 0.9967809319496155, + 0.010550444945693016, + 0.018220530822873116 + ], + [ + 0.29468655586242676, + 0.013382643461227417, + 0.9555002450942993, + 0.7772096991539001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9522682428359985, + 0.07665549963712692, + -0.2954810857772827, + -0.6455062627792358 + ], + [ + -0.07724056392908096, + 0.996965229511261, + 0.009710022248327732, + 0.019021322950720787 + ], + [ + 0.29532867670059204, + 0.013576577417552471, + 0.9552992582321167, + 0.7955116629600525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9525429606437683, + 0.07366657257080078, + -0.29535606503486633, + -0.6782286763191223 + ], + [ + -0.07378765940666199, + 0.9972160458564758, + 0.01075169537216425, + 0.018760930746793747 + ], + [ + 0.2953258454799652, + 0.011552178300917149, + 0.9553267359733582, + 0.8191121220588684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.952675461769104, + 0.0736112892627716, + -0.29494205117225647, + -0.709398627281189 + ], + [ + -0.07360364496707916, + 0.9972253441810608, + 0.011143391951918602, + 0.018749067559838295 + ], + [ + 0.2949439585208893, + 0.011092770844697952, + 0.955450177192688, + 0.8453881144523621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9528800249099731, + 0.0753977969288826, + -0.2938278317451477, + -0.7394043207168579 + ], + [ + -0.0754760280251503, + 0.9970859289169312, + 0.011089744977653027, + 0.013388003222644329 + ], + [ + 0.2938077449798584, + 0.011609761975705624, + 0.9557940363883972, + 0.8669828772544861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9530114531517029, + 0.07711057364940643, + -0.2929559051990509, + -0.7632331848144531 + ], + [ + -0.07707220315933228, + 0.9969569444656372, + 0.011691970750689507, + 0.009103961288928986 + ], + [ + 0.29296597838401794, + 0.01143617182970047, + 0.9560544490814209, + 0.8865191340446472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9531253576278687, + 0.07931442558765411, + -0.2919953763484955, + -0.7902289032936096 + ], + [ + -0.07862760126590729, + 0.9968042373657227, + 0.014106366783380508, + 0.002418012358248234 + ], + [ + 0.2921810448169708, + 0.00951375812292099, + 0.9563156962394714, + 0.9053909778594971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9533337354660034, + 0.08211337774991989, + -0.2905377447605133, + -0.8158316016197205 + ], + [ + -0.08050698786973953, + 0.9966004490852356, + 0.01749926060438156, + -0.0025984644889831543 + ], + [ + 0.2909869849681854, + 0.0067076850682497025, + 0.9567034840583801, + 0.9258539080619812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9537844061851501, + 0.08387206494808197, + -0.2885494828224182, + -0.8375880718231201 + ], + [ + -0.08132229745388031, + 0.996470034122467, + 0.020835448056459427, + -0.009577356278896332 + ], + [ + 0.28927844762802124, + 0.003592986613512039, + 0.9572382569313049, + 0.9439544677734375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9545522928237915, + 0.08424770087003708, + -0.2858886122703552, + -0.8555812239646912 + ], + [ + -0.08105740696191788, + 0.9964441061019897, + 0.022997062653303146, + -0.01516768243163824 + ], + [ + 0.28680944442749023, + 0.0012214882299304008, + 0.9579868912696838, + 0.9584181904792786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9555715322494507, + 0.08341526240110397, + -0.28270992636680603, + -0.8781210780143738 + ], + [ + -0.0800909623503685, + 0.9965147972106934, + 0.023316843435168266, + -0.017301002517342567 + ], + [ + 0.2836696207523346, + 0.0003615971654653549, + 0.9589220285415649, + 0.9773803353309631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9568533897399902, + 0.08157975971698761, + -0.27888408303260803, + -0.9086399078369141 + ], + [ + -0.0784931480884552, + 0.9966666102409363, + 0.022236455231904984, + -0.01838231459259987 + ], + [ + 0.2797684967517853, + 0.0006134575232863426, + 0.9600672721862793, + 1.0033848285675049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9579268097877502, + 0.08057376742362976, + -0.27547070384025574, + -0.9277567267417908 + ], + [ + -0.07788297533988953, + 0.9967473149299622, + 0.02071182243525982, + -0.019979067146778107 + ], + [ + 0.27624353766441345, + 0.0016140658408403397, + 0.9610863327980042, + 1.0209555625915527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9591740965843201, + 0.07947847992181778, + -0.27141880989074707, + -0.9437358975410461 + ], + [ + -0.07728590816259384, + 0.9968321919441223, + 0.018775664269924164, + -0.018970899283885956 + ], + [ + 0.27205127477645874, + 0.002967718057334423, + 0.9622781872749329, + 1.0352309942245483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9605518579483032, + 0.07992067188024521, + -0.26636964082717896, + -0.9656162858009338 + ], + [ + -0.07848308235406876, + 0.9967861175537109, + 0.016055699437856674, + -0.014538253657519817 + ], + [ + 0.2667967677116394, + 0.0054831779561936855, + 0.9637372493743896, + 1.0597280263900757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9623292684555054, + 0.08348022401332855, + -0.25875353813171387, + -0.9905953407287598 + ], + [ + -0.08342447876930237, + 0.9964509606361389, + 0.011215794831514359, + -0.0030818358063697815 + ], + [ + 0.25877153873443604, + 0.010793089866638184, + 0.9658782482147217, + 1.0793910026550293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9643834233283997, + 0.0881751999258995, + -0.24937878549098969, + -1.0145798921585083 + ], + [ + -0.08924207836389542, + 0.9959850311279297, + 0.007047910708934069, + -0.004658723250031471 + ], + [ + 0.2489989846944809, + 0.015458190813660622, + 0.9683803915977478, + 1.0788952112197876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9669645428657532, + 0.08599653095006943, + -0.23996703326702118, + -1.0362987518310547 + ], + [ + -0.08862761408090591, + 0.9960648417472839, + -0.0001735212281346321, + 0.013617736287415028 + ], + [ + 0.23900778591632843, + 0.021435491740703583, + 0.9707810282707214, + 1.1376081705093384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9720091819763184, + 0.08083609491586685, + -0.22059838473796844, + -1.1688262224197388 + ], + [ + -0.08409970253705978, + 0.9964425563812256, + -0.0054268548265099525, + 0.027550969272851944 + ], + [ + 0.21937493979930878, + 0.023827210068702698, + 0.9753496050834656, + 1.0647495985031128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.976405143737793, + 0.07841458171606064, + -0.2012067437171936, + -1.1959854364395142 + ], + [ + -0.08208710700273514, + 0.9965753555297852, + -0.00996102299541235, + 0.022971153259277344 + ], + [ + 0.1997365951538086, + 0.026242472231388092, + 0.9794981479644775, + 1.00554621219635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9772835969924927, + 0.06935102492570877, + -0.2002679705619812, + -1.054892659187317 + ], + [ + -0.07451323419809341, + 0.9970512390136719, + -0.018345588818192482, + 0.015549972653388977 + ], + [ + 0.19840514659881592, + 0.0328514538705349, + 0.9795693755149841, + 1.2063392400741577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9840930700302124, + 0.06432052701711655, + -0.1656009703874588, + -1.1893802881240845 + ], + [ + -0.06893395632505417, + 0.9973729252815247, + -0.0222576092928648, + 0.026867136359214783 + ], + [ + 0.1637343019247055, + 0.03331908583641052, + 0.9859416484832764, + 1.0047532320022583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.986758291721344, + 0.04954036697745323, + -0.1544470191001892, + -1.1674734354019165 + ], + [ + -0.054528702050447464, + 0.9981130957603455, + -0.028228163719177246, + 0.028556281700730324 + ], + [ + 0.1527571678161621, + 0.03627616912126541, + 0.9875977635383606, + 1.0605813264846802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.988956868648529, + 0.04284966364502907, + -0.14187407493591309, + -1.1952983140945435 + ], + [ + -0.04766343906521797, + 0.9983913898468018, + -0.030705757439136505, + 0.030387673527002335 + ], + [ + 0.14033013582229614, + 0.03712887316942215, + 0.9894083738327026, + 1.0508403778076172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9923040270805359, + 0.03235732391476631, + -0.11952310800552368, + -1.2242212295532227 + ], + [ + -0.03646184131503105, + 0.9988124370574951, + -0.03231453523039818, + 0.03366479277610779 + ], + [ + 0.11833555996417999, + 0.03642387315630913, + 0.9923053979873657, + 1.0376901626586914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9951404333114624, + 0.02526289038360119, + -0.09517006576061249, + -1.2579842805862427 + ], + [ + -0.028257301077246666, + 0.9991428852081299, + -0.030248427763581276, + 0.029752012342214584 + ], + [ + 0.09432433545589447, + 0.03279068320989609, + 0.9950013756752014, + 1.0360438823699951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9973711967468262, + 0.02651260979473591, + -0.06743717938661575, + -1.289584755897522 + ], + [ + -0.028191132470965385, + 0.9993129372596741, + -0.02406134083867073, + 0.019912637770175934 + ], + [ + 0.06675291806459427, + 0.025899220257997513, + 0.9974333643913269, + 1.047439694404602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9985104203224182, + 0.027656711637973785, + -0.04703275486826897, + -1.2570503950119019 + ], + [ + -0.028659280389547348, + 0.9993732571601868, + -0.020777234807610512, + 0.013512675650417805 + ], + [ + 0.04642864689230919, + 0.022094210609793663, + 0.9986772537231445, + 1.1006748676300049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9989610910415649, + 0.0330594964325428, + -0.03136538714170456, + -1.2751741409301758 + ], + [ + -0.0336575023829937, + 0.9992578625679016, + -0.018733104690909386, + 0.008042744360864162 + ], + [ + 0.030722802504897118, + 0.019769323989748955, + 0.9993324279785156, + 1.0757437944412231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9993215799331665, + 0.034122150391340256, + -0.013858350925147533, + -1.2764512300491333 + ], + [ + -0.03440028056502342, + 0.9992008805274963, + -0.02035292237997055, + 0.0139261269941926 + ], + [ + 0.013152790255844593, + 0.02081584557890892, + 0.9996967911720276, + 1.1068178415298462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993152618408203, + 0.03590904176235199, + 0.008921090513467789, + -1.302441120147705 + ], + [ + -0.03571653366088867, + 0.9991438984870911, + -0.020874638110399246, + 0.010773370042443275 + ], + [ + -0.009663041681051254, + 0.020541712641716003, + 0.9997422695159912, + 1.1108938455581665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9989569783210754, + 0.0350610688328743, + 0.029252760112285614, + -1.338199257850647 + ], + [ + -0.034451715648174286, + 0.9991840124130249, + -0.0210811085999012, + 0.009328153915703297 + ], + [ + -0.0299680158495903, + 0.02005131170153618, + 0.9993497133255005, + 1.1132700443267822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9983181357383728, + 0.03201805427670479, + 0.0483294278383255, + -1.3644636869430542 + ], + [ + -0.03097819909453392, + 0.9992753863334656, + -0.022113997489213943, + 0.01442178525030613 + ], + [ + -0.049002453684806824, + 0.02057964727282524, + 0.9985865950584412, + 1.146351933479309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9973616003990173, + 0.031108558177947998, + 0.06559017300605774, + -1.388439655303955 + ], + [ + -0.02965959534049034, + 0.9992965459823608, + -0.02295057475566864, + 0.01238709595054388 + ], + [ + -0.06625799834728241, + 0.020944643765687943, + 0.9975826740264893, + 1.1682606935501099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9963955283164978, + 0.030919190496206284, + 0.07899364084005356, + -1.4060145616531372 + ], + [ + -0.029061224311590195, + 0.999275803565979, + -0.02456306852400303, + 0.012362507171928883 + ], + [ + -0.07969590276479721, + 0.022178879007697105, + 0.9965724349021912, + 1.1871895790100098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9955397844314575, + 0.03118952177464962, + 0.08903789520263672, + -1.418597936630249 + ], + [ + -0.02890915237367153, + 0.9992230534553528, + -0.026787200942635536, + 0.016500400379300117 + ], + [ + -0.08980420231819153, + 0.024093715474009514, + 0.9956679940223694, + 1.202331781387329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9949311017990112, + 0.03149060159921646, + 0.09550083428621292, + -1.425727367401123 + ], + [ + -0.02884485386312008, + 0.999164342880249, + -0.02895936369895935, + 0.023484904319047928 + ], + [ + -0.09633297473192215, + 0.026057865470647812, + 0.9950079917907715, + 1.2210512161254883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9942996501922607, + 0.030048266053199768, + 0.10230016708374023, + -1.4405970573425293 + ], + [ + -0.02686828374862671, + 0.9991163015365601, + -0.03232241049408913, + 0.031744059175252914 + ], + [ + -0.10318098962306976, + 0.029389530420303345, + 0.9942283034324646, + 1.2573553323745728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9937692880630493, + 0.02748189866542816, + 0.10801530629396439, + -1.4776126146316528 + ], + [ + -0.023970499634742737, + 0.9991453886032104, + -0.03367360308766365, + 0.028901400044560432 + ], + [ + -0.10884841531515121, + 0.03087461367249489, + 0.9935787916183472, + 1.2448806762695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9935248494148254, + 0.022457582876086235, + 0.11137321591377258, + -1.5059114694595337 + ], + [ + -0.01867302693426609, + 0.9992160797119141, + -0.034908417612314224, + 0.028510086238384247 + ], + [ + -0.11206986010074615, + 0.032602708786726, + 0.9931653738021851, + 1.254321575164795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9935379028320312, + 0.01710578054189682, + 0.11220461875200272, + -1.5138474702835083 + ], + [ + -0.013088852167129517, + 0.9992501139640808, + -0.03643953055143356, + 0.021771524101495743 + ], + [ + -0.1127438023686409, + 0.03473542630672455, + 0.99301677942276, + 1.286133050918579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9936143159866333, + 0.011893467977643013, + 0.1122015193104744, + -1.5317341089248657 + ], + [ + -0.007626343984156847, + 0.9992339611053467, + -0.03838372975587845, + 0.019493646919727325 + ], + [ + -0.112572081387043, + 0.03728293627500534, + 0.9929438829421997, + 1.2994868755340576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9937294721603394, + 0.009462353773415089, + 0.1114099845290184, + -1.5611741542816162 + ], + [ + -0.005097247660160065, + 0.9992104768753052, + -0.03940040245652199, + 0.014902742579579353 + ], + [ + -0.11169485002756119, + 0.03858545795083046, + 0.992993175983429, + 1.2975406646728516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9940021634101868, + 0.008891928941011429, + 0.10899830609560013, + -1.581178903579712 + ], + [ + -0.004563749767839909, + 0.9991934895515442, + -0.039894018322229385, + 0.015149818733334541 + ], + [ + -0.10926512628793716, + 0.03915729746222496, + 0.9932410717010498, + 1.3331995010375977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9945852160453796, + 0.0104399798437953, + 0.1033986359834671, + -1.5990855693817139 + ], + [ + -0.00658807810395956, + 0.9992740154266357, + -0.037524621933698654, + 0.010572902858257294 + ], + [ + -0.10371533036231995, + 0.036640238016843796, + 0.9939318895339966, + 1.3396944999694824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9950222969055176, + 0.013365305960178375, + 0.0987519845366478, + -1.6312639713287354 + ], + [ + -0.0100533626973629, + 0.999372661113739, + -0.03395983204245567, + 0.00663796067237854 + ], + [ + -0.09914391487836838, + 0.032798003405332565, + 0.9945324659347534, + 1.3467402458190918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9954787492752075, + 0.016053328290581703, + 0.09361840784549713, + -1.633799433708191 + ], + [ + -0.013089933432638645, + 0.9993962645530701, + -0.03218263015151024, + 0.008658496662974358 + ], + [ + -0.09407852590084076, + 0.03081166371703148, + 0.9950878620147705, + 1.3730920553207397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9958884716033936, + 0.019094012677669525, + 0.08855269104242325, + -1.6443713903427124 + ], + [ + -0.01638421043753624, + 0.9993780255317688, + -0.03122764453291893, + 0.00892133079469204 + ], + [ + -0.08909387141466141, + 0.02964838594198227, + 0.995581865310669, + 1.3853801488876343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9961602091789246, + 0.021972667425870895, + 0.08474691212177277, + -1.6688400506973267 + ], + [ + -0.019420195370912552, + 0.9993360638618469, + -0.030826542526483536, + 0.009305641986429691 + ], + [ + -0.08536799252033234, + 0.02906237170100212, + 0.9959255456924438, + 1.395730972290039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9964921474456787, + 0.02387542650103569, + 0.08020833134651184, + -1.6833550930023193 + ], + [ + -0.02148691564798355, + 0.9993034601211548, + -0.030511200428009033, + 0.0088643254712224 + ], + [ + -0.08088092505931854, + 0.028680741786956787, + 0.9963110685348511, + 1.4001741409301758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9967813491821289, + 0.026295669376850128, + 0.07573282718658447, + -1.699926733970642 + ], + [ + -0.02405417338013649, + 0.9992495775222778, + -0.030359145253896713, + 0.009605368599295616 + ], + [ + -0.07647430896759033, + 0.028439737856388092, + 0.996665894985199, + 1.4163426160812378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9969896078109741, + 0.03209394961595535, + 0.0705811008810997, + -1.7229796648025513 + ], + [ + -0.03002251125872135, + 0.9990924000740051, + -0.030216163024306297, + 0.010951569303870201 + ], + [ + -0.07148679345846176, + 0.02800617925822735, + 0.9970483183860779, + 1.420156717300415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9973184466362, + 0.04033658653497696, + 0.061064835637807846, + -1.7287243604660034 + ], + [ + -0.038465067744255066, + 0.9987627267837524, + -0.03151988238096237, + 0.016906647011637688 + ], + [ + -0.06226068362593651, + 0.02908649481832981, + 0.9976360201835632, + 1.4494872093200684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9976415634155273, + 0.046281248331069946, + 0.05068830028176308, + -1.7329823970794678 + ], + [ + -0.044605277478694916, + 0.9984357357025146, + -0.03371144086122513, + 0.028182728216052055 + ], + [ + -0.05216921493411064, + 0.031370967626571655, + 0.9981454014778137, + 1.4927634000778198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9979108572006226, + 0.04635223373770714, + 0.04500383138656616, + -1.8294645547866821 + ], + [ + -0.04486052319407463, + 0.9984277486801147, + -0.033609457314014435, + 0.024156849831342697 + ], + [ + -0.04649094492197037, + 0.03152034431695938, + 0.998421311378479, + 1.50092351436615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9985557794570923, + 0.04323416203260422, + 0.031892530620098114, + -1.811901569366455 + ], + [ + -0.042288534343242645, + 0.9986623525619507, + -0.029752086848020554, + 0.005578345153480768 + ], + [ + -0.03313617408275604, + 0.028360430151224136, + 0.9990484118461609, + 1.4846012592315674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9995682835578918, + 0.028046036139130592, + 0.008752929046750069, + -1.8074475526809692 + ], + [ + -0.02781345508992672, + 0.999284029006958, + -0.025649357587099075, + 0.015133822336792946 + ], + [ + -0.009466024115681648, + 0.025394834578037262, + 0.9996326565742493, + 1.4963020086288452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9996464252471924, + 0.02369985356926918, + -0.01205428410321474, + -1.840762734413147 + ], + [ + -0.024007633328437805, + 0.9993719458580017, + -0.026063576340675354, + 0.02057577297091484 + ], + [ + 0.011429010890424252, + 0.026343755424022675, + 0.9995875954627991, + 1.546350359916687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9992817044258118, + 0.029018869623541832, + -0.024371467530727386, + -1.8279216289520264 + ], + [ + -0.029681069776415825, + 0.9991875290870667, + -0.027263782918453217, + 0.013312229886651039 + ], + [ + 0.023560501635074615, + 0.02796757221221924, + 0.9993311166763306, + 1.586448073387146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9979508519172668, + 0.040953055024147034, + -0.04916242137551308, + -1.7780940532684326 + ], + [ + -0.04246688634157181, + 0.9986427426338196, + -0.030152935534715652, + 0.047037169337272644 + ], + [ + 0.04786084219813347, + 0.03217892348766327, + 0.9983355402946472, + 1.7015947103500366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.996343195438385, + 0.04059142991900444, + -0.07518340647220612, + -1.6971142292022705 + ], + [ + -0.04349496588110924, + 0.9983536601066589, + -0.037392739206552505, + 0.09182920306921005 + ], + [ + 0.0735418051481247, + 0.04052610322833061, + 0.9964683651924133, + 1.9303295612335205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9963235259056091, + 0.040732428431510925, + -0.0753680020570755, + -1.770524024963379 + ], + [ + -0.043649010360240936, + 0.9983442425727844, + -0.037463489919900894, + 0.08658105880022049 + ], + [ + 0.07371723651885986, + 0.040615495294332504, + 0.9964517951011658, + 1.9766112565994263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9933000802993774, + 0.05472365766763687, + -0.10178527235984802, + -1.7773343324661255 + ], + [ + -0.058355554938316345, + 0.997748613357544, + -0.03305119648575783, + 0.08120253682136536 + ], + [ + 0.099747434258461, + 0.038769494742155075, + 0.9942572116851807, + 1.9290703535079956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9904553294181824, + 0.057312991470098495, + -0.12535350024700165, + -1.7619168758392334 + ], + [ + -0.06214383617043495, + 0.9974544048309326, + -0.03496988117694855, + 0.08125166594982147 + ], + [ + 0.1230301633477211, + 0.04242604970932007, + 0.991495668888092, + 2.0325522422790527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9862881898880005, + 0.06065893918275833, + -0.15348006784915924, + -1.746253490447998 + ], + [ + -0.06712392717599869, + 0.997047483921051, + -0.03729274868965149, + 0.09455549716949463 + ], + [ + 0.15076477825641632, + 0.04708357900381088, + 0.9874477982521057, + 2.02543306350708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9793308973312378, + 0.0742814689874649, + -0.18813088536262512, + -1.5695115327835083 + ], + [ + -0.08105446398258209, + 0.9963005185127258, + -0.028557129204273224, + 0.06962701678276062 + ], + [ + 0.1853136420249939, + 0.04321572929620743, + 0.981728732585907, + 1.8316231966018677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9763994812965393, + 0.08327876776456833, + -0.19927042722702026, + -1.6339116096496582 + ], + [ + -0.09023339301347733, + 0.9955796003341675, + -0.026061009615659714, + 0.07702037692070007 + ], + [ + 0.19621923565864563, + 0.04342680051922798, + 0.9795979261398315, + 1.903065800666809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9738806486129761, + 0.06767033040523529, + -0.21674233675003052, + -1.635116696357727 + ], + [ + -0.07635451853275299, + 0.9965691566467285, + -0.03193667531013489, + 0.08351875096559525 + ], + [ + 0.21383756399154663, + 0.04765176773071289, + 0.9757063388824463, + 1.90435791015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9666640758514404, + 0.06561737507581711, + -0.24749742448329926, + -1.4666621685028076 + ], + [ + -0.07520443946123123, + 0.9967324733734131, + -0.02947285771369934, + 0.08829700201749802 + ], + [ + 0.24475477635860443, + 0.04710325598716736, + 0.9684401750564575, + 1.7394827604293823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9619941711425781, + 0.0644756406545639, + -0.2653491199016571, + -1.4390008449554443 + ], + [ + -0.07411074638366699, + 0.9968991875648499, + -0.02644963562488556, + 0.08225234597921371 + ], + [ + 0.2628209888935089, + 0.04510961472988129, + 0.9637895226478577, + 1.716611623764038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9557777047157288, + 0.06312450021505356, + -0.2872355580329895, + -1.4104920625686646 + ], + [ + -0.07291144877672195, + 0.9970616698265076, + -0.023493319749832153, + 0.07201289385557175 + ], + [ + 0.28490859270095825, + 0.04339715093374252, + 0.957571804523468, + 1.692798376083374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9525266885757446, + 0.06137625500559807, + -0.2982044816017151, + -1.39969801902771 + ], + [ + -0.07109177857637405, + 0.9972308278083801, + -0.021832410246133804, + 0.06495717167854309 + ], + [ + 0.2960386872291565, + 0.041995834559202194, + 0.954252302646637, + 1.6768696308135986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9480945467948914, + 0.061337850987911224, + -0.3120166063308716, + -1.380942940711975 + ], + [ + -0.07124299556016922, + 0.9972496628761292, + -0.02043464034795761, + 0.056083593517541885 + ], + [ + 0.3099050521850586, + 0.0416029654443264, + 0.9498568773269653, + 1.6591393947601318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9435186386108398, + 0.06073667109012604, + -0.32570478320121765, + -1.382186770439148 + ], + [ + -0.07142519950866699, + 0.9972259402275085, + -0.02094787359237671, + 0.05585252493619919 + ], + [ + 0.3235289752483368, + 0.04302823543548584, + 0.9452394247055054, + 1.6829503774642944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9395701885223389, + 0.059800971299409866, + -0.3370930850505829, + -1.365989327430725 + ], + [ + -0.07047807425260544, + 0.9973224401473999, + -0.01951463334262371, + 0.049848660826683044 + ], + [ + 0.3350234925746918, + 0.04209303855895996, + 0.941269040107727, + 1.6739304065704346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9351964592933655, + 0.056932996958494186, + -0.3495228886604309, + -1.3675978183746338 + ], + [ + -0.06746096909046173, + 0.9975593090057373, + -0.018010873347520828, + 0.048207856714725494 + ], + [ + 0.3476443886756897, + 0.04042285680770874, + 0.9367547035217285, + 1.6824113130569458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9307931661605835, + 0.05383875593543053, + -0.36155980825424194, + -1.3675601482391357 + ], + [ + -0.06411808729171753, + 0.997806191444397, + -0.016484230756759644, + 0.04727698862552643 + ], + [ + 0.35987913608551025, + 0.038525935262441635, + 0.9322031736373901, + 1.694822072982788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9261645674705505, + 0.05270291119813919, + -0.37341877818107605, + -1.3570054769515991 + ], + [ + -0.06282519549131393, + 0.9979121088981628, + -0.014979423023760319, + 0.04744171351194382 + ], + [ + 0.3718496859073639, + 0.037333518266677856, + 0.9275419116020203, + 1.6998292207717896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.922240674495697, + 0.05332612618803978, + -0.38292092084884644, + -1.3462997674942017 + ], + [ + -0.06315138936042786, + 0.997917652130127, + -0.01312462892383337, + 0.0431363619863987 + ], + [ + 0.3814236521720886, + 0.03628605231642723, + 0.9236878752708435, + 1.697314739227295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9181923270225525, + 0.05729437619447708, + -0.39196962118148804, + -1.3383123874664307 + ], + [ + -0.06787239760160446, + 0.9976070523262024, + -0.01317102462053299, + 0.04088204726576805 + ], + [ + 0.39027702808380127, + 0.03869744762778282, + 0.9198839068412781, + 1.70160710811615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9142045974731445, + 0.06144525110721588, + -0.4005677103996277, + -1.33444344997406 + ], + [ + -0.0731269121170044, + 0.9972254037857056, + -0.013925722800195217, + 0.03684793412685394 + ], + [ + 0.39860063791275024, + 0.04202323779463768, + 0.9161613583564758, + 1.7081632614135742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9103241562843323, + 0.06302464753389359, + -0.4090695083141327, + -1.3303401470184326 + ], + [ + -0.07633595913648605, + 0.996949315071106, + -0.01627616584300995, + 0.03782649710774422 + ], + [ + 0.40679576992988586, + 0.04604329913854599, + 0.9123580455780029, + 1.7137911319732666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9073386788368225, + 0.06339576840400696, + -0.41559290885925293, + -1.3259824514389038 + ], + [ + -0.07866445183753967, + 0.9967064261436462, + -0.01970277726650238, + 0.040339186787605286 + ], + [ + 0.4129750728607178, + 0.050569482147693634, + 0.9093372821807861, + 1.7145297527313232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9045823216438293, + 0.06506166607141495, + -0.421304851770401, + -1.3217045068740845 + ], + [ + -0.08300342410802841, + 0.9962513446807861, + -0.024366354569792747, + 0.037796955555677414 + ], + [ + 0.4181402027606964, + 0.05701112002134323, + 0.9065917134284973, + 1.720689296722412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9018453359603882, + 0.06662153452634811, + -0.4268917739391327, + -1.319585919380188 + ], + [ + -0.08744934946298599, + 0.9957365989685059, + -0.029347704723477364, + 0.024957966059446335 + ], + [ + 0.423116534948349, + 0.06379850208759308, + 0.9038263559341431, + 1.727475881576538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8995519280433655, + 0.064902663230896, + -0.43196529150009155, + -1.3117587566375732 + ], + [ + -0.08943155407905579, + 0.9953168630599976, + -0.03669188171625137, + 0.022258441895246506 + ], + [ + 0.4275609254837036, + 0.0716375783085823, + 0.9011435508728027, + 1.728398323059082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.171630859375, + "fy": 747.6897786458333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/896898ec-5028-4167-b07f-a0c2fd13857d/caption.txt b/dynpose_eval/source/896898ec-5028-4167-b07f-a0c2fd13857d/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..d7b0fd64a77f2ea0e38ffcdfdf7d6e2efb39664e --- /dev/null +++ b/dynpose_eval/source/896898ec-5028-4167-b07f-a0c2fd13857d/caption.txt @@ -0,0 +1 @@ +A person is decorating a white ball with yellow flowers. diff --git a/dynpose_eval/source/896898ec-5028-4167-b07f-a0c2fd13857d/extras/source_metadata.json b/dynpose_eval/source/896898ec-5028-4167-b07f-a0c2fd13857d/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..9d74a91600d695ca5721b934070a98e6a7a6dc12 --- /dev/null +++ b/dynpose_eval/source/896898ec-5028-4167-b07f-a0c2fd13857d/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "896898ec-5028-4167-b07f-a0c2fd13857d", + "tar_name": "dpsp-a53840fa", + "youtube_link": "https://www.youtube.com/watch?v=7Z532uSaJJU", + "youtube_timestamp": "0:05:31.914-0:05:42.050", + "num_frames": 244, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/a9e1c091-ffd6-423b-83b3-7d7c0d77f538/caption.txt b/dynpose_eval/source/a9e1c091-ffd6-423b-83b3-7d7c0d77f538/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..cc1b95839b021e81a7f8361a25c7d71cc4a00857 --- /dev/null +++ b/dynpose_eval/source/a9e1c091-ffd6-423b-83b3-7d7c0d77f538/caption.txt @@ -0,0 +1 @@ +A woman is looking at her reflection in a mirror and touching her face. diff --git a/dynpose_eval/source/a9e1c091-ffd6-423b-83b3-7d7c0d77f538/extras/source_metadata.json b/dynpose_eval/source/a9e1c091-ffd6-423b-83b3-7d7c0d77f538/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..04601382a1043da58b7485a5fbc0cc7cc7925416 --- /dev/null +++ b/dynpose_eval/source/a9e1c091-ffd6-423b-83b3-7d7c0d77f538/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "a9e1c091-ffd6-423b-83b3-7d7c0d77f538", + "tar_name": "dpsp-4faadc5d", + "youtube_link": "https://www.youtube.com/watch?v=Q59V4qwZI14", + "youtube_timestamp": "0:01:38.598-0:01:44.896", + "num_frames": 152, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/a9e1c091-ffd6-423b-83b3-7d7c0d77f538/transforms.json b/dynpose_eval/source/a9e1c091-ffd6-423b-83b3-7d7c0d77f538/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..94a7af404005b1677f6eb66ec4707c0ad2b7b309 --- /dev/null +++ b/dynpose_eval/source/a9e1c091-ffd6-423b-83b3-7d7c0d77f538/transforms.json @@ -0,0 +1,5333 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 152, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.0001105739502236247, + -1.2818629329558462e-05, + 2.6012989110313356e-05 + ], + [ + -0.00011057444498874247, + 1.0, + -3.854633905575611e-05, + 6.334845238598064e-05 + ], + [ + 1.2814367437385954e-05, + 3.854775786749087e-05, + 1.0, + -0.00011174278915859759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999996423721313, + 0.0001053904416039586, + 0.0008585063624195755, + -0.0016723417211323977 + ], + [ + -0.0001051395374815911, + 0.9999999403953552, + -0.0002922971034422517, + 0.00042092983494512737 + ], + [ + -0.0008585370960645378, + 0.00029220670694485307, + 0.9999995827674866, + 0.0043817791156470776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999988675117493, + 0.0006130425026640296, + 0.0013656419469043612, + -0.0023009481374174356 + ], + [ + -0.000612752977758646, + 0.9999997615814209, + -0.00021239313355181366, + 2.6386353056295775e-05 + ], + [ + -0.00136577186640352, + 0.000211556107387878, + 0.9999990463256836, + 0.005791770294308662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999994158744812, + 0.0010128607973456383, + 0.003255993127822876, + -0.006529857404530048 + ], + [ + -0.0010142577812075615, + 0.9999994039535522, + 0.00042745537939481437, + -0.0017757044406607747 + ], + [ + -0.0032555582001805305, + -0.00043075528810732067, + 0.9999946355819702, + 0.012455160729587078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999818205833435, + 0.0016173820476979017, + 0.005809948313981295, + -0.012112176045775414 + ], + [ + -0.0016210002359002829, + 0.9999985098838806, + 0.0006180886412039399, + -0.002481306903064251 + ], + [ + -0.005808939691632986, + -0.0006274953484535217, + 0.9999829530715942, + 0.015042047016322613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999993085861206, + 0.0013615672942250967, + 0.0034542204812169075, + -0.006008049473166466 + ], + [ + -0.0013657324016094208, + 0.9999983310699463, + 0.001203697407618165, + -0.004093698225915432 + ], + [ + -0.0034525757655501366, + -0.0012084066402167082, + 0.9999933242797852, + 0.02059265226125717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999832510948181, + 0.001109932316467166, + 0.0056852251291275024, + -0.009228864684700966 + ], + [ + -0.001126045361161232, + 0.9999953508377075, + 0.0028317987453192472, + -0.007348061539232731 + ], + [ + -0.005682055838406086, + -0.0028381531592458487, + 0.9999798536300659, + 0.008338309824466705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999968409538269, + 0.0035943391267210245, + 0.007092443760484457, + -0.011371838860213757 + ], + [ + -0.003612959524616599, + 0.9999900460243225, + 0.002614301163703203, + -0.007797582074999809 + ], + [ + -0.007082976866513491, + -0.00263984315097332, + 0.9999714493751526, + 0.0035565493162721395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999539852142334, + 0.00450200866907835, + 0.008472834713757038, + -0.01395805086940527 + ], + [ + -0.004528165794909, + 0.9999850392341614, + 0.0030705041717737913, + -0.008984542451798916 + ], + [ + -0.008458885364234447, + -0.003108729375526309, + 0.999959409236908, + 0.009607713669538498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996997714042664, + 0.003443090245127678, + 0.024258099496364594, + -0.05485032498836517 + ], + [ + -0.003407524898648262, + 0.999993085861206, + -0.0015072987880557775, + 0.0005708005046471953 + ], + [ + -0.02426312118768692, + 0.0014241861645132303, + 0.9997045993804932, + 0.07036998122930527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995415806770325, + 0.005405557341873646, + 0.029788775369524956, + -0.06784451752901077 + ], + [ + -0.005451081320643425, + 0.999984085559845, + 0.001447221147827804, + -0.007017063442617655 + ], + [ + -0.02978047914803028, + -0.0016089387936517596, + 0.9995551705360413, + 0.08967848867177963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994432330131531, + 0.005340500269085169, + 0.03293543681502342, + -0.07457485049962997 + ], + [ + -0.005363109055906534, + 0.9999854564666748, + 0.0005981554859317839, + -0.005393965635448694 + ], + [ + -0.03293176367878914, + -0.0007744588074274361, + 0.9994572997093201, + 0.098445363342762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993321299552917, + 0.0038948440924286842, + 0.036334078758955, + -0.0815657302737236 + ], + [ + -0.003939999267458916, + 0.9999915361404419, + 0.0011712606064975262, + -0.006758396979421377 + ], + [ + -0.03632921352982521, + -0.0013136344496160746, + 0.9993389844894409, + 0.10374283790588379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9991684556007385, + 0.007499097380787134, + 0.04007650166749954, + -0.08996422588825226 + ], + [ + -0.007641787175089121, + 0.9999650120735168, + 0.003408432938158512, + -0.01286784466356039 + ], + [ + -0.040049538016319275, + -0.003711855039000511, + 0.9991908073425293, + 0.11924245208501816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9990280270576477, + 0.008857441134750843, + 0.04317985847592354, + -0.09758619964122772 + ], + [ + -0.00907242763787508, + 0.9999473690986633, + 0.004785431548953056, + -0.01640803925693035 + ], + [ + -0.04313519969582558, + -0.005172526463866234, + 0.9990558624267578, + 0.1304425597190857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9989532232284546, + 0.0075157578103244305, + 0.04512191191315651, + -0.10114965587854385 + ], + [ + -0.007733415346592665, + 0.9999592900276184, + 0.004651132505387068, + -0.016056256368756294 + ], + [ + -0.0450851209461689, + -0.004995210561901331, + 0.9989706873893738, + 0.1341988742351532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988272786140442, + 0.007617596071213484, + 0.04781316965818405, + -0.1061871275305748 + ], + [ + -0.007885804399847984, + 0.9999542236328125, + 0.005423387978225946, + -0.01791902258992195 + ], + [ + -0.04776966571807861, + -0.005794072989374399, + 0.9988415837287903, + 0.1373136043548584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9977918267250061, + 0.01087259128689766, + 0.06552277505397797, + -0.14611801505088806 + ], + [ + -0.011126015335321426, + 0.9999319911003113, + 0.0035040555521845818, + -0.01465693861246109 + ], + [ + -0.06548021733760834, + -0.004225325305014849, + 0.997844934463501, + 0.17966170608997345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9978894591331482, + 0.01122202817350626, + 0.06395817548036575, + -0.14218856394290924 + ], + [ + -0.011508953757584095, + 0.9999252557754517, + 0.004119483288377523, + -0.016287408769130707 + ], + [ + -0.06390716880559921, + -0.004846880678087473, + 0.9979440569877625, + 0.19675956666469574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9979246854782104, + 0.012423232197761536, + 0.06318178027868271, + -0.13937412202358246 + ], + [ + -0.012742497026920319, + 0.9999079704284668, + 0.004652649164199829, + -0.018005451187491417 + ], + [ + -0.06311816722154617, + -0.005448087118566036, + 0.9979912042617798, + 0.19519855082035065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9979190230369568, + 0.011068185791373253, + 0.06352241337299347, + -0.13885992765426636 + ], + [ + -0.011369612067937851, + 0.9999257326126099, + 0.004385658074170351, + -0.017367351800203323 + ], + [ + -0.06346915662288666, + -0.005098756868392229, + 0.9979707598686218, + 0.1916450709104538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9974469542503357, + 0.010361919179558754, + 0.07065532356500626, + -0.1533474326133728 + ], + [ + -0.010622724890708923, + 0.9999380707740784, + 0.0033164925407618284, + -0.01490089949220419 + ], + [ + -0.07061658054590225, + -0.004058577585965395, + 0.9974952936172485, + 0.18989256024360657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9974310398101807, + 0.011024541221559048, + 0.0707799568772316, + -0.1527431309223175 + ], + [ + -0.011353733949363232, + 0.9999265074729919, + 0.004250299651175737, + -0.01737390272319317 + ], + [ + -0.0707278922200203, + -0.005042997654527426, + 0.9974828958511353, + 0.19801704585552216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9974008798599243, + 0.010654442012310028, + 0.07125953584909439, + -0.1529068946838379 + ], + [ + -0.01093294844031334, + 0.9999340176582336, + 0.0035194254014641047, + -0.016068216413259506 + ], + [ + -0.07121733576059341, + -0.0042893546633422375, + 0.9974516034126282, + 0.2101580798625946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9973041415214539, + 0.010445374995470047, + 0.0726313591003418, + -0.1549254208803177 + ], + [ + -0.010719092562794685, + 0.9999368190765381, + 0.0033798234071582556, + -0.01584858074784279 + ], + [ + -0.07259146869182587, + -0.004149253945797682, + 0.9973531365394592, + 0.21376250684261322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9971983432769775, + 0.01086612418293953, + 0.07400951534509659, + -0.15690582990646362 + ], + [ + -0.011143429204821587, + 0.9999323487281799, + 0.0033349646255373955, + -0.015985624864697456 + ], + [ + -0.07396826893091202, + -0.004150340799242258, + 0.9972519874572754, + 0.21663732826709747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9969519972801208, + 0.010660129599273205, + 0.07728583365678787, + -0.162971630692482 + ], + [ + -0.010883443988859653, + 0.9999377131462097, + 0.0024688371922820807, + -0.014336753636598587 + ], + [ + -0.07725470513105392, + -0.003302448196336627, + 0.9970059394836426, + 0.22181206941604614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9968040585517883, + 0.010334178805351257, + 0.07921407371759415, + -0.1660715937614441 + ], + [ + -0.010541535913944244, + 0.9999420046806335, + 0.0021999457385390997, + -0.013888414949178696 + ], + [ + -0.07918674498796463, + -0.0030279529746621847, + 0.9968551993370056, + 0.22227849066257477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9963486194610596, + 0.011833456344902515, + 0.0845538005232811, + -0.17660149931907654 + ], + [ + -0.012094893492758274, + 0.9999235272407532, + 0.0025803688913583755, + -0.015138181857764721 + ], + [ + -0.08451680094003677, + -0.0035936161875724792, + 0.9964155554771423, + 0.24139846861362457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9958140850067139, + 0.014053729362785816, + 0.09031479805707932, + -0.1878373622894287 + ], + [ + -0.014426124282181263, + 0.9998899102210999, + 0.0034718113020062447, + -0.017850112169981003 + ], + [ + -0.09025605767965317, + -0.004760171286761761, + 0.995907187461853, + 0.2623271346092224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9954791069030762, + 0.015199584886431694, + 0.09375686943531036, + -0.19392114877700806 + ], + [ + -0.015619676560163498, + 0.9998709559440613, + 0.003748383605852723, + -0.018791796639561653 + ], + [ + -0.09368780255317688, + -0.00519588915631175, + 0.9955880641937256, + 0.2717469036579132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9950857162475586, + 0.016191639006137848, + 0.09768418967723846, + -0.20085522532463074 + ], + [ + -0.01672174036502838, + 0.9998495578765869, + 0.004610404837876558, + -0.02095090225338936 + ], + [ + -0.09759484231472015, + -0.006221198011189699, + 0.9952067732810974, + 0.28244584798812866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9947261214256287, + 0.017163142561912537, + 0.10112032294273376, + -0.20674143731594086 + ], + [ + -0.01777556911110878, + 0.9998286962509155, + 0.005158422980457544, + -0.022471744567155838 + ], + [ + -0.10101446509361267, + -0.006928689312189817, + 0.994860827922821, + 0.29132527112960815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9930172562599182, + 0.020620696246623993, + 0.11615318059921265, + -0.23575890064239502 + ], + [ + -0.020380374044179916, + 0.9997869729995728, + -0.0032564145512878895, + -0.007186778821051121 + ], + [ + -0.11619558930397034, + 0.0008664308115839958, + 0.9932259917259216, + 0.36105772852897644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9927529692649841, + 0.01985497586429119, + 0.11852125078439713, + -0.23923420906066895 + ], + [ + -0.019843420013785362, + 0.99980229139328, + -0.0012777100782841444, + -0.011171456426382065 + ], + [ + -0.11852318793535233, + -0.0010834166314452887, + 0.9929506778717041, + 0.35660889744758606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9927356839179993, + 0.020088953897356987, + 0.11862670630216599, + -0.23821529746055603 + ], + [ + -0.020550845190882683, + 0.9997852444648743, + 0.0026715421117842197, + -0.01895829476416111 + ], + [ + -0.11854756623506546, + -0.005090014077723026, + 0.992935299873352, + 0.3535415530204773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9930455088615417, + 0.01979236677289009, + 0.11605529487133026, + -0.23146751523017883 + ], + [ + -0.020538397133350372, + 0.9997753500938416, + 0.0052358005195856094, + -0.024207331240177155 + ], + [ + -0.11592559516429901, + -0.007582978345453739, + 0.9932289719581604, + 0.3362434208393097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9926589727401733, + 0.020405437797307968, + 0.11921297758817673, + -0.2363879382610321 + ], + [ + -0.02113599330186844, + 0.9997647404670715, + 0.004866903182119131, + -0.023660805076360703 + ], + [ + -0.11908561736345291, + -0.007350859697908163, + 0.9928568005561829, + 0.3441636264324188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9924113154411316, + 0.018977077677845955, + 0.12148924171924591, + -0.23945899307727814 + ], + [ + -0.019678590819239616, + 0.9997958540916443, + 0.004576972685754299, + -0.023333724588155746 + ], + [ + -0.12137758731842041, + -0.00693297665566206, + 0.9925822019577026, + 0.3484591841697693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9927485585212708, + 0.01854601688683033, + 0.1187700405716896, + -0.2324228584766388 + ], + [ + -0.019219687208533287, + 0.9998050332069397, + 0.00452905148267746, + -0.023477351292967796 + ], + [ + -0.11866288632154465, + -0.006778932176530361, + 0.9929114580154419, + 0.3503305912017822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9930559992790222, + 0.018240531906485558, + 0.11622012406587601, + -0.2257707267999649 + ], + [ + -0.018944794312119484, + 0.9998082518577576, + 0.004957904107868671, + -0.024505918845534325 + ], + [ + -0.11610739678144455, + -0.007125242613255978, + 0.9932110905647278, + 0.35138142108917236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9934149384498596, + 0.01805315539240837, + 0.11314097046852112, + -0.21795974671840668 + ], + [ + -0.01880441978573799, + 0.9998076558113098, + 0.005576291587203741, + -0.025944514200091362 + ], + [ + -0.11301854252815247, + -0.007667121011763811, + 0.9935632944107056, + 0.35326439142227173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9937371611595154, + 0.018559088930487633, + 0.1101909726858139, + -0.2104763686656952 + ], + [ + -0.01930306665599346, + 0.999797523021698, + 0.005688700824975967, + -0.026284921914339066 + ], + [ + -0.11006307601928711, + -0.007780096493661404, + 0.9938941597938538, + 0.35523101687431335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9940894246101379, + 0.018376315012574196, + 0.10699799656867981, + -0.20254568755626678 + ], + [ + -0.019121048972010612, + 0.9997995495796204, + 0.005938423797488213, + -0.026920899748802185 + ], + [ + -0.10686741769313812, + -0.00794923771172762, + 0.99424147605896, + 0.3569040298461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9944166541099548, + 0.018367767333984375, + 0.10391415655612946, + -0.19477234780788422 + ], + [ + -0.0191514790058136, + 0.999795138835907, + 0.006549104116857052, + -0.028325030580163002 + ], + [ + -0.10377258062362671, + -0.008502648212015629, + 0.9945647120475769, + 0.35866937041282654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9947090744972229, + 0.0193394236266613, + 0.10089505463838577, + -0.18733450770378113 + ], + [ + -0.020118340849876404, + 0.9997751116752625, + 0.00670817494392395, + -0.028779251500964165 + ], + [ + -0.1007426306605339, + -0.008702523075044155, + 0.9948744773864746, + 0.35980409383773804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9950001239776611, + 0.01927257888019085, + 0.09799624234437943, + -0.18001343309879303 + ], + [ + -0.02007097564637661, + 0.999772846698761, + 0.007167847361415625, + -0.02984008565545082 + ], + [ + -0.09783584624528885, + -0.00909888930618763, + 0.9951609969139099, + 0.36175501346588135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.995305597782135, + 0.019332895055413246, + 0.09483156353235245, + -0.1720113456249237 + ], + [ + -0.020176393911242485, + 0.9997648596763611, + 0.007943866774439812, + -0.03150305524468422 + ], + [ + -0.09465568512678146, + -0.009819934144616127, + 0.995461642742157, + 0.364192396402359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9955345988273621, + 0.020111355930566788, + 0.09222990274429321, + -0.1655949056148529 + ], + [ + -0.020956583321094513, + 0.9997467398643494, + 0.008204962126910686, + -0.03214404731988907 + ], + [ + -0.09204152226448059, + -0.010101147927343845, + 0.995703935623169, + 0.36331692337989807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.995739758014679, + 0.0192925613373518, + 0.09016724675893784, + -0.160267174243927 + ], + [ + -0.02015337534248829, + 0.9997594952583313, + 0.008646090514957905, + -0.03321711719036102 + ], + [ + -0.08997876197099686, + -0.010426430962979794, + 0.9958891272544861, + 0.36186566948890686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9960384964942932, + 0.01974814012646675, + 0.08670280128717422, + -0.15171146392822266 + ], + [ + -0.020600955933332443, + 0.9997476935386658, + 0.008952273987233639, + -0.03401836007833481 + ], + [ + -0.08650413900613785, + -0.010702970437705517, + 0.9961940050125122, + 0.3634987771511078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9963064789772034, + 0.020343920215964317, + 0.08342370390892029, + -0.14354857802391052 + ], + [ + -0.021200193092226982, + 0.9997311234474182, + 0.009391077794134617, + -0.03503367677330971 + ], + [ + -0.08321022987365723, + -0.011124989949166775, + 0.9964699149131775, + 0.3650858402252197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9965443015098572, + 0.01988823153078556, + 0.080646812915802, + -0.13651219010353088 + ], + [ + -0.02074064128100872, + 0.9997373819351196, + 0.009745693765580654, + -0.03574824705719948 + ], + [ + -0.08043180406093597, + -0.011384681798517704, + 0.9966951012611389, + 0.36606189608573914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9967738389968872, + 0.020323531702160835, + 0.07764548808336258, + -0.12904499471187592 + ], + [ + -0.021170442923903465, + 0.9997248649597168, + 0.010099804028868675, + -0.036585692316293716 + ], + [ + -0.07741885632276535, + -0.011711010709404945, + 0.9969298839569092, + 0.36647433042526245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9969996213912964, + 0.021225452423095703, + 0.074439637362957, + -0.12109070271253586 + ], + [ + -0.022034209221601486, + 0.9997066259384155, + 0.01006011851131916, + -0.036560945212841034 + ], + [ + -0.07420427352190018, + -0.011670151725411415, + 0.9971747994422913, + 0.36745211482048035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9972314238548279, + 0.021213123574852943, + 0.07127045094966888, + -0.11315613240003586 + ], + [ + -0.022029945626854897, + 0.999700129032135, + 0.010694384574890137, + -0.03794192895293236 + ], + [ + -0.07102221250534058, + -0.01223486103117466, + 0.9973996877670288, + 0.36841198801994324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9974503517150879, + 0.02238154411315918, + 0.06776309013366699, + -0.10467655956745148 + ], + [ + -0.02316391095519066, + 0.9996735453605652, + 0.01078189816325903, + -0.038321007043123245 + ], + [ + -0.06749965250492096, + -0.012324065901339054, + 0.9976431727409363, + 0.36800244450569153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9976575374603271, + 0.023019172251224518, + 0.06441742181777954, + -0.09646335989236832 + ], + [ + -0.02375185489654541, + 0.9996613264083862, + 0.0106312595307827, + -0.038191989064216614 + ], + [ + -0.06415088474750519, + -0.012136388570070267, + 0.9978663921356201, + 0.3690909147262573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9978744983673096, + 0.023008445277810097, + 0.060967713594436646, + -0.08786193281412125 + ], + [ + -0.023728681728243828, + 0.999656617641449, + 0.01111574750393629, + -0.039305172860622406 + ], + [ + -0.060691021382808685, + -0.012538804672658443, + 0.9980778694152832, + 0.37127962708473206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9981102347373962, + 0.022626541554927826, + 0.05713127553462982, + -0.0783512145280838 + ], + [ + -0.023353751748800278, + 0.9996541142463684, + 0.012093255296349525, + -0.04139956831932068 + ], + [ + -0.056837886571884155, + -0.013404631987214088, + 0.998293399810791, + 0.3743559718132019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9983187317848206, + 0.022770540788769722, + 0.0533035472035408, + -0.0689898282289505 + ], + [ + -0.023475056514143944, + 0.9996446371078491, + 0.012628366239368916, + -0.04250805452466011 + ], + [ + -0.052997052669525146, + -0.013858438469469547, + 0.9984984993934631, + 0.37753745913505554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9984984993934631, + 0.02310223877429962, + 0.049669623374938965, + -0.059995654970407486 + ], + [ + -0.02378825843334198, + 0.999629020690918, + 0.013265103101730347, + -0.04388017579913139 + ], + [ + -0.0493447408080101, + -0.014426738023757935, + 0.9986776113510132, + 0.3796100914478302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9986568689346313, + 0.024176781997084618, + 0.045825280249118805, + -0.050546761602163315 + ], + [ + -0.024812282994389534, + 0.9996029734611511, + 0.013350127264857292, + -0.04431391879916191 + ], + [ + -0.04548432677984238, + -0.014469226822257042, + 0.998860239982605, + 0.3797295093536377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9988112449645996, + 0.024835526943206787, + 0.0419442318379879, + -0.04109099134802818 + ], + [ + -0.025422684848308563, + 0.9995853304862976, + 0.013523525558412075, + -0.044816065579652786 + ], + [ + -0.04159097746014595, + -0.014573783613741398, + 0.9990284442901611, + 0.3818059265613556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9989626407623291, + 0.025340376421809196, + 0.03783584013581276, + -0.031049009412527084 + ], + [ + -0.025872254744172096, + 0.9995722770690918, + 0.013634654693305492, + -0.04513861611485481 + ], + [ + -0.03747415170073509, + -0.014599408023059368, + 0.9991909265518188, + 0.3832137882709503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9991001486778259, + 0.025833014398813248, + 0.03363779932260513, + -0.02080073207616806 + ], + [ + -0.026310674846172333, + 0.9995580911636353, + 0.01383566576987505, + -0.045813966542482376 + ], + [ + -0.03326551616191864, + -0.01470824982970953, + 0.9993383288383484, + 0.38379597663879395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9992518424987793, + 0.025379890576004982, + 0.02918322943150997, + -0.009895413182675838 + ], + [ + -0.025819865986704826, + 0.9995570778846741, + 0.014799579977989197, + -0.047735072672367096 + ], + [ + -0.02879469282925129, + -0.015542013570666313, + 0.9994645118713379, + 0.38848522305488586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9993495345115662, + 0.025463616475462914, + 0.0255369134247303, + -0.0006888714269734919 + ], + [ + -0.025852875784039497, + 0.9995527863502502, + 0.015030425041913986, + -0.04846992716193199 + ], + [ + -0.025142762809991837, + -0.01568085141479969, + 0.9995608925819397, + 0.38630911707878113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9994587898254395, + 0.024787096306681633, + 0.021626418456435204, + 0.009172767400741577 + ], + [ + -0.0251429695636034, + 0.9995502829551697, + 0.01634170114994049, + -0.05133621022105217 + ], + [ + -0.02121162973344326, + -0.01687660813331604, + 0.9996325373649597, + 0.386139839887619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9995314478874207, + 0.02518402598798275, + 0.017397964373230934, + 0.01965760998427868 + ], + [ + -0.025471234694123268, + 0.9995395541191101, + 0.01648867502808571, + -0.05188057944178581 + ], + [ + -0.01697470434010029, + -0.016924098134040833, + 0.9997127056121826, + 0.3863258361816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995957612991333, + 0.025334762409329414, + 0.01290223840624094, + 0.030769607052206993 + ], + [ + -0.025547048076987267, + 0.999536395072937, + 0.016563188284635544, + -0.052316125482320786 + ], + [ + -0.012476633302867413, + -0.016886107623577118, + 0.9997795820236206, + 0.3871893286705017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995922446250916, + 0.027388792484998703, + 0.008077024482190609, + 0.042403582483530045 + ], + [ + -0.027518711984157562, + 0.9994861483573914, + 0.016438134014606476, + -0.05230752006173134 + ], + [ + -0.007622653152793646, + -0.016653701663017273, + 0.999832272529602, + 0.3880673944950104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9996201395988464, + 0.027322450652718544, + 0.0036169071681797504, + 0.053533703088760376 + ], + [ + -0.027378259226679802, + 0.9994905591011047, + 0.016403045505285263, + -0.05251958966255188 + ], + [ + -0.003166893031448126, + -0.01649583876132965, + 0.9998589158058167, + 0.3876493573188782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9996175765991211, + 0.027613556012511253, + -0.0014834942994639277, + 0.0658341720700264 + ], + [ + -0.027583597227931023, + 0.9994680285453796, + 0.01740247756242752, + -0.05481606349349022 + ], + [ + 0.001963249407708645, + -0.017354901880025864, + 0.9998474717140198, + 0.39076095819473267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9995608925819397, + 0.028740625828504562, + -0.007207924500107765, + 0.07937909662723541 + ], + [ + -0.02860979363322258, + 0.9994350075721741, + 0.017640797421336174, + -0.055232033133506775 + ], + [ + 0.007710859179496765, + -0.017426835373044014, + 0.9998183846473694, + 0.3969670236110687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9994974732398987, + 0.029176803305745125, + -0.01239058654755354, + 0.0920351967215538 + ], + [ + -0.02894566021859646, + 0.99941086769104, + 0.01844145730137825, + -0.05715565010905266 + ], + [ + 0.01292134914547205, + -0.018073536455631256, + 0.9997531771659851, + 0.3994303345680237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9993554353713989, + 0.031140990555286407, + -0.01785924658179283, + 0.10518339276313782 + ], + [ + -0.030808091163635254, + 0.9993518590927124, + 0.01862184889614582, + -0.05796578526496887 + ], + [ + 0.018427573144435883, + -0.018059635534882545, + 0.9996671080589294, + 0.4011461138725281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9991777539253235, + 0.033019065856933594, + -0.023527057841420174, + 0.11886770278215408 + ], + [ + -0.032585203647613525, + 0.9992960095405579, + 0.018591895699501038, + -0.058356110006570816 + ], + [ + 0.024124382063746452, + -0.017809975892305374, + 0.9995502829551697, + 0.4022679328918457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9989966750144958, + 0.03385380655527115, + -0.029318468645215034, + 0.132792666554451 + ], + [ + -0.03331468254327774, + 0.9992702007293701, + 0.01868591643869877, + -0.05874430015683174 + ], + [ + 0.029929662123322487, + -0.01769043318927288, + 0.9993954300880432, + 0.4050891697406769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9987825751304626, + 0.03489165008068085, + -0.03487052768468857, + 0.1463737040758133 + ], + [ + -0.03424470126628876, + 0.9992331862449646, + 0.018981128931045532, + -0.05975259840488434 + ], + [ + 0.03550606966018677, + -0.017763890326023102, + 0.9992115497589111, + 0.4061557948589325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9985429048538208, + 0.03592871502041817, + -0.040264010429382324, + 0.1599208265542984 + ], + [ + -0.03515217825770378, + 0.9991852045059204, + 0.01983119361102581, + -0.06216997280716896 + ], + [ + 0.04094371199607849, + -0.018386928364634514, + 0.9989922642707825, + 0.4056912064552307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9982567429542542, + 0.036705613136291504, + -0.04621821269392967, + 0.17443612217903137 + ], + [ + -0.035811781883239746, + 0.9991579651832581, + 0.020021433010697365, + -0.06267169117927551 + ], + [ + 0.04691419377923012, + -0.01833137311041355, + 0.9987307190895081, + 0.40723708271980286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9979845881462097, + 0.03700120747089386, + -0.05155230686068535, + 0.18802763521671295 + ], + [ + -0.03602101653814316, + 0.9991545677185059, + 0.019814975559711456, + -0.06271063536405563 + ], + [ + 0.05224190279841423, + -0.017918072640895844, + 0.9984737038612366, + 0.40583911538124084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9975925087928772, + 0.038537606596946716, + -0.05765458941459656, + 0.20306216180324554 + ], + [ + -0.037406593561172485, + 0.9990884065628052, + 0.020569706335663795, + -0.06485049426555634 + ], + [ + 0.05839473754167557, + -0.018363522365689278, + 0.9981246590614319, + 0.4068094789981842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9972590208053589, + 0.038892004638910294, + -0.06294363737106323, + 0.21648569405078888 + ], + [ + -0.03761384263634682, + 0.9990639090538025, + 0.021366022527217865, + -0.06690403074026108 + ], + [ + 0.06371568143367767, + -0.018939904868602753, + 0.9977883696556091, + 0.40687379240989685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9968822002410889, + 0.039442986249923706, + -0.06833820790052414, + 0.2303200364112854 + ], + [ + -0.038047872483730316, + 0.9990425109863281, + 0.02159806899726391, + -0.06798672676086426 + ], + [ + 0.06912466138601303, + -0.01893060840666294, + 0.9974284172058105, + 0.4050593376159668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9959539175033569, + 0.04109527915716171, + -0.07991868257522583, + 0.2589677572250366 + ], + [ + -0.03941362351179123, + 0.9989694356918335, + 0.02250763028860092, + -0.07085635513067245 + ], + [ + 0.08076128363609314, + -0.019266676157712936, + 0.9965472221374512, + 0.408218652009964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9955064058303833, + 0.04178934544324875, + -0.08497423678636551, + 0.2719241678714752 + ], + [ + -0.03996291011571884, + 0.9989345073699951, + 0.023083286359906197, + -0.07255492359399796 + ], + [ + 0.08584833890199661, + -0.019583741202950478, + 0.9961157441139221, + 0.40791991353034973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9949666261672974, + 0.043161097913980484, + -0.09043502807617188, + 0.28563424944877625 + ], + [ + -0.041232649236917496, + 0.9988828301429749, + 0.02308582328259945, + -0.07309433817863464 + ], + [ + 0.09133040904998779, + -0.01924074999988079, + 0.9956347346305847, + 0.40821677446365356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9943526983261108, + 0.0443577766418457, + -0.0964110866189003, + 0.2998765707015991 + ], + [ + -0.04226258397102356, + 0.9988262057304382, + 0.02366730570793152, + -0.07479077577590942 + ], + [ + 0.09734774380922318, + -0.019459068775177002, + 0.9950602054595947, + 0.41258853673934937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9937902092933655, + 0.045102931559085846, + -0.10171887278556824, + 0.312826544046402 + ], + [ + -0.04280117154121399, + 0.998778223991394, + 0.024699820205569267, + -0.077381432056427 + ], + [ + 0.10270863771438599, + -0.02019275166094303, + 0.9945064783096313, + 0.41550394892692566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9932083487510681, + 0.04582282528281212, + -0.1069461777806282, + 0.32572248578071594 + ], + [ + -0.043298233300447464, + 0.9987286925315857, + 0.02581118419766426, + -0.0801827609539032 + ], + [ + 0.10799295455217361, + -0.021005302667617798, + 0.9939297437667847, + 0.41786283254623413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9925459027290344, + 0.04683079198002815, + -0.11251422017812729, + 0.33906519412994385 + ], + [ + -0.044163625687360764, + 0.998683750629425, + 0.02608315274119377, + -0.08098013699054718 + ], + [ + 0.1135876253247261, + -0.020919691771268845, + 0.9933077096939087, + 0.421962171792984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9918438196182251, + 0.04816034436225891, + -0.11801013350486755, + 0.3525608777999878 + ], + [ + -0.0453922376036644, + 0.9986299276351929, + 0.026034630835056305, + -0.08141600340604782 + ], + [ + 0.11910228431224823, + -0.02046554535627365, + 0.9926710724830627, + 0.42391103506088257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9911260604858398, + 0.049765702337026596, + -0.12325785309076309, + 0.36530131101608276 + ], + [ + -0.04678143188357353, + 0.998540461063385, + 0.026990316808223724, + -0.08394544571638107 + ], + [ + 0.1244211420416832, + -0.020984627306461334, + 0.9920075535774231, + 0.42722493410110474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9904444813728333, + 0.049748510122299194, + -0.1286265254020691, + 0.37819501757621765 + ], + [ + -0.046574875712394714, + 0.9985343813896179, + 0.02756638079881668, + -0.08531099557876587 + ], + [ + 0.12980937957763672, + -0.021312206983566284, + 0.9913098812103271, + 0.4314355254173279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9896118640899658, + 0.051310233771800995, + -0.13429689407348633, + 0.39166000485420227 + ], + [ + -0.047858528792858124, + 0.9984386563301086, + 0.028807437047362328, + -0.0883224681019783 + ], + [ + 0.13556531071662903, + -0.022080929949879646, + 0.9905223250389099, + 0.43644431233406067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9887216091156006, + 0.05244196206331253, + -0.14028321206569672, + 0.40594223141670227 + ], + [ + -0.04879213869571686, + 0.9983780980110168, + 0.029333988204598427, + -0.08988215029239655 + ], + [ + 0.14159400761127472, + -0.022158430889248848, + 0.9896767735481262, + 0.440173864364624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9878095984458923, + 0.05340627580881119, + -0.14621888101100922, + 0.41969436407089233 + ], + [ + -0.049602314829826355, + 0.9983320832252502, + 0.02954171970486641, + -0.09055279195308685 + ], + [ + 0.1475527137517929, + -0.021928802132606506, + 0.9888110756874084, + 0.4463133215904236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.986983060836792, + 0.05347081646323204, + -0.15167514979839325, + 0.43263834714889526 + ], + [ + -0.04940156266093254, + 0.9983139634132385, + 0.03047405555844307, + -0.09275589883327484 + ], + [ + 0.15304888784885406, + -0.02258438989520073, + 0.9879605174064636, + 0.45173928141593933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9859155416488647, + 0.05499834194779396, + -0.15794219076633453, + 0.4468035101890564 + ], + [ + -0.05061895772814751, + 0.9982173442840576, + 0.03162093088030815, + -0.09544625133275986 + ], + [ + 0.15939973294734955, + -0.023180698975920677, + 0.986941933631897, + 0.4596385061740875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9849533438682556, + 0.05554009974002838, + -0.16365256905555725, + 0.4603618085384369 + ], + [ + -0.05094524472951889, + 0.9981840252876282, + 0.032144613564014435, + -0.09662049263715744 + ], + [ + 0.16514068841934204, + -0.023323625326156616, + 0.9859942197799683, + 0.46436363458633423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9838983416557312, + 0.056534912437200546, + -0.16955186426639557, + 0.47399964928627014 + ], + [ + -0.05168430879712105, + 0.9981217384338379, + 0.03289032354950905, + -0.09847643226385117 + ], + [ + 0.17109285295009613, + -0.023597564548254013, + 0.9849722981452942, + 0.4703199565410614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9828793406486511, + 0.05677584186196327, + -0.17528465390205383, + 0.487022340297699 + ], + [ + -0.05160956457257271, + 0.9980919361114502, + 0.03389648720622063, + -0.10066855698823929 + ], + [ + 0.17687469720840454, + -0.024269793182611465, + 0.9839341044425964, + 0.4778134226799011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9817078113555908, + 0.058076366782188416, + -0.18131977319717407, + 0.5007143616676331 + ], + [ + -0.05265665054321289, + 0.9980142712593079, + 0.03456653654575348, + -0.10222864896059036 + ], + [ + 0.18296721577644348, + -0.02438655123114586, + 0.9828165173530579, + 0.48461994528770447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9806058406829834, + 0.0586727038025856, + -0.18700189888477325, + 0.5137597322463989 + ], + [ + -0.052981987595558167, + 0.9979717135429382, + 0.035289764404296875, + -0.10381754487752914 + ], + [ + 0.18869315087795258, + -0.024697616696357727, + 0.9817255139350891, + 0.4908284544944763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9795428514480591, + 0.0587959885597229, + -0.19245491921901703, + 0.5261435508728027 + ], + [ + -0.05284344404935837, + 0.9979565143585205, + 0.03592229634523392, + -0.10522592812776566 + ], + [ + 0.19417370855808258, + -0.025017447769641876, + 0.9806481003761292, + 0.4973406195640564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9783040285110474, + 0.06005893275141716, + -0.19827799499034882, + 0.5391890406608582 + ], + [ + -0.05382045730948448, + 0.9978756308555603, + 0.03670895844697952, + -0.1070852130651474 + ], + [ + 0.20006148517131805, + -0.02524111047387123, + 0.9794581532478333, + 0.5043264627456665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9772149920463562, + 0.06030302494764328, + -0.2035052627325058, + 0.5514718890190125 + ], + [ + -0.05388719588518143, + 0.9978640079498291, + 0.03692702203989029, + -0.10758103430271149 + ], + [ + 0.20529739558696747, + -0.025119313970208168, + 0.9783772230148315, + 0.5089412927627563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9761166572570801, + 0.06032369285821915, + -0.20870400965213776, + 0.5628756284713745 + ], + [ + -0.053512267768383026, + 0.9978387355804443, + 0.03813584893941879, + -0.1100405752658844 + ], + [ + 0.21055342257022858, + -0.026056813076138496, + 0.9772350192070007, + 0.5166223645210266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9748155474662781, + 0.06188191846013069, + -0.21425527334213257, + 0.5756680965423584 + ], + [ + -0.05483729764819145, + 0.9977460503578186, + 0.038674380630254745, + -0.11137881875038147 + ], + [ + 0.21616560220718384, + -0.025951210409402847, + 0.9760117530822754, + 0.5220553278923035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9736290574073792, + 0.06258039176464081, + -0.21938581764698029, + 0.5872763991355896 + ], + [ + -0.05540230870246887, + 0.9977127909660339, + 0.03872612863779068, + -0.11158934235572815 + ], + [ + 0.22130753099918365, + -0.02555040270090103, + 0.9748693108558655, + 0.5275633931159973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9723877906799316, + 0.06305242329835892, + -0.22469164431095123, + 0.5989745855331421 + ], + [ + -0.05554952844977379, + 0.9976717233657837, + 0.039565060287714005, + -0.11335105448961258 + ], + [ + 0.22666315734386444, + -0.02599107101559639, + 0.9736263751983643, + 0.5346299409866333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9712116718292236, + 0.06361454725265503, + -0.22956712543964386, + 0.6102820038795471 + ], + [ + -0.05587255209684372, + 0.9976333379745483, + 0.04007505998015404, + -0.1145055815577507 + ], + [ + 0.2315731793642044, + -0.026094865053892136, + 0.9724674224853516, + 0.5393602252006531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9699021577835083, + 0.06466979533433914, + -0.23475025594234467, + 0.6214600205421448 + ], + [ + -0.05664046108722687, + 0.9975608587265015, + 0.04079378768801689, + -0.11603771150112152 + ], + [ + 0.23681579530239105, + -0.026269618421792984, + 0.9711993336677551, + 0.5467372536659241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9684625864028931, + 0.06606739014387131, + -0.24024006724357605, + 0.6337718367576599 + ], + [ + -0.05785363167524338, + 0.9974790811538696, + 0.04109121859073639, + -0.11677533388137817 + ], + [ + 0.24234923720359802, + -0.025896549224853516, + 0.9698433876037598, + 0.55291748046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.967265248298645, + 0.06596111506223679, + -0.2450450360774994, + 0.6445404887199402 + ], + [ + -0.05749211460351944, + 0.9974803924560547, + 0.04156295582652092, + -0.11772225052118301 + ], + [ + 0.24716916680335999, + -0.026114244014024734, + 0.9686203598976135, + 0.5588268637657166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9659994840621948, + 0.06647927314043045, + -0.2498510181903839, + 0.6555962562561035 + ], + [ + -0.05778878927230835, + 0.9974463582038879, + 0.041967276483774185, + -0.11867312341928482 + ], + [ + 0.25200292468070984, + -0.02610177919268608, + 0.9673743844032288, + 0.5638259649276733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9645892977714539, + 0.06731322407722473, + -0.2550223171710968, + 0.6672713756561279 + ], + [ + -0.05837064981460571, + 0.9973906874656677, + 0.04248206317424774, + -0.1198628768324852 + ], + [ + 0.2572164833545685, + -0.02609192579984665, + 0.9660015106201172, + 0.5696908235549927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9632037281990051, + 0.06801578402519226, + -0.2600238621234894, + 0.678582489490509 + ], + [ + -0.05888837203383446, + 0.9973491430282593, + 0.042742177844047546, + -0.12041652202606201 + ], + [ + 0.2622416913509369, + -0.025857046246528625, + 0.9646557569503784, + 0.575188159942627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9617370367050171, + 0.06879105418920517, + -0.26519736647605896, + 0.6898393630981445 + ], + [ + -0.0593697652220726, + 0.9972926378250122, + 0.0433892197906971, + -0.1217808872461319 + ], + [ + 0.26746419072151184, + -0.02598431333899498, + 0.9632173776626587, + 0.5823904871940613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9604270458221436, + 0.06859017163515091, + -0.2699541449546814, + 0.7010966539382935 + ], + [ + -0.058934442698955536, + 0.9973039031028748, + 0.04372229427099228, + -0.12253888696432114 + ], + [ + 0.2722252607345581, + -0.02608247846364975, + 0.9618799686431885, + 0.5868144631385803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9588906168937683, + 0.06933113932609558, + -0.27517634630203247, + 0.7130864262580872 + ], + [ + -0.059470001608133316, + 0.9972586035728455, + 0.044029392302036285, + -0.1233828067779541 + ], + [ + 0.277474582195282, + -0.025854632258415222, + 0.9603850245475769, + 0.5921688675880432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9573246240615845, + 0.0703480914235115, + -0.28032252192497253, + 0.7243543267250061 + ], + [ + -0.06024136766791344, + 0.997190535068512, + 0.0445198155939579, + -0.12444957345724106 + ], + [ + 0.2826668322086334, + -0.02573290839791298, + 0.95887291431427, + 0.5989634990692139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9557462930679321, + 0.07115136831998825, + -0.285458505153656, + 0.7360711693763733 + ], + [ + -0.060842130333185196, + 0.9971399903297424, + 0.04483397305011749, + -0.12525734305381775 + ], + [ + 0.2878320813179016, + -0.025481998920440674, + 0.9573417901992798, + 0.6042922735214233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.954331636428833, + 0.0710669606924057, + -0.2901735305786133, + 0.7470484375953674 + ], + [ + -0.06042683497071266, + 0.997136116027832, + 0.04547690227627754, + -0.1267257183790207 + ], + [ + 0.292574405670166, + -0.02586578205227852, + 0.9558928608894348, + 0.6095103025436401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9527959227561951, + 0.07183656096458435, + -0.29499053955078125, + 0.758124053478241 + ], + [ + -0.06100940331816673, + 0.997087836265564, + 0.045756902545690536, + -0.12744346261024475 + ], + [ + 0.297418475151062, + -0.025599796324968338, + 0.9544039368629456, + 0.6146339178085327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9512532949447632, + 0.0720500499010086, + -0.29987651109695435, + 0.7689467668533325 + ], + [ + -0.06083158031105995, + 0.9970600008964539, + 0.04659245163202286, + -0.12918320298194885 + ], + [ + 0.3023518919944763, + -0.026079261675477028, + 0.9528395533561707, + 0.6211342811584473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.949608564376831, + 0.07326487451791763, + -0.3047553300857544, + 0.7796107530593872 + ], + [ + -0.0618232861161232, + 0.9969780445098877, + 0.04703952372074127, + -0.1302550733089447 + ], + [ + 0.3072807192802429, + -0.025828160345554352, + 0.9512683749198914, + 0.6274248361587524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9483723640441895, + 0.07303671538829803, + -0.30863481760025024, + 0.7891334891319275 + ], + [ + -0.06138882040977478, + 0.9969926476478577, + 0.04729735106229782, + -0.1309787631034851 + ], + [ + 0.3111611008644104, + -0.025908775627613068, + 0.950003981590271, + 0.6311501860618591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9467257857322693, + 0.07370854169130325, + -0.3134921193122864, + 0.7998809218406677 + ], + [ + -0.06182464212179184, + 0.9969466924667358, + 0.04769659414887428, + -0.13199648261070251 + ], + [ + 0.31605058908462524, + -0.02577405795454979, + 0.9483921527862549, + 0.6369634866714478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9453185200691223, + 0.07412710785865784, + -0.31761303544044495, + 0.8096085786819458 + ], + [ + -0.061954524368047714, + 0.9969110488891602, + 0.048270609229803085, + -0.13344138860702515 + ], + [ + 0.3202100694179535, + -0.025953542441129684, + 0.946990966796875, + 0.6410074234008789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9438648819923401, + 0.07470963895320892, + -0.3217725157737732, + 0.8188319206237793 + ], + [ + -0.06219743192195892, + 0.9968599677085876, + 0.049006927758455276, + -0.1349751502275467 + ], + [ + 0.3244234323501587, + -0.02624249830842018, + 0.945547878742218, + 0.6463764905929565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9424504041671753, + 0.0753244087100029, + -0.32575055956840515, + 0.828230619430542 + ], + [ + -0.06264778226613998, + 0.9968199133872986, + 0.04924764484167099, + -0.13578984141349792 + ], + [ + 0.3284241855144501, + -0.02600591629743576, + 0.9441722631454468, + 0.6501069068908691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9411191940307617, + 0.07578325271606445, + -0.3294715881347656, + 0.836661696434021 + ], + [ + -0.0629347711801529, + 0.9967890381813049, + 0.04950593039393425, + -0.13660871982574463 + ], + [ + 0.33216536045074463, + -0.025855768471956253, + 0.9428667426109314, + 0.654666543006897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9396764636039734, + 0.0764690637588501, + -0.3334076702594757, + 0.8451670408248901 + ], + [ + -0.06341294944286346, + 0.9967398047447205, + 0.04988519102334976, + -0.13745492696762085 + ], + [ + 0.3361353576183319, + -0.025733575224876404, + 0.9414620399475098, + 0.6597176790237427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9385258555412292, + 0.07653850317001343, + -0.3366171419620514, + 0.8523265719413757 + ], + [ + -0.06315140426158905, + 0.9967225790023804, + 0.0505572147667408, + -0.13889583945274353 + ], + [ + 0.33938345313072205, + -0.026191409677267075, + 0.9402834177017212, + 0.6641960144042969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9372411370277405, + 0.07729777693748474, + -0.340006023645401, + 0.8597949743270874 + ], + [ + -0.0636204332113266, + 0.9966593980789185, + 0.05121045932173729, + -0.14037248492240906 + ], + [ + 0.3428286612033844, + -0.02636522427201271, + 0.9390279054641724, + 0.6686773896217346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9360518455505371, + 0.07755818217992783, + -0.3432079255580902, + 0.8665498495101929 + ], + [ + -0.06346604973077774, + 0.9966219663619995, + 0.05212198942899704, + -0.14224134385585785 + ], + [ + 0.34609106183052063, + -0.027006829157471657, + 0.9378121495246887, + 0.673634946346283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9350160360336304, + 0.07762730121612549, + -0.34600430727005005, + 0.8732534050941467 + ], + [ + -0.06330350041389465, + 0.9966110587120056, + 0.05252664536237717, + -0.14329633116722107 + ], + [ + 0.3489091992378235, + -0.02720998041331768, + 0.9367614388465881, + 0.6767891645431519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9338616132736206, + 0.07817256450653076, + -0.3489863872528076, + 0.880055844783783 + ], + [ + -0.06374180316925049, + 0.9965758919715881, + 0.05266357213258743, + -0.14373767375946045 + ], + [ + 0.35190826654434204, + -0.02693546563386917, + 0.9356468319892883, + 0.6802236437797546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9327237010002136, + 0.0786241665482521, + -0.3519158363342285, + 0.8862323760986328 + ], + [ + -0.06396030634641647, + 0.9965375661849976, + 0.05312248319387436, + -0.1448255479335785 + ], + [ + 0.3548740744590759, + -0.02703995816409588, + 0.9345229864120483, + 0.6849831342697144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9315789937973022, + 0.07904315739870071, + -0.3548419773578644, + 0.8930232524871826 + ], + [ + -0.06422669440507889, + 0.9965076446533203, + 0.0533614456653595, + -0.14543554186820984 + ], + [ + 0.357820600271225, + -0.026920074597001076, + 0.9334022402763367, + 0.6880977153778076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.930509626865387, + 0.0793970599770546, + -0.35755831003189087, + 0.8989278078079224 + ], + [ + -0.06437217444181442, + 0.9964774250984192, + 0.05374914035201073, + -0.14631430804729462 + ], + [ + 0.36056631803512573, + -0.026997286826372147, + 0.9323427677154541, + 0.6921456456184387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9293360114097595, + 0.07968489825725555, + -0.3605342209339142, + 0.905529260635376 + ], + [ + -0.06440776586532593, + 0.9964500069618225, + 0.054212797433137894, + -0.14738167822360992 + ], + [ + 0.3635742962360382, + -0.027160700410604477, + 0.9311691522598267, + 0.6960128545761108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9282366633415222, + 0.08030396699905396, + -0.36321893334388733, + 0.9111329317092896 + ], + [ + -0.06489096581935883, + 0.9964051246643066, + 0.054460588842630386, + -0.14789541065692902 + ], + [ + 0.36628660559654236, + -0.026982691138982773, + 0.93011075258255, + 0.7001917362213135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9271426796913147, + 0.0805559903383255, + -0.3659469485282898, + 0.9172161221504211 + ], + [ + -0.06491202116012573, + 0.9963809847831726, + 0.054876141250133514, + -0.1487760990858078 + ], + [ + 0.36904317140579224, + -0.02712365984916687, + 0.9290164113044739, + 0.7037352323532104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9259744882583618, + 0.08124075829982758, + -0.36874279379844666, + 0.9226844310760498 + ], + [ + -0.06543292105197906, + 0.9963291883468628, + 0.055196549743413925, + -0.14945822954177856 + ], + [ + 0.3718734085559845, + -0.02698267623782158, + 0.927891194820404, + 0.7089646458625793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9251277446746826, + 0.08147795498371124, + -0.370809942483902, + 0.9277807474136353 + ], + [ + -0.06556710600852966, + 0.9963125586509705, + 0.05533715337514877, + -0.14986152946949005 + ], + [ + 0.37395134568214417, + -0.026881001889705658, + 0.9270586967468262, + 0.7112285494804382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9240480661392212, + 0.08152248710393906, + -0.3734825551509857, + 0.9333596229553223 + ], + [ + -0.06546532362699509, + 0.9963101744651794, + 0.05550078675150871, + -0.15020476281642914 + ], + [ + 0.3766290247440338, + -0.02683524414896965, + 0.9259754419326782, + 0.7154631018638611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9228852987289429, + 0.08201666921377182, + -0.37623921036720276, + 0.9390600919723511 + ], + [ + -0.06583692878484726, + 0.9962753653526306, + 0.055685970932245255, + -0.15060456097126007 + ], + [ + 0.37940505146980286, + -0.02662133052945137, + 0.9248476028442383, + 0.7198973298072815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9219662547111511, + 0.08197467774152756, + -0.3784949481487274, + 0.9447240233421326 + ], + [ + -0.06566362828016281, + 0.9962789416313171, + 0.05582636967301369, + -0.1509532332420349 + ], + [ + 0.38166287541389465, + -0.02661668136715889, + 0.9239183068275452, + 0.7218477725982666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3698.5885416666665, + "fy": 3702.171875, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/dc3d4c43-874f-4441-a0e4-242f36f79fdd/caption.txt b/dynpose_eval/source/dc3d4c43-874f-4441-a0e4-242f36f79fdd/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..735a539f6f047f7e6582c678c1072ac54aa246f8 --- /dev/null +++ b/dynpose_eval/source/dc3d4c43-874f-4441-a0e4-242f36f79fdd/caption.txt @@ -0,0 +1 @@ +A person reaching for a wooden box on a counter. diff --git a/dynpose_eval/source/dc3d4c43-874f-4441-a0e4-242f36f79fdd/extras/source_metadata.json b/dynpose_eval/source/dc3d4c43-874f-4441-a0e4-242f36f79fdd/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c31100a553c410ea9910375563668456c2c74daa --- /dev/null +++ b/dynpose_eval/source/dc3d4c43-874f-4441-a0e4-242f36f79fdd/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "dc3d4c43-874f-4441-a0e4-242f36f79fdd", + "tar_name": "dpsp-b435a8b9", + "youtube_link": "https://www.youtube.com/watch?v=DT7-2uREC4o", + "youtube_timestamp": "0:01:54.366-0:01:58.366", + "num_frames": 120, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/dc3d4c43-874f-4441-a0e4-242f36f79fdd/transforms.json b/dynpose_eval/source/dc3d4c43-874f-4441-a0e4-242f36f79fdd/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3b0027b979e7e8b5a73c4cf611661fab077f8326 --- /dev/null +++ b/dynpose_eval/source/dc3d4c43-874f-4441-a0e4-242f36f79fdd/transforms.json @@ -0,0 +1,4213 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 120, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -1.2447067092580255e-05, + -5.315192538546398e-05, + 9.269754809793085e-05 + ], + [ + 1.2436833458195906e-05, + 1.0, + -0.00019254341896157712, + 0.0002060358674498275 + ], + [ + 5.315431917551905e-05, + 0.0001925427495734766, + 1.0, + 7.624399586347863e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9997718334197998, + 0.007740614004433155, + -0.019909054040908813, + 0.004735012073069811 + ], + [ + -0.007471270859241486, + 0.9998800158500671, + 0.013567662797868252, + 0.001242732279933989 + ], + [ + 0.020011689513921738, + -0.013415821827948093, + 0.9997097253799438, + -9.441847214475274e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9991177916526794, + 0.01507107075303793, + -0.039198871701955795, + 0.0075132763013243675 + ], + [ + -0.014125500805675983, + 0.9996051788330078, + 0.024288492277264595, + 0.0030662561766803265 + ], + [ + 0.03954945132136345, + -0.023713359609246254, + 0.9989361763000488, + -1.8595319488667883e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9981614351272583, + 0.021599067375063896, + -0.05663277581334114, + 0.009973322972655296 + ], + [ + -0.01978994347155094, + 0.9992818236351013, + 0.032313402742147446, + 0.00726489070802927 + ], + [ + 0.05729004368185997, + -0.03113323077559471, + 0.997871994972229, + 0.0007482501096092165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9970533847808838, + 0.026059826835989952, + -0.0721484124660492, + 0.012368770316243172 + ], + [ + -0.02316771261394024, + 0.9989053606987, + 0.04063643887639046, + 0.007669210899621248 + ], + [ + 0.07312841713428497, + -0.038845185190439224, + 0.9965657591819763, + 0.0022613336332142353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9958425164222717, + 0.03119402751326561, + -0.08558405935764313, + 0.014592480845749378 + ], + [ + -0.02744949981570244, + 0.9986283779144287, + 0.044586148113012314, + 0.008204112760722637 + ], + [ + 0.08685748279094696, + -0.042051542550325394, + 0.9953328371047974, + 0.003418878884986043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9948338866233826, + 0.03362467512488365, + -0.09578587859869003, + 0.01387748122215271 + ], + [ + -0.029054027050733566, + 0.9983898401260376, + 0.0487191267311573, + 0.008812831714749336 + ], + [ + 0.09726981073617935, + -0.04568447545170784, + 0.9942089915275574, + 0.0030983963515609503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9935637712478638, + 0.03574921190738678, + -0.10748477280139923, + 0.014752614311873913 + ], + [ + -0.030361944809556007, + 0.9982192516326904, + 0.05134700983762741, + 0.0083232456818223 + ], + [ + 0.10912898182868958, + -0.04775308072566986, + 0.9928799271583557, + 0.004331651609390974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9923567771911621, + 0.03863868489861488, + -0.11719676852226257, + 0.015073925256729126 + ], + [ + -0.03272728994488716, + 0.9981131553649902, + 0.05195219814777374, + 0.008109630085527897 + ], + [ + 0.11898300051689148, + -0.04771958291530609, + 0.9917489290237427, + 0.005280663259327412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9911548495292664, + 0.04055911675095558, + -0.12636080384254456, + 0.014547135680913925 + ], + [ + -0.03424010053277016, + 0.9980710744857788, + 0.05178538337349892, + 0.007987800054252148 + ], + [ + 0.1282174289226532, + -0.04700072482228279, + 0.9906316995620728, + 0.00627200398594141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9897261261940002, + 0.041535794734954834, + -0.13680987060070038, + 0.014900969341397285 + ], + [ + -0.034741729497909546, + 0.9980592131614685, + 0.051680345088243484, + 0.007004290819168091 + ], + [ + 0.13869093358516693, + -0.04639637842774391, + 0.9892482757568359, + 0.007845592685043812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9884748458862305, + 0.04245201125741005, + -0.14531108736991882, + 0.013879343867301941 + ], + [ + -0.03526021167635918, + 0.9980391263961792, + 0.05171617865562439, + 0.00567191606387496 + ], + [ + 0.1472216248512268, + -0.045996442437171936, + 0.9880334734916687, + 0.010355220176279545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9870742559432983, + 0.04286029562354088, + -0.15442624688148499, + 0.014721792191267014 + ], + [ + -0.03499995544552803, + 0.9979668259620667, + 0.05326554551720619, + 0.0027142490725964308 + ], + [ + 0.15639525651931763, + -0.04717213287949562, + 0.9865674376487732, + 0.014855105429887772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9860376715660095, + 0.044413354247808456, + -0.16049037873744965, + 0.014058265835046768 + ], + [ + -0.036173608154058456, + 0.9978906512260437, + 0.05390436202287674, + 0.004452056717127562 + ], + [ + 0.16254593431949615, + -0.047346219420433044, + 0.9855644106864929, + 0.018740341067314148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848763942718506, + 0.04513101652264595, + -0.1672772467136383, + 0.012452653609216213 + ], + [ + -0.0354483537375927, + 0.9975430369377136, + 0.060425952076911926, + 0.0028130069840699434 + ], + [ + 0.16959333419799805, + -0.05358239263296127, + 0.9840564131736755, + 0.022700360044836998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9833928346633911, + 0.044705770909786224, + -0.17589764297008514, + 0.012271805666387081 + ], + [ + -0.03369137644767761, + 0.9973088502883911, + 0.06511516869068146, + 0.0021396498195827007 + ], + [ + 0.1783352941274643, + -0.05810755863785744, + 0.9822525382041931, + 0.030715422704815865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.982144296169281, + 0.044491034001111984, + -0.18279264867305756, + 0.01173129677772522 + ], + [ + -0.03195686265826225, + 0.9969675540924072, + 0.07095398753881454, + 0.0027623262722045183 + ], + [ + 0.18539516627788544, + -0.06384556740522385, + 0.9805877804756165, + 0.03877085819840431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9812750816345215, + 0.04472470283508301, + -0.18734689056873322, + 0.009427400305867195 + ], + [ + -0.03040722757577896, + 0.9964414834976196, + 0.07861188799142838, + 0.002314650919288397 + ], + [ + 0.19019611179828644, + -0.07144319266080856, + 0.9791431427001953, + 0.047113385051488876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9803605079650879, + 0.044114578515291214, + -0.19221635162830353, + 0.008845267817378044 + ], + [ + -0.027856674045324326, + 0.99586421251297, + 0.08647830784320831, + 0.002397386357188225 + ], + [ + 0.19523634016513824, + -0.07942540943622589, + 0.977534830570221, + 0.05772317200899124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9793562889099121, + 0.04530676454305649, + -0.19699899852275848, + 0.009035241790115833 + ], + [ + -0.027121582999825478, + 0.9951980710029602, + 0.09404877573251724, + 0.0023903886321932077 + ], + [ + 0.20031405985355377, + -0.08676432818174362, + 0.9758822917938232, + 0.06901700794696808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9788682460784912, + 0.04695357382297516, + -0.19902844727039337, + 0.006707156077027321 + ], + [ + -0.02711298316717148, + 0.994489848613739, + 0.10126602649688721, + 0.003949770238250494 + ], + [ + 0.20268656313419342, + -0.09372983872890472, + 0.9747475981712341, + 0.07812473177909851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9783883690834045, + 0.04778279736638069, + -0.20117917656898499, + 0.004672277253121138 + ], + [ + -0.025703925639390945, + 0.9934921264648438, + 0.11096283793449402, + 0.004018336534500122 + ], + [ + 0.20517203211784363, + -0.10339365899562836, + 0.9732493162155151, + 0.08824951946735382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9778255224227905, + 0.04962318763136864, + -0.20345698297023773, + 0.002105745952576399 + ], + [ + -0.02549554780125618, + 0.9925021529197693, + 0.11953841894865036, + 0.004625964444130659 + ], + [ + 0.20786337554454803, + -0.11170046776533127, + 0.9717591404914856, + 0.0995708703994751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9771395325660706, + 0.051754869520664215, + -0.20620334148406982, + 0.0005623503238894045 + ], + [ + -0.025169499218463898, + 0.991256833076477, + 0.1295238882303238, + 0.0028053601272404194 + ], + [ + 0.21110394597053528, + -0.12137287110090256, + 0.9698988199234009, + 0.11300414055585861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9764251708984375, + 0.05408520996570587, + -0.20897065103054047, + -0.000142703705932945 + ], + [ + -0.025347648188471794, + 0.9901321530342102, + 0.13782522082328796, + 0.000965026905760169 + ], + [ + 0.21436287462711334, + -0.12927910685539246, + 0.96816086769104, + 0.1263192594051361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9762578010559082, + 0.05649716779589653, + -0.2091141939163208, + -0.00221783434972167 + ], + [ + -0.02585967257618904, + 0.9888810515403748, + 0.14644281566143036, + -0.0015899288700893521 + ], + [ + 0.21506267786026, + -0.13755832612514496, + 0.9668638706207275, + 0.13965722918510437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.976078450679779, + 0.05900343880057335, + -0.20925942063331604, + -0.003840584075078368 + ], + [ + -0.026594672352075577, + 0.98764568567276, + 0.1544303596019745, + -0.004158115945756435 + ], + [ + 0.21578609943389893, + -0.14517095685005188, + 0.9655888080596924, + 0.1527678668498993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9758265018463135, + 0.06116972118616104, + -0.20981158316135406, + -0.004742240533232689 + ], + [ + -0.026871735230088234, + 0.9863292574882507, + 0.16258081793785095, + -0.007501084357500076 + ], + [ + 0.21688832342624664, + -0.15301266312599182, + 0.9641299843788147, + 0.16544176638126373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9756485819816589, + 0.06305588781833649, + -0.21008038520812988, + -0.00608964404091239 + ], + [ + -0.02716098725795746, + 0.9851467609405518, + 0.16955284774303436, + -0.009616703726351261 + ], + [ + 0.21765130758285522, + -0.15971802175045013, + 0.9628697037696838, + 0.17724007368087769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9755436778068542, + 0.06432826817035675, + -0.21018175780773163, + -0.0067903934977948666 + ], + [ + -0.026600684970617294, + 0.9837398529052734, + 0.17761845886707306, + -0.011730942875146866 + ], + [ + 0.2181900590658188, + -0.16768358647823334, + 0.9613924026489258, + 0.18867813050746918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9753984212875366, + 0.0660088062286377, + -0.21033495664596558, + -0.007549407426267862 + ], + [ + -0.026520133018493652, + 0.9823246598243713, + 0.18529677391052246, + -0.013343377970159054 + ], + [ + 0.21884843707084656, + -0.17516008019447327, + 0.9599084854125977, + 0.19973228871822357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9751488566398621, + 0.06849576532840729, + -0.21069663763046265, + -0.007838752120733261 + ], + [ + -0.027156904339790344, + 0.9807915091514587, + 0.19315941631793976, + -0.015095410868525505 + ], + [ + 0.21988007426261902, + -0.1826373189687729, + 0.9582778215408325, + 0.21076631546020508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9751396775245667, + 0.06984730809926987, + -0.21029505133628845, + -0.008200551383197308 + ], + [ + -0.027053795754909515, + 0.9794498085975647, + 0.1998654007911682, + -0.01515979878604412 + ], + [ + 0.21993350982666016, + -0.18920740485191345, + 0.9569900035858154, + 0.2204173505306244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9750564098358154, + 0.07049509882926941, + -0.21046477556228638, + -0.008380003273487091 + ], + [ + -0.025883354246616364, + 0.9778666496276855, + 0.20762182772159576, + -0.015718480572104454 + ], + [ + 0.22044280171394348, + -0.19699545204639435, + 0.9552998542785645, + 0.22997106611728668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9748384356498718, + 0.07093840837478638, + -0.2113238126039505, + -0.007834088988602161 + ], + [ + -0.02450401894748211, + 0.9763690829277039, + 0.21471604704856873, + -0.015907730907201767 + ], + [ + 0.22156165540218353, + -0.20413517951965332, + 0.9535403847694397, + 0.23969092965126038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9746707677841187, + 0.07169219106435776, + -0.21184223890304565, + -0.007221925538033247 + ], + [ + -0.023420579731464386, + 0.9747386574745178, + 0.22211717069149017, + -0.016408681869506836 + ], + [ + 0.22241488099098206, + -0.2115296572446823, + 0.951728343963623, + 0.2486153542995453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9746268391609192, + 0.07154200971126556, + -0.21209490299224854, + -0.0060795024037361145 + ], + [ + -0.02139783836901188, + 0.9729858636856079, + 0.2298709601163864, + -0.01740671694278717 + ], + [ + 0.2228107750415802, + -0.21950004994869232, + 0.9498289823532104, + 0.25661301612854004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.97464519739151, + 0.07142922282218933, + -0.21204863488674164, + -0.004864742513746023 + ], + [ + -0.019522804766893387, + 0.9712104201316833, + 0.23742197453975677, + -0.018544994294643402 + ], + [ + 0.22290270030498505, + -0.22726239264011383, + 0.9479800462722778, + 0.2637082636356354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9747419953346252, + 0.07086361944675446, + -0.21179331839084625, + -0.003526458516716957 + ], + [ + -0.017504097893834114, + 0.9696489572525024, + 0.24387386441230774, + -0.0193796269595623 + ], + [ + 0.22264696657657623, + -0.2340068519115448, + 0.9463979601860046, + 0.27043962478637695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.974826991558075, + 0.06991834193468094, + -0.21171611547470093, + -0.002063290448859334 + ], + [ + -0.01507570594549179, + 0.9680557250976562, + 0.25028160214424133, + -0.020333578810095787 + ], + [ + 0.22245225310325623, + -0.2407895028591156, + 0.944740891456604, + 0.276552677154541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9750352501869202, + 0.0687071830034256, + -0.2111530303955078, + 7.818336598575115e-05 + ], + [ + -0.01240541972219944, + 0.9662948250770569, + 0.2571389675140381, + -0.022187920287251472 + ], + [ + 0.22170338034629822, + -0.24810010194778442, + 0.9430238604545593, + 0.28204551339149475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9752321839332581, + 0.0671527236700058, + -0.2107432633638382, + 0.0022890674881637096 + ], + [ + -0.009485293179750443, + 0.9646185040473938, + 0.2634789049625397, + -0.023925283923745155 + ], + [ + 0.2209801822900772, + -0.25495412945747375, + 0.9413639903068542, + 0.2888128459453583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9755191802978516, + 0.06565304845571518, + -0.2098856419324875, + 0.004110105335712433 + ], + [ + -0.007069854065775871, + 0.9632666110992432, + 0.2684538662433624, + -0.024957308545708656 + ], + [ + 0.21980063617229462, + -0.2603980600833893, + 0.940149188041687, + 0.29310742020606995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9759266972541809, + 0.06187641620635986, + -0.20913738012313843, + 0.0062978328205645084 + ], + [ + -0.0025193560868501663, + 0.9620450735092163, + 0.2728789746761322, + -0.025867460295557976 + ], + [ + 0.21808436512947083, + -0.2657829821109772, + 0.9390413165092468, + 0.2978906035423279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9760980010032654, + 0.05844621732831001, + -0.20932434499263763, + 0.009331634268164635 + ], + [ + 0.0021068938076496124, + 0.9605703949928284, + 0.27802902460098267, + -0.028033357113599777 + ], + [ + 0.217320516705513, + -0.27182459831237793, + 0.9374877214431763, + 0.3040919303894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9765770435333252, + 0.055856864899396896, + -0.2077915370464325, + 0.011770356446504593 + ], + [ + 0.005148548632860184, + 0.9593745470046997, + 0.2820885181427002, + -0.03022981621325016 + ], + [ + 0.21510648727416992, + -0.2765510082244873, + 0.9366155862808228, + 0.3080499470233917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9772260785102844, + 0.051570817828178406, + -0.20583894848823547, + 0.013877687975764275 + ], + [ + 0.009402107447385788, + 0.9585438370704651, + 0.2847900092601776, + -0.031206615269184113 + ], + [ + 0.21199250221252441, + -0.2802395522594452, + 0.9362291097640991, + 0.31192702054977417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9776869416236877, + 0.04785328358411789, + -0.2045442909002304, + 0.016585757955908775 + ], + [ + 0.013248797506093979, + 0.9577229022979736, + 0.2873869836330414, + -0.03262340649962425 + ], + [ + 0.20964916050434113, + -0.28368446230888367, + 0.9357191920280457, + 0.3164767026901245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9782841801643372, + 0.044028349220752716, + -0.20253777503967285, + 0.018886860460042953 + ], + [ + 0.016892453655600548, + 0.9569905996322632, + 0.28962671756744385, + -0.03404546156525612 + ], + [ + 0.20657852292060852, + -0.2867586016654968, + 0.9354650378227234, + 0.3208656311035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9787524938583374, + 0.03949858620762825, + -0.20120495557785034, + 0.02140425518155098 + ], + [ + 0.021392822265625, + 0.9562446475028992, + 0.29178500175476074, + -0.03606409579515457 + ], + [ + 0.20392626523971558, + -0.2898896336555481, + 0.9350818395614624, + 0.3260074257850647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9792847037315369, + 0.034621208906173706, + -0.19950658082962036, + 0.023921746760606766 + ], + [ + 0.026010874658823013, + 0.9556035995483398, + 0.29350513219833374, + -0.03743463009595871 + ], + [ + 0.20081070065498352, + -0.2926144003868103, + 0.9349074363708496, + 0.32878533005714417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9798111319541931, + 0.02980106882750988, + -0.19769172370433807, + 0.0262947715818882 + ], + [ + 0.03035176359117031, + 0.9551934003829956, + 0.2944219708442688, + -0.03828006237745285 + ], + [ + 0.19760791957378387, + -0.29447823762893677, + 0.9350046515464783, + 0.33268803358078003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9802822470664978, + 0.025645511224865913, + -0.1959313154220581, + 0.02879704348742962 + ], + [ + 0.034173980355262756, + 0.9545990824699402, + 0.2959268391132355, + -0.040120381861925125 + ], + [ + 0.19462504982948303, + -0.2967875897884369, + 0.9349001049995422, + 0.335582435131073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9809355139732361, + 0.020118193700909615, + -0.19328947365283966, + 0.030112022534012794 + ], + [ + 0.038956865668296814, + 0.9540799260139465, + 0.29700809717178345, + -0.04197176545858383 + ], + [ + 0.19038887321949005, + -0.29887574911117554, + 0.9351071119308472, + 0.3383299708366394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.98165363073349, + 0.014690347947180271, + -0.19010624289512634, + 0.03175164386630058 + ], + [ + 0.04336421564221382, + 0.9537000060081482, + 0.2976168990135193, + -0.04309637099504471 + ], + [ + 0.1856764256954193, + -0.3004004955291748, + 0.9355660676956177, + 0.34074893593788147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9823894500732422, + 0.009935775771737099, + -0.1865803599357605, + 0.03271906077861786 + ], + [ + 0.04717865586280823, + 0.9530366063117981, + 0.29915785789489746, + -0.044858887791633606 + ], + [ + 0.1807902753353119, + -0.30269211530685425, + 0.9357843399047852, + 0.34141823649406433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9829646944999695, + 0.005162043496966362, + -0.1837218552827835, + 0.0341571569442749 + ], + [ + 0.05083436518907547, + 0.9529752135276794, + 0.29875433444976807, + -0.045554179698228836 + ], + [ + 0.17662455141544342, + -0.30300432443618774, + 0.9364786148071289, + 0.3412880301475525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9836863875389099, + 0.0009825881570577621, + -0.17988905310630798, + 0.034618958830833435 + ], + [ + 0.05359019339084625, + 0.9529814720153809, + 0.2982523441314697, + -0.046495769172906876 + ], + [ + 0.17172399163246155, + -0.30302709341049194, + 0.9373822212219238, + 0.33986321091651917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9847415089607239, + -0.0023456215858459473, + -0.17400752007961273, + 0.03381795063614845 + ], + [ + 0.05493822693824768, + 0.9529649019241333, + 0.29805988073349, + -0.04795650392770767 + ], + [ + 0.16512392461299896, + -0.30307161808013916, + 0.938552975654602, + 0.3354005217552185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.985467791557312, + -0.005500493571162224, + -0.16977337002754211, + 0.03411411494016647 + ], + [ + 0.05646662414073944, + 0.9532430768013, + 0.2968824803829193, + -0.049239154905080795 + ], + [ + 0.160202294588089, + -0.30215463042259216, + 0.9397009015083313, + 0.33046820759773254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9861190319061279, + -0.007384823635220528, + -0.16587571799755096, + 0.034451328217983246 + ], + [ + 0.05671796202659607, + 0.9539000988006592, + 0.29471635818481445, + -0.050532348453998566 + ], + [ + 0.15605242550373077, + -0.3000335097312927, + 0.9410778880119324, + 0.32385507225990295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9867599606513977, + -0.009379912167787552, + -0.16191592812538147, + 0.034717097878456116 + ], + [ + 0.056750159710645676, + 0.9551856517791748, + 0.2905164062976837, + -0.05144543573260307 + ], + [ + 0.15193474292755127, + -0.2958587110042572, + 0.9430713057518005, + 0.3158590793609619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9870710372924805, + -0.01169360801577568, + -0.15985628962516785, + 0.03679954260587692 + ], + [ + 0.057611193507909775, + 0.9565677642822266, + 0.2857605218887329, + -0.051894064992666245 + ], + [ + 0.14957180619239807, + -0.2912754416465759, + 0.9448739886283875, + 0.30776509642601013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9874160289764404, + -0.01292257197201252, + -0.15761549770832062, + 0.03852181136608124 + ], + [ + 0.057222045958042145, + 0.9583196640014648, + 0.2799091339111328, + -0.051288239657878876 + ], + [ + 0.14742888510227203, + -0.28540581464767456, + 0.9469996094703674, + 0.2979755699634552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9876362681388855, + -0.013235142454504967, + -0.15620307624340057, + 0.04013705626130104 + ], + [ + 0.05622229725122452, + 0.9600461721420288, + 0.27413567900657654, + -0.05078648403286934 + ], + [ + 0.1463339477777481, + -0.2795284688472748, + 0.9489205479621887, + 0.28741350769996643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9875539541244507, + -0.01467706635594368, + -0.15659430623054504, + 0.0433976873755455 + ], + [ + 0.05665567144751549, + 0.9619931578636169, + 0.2671316862106323, + -0.04978637024760246 + ], + [ + 0.14672192931175232, + -0.2726789116859436, + 0.9508516788482666, + 0.2750740349292755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9874638915061951, + -0.01588554121553898, + -0.15704359114170074, + 0.04589875414967537 + ], + [ + 0.056959688663482666, + 0.9637471437454224, + 0.2606664299964905, + -0.04782833904027939 + ], + [ + 0.14720948040485382, + -0.2663438320159912, + 0.952570378780365, + 0.26237136125564575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9874671101570129, + -0.01574324630200863, + -0.1570378839969635, + 0.047479450702667236 + ], + [ + 0.05579366534948349, + 0.9655846953392029, + 0.2540340721607208, + -0.045697979629039764 + ], + [ + 0.14763405919075012, + -0.25961199402809143, + 0.9543614387512207, + 0.2490382194519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9872188568115234, + -0.015667704865336418, + -0.158598393201828, + 0.04905427247285843 + ], + [ + 0.054884083569049835, + 0.9677056074142456, + 0.24603578448295593, + -0.041566409170627594 + ], + [ + 0.14962172508239746, + -0.25159570574760437, + 0.9561971426010132, + 0.23439592123031616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9868525862693787, + -0.015086513012647629, + -0.16091734170913696, + 0.05081725865602493 + ], + [ + 0.05381033197045326, + 0.9695010185241699, + 0.23910711705684662, + -0.03886681795120239 + ], + [ + 0.15240222215652466, + -0.24462248384952545, + 0.9575663805007935, + 0.21886023879051208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9862741827964783, + -0.013880185782909393, + -0.16453146934509277, + 0.053259819746017456 + ], + [ + 0.05234561860561371, + 0.9713449478149414, + 0.23183821141719818, + -0.03581097722053528 + ], + [ + 0.15659886598587036, + -0.23726855218410492, + 0.9587389826774597, + 0.20401112735271454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9858179092407227, + -0.012949097901582718, + -0.16731825470924377, + 0.05546412616968155 + ], + [ + 0.05093008652329445, + 0.973081111907959, + 0.2247648984193802, + -0.032774195075035095 + ], + [ + 0.15990373492240906, + -0.23009879887104034, + 0.9599402546882629, + 0.1882404386997223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9853267669677734, + -0.010937722399830818, + -0.17032775282859802, + 0.05814298242330551 + ], + [ + 0.048474326729774475, + 0.9747839570045471, + 0.21782203018665314, + -0.029573652893304825 + ], + [ + 0.1636502742767334, + -0.22288240492343903, + 0.9610109329223633, + 0.17283356189727783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9847503304481506, + -0.009580688551068306, + -0.17370948195457458, + 0.06083989888429642 + ], + [ + 0.04654581844806671, + 0.9765920639038086, + 0.21000346541404724, + -0.02603362686932087 + ], + [ + 0.1676313281059265, + -0.21488642692565918, + 0.9621452689170837, + 0.15788255631923676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9841773509979248, + -0.007360203191637993, + -0.17703329026699066, + 0.06328281760215759 + ], + [ + 0.04378340393304825, + 0.9782547354698181, + 0.20273296535015106, + -0.0222178902477026 + ], + [ + 0.17169149219989777, + -0.20727629959583282, + 0.963098406791687, + 0.1439152956008911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9836114048957825, + -0.005528874695301056, + -0.18021659553050995, + 0.06528843194246292 + ], + [ + 0.041275497525930405, + 0.9798911213874817, + 0.1952170878648758, + -0.01827373541891575 + ], + [ + 0.17551331222057343, + -0.19945628941059113, + 0.9640603065490723, + 0.12975335121154785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9829992651939392, + -0.0035013407468795776, + -0.1835760474205017, + 0.06768173724412918 + ], + [ + 0.03864259645342827, + 0.98136967420578, + 0.1882028579711914, + -0.01456554513424635 + ], + [ + 0.17949700355529785, + -0.19209712743759155, + 0.9648209810256958, + 0.11617680639028549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9825096130371094, + -0.0014898888766765594, + -0.1862059384584427, + 0.06881565600633621 + ], + [ + 0.03584720939397812, + 0.9827774167060852, + 0.1812831461429596, + -0.010525810532271862 + ], + [ + 0.18272890150547028, + -0.18478739261627197, + 0.9656416177749634, + 0.10192713886499405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9821147322654724, + 0.0012689987197518349, + -0.18827901780605316, + 0.07031096518039703 + ], + [ + 0.03216338902711868, + 0.984148383140564, + 0.17440615594387054, + -0.00722251832485199 + ], + [ + 0.18551580607891083, + -0.17734254896640778, + 0.9665058255195618, + 0.08743071556091309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9816790819168091, + 0.004011685959994793, + -0.1904994249343872, + 0.0717759057879448 + ], + [ + 0.02841673418879509, + 0.9855149984359741, + 0.16719050705432892, + -0.0035597176756709814 + ], + [ + 0.18841075897216797, + -0.16954080760478973, + 0.9673454761505127, + 0.07450614869594574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.981447696685791, + 0.005734346807003021, + -0.19164416193962097, + 0.07272940874099731 + ], + [ + 0.02536703273653984, + 0.9868818521499634, + 0.15943892300128937, + 0.000978963915258646 + ], + [ + 0.19004443287849426, + -0.16134239733219147, + 0.9684274792671204, + 0.06206496059894562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.981132447719574, + 0.008936267346143723, + -0.19313015043735504, + 0.07401977479457855 + ], + [ + 0.021110985428094864, + 0.9880064129829407, + 0.15296298265457153, + 0.002800873015075922 + ], + [ + 0.19218073785305023, + -0.15415412187576294, + 0.9691764712333679, + 0.05028028413653374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.980973482131958, + 0.013021253980696201, + -0.1937045305967331, + 0.0740656852722168 + ], + [ + 0.015551316551864147, + 0.9892717003822327, + 0.14525724947452545, + 0.005169013515114784 + ], + [ + 0.19351784884929657, + -0.1455058604478836, + 0.9702467918395996, + 0.0355476476252079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9806889295578003, + 0.016334405168890953, + -0.1948906034231186, + 0.0744631290435791 + ], + [ + 0.010889244265854359, + 0.9903997778892517, + 0.13780321180820465, + 0.006979620084166527 + ], + [ + 0.19527055323123932, + -0.13726429641246796, + 0.9710962772369385, + 0.02273382432758808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9803892970085144, + 0.019118601456284523, + -0.1961410790681839, + 0.07527423650026321 + ], + [ + 0.006747099105268717, + 0.9914432168006897, + 0.1303642988204956, + 0.008447214961051941 + ], + [ + 0.1969551295042038, + -0.12913113832473755, + 0.9718713164329529, + 0.010906212963163853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9798544049263, + 0.021566076204180717, + -0.1985453963279724, + 0.0765267014503479 + ], + [ + 0.002912718802690506, + 0.9925035834312439, + 0.12218087166547775, + 0.009496118873357773 + ], + [ + 0.1996919810771942, + -0.12029776722192764, + 0.9724462032318115, + 0.0014508593594655395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9796350002288818, + 0.024093732237815857, + -0.1993357390165329, + 0.07681810855865479 + ], + [ + -0.0010767122730612755, + 0.9933903813362122, + 0.11477971076965332, + 0.010484978556632996 + ], + [ + 0.20078368484973907, + -0.11222760379314423, + 0.9731859564781189, + -0.008837026543915272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9793955683708191, + 0.025532688945531845, + -0.20033064484596252, + 0.07713428884744644 + ], + [ + -0.003920256160199642, + 0.9941923022270203, + 0.10754681378602982, + 0.01080278865993023 + ], + [ + 0.20191314816474915, + -0.10454552620649338, + 0.9738076329231262, + -0.01811167784035206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9790782332420349, + 0.025780804455280304, + -0.20184433460235596, + 0.07777468860149384 + ], + [ + -0.005475547164678574, + 0.9949202537536621, + 0.10051733255386353, + 0.01114219892770052 + ], + [ + 0.20341041684150696, + -0.09730912744998932, + 0.9742459058761597, + -0.026902232319116592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.978724479675293, + 0.0262005552649498, + -0.20349915325641632, + 0.0783444195985794 + ], + [ + -0.007124694995582104, + 0.99555504322052, + 0.09391185641288757, + 0.01180981658399105 + ], + [ + 0.2050551325082779, + -0.09046396613121033, + 0.9745607376098633, + -0.035364825278520584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.978264331817627, + 0.027498163282871246, + -0.20553040504455566, + 0.07907894998788834 + ], + [ + -0.009734737686812878, + 0.9961656332015991, + 0.08694373816251755, + 0.011717946268618107 + ], + [ + 0.20713311433792114, + -0.08305317908525467, + 0.9747810363769531, + -0.041854217648506165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.978010356426239, + 0.027417737990617752, + -0.20674638450145721, + 0.07952766865491867 + ], + [ + -0.01104892697185278, + 0.9967403411865234, + 0.07991627603769302, + 0.011310307309031487 + ], + [ + 0.2082635909318924, + -0.07587461918592453, + 0.9751253128051758, + -0.04830349609255791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9776658415794373, + 0.026336494833230972, + -0.20850883424282074, + 0.08109917491674423 + ], + [ + -0.011291936039924622, + 0.9972667694091797, + 0.07301739603281021, + 0.011651157401502132 + ], + [ + 0.20986194908618927, + -0.06903214007616043, + 0.9752910137176514, + -0.0530305914580822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9774669408798218, + 0.02658955380320549, + -0.209407240152359, + 0.08105593919754028 + ], + [ + -0.012719144113361835, + 0.997651219367981, + 0.06730692833662033, + 0.009569017216563225 + ], + [ + 0.21070504188537598, + -0.0631268098950386, + 0.9755092859268188, + -0.057836953550577164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.977224588394165, + 0.026207156479358673, + -0.21058319509029388, + 0.08191931992769241 + ], + [ + -0.013943168334662914, + 0.9981301426887512, + 0.05951351299881935, + 0.008280167356133461 + ], + [ + 0.2117491215467453, + -0.05522187426686287, + 0.9757627248764038, + -0.061076756566762924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9771127700805664, + 0.025733113288879395, + -0.2111598700284958, + 0.08322124183177948 + ], + [ + -0.014763306826353073, + 0.9984660148620605, + 0.05336347222328186, + 0.006096384953707457 + ], + [ + 0.21220915019512177, + -0.049024708569049835, + 0.9759937524795532, + -0.06467809528112411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9770942330360413, + 0.02515530213713646, + -0.2113151252269745, + 0.08383679389953613 + ], + [ + -0.015534642152488232, + 0.9987710118293762, + 0.04706515744328499, + 0.003710170043632388 + ], + [ + 0.2122393548488617, + -0.04270439222455025, + 0.9762842059135437, + -0.06670559197664261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9770193099975586, + 0.02423984371125698, + -0.2117680162191391, + 0.0847211703658104 + ], + [ + -0.016257936134934425, + 0.9990931153297424, + 0.03935222700238228, + 0.003459033789113164 + ], + [ + 0.21252985298633575, + -0.03500497713685036, + 0.9765273928642273, + -0.06780797988176346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9770543575286865, + 0.022214414551854134, + -0.21182847023010254, + 0.08557049930095673 + ], + [ + -0.015357794240117073, + 0.9993051886558533, + 0.033959463238716125, + 0.003529938170686364 + ], + [ + 0.21243569254875183, + -0.029927022755146027, + 0.9767166972160339, + -0.06805034726858139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9769604802131653, + 0.02154926210641861, + -0.21232947707176208, + 0.08680323511362076 + ], + [ + -0.015821423381567, + 0.9994646310806274, + 0.028638601303100586, + 0.0042445664294064045 + ], + [ + 0.21283292770385742, + -0.02461942657828331, + 0.9767783880233765, + -0.06828560680150986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9770717024803162, + 0.021517684683203697, + -0.21182043850421906, + 0.08796428889036179 + ], + [ + -0.01693318597972393, + 0.9995819926261902, + 0.023433784022927284, + 0.007040311582386494 + ], + [ + 0.21223612129688263, + -0.019309693947434425, + 0.9770275950431824, + -0.06727581471204758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9771649837493896, + 0.021498968824744225, + -0.21139147877693176, + 0.08929517865180969 + ], + [ + -0.017794260755181313, + 0.9996532201766968, + 0.01941225677728653, + 0.008763959631323814 + ], + [ + 0.21173551678657532, + -0.015207423828542233, + 0.97720867395401, + -0.06624821573495865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9772729873657227, + 0.021259378641843796, + -0.21091607213020325, + 0.08978456258773804 + ], + [ + -0.01828673481941223, + 0.9997041821479797, + 0.016034618020057678, + 0.009475748986005783 + ], + [ + 0.21119457483291626, + -0.01181323267519474, + 0.9773726463317871, + -0.06645592302083969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9773418307304382, + 0.021406950429081917, + -0.21058174967765808, + 0.09014876186847687 + ], + [ + -0.019239308312535286, + 0.9997388124465942, + 0.012337151914834976, + 0.010403305292129517 + ], + [ + 0.21079084277153015, + -0.008006168529391289, + 0.9774984121322632, + -0.06626106798648834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9775158762931824, + 0.021832801401615143, + -0.20972849428653717, + 0.09078383445739746 + ], + [ + -0.020546067506074905, + 0.9997543692588806, + 0.008312314748764038, + 0.01255333423614502 + ], + [ + 0.2098584622144699, + -0.0038163247518241405, + 0.9777243137359619, + -0.065284363925457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9775440096855164, + 0.02138861082494259, + -0.20964315533638, + 0.09213994443416595 + ], + [ + -0.020847978070378304, + 0.9997711777687073, + 0.004788621794432402, + 0.013959530740976334 + ], + [ + 0.20969760417938232, + -0.0003104526549577713, + 0.977766215801239, + -0.06286384910345078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9776892066001892, + 0.02106090448796749, + -0.2089981734752655, + 0.09300006181001663 + ], + [ + -0.021123727783560753, + 0.9997749924659729, + 0.0019317150581628084, + 0.01639711484313011 + ], + [ + 0.20899182558059692, + 0.0025262029375880957, + 0.9779140949249268, + -0.062156252562999725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9777454137802124, + 0.020570188760757446, + -0.2087840884923935, + 0.09419333934783936 + ], + [ + -0.02092941477894783, + 0.9997808337211609, + 0.0004887388786301017, + 0.017578018829226494 + ], + [ + 0.20874838531017303, + 0.0038918661884963512, + 0.9779616594314575, + -0.06166692078113556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9778168201446533, + 0.02061568945646286, + -0.2084449827671051, + 0.09488364309072495 + ], + [ + -0.02137792855501175, + 0.99977046251297, + -0.0014044058043509722, + 0.019585704430937767 + ], + [ + 0.208368182182312, + 0.005829373374581337, + 0.9780330657958984, + -0.06145041435956955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9776939153671265, + 0.020979078486561775, + -0.20898441970348358, + 0.0964200496673584 + ], + [ + -0.02193331904709339, + 0.999756932258606, + -0.002249429700896144, + 0.019840287044644356 + ], + [ + 0.20888642966747284, + 0.006782975047826767, + 0.9779163599014282, + -0.05987277626991272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9777517318725586, + 0.022188827395439148, + -0.2085885852575302, + 0.09821019321680069 + ], + [ + -0.023598521947860718, + 0.9997124075889587, + -0.004271809943020344, + 0.021895132958889008 + ], + [ + 0.20843379199504852, + 0.009099151007831097, + 0.9779941439628601, + -0.05950721353292465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9777818322181702, + 0.022425005212426186, + -0.20842212438583374, + 0.10020893812179565 + ], + [ + -0.023904552683234215, + 0.9997037649154663, + -0.004582418128848076, + 0.022377735003829002 + ], + [ + 0.20825761556625366, + 0.009462843649089336, + 0.9780282378196716, + -0.05795556306838989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9777045249938965, + 0.02234027162194252, + -0.20879371464252472, + 0.10149390250444412 + ], + [ + -0.023991480469703674, + 0.9996976852416992, + -0.005378809757530689, + 0.02251441404223442 + ], + [ + 0.2086104303598404, + 0.010268156416714191, + 0.9779449105262756, + -0.05593883618712425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9776228070259094, + 0.022285444661974907, + -0.2091817706823349, + 0.10276612639427185 + ], + [ + -0.023982981219887733, + 0.9996967911720276, + -0.005581855773925781, + 0.023152312263846397 + ], + [ + 0.20899395644664764, + 0.010473750531673431, + 0.9778608679771423, + -0.05416582524776459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.977557361125946, + 0.022523632273077965, + -0.20946182310581207, + 0.10394742339849472 + ], + [ + -0.024167796596884727, + 0.9996939301490784, + -0.005292945075780153, + 0.023233314976096153 + ], + [ + 0.20927847921848297, + 0.010236388072371483, + 0.9778025150299072, + -0.05062001571059227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9775287508964539, + 0.023355158045887947, + -0.20950444042682648, + 0.10463016480207443 + ], + [ + -0.024944668635725975, + 0.9996765851974487, + -0.004947521258145571, + 0.02416820265352726 + ], + [ + 0.20932112634181976, + 0.010062362998723984, + 0.9777951836585999, + -0.047879237681627274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.977480411529541, + 0.023265399038791656, + -0.20973989367485046, + 0.104982890188694 + ], + [ + -0.024418525397777557, + 0.9996975660324097, + -0.002909634495154023, + 0.02372214011847973 + ], + [ + 0.2096087634563446, + 0.007965649478137493, + 0.9777528643608093, + -0.04454405605792999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.977294385433197, + 0.023898590356111526, + -0.21053393185138702, + 0.10488350689411163 + ], + [ + -0.024729236960411072, + 0.9996933341026306, + -0.0013132418971508741, + 0.02385607548058033 + ], + [ + 0.21043796837329865, + 0.006489766761660576, + 0.9775856733322144, + -0.04015641286969185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9771100282669067, + 0.024428412318229675, + -0.21132740378379822, + 0.10486413538455963 + ], + [ + -0.024486050009727478, + 0.9996974468231201, + 0.0023444911930710077, + 0.0224703811109066 + ], + [ + 0.21132072806358337, + 0.0028837474528700113, + 0.9774125218391418, + -0.03447333723306656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9769745469093323, + 0.02530921809375286, + -0.21184949576854706, + 0.1047401949763298 + ], + [ + -0.024887477979063988, + 0.9996793866157532, + 0.004657420329749584, + 0.021838150918483734 + ], + [ + 0.21189944446086884, + 0.0007222183048725128, + 0.9772912263870239, + -0.029275663197040558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 408.5533040364583, + "fy": 408.55692545572913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/caption.txt b/dynpose_eval/source/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..4049710bf580edd3957d9e8e825e35caf88bdb6d --- /dev/null +++ b/dynpose_eval/source/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/caption.txt @@ -0,0 +1 @@ +Two men are sitting at a desk in an office, one of them is signing some papers while the other is discussing something with him. diff --git a/dynpose_eval/source/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/extras/source_metadata.json b/dynpose_eval/source/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/extras/source_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7d3bd059e126258ef79b29997f5f31d109b84084 --- /dev/null +++ b/dynpose_eval/source/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/extras/source_metadata.json @@ -0,0 +1,33 @@ +{ + "sequence": "f2bacebc-e1e4-41b3-8245-4ad7a431b5c1", + "tar_name": "dpsp-030aeb5a", + "youtube_link": "https://www.youtube.com/watch?v=7Hv2dsVkA38", + "youtube_timestamp": "0:01:26.711-0:01:30.840", + "num_frames": 100, + "original_canvas_hw": [ + 720, + 1280 + ], + "spatial_transform": { + "input_hw": [ + 720, + 1280 + ], + "crop_xywh": [ + 16, + 0, + 1248, + 720 + ], + "scale_xy": [ + 0.6666666666666666, + 0.6666666666666666 + ], + "output_hw": [ + 480, + 832 + ] + }, + "rgb_status": "complete", + "focal_sign_correction": "none" +} diff --git a/dynpose_eval/source/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/transforms.json b/dynpose_eval/source/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..dadae98540f8379f3bc7d7a867adcd6c503cc58f --- /dev/null +++ b/dynpose_eval/source/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/transforms.json @@ -0,0 +1,3513 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 100, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -4.0818325942382216e-05, + 3.487479261821136e-05, + -7.582530088257045e-05 + ], + [ + 4.081786755705252e-05, + 1.0, + 1.3043529179412872e-05, + -4.081800580024719e-05 + ], + [ + -3.4875323763117194e-05, + -1.3042104910709895e-05, + 1.0, + -3.492377231850696e-07 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999993443489075, + -0.00014612973609473556, + 0.0011244588531553745, + 0.0003381076385267079 + ], + [ + 0.0001462117797927931, + 1.0, + -7.287204061867669e-05, + 3.7721911212429404e-06 + ], + [ + -0.0011244481429457664, + 7.30364045011811e-05, + 0.9999993443489075, + 0.000360125646693632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999907612800598, + -0.0004583907430060208, + 0.004279362037777901, + 0.0005203955806791782 + ], + [ + 0.00046008056960999966, + 0.9999998211860657, + -0.0003939048619940877, + 0.00013307043991517276 + ], + [ + -0.004279180429875851, + 0.0003958700690418482, + 0.9999907612800598, + 0.00010790257510961965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999710321426392, + -0.001558051910251379, + 0.007453382946550846, + 0.0006667823763564229 + ], + [ + 0.0015587233938276768, + 0.9999988079071045, + -8.429709123447537e-05, + 2.3195625544758514e-05 + ], + [ + -0.007453242316842079, + 9.591241541784257e-05, + 0.9999722242355347, + 0.0007739114225842059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999920129776001, + -0.001855763723142445, + 0.012500453740358353, + 0.0009986843215301633 + ], + [ + 0.0018650648416951299, + 0.9999979734420776, + -0.0007324466132558882, + 4.729171996586956e-05 + ], + [ + -0.012499069795012474, + 0.0007557023200206459, + 0.9999216198921204, + -0.00011555030505405739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999901533126831, + -0.0022198676597326994, + 0.013858132064342499, + 0.001371672609820962 + ], + [ + 0.0022323133889585733, + 0.9999971389770508, + -0.0008826872799545527, + 0.0002332946751266718 + ], + [ + -0.013856133446097374, + 0.0009135360596701503, + 0.9999035596847534, + 0.00028516503516584635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998452067375183, + -0.0032294364646077156, + 0.017293991521000862, + 0.001559378346428275 + ], + [ + 0.00323684886097908, + 0.999994695186615, + -0.00040062988409772515, + 0.00024329038569703698 + ], + [ + -0.017292605713009834, + 0.00045654590940102935, + 0.9998503923416138, + 0.00021193685824982822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997807741165161, + -0.003939359448850155, + 0.020563162863254547, + 0.001750337891280651 + ], + [ + 0.003936393186450005, + 0.9999922513961792, + 0.00018474830721970648, + 0.0001901791983982548 + ], + [ + -0.020563732832670212, + -0.00010376311547588557, + 0.9997885227203369, + 0.0003355164371896535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999674379825592, + -0.004113656934350729, + 0.025182755663990974, + 0.0022286586463451385 + ], + [ + 0.004105954896658659, + 0.9999915361404419, + 0.0003575376176740974, + 0.00016688587493263185 + ], + [ + -0.025184011086821556, + -0.00025402192841283977, + 0.9996827840805054, + 0.000894855591468513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996397495269775, + -0.004532406572252512, + 0.026453929021954536, + 0.002571619115769863 + ], + [ + 0.004521728027611971, + 0.9999896883964539, + 0.0004634743672795594, + 0.00016704063455108553 + ], + [ + -0.02645575813949108, + -0.00034368998603895307, + 0.9996499419212341, + 0.0017309315735474229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995439648628235, + -0.005476576276123524, + 0.02969593182206154, + 0.002793195191770792 + ], + [ + 0.005488790571689606, + 0.999984860420227, + -0.0003298255614936352, + 0.00045419015805236995 + ], + [ + -0.02969367802143097, + 0.0004926699330098927, + 0.9995589256286621, + 0.0011720514157786965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994392395019531, + -0.005987013224512339, + 0.03294489532709122, + 0.0033284348901361227 + ], + [ + 0.006003374699503183, + 0.9999818801879883, + -0.00039772834861651063, + 0.00033568558865226805 + ], + [ + -0.03294191509485245, + 0.00059528584824875, + 0.999457061290741, + 0.001701127621345222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9992399215698242, + -0.006818885449320078, + 0.03838137164711952, + 0.0035286894999444485 + ], + [ + 0.006849620025604963, + 0.9999763369560242, + -0.0006693146424368024, + 0.00019771262304857373 + ], + [ + -0.03837589547038078, + 0.0009317037183791399, + 0.9992629289627075, + 0.0016848464729264379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9991763830184937, + -0.007094379980117083, + 0.039953287690877914, + 0.003866565180942416 + ], + [ + 0.007131143007427454, + 0.999974250793457, + -0.0007777118589729071, + 0.00031696551013737917 + ], + [ + -0.03994673863053322, + 0.001061983872205019, + 0.999201238155365, + 0.0018806388834491372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999037504196167, + -0.007364053279161453, + 0.04324091598391533, + 0.004110692068934441 + ], + [ + 0.007404918782413006, + 0.9999722838401794, + -0.0007849653484299779, + 0.00030679337214678526 + ], + [ + -0.04323393478989601, + 0.0011044052662327886, + 0.9990643858909607, + 0.0023153203073889017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.998881459236145, + -0.007444024085998535, + 0.04669441655278206, + 0.0042916517704725266 + ], + [ + 0.007498119026422501, + 0.9999713897705078, + -0.0009834428783506155, + 0.0005136867985129356 + ], + [ + -0.04668575897812843, + 0.0013324632309377193, + 0.9989087581634521, + 0.00245694094337523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.998606264591217, + -0.008327940478920937, + 0.05211644247174263, + 0.004550653509795666 + ], + [ + 0.008361885324120522, + 0.9999649524688721, + -0.0004333007091190666, + 0.00043607919360511005 + ], + [ + -0.052111003547906876, + 0.0008684884523972869, + 0.9986408948898315, + 0.0020928080193698406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9985291957855225, + -0.008617429062724113, + 0.05352708697319031, + 0.00471471156924963 + ], + [ + 0.008643358945846558, + 0.9999626278877258, + -0.00025294802617281675, + 0.000570826989132911 + ], + [ + -0.05352290719747543, + 0.0007152297766879201, + 0.9985663890838623, + 0.0029406382236629725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9983420372009277, + -0.009195228107273579, + 0.05682087317109108, + 0.005342043936252594 + ], + [ + 0.009254192002117634, + 0.9999569058418274, + -0.0007746684714220464, + 0.0007047230028547347 + ], + [ + -0.05681129917502403, + 0.0012992152478545904, + 0.9983841180801392, + 0.0034041537437587976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9981494545936584, + -0.00976787693798542, + 0.06001885235309601, + 0.005495516117662191 + ], + [ + 0.009817700833082199, + 0.9999516606330872, + -0.0005352874286472797, + 0.0006888192147016525 + ], + [ + -0.060010723769664764, + 0.0011235440615564585, + 0.998197078704834, + 0.004254700616002083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9977946877479553, + -0.010651852004230022, + 0.06551552563905716, + 0.0054300278425216675 + ], + [ + 0.010692953132092953, + 0.9999427795410156, + -0.00027672210126183927, + 0.00025192854809574783 + ], + [ + -0.06550883501768112, + 0.0009766662260517478, + 0.9978514909744263, + 0.0030703216325491667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9976882934570312, + -0.010853007435798645, + 0.06708377599716187, + 0.005778116174042225 + ], + [ + 0.010899966582655907, + 0.9999405145645142, + -0.0003340088005643338, + 0.0004813932173419744 + ], + [ + -0.06707616150379181, + 0.0010644474532455206, + 0.9977473020553589, + 0.004360715392976999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9974550008773804, + -0.0112995570525527, + 0.07039765268564224, + 0.006560526322573423 + ], + [ + 0.011384447105228901, + 0.9999348521232605, + -0.000804756535217166, + 0.0005823672981932759 + ], + [ + -0.07038397341966629, + 0.0016041467897593975, + 0.9975186586380005, + 0.0055718794465065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9971818923950195, + -0.012032238766551018, + 0.0740504190325737, + 0.0072894226759672165 + ], + [ + 0.01214040257036686, + 0.9999257922172546, + -0.0010107153793796897, + 0.0009153060964308679 + ], + [ + -0.07403276115655899, + 0.0019068688852712512, + 0.9972540140151978, + 0.009163452312350273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9967257976531982, + -0.013107542879879475, + 0.07978655397891998, + 0.007345073856413364 + ], + [ + 0.013266068883240223, + 0.9999109506607056, + -0.0014571056235581636, + 0.0005127758486196399 + ], + [ + -0.07976034283638, + 0.002510788617655635, + 0.9968109130859375, + 0.00838437583297491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9966102242469788, + -0.013248305767774582, + 0.08119463175535202, + 0.007561170496046543 + ], + [ + 0.013416603207588196, + 0.9999088048934937, + -0.0015275066252797842, + 0.0006567975506186485 + ], + [ + -0.08116699010133743, + 0.0026116848457604647, + 0.9966970682144165, + 0.00899210199713707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9964026212692261, + -0.013751409016549587, + 0.08362225443124771, + 0.007995359599590302 + ], + [ + 0.013941220007836819, + 0.9999014139175415, + -0.0016863375203683972, + 0.0006439696298912168 + ], + [ + -0.08359081298112869, + 0.0028460673056542873, + 0.9964960813522339, + 0.009357002563774586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9961709380149841, + -0.014120622538030148, + 0.0862790122628212, + 0.008122678846120834 + ], + [ + 0.014344553463160992, + 0.9998951554298401, + -0.001975986175239086, + 0.0006547996308654547 + ], + [ + -0.08624205738306046, + 0.003206053748726845, + 0.9962690472602844, + 0.00864237081259489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9956972002983093, + -0.015205463394522667, + 0.09141078591346741, + 0.008111397735774517 + ], + [ + 0.015422230586409569, + 0.9998796582221985, + -0.0016654238570481539, + 0.0007473194855265319 + ], + [ + -0.0913744568824768, + 0.003068016143515706, + 0.9958118796348572, + 0.009344234131276608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.995597779750824, + -0.015236462466418743, + 0.09248170256614685, + 0.00823226198554039 + ], + [ + 0.015462498180568218, + 0.9998789429664612, + -0.0017280373722314835, + 0.0009234496974386275 + ], + [ + -0.09244418144226074, + 0.003150428179651499, + 0.9957128763198853, + 0.009685760363936424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9953939914703369, + -0.016177533194422722, + 0.09449362009763718, + 0.009068859741091728 + ], + [ + 0.01649169810116291, + 0.9998607635498047, + -0.0025446966756135225, + 0.000879875326063484 + ], + [ + -0.09443929046392441, + 0.004091336391866207, + 0.9955222010612488, + 0.010930520482361317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9951102137565613, + -0.016436360776424408, + 0.09739367663860321, + 0.008868146687746048 + ], + [ + 0.016811229288578033, + 0.9998540878295898, + -0.0030296016484498978, + 0.0008512638160027564 + ], + [ + -0.09732967615127563, + 0.004652095027267933, + 0.9952413439750671, + 0.009821777231991291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9945449829101562, + -0.017176616936922073, + 0.1028844565153122, + 0.00949063804000616 + ], + [ + 0.017792508006095886, + 0.9998288154602051, + -0.005071447696536779, + 0.0009869406931102276 + ], + [ + -0.10277973115444183, + 0.006874355021864176, + 0.9946804046630859, + 0.009167238138616085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9943976402282715, + -0.017487455159425735, + 0.1042473241686821, + 0.009719954803586006 + ], + [ + 0.018157176673412323, + 0.9998201131820679, + -0.005478742998093367, + 0.0009477832354605198 + ], + [ + -0.1041327640414238, + 0.007340886164456606, + 0.9945363402366638, + 0.009300773963332176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9941249489784241, + -0.017876556143164635, + 0.10675232112407684, + 0.010175581090152264 + ], + [ + 0.018585296347737312, + 0.9998113512992859, + -0.005647864192724228, + 0.0006663076346740127 + ], + [ + -0.10663121938705444, + 0.007598705589771271, + 0.994269609451294, + 0.008359796367585659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9937471747398376, + -0.018501142039895058, + 0.11011034995317459, + 0.010335969738662243 + ], + [ + 0.019286612048745155, + 0.9997955560684204, + -0.006072601769119501, + 0.0007520219660364091 + ], + [ + -0.10997549444437027, + 0.008158286102116108, + 0.9939008355140686, + 0.008853988721966743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9929346442222595, + -0.018867528066039085, + 0.11715302616357803, + 0.010093657299876213 + ], + [ + 0.020046910271048546, + 0.9997594356536865, + -0.008896755054593086, + 0.0003858452837448567 + ], + [ + -0.11695698648691177, + 0.011182451620697975, + 0.9930739998817444, + 0.0083687175065279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.992725670337677, + -0.01909540593624115, + 0.11887428164482117, + 0.010242868214845657 + ], + [ + 0.020409442484378815, + 0.9997432231903076, + -0.009846330620348454, + 0.0006283033872023225 + ], + [ + -0.1186557412147522, + 0.012200863100588322, + 0.9928604960441589, + 0.009052612818777561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.992405891418457, + -0.019397445023059845, + 0.1214674636721611, + 0.01132697518914938 + ], + [ + 0.02090948075056076, + 0.9997187852859497, + -0.011185732670128345, + 0.000689622072968632 + ], + [ + -0.12121633440256119, + 0.013640607707202435, + 0.9925323724746704, + 0.008993877097964287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9919202327728271, + -0.019646942615509033, + 0.12533243000507355, + 0.011566230095922947 + ], + [ + 0.021338026970624924, + 0.9996983408927917, + -0.012164504267275333, + 0.0004351999086793512 + ], + [ + -0.12505562603473663, + 0.014740564860403538, + 0.99204021692276, + 0.008848282508552074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9909504055976868, + -0.0201884638518095, + 0.13270141184329987, + 0.011766241863369942 + ], + [ + 0.022220538929104805, + 0.999657154083252, + -0.013849969021975994, + 0.00032287221984006464 + ], + [ + -0.1323762983083725, + 0.01667333021759987, + 0.9910593032836914, + 0.008265132084488869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9906922578811646, + -0.02089666575193405, + 0.13450714945793152, + 0.011710009537637234 + ], + [ + 0.02302226796746254, + 0.9996331334114075, + -0.01426676008850336, + 0.00026883548707701266 + ], + [ + -0.13415968418121338, + 0.017230628058314323, + 0.9908099174499512, + 0.008906494826078415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9904298782348633, + -0.020792441442608833, + 0.13644157350063324, + 0.012833206914365292 + ], + [ + 0.023022832348942757, + 0.999625563621521, + -0.01478908583521843, + 0.0005044607096351683 + ], + [ + -0.1360829919576645, + 0.017788823693990707, + 0.990537703037262, + 0.009350578300654888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.989831805229187, + -0.021625109016895294, + 0.14058929681777954, + 0.012753056362271309 + ], + [ + 0.02401633933186531, + 0.99959397315979, + -0.015334092080593109, + 0.0003159234765917063 + ], + [ + -0.14020061492919922, + 0.01855461299419403, + 0.9899492263793945, + 0.008887925185263157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9886748194694519, + -0.022767698392271996, + 0.14833638072013855, + 0.013060450553894043 + ], + [ + 0.025477686896920204, + 0.9995409250259399, + -0.01639449968934059, + 0.00038920529186725616 + ], + [ + -0.14789500832557678, + 0.01998809725046158, + 0.9888010621070862, + 0.008707479573786259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9883960485458374, + -0.02293848991394043, + 0.15015698969364166, + 0.012811624445021152 + ], + [ + 0.025668993592262268, + 0.9995380640029907, + -0.016271226108074188, + -1.3597047654911876e-05 + ], + [ + -0.149714395403862, + 0.01993679255247116, + 0.9885282516479492, + 0.008004806935787201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9881513714790344, + -0.023141060024499893, + 0.1517280489206314, + 0.013845019973814487 + ], + [ + 0.02593199908733368, + 0.9995285272598267, + -0.016441194340586662, + 0.00044334775884635746 + ], + [ + -0.15127603709697723, + 0.020180998370051384, + 0.9882855415344238, + 0.010435111820697784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9875790476799011, + -0.023139996454119682, + 0.1554097682237625, + 0.014021572656929493 + ], + [ + 0.02620084024965763, + 0.9995003938674927, + -0.017675625160336494, + 0.0003254061157349497 + ], + [ + -0.15492312610149384, + 0.02152794413268566, + 0.9876919388771057, + 0.00869939848780632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9863162040710449, + -0.0244265366345644, + 0.16304510831832886, + 0.014435987919569016 + ], + [ + 0.02762346900999546, + 0.9994674921035767, + -0.017369097098708153, + 6.533302075695246e-05 + ], + [ + -0.16253402829170227, + 0.02163529209792614, + 0.9864656925201416, + 0.008885207585990429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9859492182731628, + -0.024833030998706818, + 0.16518910229206085, + 0.014282594434916973 + ], + [ + 0.028125081211328506, + 0.9994491338729858, + -0.017619505524635315, + -4.827603333978914e-05 + ], + [ + -0.16466055810451508, + 0.02201789617538452, + 0.9861044883728027, + 0.008567670360207558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9856092929840088, + -0.025242330506443977, + 0.16714420914649963, + 0.015048456378281116 + ], + [ + 0.028659695759415627, + 0.999426007270813, + -0.01806476339697838, + 0.00033312442246824503 + ], + [ + -0.16659227013587952, + 0.022595100104808807, + 0.9857669472694397, + 0.00963071919977665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9849429726600647, + -0.025840532034635544, + 0.17093747854232788, + 0.015389634296298027 + ], + [ + 0.029381174594163895, + 0.9994022846221924, + -0.018215391784906387, + 0.00027099790167994797 + ], + [ + -0.1703646183013916, + 0.02296346426010132, + 0.9851135015487671, + 0.008293909020721912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9834945797920227, + -0.026950286701321602, + 0.17891937494277954, + 0.01588827557861805 + ], + [ + 0.030838819220662117, + 0.999343991279602, + -0.018987338989973068, + 0.00037240429082885385 + ], + [ + -0.17829027771949768, + 0.024191606789827347, + 0.9836804866790771, + 0.007816354744136333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9831719994544983, + -0.026882361620664597, + 0.180693581700325, + 0.015893645584583282 + ], + [ + 0.030841108411550522, + 0.9993411302566528, + -0.019134413450956345, + 0.0003419906715862453 + ], + [ + -0.18006016314029694, + 0.024385210126638412, + 0.983353316783905, + 0.008333057165145874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9828555583953857, + -0.026928406208753586, + 0.18240025639533997, + 0.016412371769547462 + ], + [ + 0.030974332243204117, + 0.9993324875831604, + -0.01936873234808445, + 0.0005345193785615265 + ], + [ + -0.18175694346427917, + 0.024686390534043312, + 0.9830335974693298, + 0.008989677764475346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.982140302658081, + -0.027632996439933777, + 0.18610985577106476, + 0.016933055594563484 + ], + [ + 0.031733639538288116, + 0.99931401014328, + -0.019090047106146812, + 0.00029494200134649873 + ], + [ + -0.18545468151569366, + 0.024655045941472054, + 0.9823434948921204, + 0.008646400645375252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9805771708488464, + -0.028797432780265808, + 0.19400793313980103, + 0.017017710953950882 + ], + [ + 0.03329186514019966, + 0.9992466568946838, + -0.01994507946074009, + 0.00014230626402422786 + ], + [ + -0.19328740239143372, + 0.02601657621562481, + 0.9807971715927124, + 0.00793420895934105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9802647233009338, + -0.029107924550771713, + 0.19553452730178833, + 0.017411882057785988 + ], + [ + 0.03366999700665474, + 0.9992319345474243, + -0.020047320052981377, + 3.591600398067385e-05 + ], + [ + -0.19480079412460327, + 0.02623532898724079, + 0.9804918766021729, + 0.0074165756814181805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9799309968948364, + -0.029872246086597443, + 0.1970861256122589, + 0.017654478549957275 + ], + [ + 0.03451426327228546, + 0.9992008805274963, + -0.02015981823205948, + 0.00023157679243013263 + ], + [ + -0.19632640480995178, + 0.02655751258134842, + 0.9801788926124573, + 0.007078507915139198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9791904091835022, + -0.030043166130781174, + 0.2007075697183609, + 0.01791865937411785 + ], + [ + 0.03482615575194359, + 0.9991863369941711, + -0.02034161612391472, + -9.958032751455903e-05 + ], + [ + -0.19993312656879425, + 0.026908189058303833, + 0.9794399738311768, + 0.0066648200154304504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9774654507637024, + -0.030400864779949188, + 0.2088949978351593, + 0.018297113478183746 + ], + [ + 0.035403214395046234, + 0.9991679787635803, + -0.020248685032129288, + 3.466630005277693e-05 + ], + [ + -0.20810562372207642, + 0.02718794345855713, + 0.9777284264564514, + 0.006410560570657253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9770634770393372, + -0.030165288597345352, + 0.21080097556114197, + 0.018382703885436058 + ], + [ + 0.03521477058529854, + 0.9991747736930847, + -0.02024027146399021, + 4.0407019696431234e-05 + ], + [ + -0.21001645922660828, + 0.027199337258934975, + 0.9773194193840027, + 0.006630910560488701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9766503572463989, + -0.0308892372995615, + 0.21260268986225128, + 0.018627328798174858 + ], + [ + 0.03599321469664574, + 0.9991483092308044, + -0.020177822560071945, + 0.0001769879017956555 + ], + [ + -0.21179835498332977, + 0.027358930557966232, + 0.9769303798675537, + 0.0070153833366930485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.975823163986206, + -0.032056763768196106, + 0.21619796752929688, + 0.01926005445420742 + ], + [ + 0.037370115518569946, + 0.9990905523300171, + -0.020532172173261642, + 0.0001439549814676866 + ], + [ + -0.2153431475162506, + 0.028115112334489822, + 0.9761336445808411, + 0.006987962406128645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9741662740707397, + -0.0329168476164341, + 0.2234201729297638, + 0.019613230600953102 + ], + [ + 0.03843672201037407, + 0.9990527629852295, + -0.02040143869817257, + 0.00011900693061761558 + ], + [ + -0.22253698110580444, + 0.02846193127334118, + 0.9745087027549744, + 0.006809860933572054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9737324714660645, + -0.03340516984462738, + 0.22523139417171478, + 0.019759370014071465 + ], + [ + 0.03895608335733414, + 0.9990358352661133, + -0.020245149731636047, + -0.00022738325060345232 + ], + [ + -0.22433795034885406, + 0.028487492352724075, + 0.9740949273109436, + 0.006043983157724142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9733085036277771, + -0.033796388655900955, + 0.2269987314939499, + 0.019996069371700287 + ], + [ + 0.039415810257196426, + 0.9990173578262329, + -0.02026691660284996, + -0.0001331401290372014 + ], + [ + -0.2260907143354416, + 0.02867329865694046, + 0.9736841320991516, + 0.006251185201108456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9724502563476562, + -0.0348336286842823, + 0.2304932177066803, + 0.020637955516576767 + ], + [ + 0.04066598042845726, + 0.9989604353904724, + -0.020600290969014168, + 0.0005721123889088631 + ], + [ + -0.2295360267162323, + 0.0294059906154871, + 0.9728558659553528, + 0.008483185432851315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9707621335983276, + -0.035370122641325, + 0.23742331564426422, + 0.02114306017756462 + ], + [ + 0.04138178005814552, + 0.9989354610443115, + -0.020382976159453392, + 0.0005135162500664592 + ], + [ + -0.23644961416721344, + 0.029612021520733833, + 0.9711924195289612, + 0.00804754439741373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9702497124671936, + -0.03551843389868736, + 0.23948682844638824, + 0.021148327738046646 + ], + [ + 0.04154057428240776, + 0.998933732509613, + -0.020143790170550346, + 0.00048323278315365314 + ], + [ + -0.23851598799228668, + 0.029492927715182304, + 0.9706906080245972, + 0.008276848122477531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9698400497436523, + -0.03605819493532181, + 0.24106040596961975, + 0.021565737202763557 + ], + [ + 0.0421367883682251, + 0.9989094734191895, + -0.02010730281472206, + 0.0006896810373291373 + ], + [ + -0.24007248878479004, + 0.029658377170562744, + 0.9703018069267273, + 0.007539116777479649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.968805193901062, + -0.03683669492602348, + 0.2450704574584961, + 0.02175440825521946 + ], + [ + 0.043022070080041885, + 0.9988752603530884, + -0.019931990653276443, + 0.0009665408870205283 + ], + [ + -0.24406060576438904, + 0.02985365316271782, + 0.969300389289856, + 0.007739146240055561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9668666124343872, + -0.03812967985868454, + 0.25241851806640625, + 0.02233000472187996 + ], + [ + 0.044427432119846344, + 0.998826265335083, + -0.019295239821076393, + 0.0011655993293970823 + ], + [ + -0.25138652324676514, + 0.029870228841900826, + 0.9674257636070251, + 0.008140391670167446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9663379192352295, + -0.03845135122537613, + 0.2543865442276001, + 0.022346876561641693 + ], + [ + 0.04470992088317871, + 0.9988219141960144, + -0.01886436901986599, + 0.000892254407517612 + ], + [ + -0.25336146354675293, + 0.029602957889437675, + 0.9669186472892761, + 0.00774947926402092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9659000635147095, + -0.03916901722550392, + 0.25593534111976624, + 0.022938748821616173 + ], + [ + 0.04542551562190056, + 0.9987949728965759, + -0.0185776986181736, + 0.0009620087221264839 + ], + [ + -0.2548992335796356, + 0.029570192098617554, + 0.9665153622627258, + 0.007736905012279749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9648608565330505, + -0.03936097025871277, + 0.2597965896129608, + 0.022866087034344673 + ], + [ + 0.04573097825050354, + 0.9987821578979492, + -0.01851830631494522, + 0.0012656399048864841 + ], + [ + -0.2587513029575348, + 0.0297483392059803, + 0.9654858112335205, + 0.009156586602330208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9628753066062927, + -0.03986962139606476, + 0.26698610186576843, + 0.023720622062683105 + ], + [ + 0.046424366533756256, + 0.9987545013427734, + -0.018281521275639534, + 0.0011325811501592398 + ], + [ + -0.26592472195625305, + 0.029997484758496284, + 0.9635269641876221, + 0.009062769822776318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9623203277587891, + -0.04027159884572029, + 0.26891958713531494, + 0.02375430054962635 + ], + [ + 0.04683170095086098, + 0.9987401962280273, + -0.018021132797002792, + 0.0006255448097363114 + ], + [ + -0.26785504817962646, + 0.029936064034700394, + 0.9629940390586853, + 0.007265276741236448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9618095755577087, + -0.04075432941317558, + 0.2706684172153473, + 0.02397921122610569 + ], + [ + 0.047377023845911026, + 0.9987152814865112, + -0.01797661744058132, + 0.0006809485494159162 + ], + [ + -0.26958808302879333, + 0.030113546177744865, + 0.9625048041343689, + 0.006286725867539644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9607923626899719, + -0.0411004014313221, + 0.27420568466186523, + 0.02452540397644043 + ], + [ + 0.047806594520807266, + 0.9986976981163025, + -0.01781631074845791, + 0.0010171090252697468 + ], + [ + -0.2731163501739502, + 0.030226612463593483, + 0.9615060091018677, + 0.007376119960099459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9584980607032776, + -0.041765037924051285, + 0.2820233702659607, + 0.02502041682600975 + ], + [ + 0.048580799251794815, + 0.9986708760261536, + -0.017215143889188766, + 0.0009462907910346985 + ], + [ + -0.2809295654296875, + 0.03020160272717476, + 0.9592530727386475, + 0.007071858271956444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9578920602798462, + -0.04229043051600456, + 0.28399717807769775, + 0.025178659707307816 + ], + [ + 0.0491655059158802, + 0.9986438751220703, + -0.017120471224188805, + 0.00046305148862302303 + ], + [ + -0.2828879952430725, + 0.03036242537200451, + 0.958672285079956, + 0.005639451555907726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9573091268539429, + -0.04270146042108536, + 0.2858947217464447, + 0.02556166611611843 + ], + [ + 0.049761898815631866, + 0.9986082315444946, + -0.017473168671131134, + 0.0011159523855894804 + ], + [ + -0.28475067019462585, + 0.030953887850046158, + 0.958101749420166, + 0.007628528866916895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9562621116638184, + -0.04294378310441971, + 0.28934162855148315, + 0.025447193533182144 + ], + [ + 0.05007600784301758, + 0.9985957741737366, + -0.017288586124777794, + 0.001071218866854906 + ], + [ + -0.28819286823272705, + 0.031021492555737495, + 0.9570697546005249, + 0.006594337522983551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9540823101997375, + -0.04404624551534653, + 0.29628849029541016, + 0.026398170739412308 + ], + [ + 0.05141720920801163, + 0.998530387878418, + -0.017127685248851776, + 0.0011397162452340126 + ], + [ + -0.2950986623764038, + 0.03157554566860199, + 0.954944908618927, + 0.0054448493756353855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9535353183746338, + -0.0443769209086895, + 0.29799512028694153, + 0.026491085067391396 + ], + [ + 0.05172959342598915, + 0.9985193014144897, + -0.016828401014208794, + 0.0008846533019095659 + ], + [ + -0.29680708050727844, + 0.03146164119243622, + 0.9544190764427185, + 0.004203702788800001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9529688358306885, + -0.044802844524383545, + 0.2997382879257202, + 0.02664799615740776 + ], + [ + 0.05217790603637695, + 0.9984990954399109, + -0.0166422501206398, + 0.00100569031201303 + ], + [ + -0.2985427975654602, + 0.031499262899160385, + 0.9538763165473938, + 0.004720556084066629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9518036842346191, + -0.04587339982390404, + 0.3032580018043518, + 0.02726694568991661 + ], + [ + 0.053299177438020706, + 0.9984463453292847, + -0.016250930726528168, + 0.0012646877439692616 + ], + [ + -0.30204135179519653, + 0.031631093472242355, + 0.952769935131073, + 0.005178593099117279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9493718147277832, + -0.04696165397763252, + 0.31062471866607666, + 0.027500685304403305 + ], + [ + 0.05446667596697807, + 0.9983948469161987, + -0.015526307746767998, + 0.0013525155372917652 + ], + [ + -0.30939698219299316, + 0.03165893256664276, + 0.9504058361053467, + 0.004279109183698893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9488546252250671, + -0.046919647604227066, + 0.3122074604034424, + 0.02771841548383236 + ], + [ + 0.0544075109064579, + 0.998401403427124, + -0.015310889109969139, + 0.001166050904430449 + ], + [ + -0.31098997592926025, + 0.031514234840869904, + 0.9498905539512634, + 0.003990833647549152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9482735991477966, + -0.047018859535455704, + 0.31395286321640015, + 0.02775978110730648 + ], + [ + 0.05453957989811897, + 0.9983957409858704, + -0.015209339559078217, + 0.0011709898244589567 + ], + [ + -0.31273406744003296, + 0.03154547140002251, + 0.9493167400360107, + 0.004276035353541374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9472728967666626, + -0.04767768085002899, + 0.3168610632419586, + 0.028092436492443085 + ], + [ + 0.055212803184986115, + 0.9983643293380737, + -0.014838993549346924, + 0.0013821265893056989 + ], + [ + -0.3156352937221527, + 0.031551361083984375, + 0.9483559131622314, + 0.004128048662096262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9452792406082153, + -0.048015493899583817, + 0.32270994782447815, + 0.02870364859700203 + ], + [ + 0.05577855929732323, + 0.9983327984809875, + -0.01484574656933546, + 0.0012397482059895992 + ], + [ + -0.3214590847492218, + 0.03203367069363594, + 0.9463814496994019, + 0.0032812084536999464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.944745659828186, + -0.04833595082163811, + 0.324221134185791, + 0.028752489015460014 + ], + [ + 0.05612236633896828, + 0.9983156323432922, + -0.014702387154102325, + 0.000991766108199954 + ], + [ + -0.3229643702507019, + 0.032086070626974106, + 0.9458670616149902, + 0.0025430803652852774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9442654252052307, + -0.04854720085859299, + 0.3255855143070221, + 0.029029477387666702 + ], + [ + 0.05634462088346481, + 0.9983052611351013, + -0.01455640234053135, + 0.000794840743765235 + ], + [ + -0.3243270814418793, + 0.03209009766578674, + 0.9454005360603333, + 0.0023748434614390135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9432706236839294, + -0.04886758700013161, + 0.32840898633003235, + 0.02870066463947296 + ], + [ + 0.056756217032670975, + 0.9982831478118896, + -0.014472145587205887, + 0.0005238949088379741 + ], + [ + -0.32713791728019714, + 0.03229039907455444, + 0.9444247484207153, + 0.002386084757745266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9411059617996216, + -0.04971006512641907, + 0.33443763852119446, + 0.029416874051094055 + ], + [ + 0.057908035814762115, + 0.9982154369354248, + -0.014580415561795235, + 0.00027221604250371456 + ], + [ + -0.3331160247325897, + 0.03308834135532379, + 0.9423050880432129, + 0.00111800292506814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9404769539833069, + -0.049883827567100525, + 0.33617666363716125, + 0.02927243523299694 + ], + [ + 0.05814748257398605, + 0.9982019066810608, + -0.01455256249755621, + 0.0002170685911551118 + ], + [ + -0.33484622836112976, + 0.03323417156934738, + 0.9416865110397339, + 0.0016715629026293755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9399676322937012, + -0.05009625107049942, + 0.33756667375564575, + 0.030027151107788086 + ], + [ + 0.05846580117940903, + 0.9981817007064819, + -0.014666134491562843, + 0.0004224086878821254 + ], + [ + -0.3362181782722473, + 0.03352179378271103, + 0.9411873817443848, + 0.0017135117668658495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9371036887168884, + -0.05121322348713875, + 0.34527361392974854, + 0.030390504747629166 + ], + [ + 0.05979776754975319, + 0.9981088042259216, + -0.014250554144382477, + 0.0004529429425019771 + ], + [ + -0.3438907861709595, + 0.034000836312770844, + 0.9383938908576965, + 0.0007752114324830472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/source/ff6ad8f8-19f6-4886-a73b-eac0b8a69c05/transforms.json b/dynpose_eval/source/ff6ad8f8-19f6-4886-a73b-eac0b8a69c05/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5423fd3f379dc6d11f12a5d0f49e6168ff6c9bf0 --- /dev/null +++ b/dynpose_eval/source/ff6ad8f8-19f6-4886-a73b-eac0b8a69c05/transforms.json @@ -0,0 +1,7013 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 200, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.5967498155951034e-06, + -0.0001237826800206676, + 0.00024317401403095573 + ], + [ + 5.580058768828167e-06, + 1.0, + -0.00013484434748534113, + 0.00027799265808425844 + ], + [ + 0.0001237834367202595, + 0.00013484364899341017, + 1.0, + -0.00018650908896233886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999966025352478, + -0.0022453507408499718, + 0.0013375270646065474, + 0.0012272166786715388 + ], + [ + 0.0022485293447971344, + 0.9999946355819702, + -0.002379710553213954, + -0.0012259691720828414 + ], + [ + -0.0013321766164153814, + 0.002382709877565503, + 0.9999962449073792, + 0.003502758452668786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999934434890747, + -0.0029105471912771463, + 0.0021674332674592733, + 0.0012023997260257602 + ], + [ + 0.0029213714879006147, + 0.9999831914901733, + -0.005007697269320488, + -0.0024379703681916 + ], + [ + -0.002152821747586131, + 0.0050139958038926125, + 0.9999850988388062, + 0.0071867178194224834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956488609314, + -0.002176648238673806, + 0.001983844907954335, + 0.00876037310808897 + ], + [ + 0.002195530803874135, + 0.9999518394470215, + -0.009566236287355423, + 0.002857116051018238 + ], + [ + -0.0019629269372671843, + 0.009570550173521042, + 0.9999522566795349, + 0.01128852367401123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999811053276062, + -0.001418204396031797, + 0.005983722396194935, + 0.007435257080942392 + ], + [ + 0.0014849494909867644, + 0.999936580657959, + -0.011164793744683266, + 0.0026224213652312756 + ], + [ + -0.005967509001493454, + 0.011173468083143234, + 0.9999197721481323, + 0.014917065389454365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.99994295835495, + -0.005567749962210655, + 0.009113989770412445, + 0.001161430380307138 + ], + [ + 0.005682320334017277, + 0.9999045729637146, + -0.01259361021220684, + 0.0002848737931344658 + ], + [ + -0.009043002501130104, + 0.012644680216908455, + 0.9998791813850403, + 0.01869705505669117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999285340309143, + -0.008431286551058292, + 0.008475447073578835, + 0.0017957491800189018 + ], + [ + 0.008555215783417225, + 0.9998554587364197, + -0.014693910256028175, + 0.0021963384933769703 + ], + [ + -0.008350333198904991, + 0.014765368774533272, + 0.9998561143875122, + 0.021832797676324844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998974204063416, + -0.011480394750833511, + 0.00856637954711914, + 0.002223164075985551 + ], + [ + 0.011607950553297997, + 0.9998202323913574, + -0.014992177486419678, + 0.0016228315653279424 + ], + [ + -0.00839272327721119, + 0.015090078115463257, + 0.9998509287834167, + 0.025649283081293106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998573660850525, + -0.015052594244480133, + 0.007656376343220472, + 0.0056001669727265835 + ], + [ + 0.015174612402915955, + 0.9997546672821045, + -0.01613646000623703, + 0.004072265233844519 + ], + [ + -0.007411602418869734, + 0.01625034213066101, + 0.999840497970581, + 0.029883261770009995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998888373374939, + -0.014365858398377895, + 0.003994467202574015, + 0.020871328189969063 + ], + [ + 0.014437983743846416, + 0.9997217059135437, + -0.018655462190508842, + 0.014938308857381344 + ], + [ + -0.0037253540940582752, + 0.018711058422923088, + 0.999817967414856, + 0.03371289372444153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999077320098877, + -0.011643033474683762, + 0.006999270990490913, + 0.026627374812960625 + ], + [ + 0.011749668046832085, + 0.9998124837875366, + -0.015392012894153595, + 0.02014048770070076 + ], + [ + -0.006818749010562897, + 0.015472831204533577, + 0.9998570084571838, + 0.03817318007349968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999097585678101, + -0.007808641064912081, + 0.010930648073554039, + 0.03111608698964119 + ], + [ + 0.007910365238785744, + 0.9999254941940308, + -0.009294193238019943, + 0.021482067182660103 + ], + [ + -0.01085725985467434, + 0.00937982089817524, + 0.9998970627784729, + 0.04238887503743172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998574256896973, + -0.0020404455717653036, + 0.016760552302002907, + 0.03472181782126427 + ], + [ + 0.0021099967416375875, + 0.9999892115592957, + -0.0041330549865961075, + 0.0243726447224617 + ], + [ + -0.016751939430832863, + 0.0041678305715322495, + 0.9998509883880615, + 0.04616221785545349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9997009038925171, + 0.0009556528530083597, + 0.02443731762468815, + 0.036462344229221344 + ], + [ + -0.0010339673608541489, + 0.9999943971633911, + 0.0031922757625579834, + 0.024339940398931503 + ], + [ + -0.024434128776192665, + -0.0032165884040296078, + 0.9996962547302246, + 0.0498632937669754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994779229164124, + -0.0003533095878083259, + 0.03230775520205498, + 0.03146473318338394 + ], + [ + -6.443297024816275e-06, + 0.9999380111694336, + 0.011134406551718712, + 0.018790917471051216 + ], + [ + -0.03230968490242958, + -0.011128801852464676, + 0.999415934085846, + 0.05379774048924446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993356466293335, + -0.0014618407003581524, + 0.03641602024435997, + 0.030256981030106544 + ], + [ + 0.0009457196574658155, + 0.9998989105224609, + 0.01418610941618681, + 0.015953179448843002 + ], + [ + -0.03643307462334633, + -0.01414224598556757, + 0.9992360472679138, + 0.056857019662857056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988574385643005, + -0.0012350647011771798, + 0.04777368903160095, + 0.017495648935437202 + ], + [ + 0.0004953296156600118, + 0.9998798370361328, + 0.015492892824113369, + 0.01593107543885708 + ], + [ + -0.04778708517551422, + -0.015451527200639248, + 0.9987380504608154, + 0.05751628056168556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992203712463379, + -0.0031512186396867037, + 0.03935409337282181, + 0.05209488421678543 + ], + [ + 0.0024312615860253572, + 0.9998290538787842, + 0.018328815698623657, + 0.013217908330261707 + ], + [ + -0.03940512239933014, + -0.01821884512901306, + 0.9990572333335876, + 0.06680342555046082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9986242055892944, + -0.002910443115979433, + 0.0523570291697979, + 0.033970557153224945 + ], + [ + 0.0019315388053655624, + 0.9998225569725037, + 0.018737608566880226, + 0.013691548258066177 + ], + [ + -0.052402276545763016, + -0.018610699102282524, + 0.9984526038169861, + 0.06911648064851761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9980266690254211, + -0.005155244376510382, + 0.06257990002632141, + 0.0162056814879179 + ], + [ + 0.003954207058995962, + 0.9998059272766113, + 0.019300764426589012, + 0.014263899065554142 + ], + [ + -0.06266725063323975, + -0.019015224650502205, + 0.9978533387184143, + 0.07183072715997696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9984642863273621, + -0.009749137796461582, + 0.054534196853637695, + 0.034118685871362686 + ], + [ + 0.008592055179178715, + 0.9997338056564331, + 0.021411923691630363, + 0.011079608462750912 + ], + [ + -0.0547284260392189, + -0.020910480991005898, + 0.9982823133468628, + 0.07955851405858994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9983199238777161, + -0.017038963735103607, + 0.05538085103034973, + 0.02180376835167408 + ], + [ + 0.015555791556835175, + 0.9995115995407104, + 0.027102969586849213, + -0.005652106367051601 + ], + [ + -0.05581560730934143, + -0.026195939630270004, + 0.9980973601341248, + 0.08405976742506027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9988183379173279, + -0.021743807941675186, + 0.04346484690904617, + 0.03515578433871269 + ], + [ + 0.020494282245635986, + 0.9993695616722107, + 0.028989791870117188, + -0.017771754413843155 + ], + [ + -0.04406779259443283, + -0.028064753860235214, + 0.9986342787742615, + 0.09063944220542908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9988311529159546, + -0.02360720932483673, + 0.042177874594926834, + 0.01690111868083477 + ], + [ + 0.022643398493528366, + 0.9994747638702393, + 0.023184599354863167, + -0.023736167699098587 + ], + [ + -0.042703043669462204, + -0.022202448919415474, + 0.9988411068916321, + 0.09333482384681702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994263648986816, + -0.017037617042660713, + 0.029269516468048096, + 0.028749873861670494 + ], + [ + 0.016874155029654503, + 0.9998406767845154, + 0.005822646431624889, + -0.015860725194215775 + ], + [ + -0.029364056885242462, + -0.005325407721102238, + 0.9995545744895935, + 0.0980619266629219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999465823173523, + -0.017688732594251633, + 0.02747964859008789, + 0.03137192875146866 + ], + [ + 0.0177149698138237, + 0.9998428225517273, + -0.0007116583292372525, + -0.014774701558053493 + ], + [ + -0.027462739497423172, + 0.001198079320602119, + 0.999622106552124, + 0.10172995179891586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9996217489242554, + -0.018727196380496025, + 0.02013995870947838, + 0.03876955434679985 + ], + [ + 0.018839793279767036, + 0.9998078346252441, + -0.005415658000856638, + 0.0028593961615115404 + ], + [ + -0.02003466710448265, + 0.0057930420152843, + 0.9997825026512146, + 0.10669896006584167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9997029900550842, + -0.020802361890673637, + 0.012695961631834507, + 0.03476785123348236 + ], + [ + 0.02079753391444683, + 0.9997835755348206, + 0.000512316299136728, + -0.003990765195339918 + ], + [ + -0.012703870423138142, + -0.0002481195260770619, + 0.9999192953109741, + 0.11194036900997162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998037815093994, + -0.019611625000834465, + 0.002781260758638382, + 0.04242846742272377 + ], + [ + 0.019618136808276176, + 0.9998047947883606, + -0.0023332966957241297, + -0.004029704257845879 + ], + [ + -0.002734958194196224, + 0.002387401880696416, + 0.9999933838844299, + 0.1176609992980957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.999883770942688, + -0.014861988835036755, + -0.003403489710763097, + 0.05154505744576454 + ], + [ + 0.014845066703855991, + 0.9998775720596313, + -0.004944336134940386, + -0.006311304867267609 + ], + [ + 0.0034765556920319796, + 0.004893236327916384, + 0.9999819993972778, + 0.12437821179628372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999144673347473, + -0.01257313508540392, + -0.0036011128686368465, + 0.0606265589594841 + ], + [ + 0.012532311491668224, + 0.9998593926429749, + -0.011143071576952934, + -0.009112979285418987 + ], + [ + 0.0037407097406685352, + 0.011096987873315811, + 0.9999314546585083, + 0.13059407472610474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999052286148071, + -0.013364971615374088, + 0.003303977195173502, + 0.050266243517398834 + ], + [ + 0.013426740653812885, + 0.9997208714485168, + -0.019439274445176125, + -0.01408639457076788 + ], + [ + -0.0030432497151196003, + 0.01948179490864277, + 0.9998055696487427, + 0.13251996040344238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998908042907715, + -0.014596004970371723, + 0.0023180709686130285, + 0.05009983852505684 + ], + [ + 0.014654145576059818, + 0.9995160698890686, + -0.027437789365649223, + -0.017655540257692337 + ], + [ + -0.0019164670957252383, + 0.027468761429190636, + 0.9996208548545837, + 0.134734645485878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998992085456848, + -0.013857685029506683, + -0.003089051926508546, + 0.059523891657590866 + ], + [ + 0.013751829043030739, + 0.9993934035301208, + -0.03199569508433342, + -0.021892007440328598 + ], + [ + 0.003530564485117793, + 0.03194999322295189, + 0.9994832277297974, + 0.13979706168174744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999166131019592, + -0.01238210778683424, + -0.0036640684120357037, + 0.056735169142484665 + ], + [ + 0.012240788899362087, + 0.9992638230323792, + -0.03635943681001663, + -0.02810497395694256 + ], + [ + 0.004111577291041613, + 0.0363115519285202, + 0.999332070350647, + 0.1459827721118927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999337196350098, + -0.008919129148125648, + -0.0072833518497645855, + 0.06495435535907745 + ], + [ + 0.008596085011959076, + 0.999027669429779, + -0.04324134439229965, + -0.03206918388605118 + ], + [ + 0.007661944720894098, + 0.043175868690013885, + 0.9990381002426147, + 0.1544099599123001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999662041664124, + -0.006062049884349108, + -0.005549649242311716, + 0.06446876376867294 + ], + [ + 0.005785125773400068, + 0.9988003969192505, + -0.04862423986196518, + -0.03453153371810913 + ], + [ + 0.005837754812091589, + 0.048590488731861115, + 0.9988017082214355, + 0.16205410659313202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999721646308899, + -0.004713329486548901, + -0.0057818107306957245, + 0.07116952538490295 + ], + [ + 0.004398167133331299, + 0.9985656142234802, + -0.05336112156510353, + -0.03635623678565025 + ], + [ + 0.006025025621056557, + 0.05333421006798744, + 0.998558521270752, + 0.17130044102668762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999966621398926, + -0.0008556488901376724, + -0.0024303074460476637, + 0.08346009999513626 + ], + [ + 0.0007156161591410637, + 0.9983712434768677, + -0.05704687908291817, + -0.04126287251710892 + ], + [ + 0.002475161338225007, + 0.057044949382543564, + 0.9983685612678528, + 0.18146443367004395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999353289604187, + -0.0008176383562386036, + 0.011341200210154057, + 0.077511727809906 + ], + [ + 0.001484127715229988, + 0.9982637166976929, + -0.058883823454380035, + -0.03839161992073059 + ], + [ + -0.011273362673819065, + 0.05889684706926346, + 0.9982004165649414, + 0.1901690810918808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995254874229431, + -0.009236710146069527, + 0.02938602678477764, + 0.05188247561454773 + ], + [ + 0.010896449908614159, + 0.9983243346214294, + -0.05683133378624916, + -0.03827463462948799 + ], + [ + -0.028811851516366005, + 0.05712456628680229, + 0.9979512095451355, + 0.200729101896286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9993109703063965, + -0.0196716096252203, + 0.03147466108202934, + 0.052456554025411606 + ], + [ + 0.02144654653966427, + 0.9981388449668884, + -0.05708630010485649, + -0.03897092863917351 + ], + [ + -0.03029310330748558, + 0.05772199109196663, + 0.9978730082511902, + 0.2104947715997696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9990767240524292, + -0.023881670087575912, + 0.03571275994181633, + 0.05119016394019127 + ], + [ + 0.025870773941278458, + 0.9980778694152832, + -0.05631377920508385, + -0.04694145545363426 + ], + [ + -0.034299250692129135, + 0.05718569830060005, + 0.9977741837501526, + 0.2203855961561203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9989273548126221, + -0.02456405945122242, + 0.03925227373838425, + 0.0529920794069767 + ], + [ + 0.026942601427435875, + 0.9977579712867737, + -0.06126309558749199, + -0.04738316684961319 + ], + [ + -0.03765939921140671, + 0.06225493922829628, + 0.9973495602607727, + 0.2302827090024948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9987525343894958, + -0.02478838339447975, + 0.04334705322980881, + 0.0569535568356514 + ], + [ + 0.027593553066253662, + 0.9974800944328308, + -0.0653611570596695, + -0.05136619135737419 + ], + [ + -0.04161762446165085, + 0.06647571921348572, + 0.9969197511672974, + 0.24011977016925812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9982269406318665, + -0.027369504794478416, + 0.05285681039094925, + 0.05291169881820679 + ], + [ + 0.03099679760634899, + 0.9971300363540649, + -0.0690712183713913, + -0.053651995956897736 + ], + [ + -0.0508146733045578, + 0.0705871433019638, + 0.9962104558944702, + 0.247759148478508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9973604679107666, + -0.03275338187813759, + 0.06480219960212708, + 0.038037579506635666 + ], + [ + 0.03752676770091057, + 0.9965615272521973, + -0.07387029379606247, + -0.04939588904380798 + ], + [ + -0.06215988099575043, + 0.07610712200403214, + 0.9951602220535278, + 0.25567367672920227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9966940879821777, + -0.04222181439399719, + 0.0694131851196289, + 0.03438013792037964 + ], + [ + 0.047428198158741, + 0.9960434436798096, + -0.07515346258878708, + -0.04901987686753273 + ], + [ + -0.0659654289484024, + 0.07819715887308121, + 0.9947531223297119, + 0.26290714740753174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9960553050041199, + -0.05093089118599892, + 0.07266293466091156, + 0.02924158424139023 + ], + [ + 0.05647118762135506, + 0.9954807758331299, + -0.0763484388589859, + -0.04560515284538269 + ], + [ + -0.06844605505466461, + 0.08015063405036926, + 0.9944300055503845, + 0.2689609229564667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9962297081947327, + -0.05240827798843384, + 0.06913595646619797, + 0.040792569518089294 + ], + [ + 0.05765625089406967, + 0.9954215288162231, + -0.0762343630194664, + -0.04302869737148285 + ], + [ + -0.06482411175966263, + 0.0799330547451973, + 0.9946901798248291, + 0.27558109164237976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9960290789604187, + -0.048114147037267685, + 0.07490711659193039, + 0.046456124633550644 + ], + [ + 0.053662266582250595, + 0.9958203434944153, + -0.07390665262937546, + -0.03954904526472092 + ], + [ + -0.07103807479143143, + 0.07763286679983139, + 0.9944479465484619, + 0.2813991904258728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9950106143951416, + -0.044000294059515, + 0.08954278379678726, + 0.03347322344779968 + ], + [ + 0.05048589035868645, + 0.9961618781089783, + -0.07150298357009888, + -0.03716297820210457 + ], + [ + -0.08605296164751053, + 0.0756668746471405, + 0.9934130311012268, + 0.2871488630771637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9939177632331848, + -0.044361431151628494, + 0.100794717669487, + 0.023696105927228928 + ], + [ + 0.0512247197329998, + 0.9964669346809387, + -0.06655564159154892, + -0.04138642176985741 + ], + [ + -0.09748610854148865, + 0.0713140144944191, + 0.9926785826683044, + 0.29144254326820374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9929563403129578, + -0.04898893088102341, + 0.10787886381149292, + 0.017327893525362015 + ], + [ + 0.05628010630607605, + 0.9962568283081055, + -0.0656118094921112, + -0.0382210910320282 + ], + [ + -0.10426080226898193, + 0.07122109830379486, + 0.9919965863227844, + 0.29550373554229736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9921562671661377, + -0.05366861820220947, + 0.11289627850055695, + 0.013516811653971672 + ], + [ + 0.06111167371273041, + 0.9961068630218506, + -0.06353308260440826, + -0.03629544377326965 + ], + [ + -0.10904702544212341, + 0.06993402540683746, + 0.9915735125541687, + 0.2997400462627411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9915326833724976, + -0.05586377531290054, + 0.11722708493471146, + 0.009978601709008217 + ], + [ + 0.06339812278747559, + 0.9960880875587463, + -0.06155633181333542, + -0.0349678136408329 + ], + [ + -0.11332973092794418, + 0.06846708804368973, + 0.991195559501648, + 0.30351126194000244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9912846088409424, + -0.05588177219033241, + 0.11929824203252792, + 0.013719786889851093 + ], + [ + 0.0631597712635994, + 0.9963095784187317, + -0.058121249079704285, + -0.03655333071947098 + ], + [ + -0.11561005562543869, + 0.06514954566955566, + 0.9911558032035828, + 0.3077341914176941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9903904795646667, + -0.055604830384254456, + 0.12662860751152039, + 0.005240820813924074 + ], + [ + 0.06316503882408142, + 0.9964030981063843, + -0.05648984760046005, + -0.03452756628394127 + ], + [ + -0.12303202599287033, + 0.06394550949335098, + 0.9903404116630554, + 0.31188520789146423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9898868203163147, + -0.05546125769615173, + 0.13056842982769012, + -0.0012395582161843777 + ], + [ + 0.06306291371583939, + 0.9965027570724487, + -0.0548207126557827, + -0.03239501267671585 + ], + [ + -0.12707136571407318, + 0.06250032782554626, + 0.9899225234985352, + 0.31566423177719116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.989998996257782, + -0.05442909151315689, + 0.13015148043632507, + -0.001809706212952733 + ], + [ + 0.06172235310077667, + 0.9967025518417358, + -0.05267288535833359, + -0.03106585517525673 + ], + [ + -0.12685537338256836, + 0.06017936021089554, + 0.990094006061554, + 0.3196040689945221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9899735450744629, + -0.05379822477698326, + 0.13060684502124786, + -0.0032367794774472713 + ], + [ + 0.060740288347005844, + 0.9969124794006348, + -0.04976123943924904, + -0.031459156423807144 + ], + [ + -0.12752653658390045, + 0.057195406407117844, + 0.9901846647262573, + 0.3241817355155945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9897318482398987, + -0.048698924481868744, + 0.13438504934310913, + -0.010001268237829208 + ], + [ + 0.05557966232299805, + 0.9973030686378479, + -0.04793219640851021, + -0.029057743027806282 + ], + [ + -0.13168838620185852, + 0.05490909144282341, + 0.9897692203521729, + 0.3291744291782379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.989814281463623, + -0.04602780565619469, + 0.13471852242946625, + -0.01155275758355856 + ], + [ + 0.05282662436366081, + 0.9974812865257263, + -0.04733330011367798, + -0.022603154182434082 + ], + [ + -0.13220055401325226, + 0.053967900574207306, + 0.9897527098655701, + 0.3349241316318512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9898030161857605, + -0.04095802828669548, + 0.13642722368240356, + -0.02293970435857773 + ], + [ + 0.047146137803792953, + 0.9979860782623291, + -0.042439091950654984, + -0.027985872700810432 + ], + [ + -0.13441425561904907, + 0.048438359051942825, + 0.9897406101226807, + 0.3396460711956024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.990735650062561, + -0.046273935586214066, + 0.1276775747537613, + -0.023704789578914642 + ], + [ + 0.05292024835944176, + 0.9973878264427185, + -0.04916226863861084, + -0.001449396600946784 + ], + [ + -0.12506912648677826, + 0.05546354502439499, + 0.9905965328216553, + 0.3488600254058838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9917256236076355, + -0.02802874520421028, + 0.1252782642841339, + -0.04495922476053238 + ], + [ + 0.03334195166826248, + 0.9986223578453064, + -0.040517281740903854, + -0.020498361438512802 + ], + [ + -0.12397003173828125, + 0.04435904696583748, + 0.9912939667701721, + 0.34903794527053833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9936205148696899, + -0.020245976746082306, + 0.11094299703836441, + -0.025836892426013947 + ], + [ + 0.025125477463006973, + 0.9987692832946777, + -0.042761869728565216, + -0.01227324828505516 + ], + [ + -0.10994070023298264, + 0.045276567339897156, + 0.992906391620636, + 0.35784438252449036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9935203790664673, + -0.0068720122799277306, + 0.1134462058544159, + -0.038958773016929626 + ], + [ + 0.01117126364260912, + 0.9992414712905884, + -0.03730471804738045, + -0.027838196605443954 + ], + [ + -0.11310379207134247, + 0.038330335170030594, + 0.9928435683250427, + 0.3616233766078949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9930338859558105, + -0.0036175167188048363, + 0.11777354031801224, + -0.055499736219644547 + ], + [ + 0.008526819758117199, + 0.9991142153739929, + -0.041207123547792435, + -0.026500467211008072 + ], + [ + -0.11752016097307205, + 0.04192430153489113, + 0.9921851754188538, + 0.3679642975330353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9934174418449402, + -0.003232549177482724, + 0.11450497061014175, + -0.058120179921388626 + ], + [ + 0.008334635756909847, + 0.9989920258522034, + -0.044107094407081604, + -0.029561055824160576 + ], + [ + -0.11424697190523148, + 0.044771112501621246, + 0.9924430251121521, + 0.3743034303188324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9939064979553223, + -0.004153799265623093, + 0.11014833301305771, + -0.05504606291651726 + ], + [ + 0.009382663294672966, + 0.9988510608673096, + -0.04699539393186569, + -0.02911662682890892 + ], + [ + -0.10982657223939896, + 0.047742508351802826, + 0.9928035140037537, + 0.37989044189453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9941198825836182, + -0.003726957133039832, + 0.10822071135044098, + -0.05665278434753418 + ], + [ + 0.008881641551852226, + 0.9988465309143066, + -0.047188375145196915, + -0.03122514672577381 + ], + [ + -0.10792000591754913, + 0.04787207767367363, + 0.9930062890052795, + 0.38623470067977905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9940314292907715, + -0.004934557713568211, + 0.10898248851299286, + -0.06484649330377579 + ], + [ + 0.01036796160042286, + 0.9987279772758484, + -0.04934553802013397, + -0.02948710508644581 + ], + [ + -0.10860036313533783, + 0.05018094182014465, + 0.9928181171417236, + 0.3949255645275116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9943958520889282, + -0.00495303887873888, + 0.10560468584299088, + -0.06293006986379623 + ], + [ + 0.010374960489571095, + 0.9986522197723389, + -0.05085431784391403, + -0.028882475569844246 + ], + [ + -0.10521046072244644, + 0.05166497081518173, + 0.9931069612503052, + 0.40240055322647095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9947260022163391, + -0.0052194055169820786, + 0.10243506729602814, + -0.057982638478279114 + ], + [ + 0.010393732227385044, + 0.9986928701400757, + -0.0500447116792202, + -0.027160735800862312 + ], + [ + -0.10203996300697327, + 0.05084545537829399, + 0.9934800267219543, + 0.4105846583843231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9945650100708008, + -0.00852991547435522, + 0.10376738756895065, + -0.06409035623073578 + ], + [ + 0.013571360148489475, + 0.9987562894821167, + -0.04797551408410072, + -0.026960711926221848 + ], + [ + -0.1032291129231453, + 0.04912303015589714, + 0.9934438467025757, + 0.4191839098930359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9949365258216858, + -0.012169329449534416, + 0.09976562857627869, + -0.061777129769325256 + ], + [ + 0.01693693920969963, + 0.9987474679946899, + -0.04708128795027733, + -0.02662338875234127 + ], + [ + -0.09906771779060364, + 0.04853261634707451, + 0.993896484375, + 0.42755433917045593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9953292012214661, + -0.01208461169153452, + 0.09577936679124832, + -0.053866419941186905 + ], + [ + 0.016498956829309464, + 0.9988312125205994, + -0.045431576669216156, + -0.0307292602956295 + ], + [ + -0.09511839598417282, + 0.046799637377262115, + 0.9943652749061584, + 0.4366811513900757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9949883222579956, + -0.011930342763662338, + 0.09927685558795929, + -0.05468186363577843 + ], + [ + 0.016783051192760468, + 0.9986971616744995, + -0.04818987473845482, + -0.027097012847661972 + ], + [ + -0.09857259690761566, + 0.04961453005671501, + 0.993892252445221, + 0.44804447889328003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9945983290672302, + -0.01317601092159748, + 0.10295877605676651, + -0.05428134277462959 + ], + [ + 0.018262946978211403, + 0.9986502528190613, + -0.048622094094753265, + -0.027956746518611908 + ], + [ + -0.1021791622042656, + 0.05023978650569916, + 0.9934965372085571, + 0.4594436287879944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9942142963409424, + -0.014370220713317394, + 0.10644929856061935, + -0.05221541225910187 + ], + [ + 0.01980653777718544, + 0.9985432624816895, + -0.05018968507647514, + -0.025508832186460495 + ], + [ + -0.10557299107313156, + 0.05200769379734993, + 0.9930506348609924, + 0.47082480788230896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.993643045425415, + -0.018083365634083748, + 0.11111488193273544, + -0.05119679868221283 + ], + [ + 0.0236602071672678, + 0.9985146522521973, + -0.049077995121479034, + -0.027615180239081383 + ], + [ + -0.11006233841180801, + 0.051395006477832794, + 0.9925950169563293, + 0.48339998722076416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9929420351982117, + -0.02189302071928978, + 0.11656232923269272, + -0.05256884917616844 + ], + [ + 0.027911432087421417, + 0.9983464479446411, + -0.050253089517354965, + -0.026564911007881165 + ], + [ + -0.11526938527822495, + 0.053151827305555344, + 0.9919112324714661, + 0.49747607111930847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9925787448883057, + -0.024618541821837425, + 0.11908567696809769, + -0.046332839876413345 + ], + [ + 0.03075033240020275, + 0.9982792139053345, + -0.04992997646331787, + -0.02792307175695896 + ], + [ + -0.1176515594124794, + 0.053221359848976135, + 0.9916277527809143, + 0.5103707909584045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.99201500415802, + -0.031189579516649246, + 0.12220243364572525, + -0.040723491460084915 + ], + [ + 0.03729261830449104, + 0.9981520175933838, + -0.04797692596912384, + -0.02249312959611416 + ], + [ + -0.12048023194074631, + 0.05215107649564743, + 0.9913449287414551, + 0.5243844389915466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.990943193435669, + -0.03314656391739845, + 0.13012626767158508, + -0.04740389809012413 + ], + [ + 0.039060186594724655, + 0.9983043670654297, + -0.04315861314535141, + -0.029313698410987854 + ], + [ + -0.12847506999969482, + 0.04785048961639404, + 0.9905576705932617, + 0.539821982383728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9908174872398376, + -0.03190828859806061, + 0.13138720393180847, + -0.038499779999256134 + ], + [ + 0.03787259757518768, + 0.9983505606651306, + -0.043148595839738846, + -0.029943283647298813 + ], + [ + -0.1297937035560608, + 0.04772835597395897, + 0.9903916120529175, + 0.5529888868331909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9899080991744995, + -0.029222093522548676, + 0.13866502046585083, + -0.038651589304208755 + ], + [ + 0.035101570188999176, + 0.9985770583152771, + -0.04014579951763153, + -0.03387884423136711 + ], + [ + -0.13729456067085266, + 0.04460801184177399, + 0.989525318145752, + 0.5669816136360168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9890608191490173, + -0.02573039010167122, + 0.1452467292547226, + -0.03700437396764755 + ], + [ + 0.03203771635890007, + 0.998634934425354, + -0.04125382751226425, + -0.0345066636800766 + ], + [ + -0.14398698508739471, + 0.045455917716026306, + 0.9885350465774536, + 0.581187903881073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9883054494857788, + -0.018816940486431122, + 0.15132184326648712, + -0.031524572521448135 + ], + [ + 0.02540482208132744, + 0.9988062977790833, + -0.04172065109014511, + -0.038503497838974 + ], + [ + -0.15035615861415863, + 0.04507704824209213, + 0.9876037240028381, + 0.594478189945221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9863269925117493, + -0.015542430803179741, + 0.16406546533107758, + -0.028827421367168427 + ], + [ + 0.022771110758185387, + 0.9988466501235962, + -0.04227127507328987, + -0.04342247173190117 + ], + [ + -0.16321922838687897, + 0.045429255813360214, + 0.9855433106422424, + 0.6077703833580017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9846840500831604, + -0.012899169698357582, + 0.17387036979198456, + -0.024014726281166077 + ], + [ + 0.020846882835030556, + 0.998815655708313, + -0.04396207630634308, + -0.04782618209719658 + ], + [ + -0.1730973869562149, + 0.04691340774297714, + 0.9837867617607117, + 0.620496392250061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9824590682983398, + -0.011651556938886642, + 0.18611390888690948, + -0.021198470145463943 + ], + [ + 0.020663071423768997, + 0.9987020492553711, + -0.04655314236879349, + -0.04949565976858139 + ], + [ + -0.18532992899417877, + 0.04958224296569824, + 0.9814246892929077, + 0.6321545243263245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9798551201820374, + -0.0153162507340312, + 0.19912153482437134, + -0.022341467440128326 + ], + [ + 0.02545204758644104, + 0.9985015988349915, + -0.048442862927913666, + -0.04984236881136894 + ], + [ + -0.19808122515678406, + 0.0525350347161293, + 0.978776752948761, + 0.6452305912971497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9783626198768616, + -0.01846296340227127, + 0.206072136759758, + -0.014780671335756779 + ], + [ + 0.02915838733315468, + 0.998373806476593, + -0.04898545891046524, + -0.05126006156206131 + ], + [ + -0.20483259856700897, + 0.05393426865339279, + 0.9773099422454834, + 0.657423198223114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9765924215316772, + -0.01902395486831665, + 0.21425534784793854, + -0.004007725045084953 + ], + [ + 0.03025399148464203, + 0.9983277916908264, + -0.04925747588276863, + -0.050164904445409775 + ], + [ + -0.21295998990535736, + 0.05458655580878258, + 0.9755349159240723, + 0.6703943014144897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9730163216590881, + -0.019818954169750214, + 0.22988365590572357, + -0.005896462593227625 + ], + [ + 0.031633052974939346, + 0.9983549118041992, + -0.047820400446653366, + -0.05170124024152756 + ], + [ + -0.22855772078037262, + 0.05380195006728172, + 0.9720425605773926, + 0.683366060256958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9696645736694336, + -0.02170814760029316, + 0.24347355961799622, + -0.010453077033162117 + ], + [ + 0.0344269797205925, + 0.9982487559318542, + -0.04810579866170883, + -0.050485823303461075 + ], + [ + -0.24200290441513062, + 0.05502855032682419, + 0.9687138199806213, + 0.6968762278556824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.966791033744812, + -0.024387842044234276, + 0.2544018626213074, + -0.013885937631130219 + ], + [ + 0.03778783977031708, + 0.9981362223625183, + -0.04791850224137306, + -0.050698570907115936 + ], + [ + -0.25275909900665283, + 0.055940475314855576, + 0.9659107327461243, + 0.7102780342102051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9646486639976501, + -0.0289351437240839, + 0.26194602251052856, + -0.013008367270231247 + ], + [ + 0.042555876076221466, + 0.9980126023292542, + -0.046474575996398926, + -0.05236184597015381 + ], + [ + -0.2600806951522827, + 0.055978983640670776, + 0.9639628529548645, + 0.7230792045593262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.962652325630188, + -0.03476721793413162, + 0.2684989869594574, + -0.014363081194460392 + ], + [ + 0.04939790815114975, + 0.9976286292076111, + -0.04792660474777222, + -0.04966919496655464 + ], + [ + -0.26619598269462585, + 0.05939994752407074, + 0.9620869755744934, + 0.7358546853065491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9621564745903015, + -0.04006480425596237, + 0.26953619718551636, + -0.008851626887917519 + ], + [ + 0.05494588613510132, + 0.997340202331543, + -0.047890789806842804, + -0.04657727852463722 + ], + [ + -0.26690053939819336, + 0.06088833510875702, + 0.9617986679077148, + 0.747064471244812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9622337222099304, + -0.047748271375894547, + 0.26800447702407837, + -0.004853720776736736 + ], + [ + 0.06191598251461983, + 0.9970817565917969, + -0.04465864598751068, + -0.04654388502240181 + ], + [ + -0.2650899887084961, + 0.05956581234931946, + 0.9623820781707764, + 0.7583597302436829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9623360633850098, + -0.05250197649002075, + 0.26674485206604004, + -0.007694619707763195 + ], + [ + 0.06612402945756912, + 0.9969127774238586, + -0.0423387810587883, + -0.047006756067276 + ], + [ + -0.2636984586715698, + 0.05838237702846527, + 0.962836742401123, + 0.7699350714683533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9628025889396667, + -0.05275910347700119, + 0.2650049924850464, + -0.011922094039618969 + ], + [ + 0.06624356657266617, + 0.9969106912612915, + -0.04220057278871536, + -0.046187981963157654 + ], + [ + -0.26195985078811646, + 0.058185696601867676, + 0.9633231163024902, + 0.7810388207435608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9643700122833252, + -0.051006197929382324, + 0.25959348678588867, + -0.00979819055646658 + ], + [ + 0.06379881501197815, + 0.9971165060997009, + -0.04108940809965134, + -0.04884035885334015 + ], + [ + -0.25674915313720703, + 0.05618715286254883, + 0.9648434519767761, + 0.7905650734901428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9653811454772949, + -0.047751400619745255, + 0.25643524527549744, + -0.01442399900406599 + ], + [ + 0.06005344167351723, + 0.9973791241645813, + -0.04035409167408943, + -0.05141907185316086 + ], + [ + -0.25383618474006653, + 0.054356899112463, + 0.9657186269760132, + 0.8005772829055786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9662643671035767, + -0.04227561876177788, + 0.2540588974952698, + -0.019812293350696564 + ], + [ + 0.05441075190901756, + 0.997679591178894, + -0.04092615097761154, + -0.0533389151096344 + ], + [ + -0.2517392039299011, + 0.05336901545524597, + 0.9663224816322327, + 0.8097178936004639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.967255175113678, + -0.032717861235141754, + 0.25168830156326294, + -0.019818641245365143 + ], + [ + 0.04453594982624054, + 0.9981495141983032, + -0.04140165448188782, + -0.057973962277173996 + ], + [ + -0.2498679757118225, + 0.05125514417886734, + 0.966922402381897, + 0.8169708847999573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9667806625366211, + -0.023973578587174416, + 0.2544807195663452, + -0.024420205503702164 + ], + [ + 0.03597532957792282, + 0.9984437823295593, + -0.04261220246553421, + -0.06240914389491081 + ], + [ + -0.2530631422996521, + 0.05035167932510376, + 0.9661386013031006, + 0.8244499564170837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9649122953414917, + -0.014709144830703735, + 0.262160062789917, + -0.033140432089567184 + ], + [ + 0.027504920959472656, + 0.9985989332199097, + -0.045206353068351746, + -0.06933434307575226 + ], + [ + -0.2611278295516968, + 0.05083085596561432, + 0.9639649987220764, + 0.8317601084709167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9632377624511719, + -0.010484853759407997, + 0.26844558119773865, + -0.03606231138110161 + ], + [ + 0.024740351364016533, + 0.9984539151191711, + -0.049776192754507065, + -0.07194262742996216 + ], + [ + -0.2675086557865143, + 0.054587747901678085, + 0.9620079398155212, + 0.8377485871315002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9611353874206543, + -0.005489993840456009, + 0.2760229706764221, + -0.040177978575229645 + ], + [ + 0.021237149834632874, + 0.9983100295066833, + -0.05409354716539383, + -0.07506942749023438 + ], + [ + -0.27525949478149414, + 0.05785316228866577, + 0.959627628326416, + 0.8427574634552002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9595057964324951, + 0.0005344292148947716, + 0.2816883623600006, + -0.026702335104346275 + ], + [ + 0.0163683220744133, + 0.9982027411460876, + -0.05764870345592499, + -0.08291152864694595 + ], + [ + -0.2812128961086273, + 0.05992502719163895, + 0.9577725529670715, + 0.84611976146698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.953061580657959, + 0.00028570275753736496, + 0.3027764856815338, + -0.04444235563278198 + ], + [ + 0.019869215786457062, + 0.9977850317955017, + -0.06348463147878647, + -0.08004990220069885 + ], + [ + -0.3021239936351776, + 0.06652069836854935, + 0.9509448409080505, + 0.8524640798568726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9509159922599792, + -0.0015373053029179573, + 0.309445321559906, + -0.0441063828766346 + ], + [ + 0.022954579442739487, + 0.9975830912590027, + -0.06558279693126678, + -0.08655288815498352 + ], + [ + -0.3085966110229492, + 0.06946691870689392, + 0.948652982711792, + 0.8559162020683289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9498627185821533, + 0.003909858874976635, + 0.31264278292655945, + -0.020578712224960327 + ], + [ + 0.020033005625009537, + 0.9971062541007996, + -0.07333337515592575, + -0.09309185296297073 + ], + [ + -0.3120248019695282, + 0.07591981440782547, + 0.9470357298851013, + 0.856663167476654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9393448233604431, + 0.007514753844588995, + 0.3428919315338135, + -0.036889027804136276 + ], + [ + 0.021731127053499222, + 0.9964470267295837, + -0.08136989176273346, + -0.0886838510632515 + ], + [ + -0.3422850966453552, + 0.08388581871986389, + 0.9358440637588501, + 0.8594558835029602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.929360032081604, + 0.003406253643333912, + 0.3691590428352356, + -0.06253712624311447 + ], + [ + 0.029911451041698456, + 0.9959750771522522, + -0.08449219167232513, + -0.08662572503089905 + ], + [ + -0.36796098947525024, + 0.08956573903560638, + 0.9255174994468689, + 0.8655092120170593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9246799945831299, + -0.0023355893790721893, + 0.38073810935020447, + -0.06472976505756378 + ], + [ + 0.03731005638837814, + 0.9957243204116821, + -0.08450496196746826, + -0.0902690440416336 + ], + [ + -0.3789128363132477, + 0.09234540164470673, + 0.9208134412765503, + 0.8691645860671997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9193406701087952, + -0.005414659157395363, + 0.39342519640922546, + -0.06307332217693329 + ], + [ + 0.0421876534819603, + 0.9954975247383118, + -0.08488156646490097, + -0.09143585711717606 + ], + [ + -0.3911941945552826, + 0.09463276714086533, + 0.9154298305511475, + 0.8725422620773315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9162461757659912, + -0.012200819328427315, + 0.4004298448562622, + -0.05607051029801369 + ], + [ + 0.049994222819805145, + 0.9952048063278198, + -0.08407141268253326, + -0.08645118772983551 + ], + [ + -0.3974839448928833, + 0.0970492959022522, + 0.912462592124939, + 0.8765479326248169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9197728037834167, + -0.013558551669120789, + 0.3922170400619507, + -0.02671751007437706 + ], + [ + 0.04592595621943474, + 0.9962549209594727, + -0.0732596293091774, + -0.11140728741884232 + ], + [ + -0.3897548317909241, + 0.08539514988660812, + 0.9169508218765259, + 0.8765980005264282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9214165210723877, + -0.0157201886177063, + 0.3882582485675812, + -0.004296420142054558 + ], + [ + 0.04569240286946297, + 0.9966326355934143, + -0.06808479130268097, + -0.12152543663978577 + ], + [ + -0.38588055968284607, + 0.08047489821910858, + 0.919032096862793, + 0.8794403672218323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.921558141708374, + -0.017193503677845, + 0.3878594636917114, + 0.008539184927940369 + ], + [ + 0.044605180621147156, + 0.9970924258232117, + -0.06178206205368042, + -0.13229508697986603 + ], + [ + -0.385669469833374, + 0.07423630356788635, + 0.9196456074714661, + 0.8813888430595398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.921443521976471, + -0.01725064218044281, + 0.3881291449069977, + 0.020381882786750793 + ], + [ + 0.0434245727956295, + 0.9973268508911133, + -0.05876591429114342, + -0.13489142060279846 + ], + [ + -0.3860778510570526, + 0.07100380957126617, + 0.919729471206665, + 0.8847245573997498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9183597564697266, + -0.019389841705560684, + 0.3952712416648865, + 0.015287937596440315 + ], + [ + 0.04723058268427849, + 0.9970303773880005, + -0.06082509085536003, + -0.11867131292819977 + ], + [ + -0.39291805028915405, + 0.07452820986509323, + 0.9165483713150024, + 0.8897995352745056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9211805462837219, + -0.019382795318961143, + 0.3886524736881256, + 0.039587631821632385 + ], + [ + 0.0390438511967659, + 0.9983224868774414, + -0.042753253132104874, + -0.14584305882453918 + ], + [ + -0.38717183470726013, + 0.05455795302987099, + 0.9203919768333435, + 0.8905625343322754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9222637414932251, + -0.015742789953947067, + 0.38624051213264465, + 0.05472567677497864 + ], + [ + 0.031247597187757492, + 0.9989367127418518, + -0.03389720991253853, + -0.15177209675312042 + ], + [ + -0.38529619574546814, + 0.04333125427365303, + 0.9217750430107117, + 0.8939056992530823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9236983060836792, + -0.013447421602904797, + 0.38288453221321106, + 0.06897007673978806 + ], + [ + 0.024925507605075836, + 0.9993758201599121, + -0.02503267116844654, + -0.15640465915203094 + ], + [ + -0.3823089301586151, + 0.03266622871160507, + 0.9234569668769836, + 0.8974565267562866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9244815111160278, + -0.009688680991530418, + 0.3811038136482239, + 0.07967473566532135 + ], + [ + 0.01771673932671547, + 0.9996888041496277, + -0.017562493681907654, + -0.1576342135667801 + ], + [ + -0.3808150291442871, + 0.02298811823129654, + 0.9243654608726501, + 0.9014047384262085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9228097200393677, + -0.004031544551253319, + 0.3852349519729614, + 0.08082315325737 + ], + [ + 0.009381372481584549, + 0.9998838901519775, + -0.012008634395897388, + -0.15450556576251984 + ], + [ + -0.3851417899131775, + 0.014695716090500355, + 0.9227403998374939, + 0.9065136313438416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.920798659324646, + 0.0052156210877001286, + 0.39000338315963745, + 0.08934207260608673 + ], + [ + -0.0014766372041776776, + 0.9999500513076782, + -0.009886260144412518, + -0.15080077946186066 + ], + [ + -0.3900354504585266, + 0.008527361787855625, + 0.9207603335380554, + 0.9121587872505188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9171968698501587, + 0.008565934374928474, + 0.39834219217300415, + 0.091944620013237 + ], + [ + -0.006198401562869549, + 0.9999546408653259, + -0.007230947259813547, + -0.14493119716644287 + ], + [ + -0.39838606119155884, + 0.004163117613643408, + 0.9172083735466003, + 0.9181371927261353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9154767990112305, + -0.0013074930757284164, + 0.40236860513687134, + 0.09887992590665817 + ], + [ + -0.0011622614692896605, + 0.9999819397926331, + 0.005893833003938198, + -0.15933236479759216 + ], + [ + -0.40236902236938477, + -0.005863324739038944, + 0.9154587984085083, + 0.9223179817199707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9121829271316528, + -0.0061879404820501804, + 0.4097365736961365, + 0.09599512815475464 + ], + [ + 0.009177538566291332, + 0.9999436736106873, + -0.00533025898039341, + -0.13426442444324493 + ], + [ + -0.40968048572540283, + 0.008622544817626476, + 0.9121883511543274, + 0.9310348033905029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9109739065170288, + -0.013194320723414421, + 0.4122529625892639, + 0.10047083348035812 + ], + [ + 0.016863949596881866, + 0.999843955039978, + -0.005264622159302235, + -0.1341029852628708 + ], + [ + -0.41211915016174316, + 0.011748145334422588, + 0.9110541939735413, + 0.9376154541969299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9103566408157349, + -0.01757594756782055, + 0.413451224565506, + 0.10687913745641708 + ], + [ + 0.022983631119132042, + 0.9997029304504395, + -0.008108755573630333, + -0.13133671879768372 + ], + [ + -0.41318586468696594, + 0.016884470358490944, + 0.9104901552200317, + 0.945354700088501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9114498496055603, + -0.015781661495566368, + 0.41110843420028687, + 0.12185432016849518 + ], + [ + 0.025452109053730965, + 0.9995129108428955, + -0.018059339374303818, + -0.12319260835647583 + ], + [ + -0.4106231927871704, + 0.026923757046461105, + 0.9114075303077698, + 0.9555363059043884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9112939238548279, + -0.02165367268025875, + 0.41118669509887695, + 0.12962979078292847 + ], + [ + 0.033177848905324936, + 0.9992307424545288, + -0.020909622311592102, + -0.1273958384990692 + ], + [ + -0.4104176163673401, + 0.032697103917598724, + 0.9113112688064575, + 0.9633455872535706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9114317297935486, + -0.01526539959013462, + 0.41116806864738464, + 0.14078012108802795 + ], + [ + 0.034214623272418976, + 0.9986624121665955, + -0.038765937089920044, + -0.1075596734881401 + ], + [ + -0.41002628207206726, + 0.049400463700294495, + 0.9107348918914795, + 0.9751170873641968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.911491334438324, + -0.021110814064741135, + 0.41077718138694763, + 0.1484367698431015 + ], + [ + 0.04236632212996483, + 0.998188853263855, + -0.042709190398454666, + -0.11224964261054993 + ], + [ + -0.40913155674934387, + 0.05633217468857765, + 0.9107348918914795, + 0.9835116267204285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9129031896591187, + -0.022666050121188164, + 0.40754637122154236, + 0.16334165632724762 + ], + [ + 0.04815010726451874, + 0.9974656701087952, + -0.0523812398314476, + -0.10347427427768707 + ], + [ + -0.4053262174129486, + 0.0674424022436142, + 0.9116809964179993, + 0.994174599647522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9128774404525757, + -0.024271845817565918, + 0.4075115919113159, + 0.17438139021396637 + ], + [ + 0.052539028227329254, + 0.9969146251678467, + -0.05831671506166458, + -0.09674530476331711 + ], + [ + -0.40483880043029785, + 0.07464627176523209, + 0.9113360643386841, + 1.0052719116210938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9108152985572815, + -0.030720500275492668, + 0.41166946291923523, + 0.1816125363111496 + ], + [ + 0.05969788879156113, + 0.9965466260910034, + -0.05771461874246597, + -0.10049817711114883 + ], + [ + -0.40847477316856384, + 0.07714315503835678, + 0.9095038771629333, + 1.014540672302246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9099100828170776, + -0.03590380400419235, + 0.4132488965988159, + 0.19550402462482452 + ], + [ + 0.06656584143638611, + 0.9959742426872253, + -0.06003565341234207, + -0.09766556322574615 + ], + [ + -0.40942972898483276, + 0.08213529735803604, + 0.9086369276046753, + 1.0252496004104614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9082069993019104, + -0.04470406472682953, + 0.4161268472671509, + 0.2029750794172287 + ], + [ + 0.07649299502372742, + 0.9952614903450012, + -0.06002795323729515, + -0.09579648077487946 + ], + [ + -0.41147154569625854, + 0.08634859323501587, + 0.9073230624198914, + 1.0344663858413696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9061797261238098, + -0.055739808827638626, + 0.4192032217979431, + 0.20798902213573456 + ], + [ + 0.08689004182815552, + 0.9946667551994324, + -0.05557079240679741, + -0.09787674993276596 + ], + [ + -0.41387003660202026, + 0.08678171038627625, + 0.9061900973320007, + 1.0443123579025269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.906322717666626, + -0.06253847479820251, + 0.41793307662010193, + 0.21954283118247986 + ], + [ + 0.0939251035451889, + 0.9940624833106995, + -0.05493536219000816, + -0.09112577140331268 + ], + [ + -0.41201600432395935, + 0.08904357254505157, + 0.9068153500556946, + 1.0552774667739868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9064554572105408, + -0.07109332084655762, + 0.4162743091583252, + 0.22666482627391815 + ], + [ + 0.10081848502159119, + 0.9936559200286865, + -0.04983532801270485, + -0.09107446670532227 + ], + [ + -0.41009044647216797, + 0.08714164793491364, + 0.9078723192214966, + 1.065665602684021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9077933430671692, + -0.07624363899230957, + 0.4124295711517334, + 0.2351803481578827 + ], + [ + 0.10356959700584412, + 0.9936361908912659, + -0.04427752643823624, + -0.09462179243564606 + ], + [ + -0.4064290523529053, + 0.08291000872850418, + 0.9099128246307373, + 1.0737251043319702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9079107642173767, + -0.07966004312038422, + 0.4115244448184967, + 0.24000902473926544 + ], + [ + 0.10618540644645691, + 0.9934605956077576, + -0.04196048900485039, + -0.09214996546506882 + ], + [ + -0.4054907262325287, + 0.08179426193237305, + 0.9104322791099548, + 1.0833576917648315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9084640741348267, + -0.086583711206913, + 0.40889641642570496, + 0.2458498179912567 + ], + [ + 0.1116543635725975, + 0.9930281639099121, + -0.03779421001672745, + -0.09498365223407745 + ], + [ + -0.40277329087257385, + 0.07998974621295929, + 0.911797821521759, + 1.0894654989242554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9096170663833618, + -0.0861763134598732, + 0.40641164779663086, + 0.25105220079421997 + ], + [ + 0.11162153631448746, + 0.9929743409156799, + -0.03927541524171829, + -0.09279219806194305 + ], + [ + -0.40017175674438477, + 0.08108988404273987, + 0.9128455519676208, + 1.0958304405212402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.910591185092926, + -0.08444582670927048, + 0.4045894145965576, + 0.2537732720375061 + ], + [ + 0.10935940593481064, + 0.993243932723999, + -0.03882061690092087, + -0.09466847777366638 + ], + [ + -0.3985777497291565, + 0.07959537208080292, + 0.9136741161346436, + 1.0996508598327637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9104094505310059, + -0.08365554362535477, + 0.4051622152328491, + 0.2546439468860626 + ], + [ + 0.10790879279375076, + 0.9934589266777039, + -0.037350066006183624, + -0.09792116284370422 + ], + [ + -0.3993874788284302, + 0.0777244120836258, + 0.913481593132019, + 1.1029956340789795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9097408056259155, + -0.08198865503072739, + 0.4070006310939789, + 0.2526281774044037 + ], + [ + 0.1043725237250328, + 0.993988573551178, + -0.033061783760786057, + -0.10564443469047546 + ], + [ + -0.40184327960014343, + 0.07255733013153076, + 0.9128293395042419, + 1.1051826477050781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9119802713394165, + -0.07656509429216385, + 0.40302571654319763, + 0.2588105797767639 + ], + [ + 0.10071180015802383, + 0.9941498041152954, + -0.039029791951179504, + -0.09427866339683533 + ], + [ + -0.3976795971393585, + 0.07618384808301926, + 0.9143560528755188, + 1.107947826385498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9108994007110596, + -0.07730776816606522, + 0.4053218960762024, + 0.24897810816764832 + ], + [ + 0.10005996376276016, + 0.9943580627441406, + -0.035213880240917206, + -0.09769577533006668 + ], + [ + -0.40031278133392334, + 0.072632797062397, + 0.9134955406188965, + 1.1105732917785645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9134898781776428, + -0.07172903418540955, + 0.4004886746406555, + 0.24911832809448242 + ], + [ + 0.09472784399986267, + 0.9947815537452698, + -0.03789924830198288, + -0.08895476907491684 + ], + [ + -0.3956802487373352, + 0.07255800068378448, + 0.9155176281929016, + 1.111646056175232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8842032551765442, + -0.09491778910160065, + 0.4573567509651184, + 0.12806639075279236 + ], + [ + 0.11305814981460571, + 0.9935111999511719, + -0.01238529197871685, + -0.11917223781347275 + ], + [ + -0.4532134532928467, + 0.06265901774168015, + 0.889197051525116, + 1.128469705581665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8859570622444153, + -0.09357060492038727, + 0.4542297124862671, + 0.12067769467830658 + ], + [ + 0.1107499748468399, + 0.9937841296195984, + -0.011295478790998459, + -0.12127424031496048 + ], + [ + -0.4503493309020996, + 0.06031322851777077, + 0.8908129930496216, + 1.1275142431259155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8875017166137695, + -0.08024046570062637, + 0.453764408826828, + 0.11332322657108307 + ], + [ + 0.0955042764544487, + 0.995370626449585, + -0.010779174044728279, + -0.12308967858552933 + ], + [ + -0.4507988393306732, + 0.05290297418832779, + 0.8910565376281738, + 1.1228175163269043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8863557577133179, + -0.0638510063290596, + 0.45858094096183777, + 0.10561815649271011 + ], + [ + 0.07666599005460739, + 0.9970128536224365, + -0.00936163030564785, + -0.12528865039348602 + ], + [ + -0.45661333203315735, + 0.04345529526472092, + 0.8886033296585083, + 1.1188822984695435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8817788362503052, + -0.052407994866371155, + 0.4687424898147583, + 0.09836098551750183 + ], + [ + 0.06344559788703918, + 0.9979550242424011, + -0.0077743493020534515, + -0.1275349110364914 + ], + [ + -0.4673764705657959, + 0.036594901233911514, + 0.8833006620407104, + 1.115462303161621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.875804603099823, + -0.04994601011276245, + 0.4800747036933899, + 0.09094572067260742 + ], + [ + 0.0599714070558548, + 0.9981846213340759, + -0.005557240918278694, + -0.12901294231414795 + ], + [ + -0.4789256453514099, + 0.03365781158208847, + 0.8772100210189819, + 1.1102485656738281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8689669370651245, + -0.05095437914133072, + 0.4922398328781128, + 0.0839216336607933 + ], + [ + 0.060050562024116516, + 0.9981917142868042, + -0.002681034617125988, + -0.12919437885284424 + ], + [ + -0.4912131428718567, + 0.03188900649547577, + 0.8704555034637451, + 1.107948899269104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8606469631195068, + -0.0530998632311821, + 0.5064259171485901, + 0.0763896107673645 + ], + [ + 0.061190471053123474, + 0.9981259107589722, + 0.0006653545424342155, + -0.12877091765403748 + ], + [ + -0.5055121779441833, + 0.03041580319404602, + 0.8622832298278809, + 1.1066772937774658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8516715168952942, + -0.057722002267837524, + 0.520887553691864, + 0.06994065642356873 + ], + [ + 0.0642630085349083, + 0.9979177713394165, + 0.0055114347487688065, + -0.12922129034996033 + ], + [ + -0.5201210379600525, + 0.02877986989915371, + 0.8536075353622437, + 1.105722427368164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8426474928855896, + -0.0628429651260376, + 0.5347858667373657, + 0.06309990584850311 + ], + [ + 0.06719562411308289, + 0.9976751804351807, + 0.01135900430381298, + -0.1304847002029419 + ], + [ + -0.5342564582824707, + 0.026363635435700417, + 0.8449112772941589, + 1.1027086973190308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.8337099552154541, + -0.06653107702732086, + 0.5481800436973572, + 0.0563180148601532 + ], + [ + 0.07020752131938934, + 0.9974302053451538, + 0.01427888311445713, + -0.1321316808462143 + ], + [ + -0.5477213263511658, + 0.026581911370158195, + 0.836238443851471, + 1.1026318073272705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.8277176022529602, + -0.07705873250961304, + 0.5558286905288696, + 0.04998808726668358 + ], + [ + 0.08168143033981323, + 0.9965215921401978, + 0.016518626362085342, + -0.13423867523670197 + ], + [ + -0.5551681518554688, + 0.031728122383356094, + 0.8311327695846558, + 1.099073886871338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8253564238548279, + -0.08292192965745926, + 0.5584896802902222, + 0.04415842890739441 + ], + [ + 0.08882088214159012, + 0.9959092140197754, + 0.016605187207460403, + -0.13762710988521576 + ], + [ + -0.557581901550293, + 0.03590034693479538, + 0.8293452262878418, + 1.0970338582992554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.825181782245636, + -0.08190253376960754, + 0.5588980317115784, + 0.038249313831329346 + ], + [ + 0.08852095901966095, + 0.9959574937820435, + 0.015254227444529533, + -0.14256487786769867 + ], + [ + -0.5578880906105042, + 0.03688667714595795, + 0.8290960788726807, + 1.0952935218811035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8253160715103149, + -0.08606924116611481, + 0.5580730438232422, + 0.03289266675710678 + ], + [ + 0.0907287448644638, + 0.995686948299408, + 0.01938479393720627, + -0.15770013630390167 + ], + [ + -0.5573345422744751, + 0.03463468328118324, + 0.8295653462409973, + 1.095093011856079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8258424997329712, + -0.08475048094987869, + 0.5574958324432373, + 0.02603563666343689 + ], + [ + 0.09290073066949844, + 0.9955806732177734, + 0.013730274513363838, + -0.1519649475812912 + ], + [ + -0.5561957359313965, + 0.04045271873474121, + 0.8300662040710449, + 1.0948965549468994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.8273423910140991, + -0.07938917726278305, + 0.5560593008995056, + 0.026737384498119354 + ], + [ + 0.08440964668989182, + 0.996291995048523, + 0.016651317477226257, + -0.16658221185207367 + ], + [ + -0.5553193688392639, + 0.03316042199730873, + 0.8309758305549622, + 1.0908222198486328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.8253635168075562, + -0.07691741734743118, + 0.559337854385376, + 0.023424722254276276 + ], + [ + 0.08092088252305984, + 0.996564507484436, + 0.017635177820920944, + -0.16654355823993683 + ], + [ + -0.5587726831436157, + 0.030706673860549927, + 0.8287522196769714, + 1.0831081867218018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.8207204341888428, + -0.08001650124788284, + 0.5656989812850952, + 0.023326627910137177 + ], + [ + 0.08144702762365341, + 0.9964174032211304, + 0.022776413708925247, + -0.1697399765253067 + ], + [ + -0.5654947757720947, + 0.027381427586078644, + 0.8242972493171692, + 1.078967809677124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.8155379891395569, + -0.09374299645423889, + 0.5710605382919312, + 0.020575761795043945 + ], + [ + 0.09050920605659485, + 0.9953106641769409, + 0.03412896394729614, + -0.17318657040596008 + ], + [ + -0.5715819597244263, + 0.023852765560150146, + 0.8201982378959656, + 1.0648229122161865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.8095728158950806, + -0.09858517348766327, + 0.578682005405426, + 0.017023608088493347 + ], + [ + 0.09034949541091919, + 0.9949767589569092, + 0.04310736805200577, + -0.17770949006080627 + ], + [ + -0.5800248980522156, + 0.017385073006153107, + 0.8144131898880005, + 1.0541329383850098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8048754334449768, + -0.1031109094619751, + 0.5844173431396484, + 0.01597195863723755 + ], + [ + 0.0918625146150589, + 0.994567334651947, + 0.048959627747535706, + -0.1800064742565155 + ], + [ + -0.586290717124939, + 0.014279646798968315, + 0.8099749088287354, + 1.040969967842102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8019223213195801, + -0.10537853837013245, + 0.5880611538887024, + 0.01756209135055542 + ], + [ + 0.09242627024650574, + 0.994353175163269, + 0.052145592868328094, + -0.1812601089477539 + ], + [ + -0.5902355313301086, + 0.0125355776399374, + 0.8071337938308716, + 1.0296807289123535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.7993671298027039, + -0.10211550444364548, + 0.5921018719673157, + 0.01958698034286499 + ], + [ + 0.08744793385267258, + 0.9947316646575928, + 0.053495049476623535, + -0.18400315940380096 + ], + [ + -0.5944451689720154, + 0.009015895426273346, + 0.8040856122970581, + 1.0220149755477905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.7971356511116028, + -0.10347970575094223, + 0.5948669910430908, + 0.021376758813858032 + ], + [ + 0.0871695801615715, + 0.9946065545082092, + 0.05620688199996948, + -0.18735399842262268 + ], + [ + -0.5974749326705933, + 0.0070497989654541016, + 0.8018566370010376, + 1.0134119987487793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.796152651309967, + -0.11007250845432281, + 0.5949999690055847, + 0.023481614887714386 + ], + [ + 0.09223577380180359, + 0.9939005970954895, + 0.060449376702308655, + -0.19051848351955414 + ], + [ + -0.5980246663093567, + 0.006753353402018547, + 0.8014492392539978, + 1.003450632095337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.7959885597229004, + -0.11589100956916809, + 0.5941141247749329, + 0.025458797812461853 + ], + [ + 0.09685134887695312, + 0.9932399392127991, + 0.06398606300354004, + -0.1935320347547531 + ], + [ + -0.5975132584571838, + 0.0066085755825042725, + 0.8018317818641663, + 0.992803692817688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.7970545291900635, + -0.12584221363067627, + 0.5906503796577454, + 0.027096815407276154 + ], + [ + 0.10627628862857819, + 0.9920127987861633, + 0.06794051826000214, + -0.1968742460012436 + ], + [ + -0.5944824814796448, + 0.00861981138586998, + 0.8040623664855957, + 0.9800451397895813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.7997593283653259, + -0.13109183311462402, + 0.5858327150344849, + 0.0274340957403183 + ], + [ + 0.11240409314632416, + 0.9913073182106018, + 0.06837460398674011, + -0.199925035238266 + ], + [ + -0.5897036790847778, + 0.011166751384735107, + 0.8075425624847412, + 0.9668152332305908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8029462099075317, + -0.13220903277397156, + 0.5812040567398071, + 0.02794819325208664 + ], + [ + 0.11416440457105637, + 0.9911496639251709, + 0.06774052232503891, + -0.2032325565814972 + ], + [ + -0.585016131401062, + 0.011960810050368309, + 0.8109334707260132, + 0.9561552405357361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.8057272434234619, + -0.1340569108724594, + 0.5769163370132446, + 0.029410265386104584 + ], + [ + 0.11681879311800003, + 0.9908839464187622, + 0.06709945201873779, + -0.20486943423748016 + ], + [ + -0.5806522369384766, + 0.013330809772014618, + 0.8140425682067871, + 0.9409370422363281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.8082866668701172, + -0.13303640484809875, + 0.5735625624656677, + 0.030632384121418 + ], + [ + 0.11590989679098129, + 0.9910296201705933, + 0.06652211397886276, + -0.20850756764411926 + ], + [ + -0.5772673487663269, + 0.0127126295119524, + 0.8164562582969666, + 0.9260567426681519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.8129416108131409, + -0.13992942869663239, + 0.5652837157249451, + 0.03291662782430649 + ], + [ + 0.12284018844366074, + 0.9900650978088379, + 0.06842110306024551, + -0.21362057328224182 + ], + [ + -0.5692418217658997, + 0.013817192986607552, + 0.8220540285110474, + 0.912566602230072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.8204368948936462, + -0.14708231389522552, + 0.552494466304779, + 0.035408105701208115 + ], + [ + 0.1309957653284073, + 0.9889954924583435, + 0.06876084208488464, + -0.21544231474399567 + ], + [ + -0.5565280318260193, + 0.015960494056344032, + 0.8306755423545837, + 0.8965046405792236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.8295422196388245, + -0.1553138941526413, + 0.5364115238189697, + 0.03885961323976517 + ], + [ + 0.13930140435695648, + 0.9877325892448425, + 0.0705655962228775, + -0.21611735224723816 + ], + [ + -0.5407909154891968, + 0.016185736283659935, + 0.8410012722015381, + 0.8793596029281616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.8393022418022156, + -0.15471404790878296, + 0.5211864709854126, + 0.04142323508858681 + ], + [ + 0.13866761326789856, + 0.9878661036491394, + 0.06994178891181946, + -0.21314162015914917 + ], + [ + -0.5256834030151367, + 0.013569368049502373, + 0.8505721092224121, + 0.8667721748352051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.8497053384780884, + -0.1582885980606079, + 0.5029369592666626, + 0.0430687740445137 + ], + [ + 0.14071819186210632, + 0.9873542189598083, + 0.0730070248246193, + -0.21015550196170807 + ], + [ + -0.508133053779602, + 0.008737921714782715, + 0.8612342476844788, + 0.8469148278236389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.8592858910560608, + -0.14579272270202637, + 0.4902777671813965, + 0.04552554711699486 + ], + [ + 0.1261788010597229, + 0.9893147349357605, + 0.07304273545742035, + -0.20580655336380005 + ], + [ + -0.49568814039230347, + -0.0009019374847412109, + 0.8685001134872437, + 0.8372286558151245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8669083118438721, + -0.14828217029571533, + 0.47590172290802, + 0.04958333075046539 + ], + [ + 0.12626662850379944, + 0.9889156222343445, + 0.07811902463436127, + -0.20040085911750793 + ], + [ + -0.48221033811569214, + -0.007631532847881317, + 0.8760222792625427, + 0.8153361678123474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.871918797492981, + -0.13862359523773193, + 0.4696179926395416, + 0.05067526549100876 + ], + [ + 0.11548735946416855, + 0.9902507066726685, + 0.0778856873512268, + -0.19227080047130585 + ], + [ + -0.4758363664150238, + -0.013675060123205185, + 0.8794275522232056, + 0.8010549545288086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 793.487060546875, + "fy": 793.7220052083333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_005/rgb_video/00016.png b/spatialvid_eval/source/scene_005/rgb_video/00016.png new file mode 100644 index 0000000000000000000000000000000000000000..f38862154e21bdabdd94d00f7299f9a04e743b08 --- /dev/null +++ b/spatialvid_eval/source/scene_005/rgb_video/00016.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c373e09a7f59e485aeb811c35d1937be9269d5285cc49d041286f1860c230084 +size 818107 diff --git a/spatialvid_eval/source/scene_005/rgb_video/00019.png b/spatialvid_eval/source/scene_005/rgb_video/00019.png new file mode 100644 index 0000000000000000000000000000000000000000..81a8585b406c7afa01c9e64eef4d9f1e85b8d0f0 --- /dev/null +++ b/spatialvid_eval/source/scene_005/rgb_video/00019.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c92dd9c42e5d8ef6d598b676cf032db50ab56d0a469d27a75a3cdd71ce1d1919 +size 832918 diff --git a/spatialvid_eval/source/scene_005/rgb_video/00041.png b/spatialvid_eval/source/scene_005/rgb_video/00041.png new file mode 100644 index 0000000000000000000000000000000000000000..cf9a38f7bdbf0882451f1eaf658ab86205a15e7e --- /dev/null +++ b/spatialvid_eval/source/scene_005/rgb_video/00041.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88c038a5bc8be6ff5406ab3d3e6ba3aa75d5a1fe4387bcd8413fe426542ea4b7 +size 816012 diff --git a/spatialvid_eval/source/scene_005/rgb_video/00045.png b/spatialvid_eval/source/scene_005/rgb_video/00045.png new file mode 100644 index 0000000000000000000000000000000000000000..24174163c168d40aa0e0a6fcf9a2f79eb77a4669 --- /dev/null +++ b/spatialvid_eval/source/scene_005/rgb_video/00045.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c1b8dfe134e6cf37fae631ea5bdbe452554c8a5d2dec66f338a0d162e3ed8ae +size 751433 diff --git a/spatialvid_eval/source/scene_005/rgb_video/00055.png b/spatialvid_eval/source/scene_005/rgb_video/00055.png new file mode 100644 index 0000000000000000000000000000000000000000..8e070df2f59194b7d20a2c75e5a94b5b3b35ad2f --- /dev/null +++ b/spatialvid_eval/source/scene_005/rgb_video/00055.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:268831f63d6aad944c1a992a298fbe0c252a6dcc4c15d3413dfe24155c179e16 +size 769969 diff --git a/spatialvid_eval/source/scene_005/rgb_video/00075.png b/spatialvid_eval/source/scene_005/rgb_video/00075.png new file mode 100644 index 0000000000000000000000000000000000000000..fef0580d2c70e9d4eaf99ab9bb27d008f21ef640 --- /dev/null +++ b/spatialvid_eval/source/scene_005/rgb_video/00075.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5ed5f28fa72ffe4b5a353ad5db73ce423d74d074c142b2f82d4ba88dba3f098 +size 783663 diff --git a/spatialvid_eval/source/scene_026/rgb_video/00067.png b/spatialvid_eval/source/scene_026/rgb_video/00067.png new file mode 100644 index 0000000000000000000000000000000000000000..18a4e35614a6700d4685d3ea883deca48a501ce1 --- /dev/null +++ b/spatialvid_eval/source/scene_026/rgb_video/00067.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7065539b47ddde347dc507eebab82b1d3073c860d64b41474551d8f3c9a9e7f7 +size 770212 diff --git a/spatialvid_eval/source/scene_026/rgb_video/00070.png b/spatialvid_eval/source/scene_026/rgb_video/00070.png new file mode 100644 index 0000000000000000000000000000000000000000..13191916bc2eaca65592018c5de596d742346453 --- /dev/null +++ b/spatialvid_eval/source/scene_026/rgb_video/00070.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bac04f827e5a5430969eafa82bc881e16ef8a1fc142e276077457eaf2a3216b2 +size 756974 diff --git a/spatialvid_eval/source/scene_049/rgb_video/00040.png b/spatialvid_eval/source/scene_049/rgb_video/00040.png new file mode 100644 index 0000000000000000000000000000000000000000..a6591c3e97e69c0472d9840442217d7a87fac154 --- /dev/null +++ b/spatialvid_eval/source/scene_049/rgb_video/00040.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23f82e603cd1b5262d19c29c9b905cae35566b56398d314e036efa886d429fb3 +size 829399 diff --git a/spatialvid_eval/source/scene_049/rgb_video/00041.png b/spatialvid_eval/source/scene_049/rgb_video/00041.png new file mode 100644 index 0000000000000000000000000000000000000000..94a20cec39a4301965b843fd85cfa346a72b680b --- /dev/null +++ b/spatialvid_eval/source/scene_049/rgb_video/00041.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5285c01fd3eb2b229e285a9aca85fe90913a47048ccb29bf8b3835334b7e14a3 +size 826847 diff --git a/spatialvid_eval/source/scene_051/rgb_video/00021.png b/spatialvid_eval/source/scene_051/rgb_video/00021.png new file mode 100644 index 0000000000000000000000000000000000000000..bf9bc8b48c4e729a11978cb5a1467498e81600cb --- /dev/null +++ b/spatialvid_eval/source/scene_051/rgb_video/00021.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ded316c43e6a4c7f7ebfdf06e5f86b51cc6a4acd8deb8dfb7947b1e3ca12e2c1 +size 708646