diff --git a/blenderobj_eval/target/scene_000001__traj000__forward/caption.txt b/blenderobj_eval/target/scene_000001__traj000__forward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..393d80004ca365705c9ffb1c2090e57e6cf5deec --- /dev/null +++ b/blenderobj_eval/target/scene_000001__traj000__forward/caption.txt @@ -0,0 +1 @@ +A beige sofa sits in a bright, minimalist living room with large windows, as various household items—including bottles, boxes, and a roll of toilet paper—float and tumble through the air before settling around the sofa and on the floor. A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. The motion of the scene plays forward at normal speed. diff --git a/blenderobj_eval/target/scene_000001__traj000__forward/transforms.json b/blenderobj_eval/target/scene_000001__traj000__forward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..99df1c2eca6b4f8bad4a4535926e3a4dc7d4dabc --- /dev/null +++ b/blenderobj_eval/target/scene_000001__traj000__forward/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.6192521452903748, + 0.1899552047252655, + -0.7618686556816101, + -5.511384010314941 + ], + [ + 0.7851922512054443, + -0.14981064200401306, + 0.6008577346801758, + -2.8042008876800537 + ], + [ + -4.184979118804222e-08, + -0.970295786857605, + -0.24192188680171967, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.6086033582687378, + 0.19195884466171265, + -0.7699050903320312, + -5.500133037567139 + ], + [ + 0.7934746742248535, + -0.14723438024520874, + 0.5905253291130066, + -2.7897353172302246 + ], + [ + -5.137375680419609e-08, + -0.9702958464622498, + -0.24192175269126892, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.5978437066078186, + 0.1939275860786438, + -0.7778013944625854, + -5.489078044891357 + ], + [ + 0.8016127347946167, + -0.14463147521018982, + 0.580085277557373, + -2.7751193046569824 + ], + [ + -1.005577985324635e-07, + -0.9702958464622498, + -0.2419217973947525, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.5869753956794739, + 0.19586116075515747, + -0.7855560183525085, + -5.478221416473389 + ], + [ + 0.8096047639846802, + -0.14200222492218018, + 0.5695397257804871, + -2.7603557109832764 + ], + [ + 2.691173506264022e-08, + -0.9702956676483154, + -0.24192194640636444, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.5759999752044678, + 0.1977589726448059, + -0.7931680083274841, + -5.467565059661865 + ], + [ + 0.8174497485160828, + -0.13934697210788727, + 0.5588904023170471, + -2.7454466819763184 + ], + [ + -4.7187466378773024e-08, + -0.9702958464622498, + -0.2419218122959137, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.5649200677871704, + 0.19962078332901, + -0.8006353378295898, + -5.45711088180542 + ], + [ + 0.8251456618309021, + -0.13666662573814392, + 0.5481395125389099, + -2.7303953170776367 + ], + [ + -1.1223676210647682e-07, + -0.9702957272529602, + -0.24192193150520325, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.5537372827529907, + 0.20144635438919067, + -0.8079569935798645, + -5.446860313415527 + ], + [ + 0.832691490650177, + -0.13396114110946655, + 0.5372890830039978, + -2.7152044773101807 + ], + [ + -3.702682960238235e-08, + -0.9702958464622498, + -0.24192187190055847, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.5424535274505615, + 0.2032351791858673, + -0.8151317834854126, + -5.4368157386779785 + ], + [ + 0.8400859236717224, + -0.13123127818107605, + 0.5263405442237854, + -2.699876546859741 + ], + [ + -2.4412486254732357e-08, + -0.9702959060668945, + -0.24192176759243011, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.5310712456703186, + 0.20498701930046082, + -0.8221578598022461, + -5.426979064941406 + ], + [ + 0.8473271131515503, + -0.12847794592380524, + 0.5152960419654846, + -2.6844146251678467 + ], + [ + -7.107621513569029e-08, + -0.9702956080436707, + -0.2419220507144928, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.5195921063423157, + 0.206701397895813, + -0.8290347456932068, + -5.417351722717285 + ], + [ + 0.8544144630432129, + -0.12570060789585114, + 0.504158079624176, + -2.668821334838867 + ], + [ + -1.5588280888323425e-08, + -0.970295786857605, + -0.24192169308662415, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.5080185532569885, + 0.20837847888469696, + -0.8357605934143066, + -5.407935619354248 + ], + [ + 0.8613462448120117, + -0.12290067225694656, + 0.4929283559322357, + -2.653099536895752 + ], + [ + 5.447748918641082e-09, + -0.9702958464622498, + -0.24192173779010773, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.4963524639606476, + 0.21001751720905304, + -0.8423343896865845, + -5.3987321853637695 + ], + [ + 0.8681212663650513, + -0.12007841467857361, + 0.48160892724990845, + -2.6372523307800293 + ], + [ + -1.1376769748494553e-07, + -0.9702960252761841, + -0.24192170798778534, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.4845961034297943, + 0.21161817014217377, + -0.8487547039985657, + -5.389743804931641 + ], + [ + 0.8747380971908569, + -0.1172342523932457, + 0.470201700925827, + -2.6212823390960693 + ], + [ + -2.7580789208059286e-08, + -0.9702959060668945, + -0.24192164838314056, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.4727517068386078, + 0.2131805121898651, + -0.8550204038619995, + -5.380971431732178 + ], + [ + 0.8811956644058228, + -0.11436907947063446, + 0.45870891213417053, + -2.6051924228668213 + ], + [ + -9.074689444332762e-08, + -0.9702957272529602, + -0.24192193150520325, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.46082088351249695, + 0.21470411121845245, + -0.8611308336257935, + -5.372416973114014 + ], + [ + 0.8874931931495667, + -0.1114826500415802, + 0.44713255763053894, + -2.5889856815338135 + ], + [ + 1.2146614380981191e-08, + -0.9702957272529602, + -0.24192194640636444, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.4488064646720886, + 0.216188445687294, + -0.8670844435691833, + -5.364081859588623 + ], + [ + 0.8936290740966797, + -0.1085759848356247, + 0.4354751408100128, + -2.572665214538574 + ], + [ + 2.5417392635063152e-08, + -0.9702958464622498, + -0.2419217824935913, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.436710387468338, + 0.217633455991745, + -0.8728801608085632, + -5.355967998504639 + ], + [ + 0.8996021747589111, + -0.1056496649980545, + 0.4237383306026459, + -2.5562334060668945 + ], + [ + 7.00425175637065e-08, + -0.970295786857605, + -0.2419217824935913, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.4245346486568451, + 0.21903888881206512, + -0.878517210483551, + -5.348076343536377 + ], + [ + 0.9054117798805237, + -0.10270412266254425, + 0.4119243025779724, + -2.53969407081604 + ], + [ + -1.804978211339403e-08, + -0.9702958464622498, + -0.24192175269126892, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.4122816324234009, + 0.2204044908285141, + -0.8839942812919617, + -5.3404083251953125 + ], + [ + 0.9110565185546875, + -0.09973973780870438, + 0.4000352919101715, + -2.5230493545532227 + ], + [ + 9.147581891966183e-08, + -0.9702959060668945, + -0.24192170798778534, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.3999537527561188, + 0.22173002362251282, + -0.8893103003501892, + -5.332965850830078 + ], + [ + 0.9165353178977966, + -0.09675759822130203, + 0.38807347416877747, + -2.506303071975708 + ], + [ + -3.316637986472415e-08, + -0.9702957272529602, + -0.24192194640636444, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.38755306601524353, + 0.22301502525806427, + -0.8944646716117859, + -5.32574987411499 + ], + [ + 0.9218474626541138, + -0.09375746548175812, + 0.3760412037372589, + -2.489457607269287 + ], + [ + 1.8987691419170005e-09, + -0.9702958464622498, + -0.24192175269126892, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.37508177757263184, + 0.224259614944458, + -0.8994562029838562, + -5.318761348724365 + ], + [ + 0.9269918203353882, + -0.09074018895626068, + 0.36394044756889343, + -2.4725165367126465 + ], + [ + 1.6486089293721307e-07, + -0.9702959060668945, + -0.24192169308662415, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.3625422418117523, + 0.22546330094337463, + -0.9042840003967285, + -5.312002658843994 + ], + [ + 0.9319674372673035, + -0.08770686388015747, + 0.35177329182624817, + -2.4554827213287354 + ], + [ + -6.538867580729857e-08, + -0.9702958464622498, + -0.2419217824935913, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.3499367833137512, + 0.2266259640455246, + -0.908947229385376, + -5.305474281311035 + ], + [ + 0.9367733597755432, + -0.0846572294831276, + 0.3395422399044037, + -2.438359260559082 + ], + [ + 6.411634245750975e-08, + -0.970295786857605, + -0.2419217824935913, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.33726751804351807, + 0.22774739563465118, + -0.9134451150894165, + -5.299177169799805 + ], + [ + 0.9414089322090149, + -0.08159217983484268, + 0.3272494375705719, + -2.421149253845215 + ], + [ + 7.414718083964544e-08, + -0.9702959060668945, + -0.24192169308662415, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.3245370090007782, + 0.22882743179798126, + -0.9177766442298889, + -5.293112754821777 + ], + [ + 0.9458730816841125, + -0.07851239293813705, + 0.3148970603942871, + -2.403855800628662 + ], + [ + 1.1139042044305825e-07, + -0.9702958464622498, + -0.24192176759243011, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.31174734234809875, + 0.22986575961112976, + -0.9219411611557007, + -5.287282466888428 + ], + [ + 0.9501650929450989, + -0.0754183679819107, + 0.30248722434043884, + -2.3864822387695312 + ], + [ + 5.7866731850708675e-08, + -0.9702958464622498, + -0.2419218122959137, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.29890090227127075, + 0.23086221516132355, + -0.9259379506111145, + -5.281687259674072 + ], + [ + 0.9542842507362366, + -0.07231056690216064, + 0.2900224030017853, + -2.3690314292907715 + ], + [ + 8.941256623984373e-09, + -0.9702958464622498, + -0.24192176759243011, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.2860002815723419, + 0.23181672394275665, + -0.929766058921814, + -5.276327610015869 + ], + [ + 0.9582296013832092, + -0.06918971985578537, + 0.27750492095947266, + -2.3515069484710693 + ], + [ + -4.3831118290427185e-08, + -0.970295786857605, + -0.24192185699939728, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.273047536611557, + 0.23272903263568878, + -0.9334249496459961, + -5.271204948425293 + ], + [ + 0.9620004892349243, + -0.06605620682239532, + 0.26493680477142334, + -2.333911657333374 + ], + [ + 3.544565174706804e-08, + -0.9702956676483154, + -0.24192197620868683, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.2600449025630951, + 0.23359903693199158, + -0.9369142651557922, + -5.26632022857666 + ], + [ + 0.9655966758728027, + -0.0629103034734726, + 0.25232064723968506, + -2.316248655319214 + ], + [ + 1.4524516700475942e-07, + -0.9702958464622498, + -0.2419217973947525, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.24699506163597107, + 0.2344263643026352, + -0.9402327537536621, + -5.261673927307129 + ], + [ + 0.9690167307853699, + -0.0597534216940403, + 0.23965825140476227, + -2.2985217571258545 + ], + [ + 1.069444195422875e-07, + -0.9702957272529602, + -0.24192188680171967, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.2339002788066864, + 0.23521114885807037, + -0.9433803558349609, + -5.257267475128174 + ], + [ + 0.9722606539726257, + -0.05658553168177605, + 0.22695252299308777, + -2.280733585357666 + ], + [ + 1.2969120888328689e-08, + -0.970295786857605, + -0.24192184209823608, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.22076280415058136, + 0.23595310747623444, + -0.9463562369346619, + -5.253101348876953 + ], + [ + 0.9753276109695435, + -0.05340728908777237, + 0.2142053097486496, + -2.262887477874756 + ], + [ + -1.4380944435288256e-08, + -0.9702958464622498, + -0.2419218122959137, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.20758526027202606, + 0.23665213584899902, + -0.9491598010063171, + -5.249176502227783 + ], + [ + 0.9782170057296753, + -0.050219252705574036, + 0.20141921937465668, + -2.2449870109558105 + ], + [ + 8.229441306184526e-08, + -0.9702958464622498, + -0.2419218122959137, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.19436991214752197, + 0.23730801045894623, + -0.9517906904220581, + -5.245493412017822 + ], + [ + 0.9809284210205078, + -0.04702221229672432, + 0.1885964423418045, + -2.2270350456237793 + ], + [ + -4.303927880755509e-09, + -0.9702959060668945, + -0.24192172288894653, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.18111920356750488, + 0.23792089521884918, + -0.9542482495307922, + -5.2420525550842285 + ], + [ + 0.9834612607955933, + -0.043816499412059784, + 0.1757393628358841, + -2.2090351581573486 + ], + [ + 9.42291933370143e-08, + -0.9702958464622498, + -0.2419218271970749, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.167835533618927, + 0.23849031329154968, + -0.9565321207046509, + -5.238854885101318 + ], + [ + 0.9858150482177734, + -0.04060303792357445, + 0.16285015642642975, + -2.190990447998047 + ], + [ + 2.615125183069722e-08, + -0.970295786857605, + -0.24192191660404205, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.15452128648757935, + 0.2390163391828537, + -0.9586421251296997, + -5.235901355743408 + ], + [ + 0.987989604473114, + -0.03738171234726906, + 0.14993159472942352, + -2.1729042530059814 + ], + [ + 2.3462186504730198e-07, + -0.9702959060668945, + -0.24192173779010773, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.14117899537086487, + 0.23949888348579407, + -0.9605774879455566, + -5.233191967010498 + ], + [ + 0.9899842143058777, + -0.034154195338487625, + 0.13698554039001465, + -2.1547796726226807 + ], + [ + -3.2550246942264494e-08, + -0.9702959060668945, + -0.2419217824935913, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.1278110146522522, + 0.23993775248527527, + -0.9623380899429321, + -5.230727195739746 + ], + [ + 0.9917986989021301, + -0.030919987708330154, + 0.1240147203207016, + -2.13662052154541 + ], + [ + 1.3762428352492861e-07, + -0.9702959656715393, + -0.24192164838314056, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.11441979557275772, + 0.24033305048942566, + -0.9639233946800232, + -5.2285075187683105 + ], + [ + 0.9934325814247131, + -0.027680588886141777, + 0.11102113127708435, + -2.118429660797119 + ], + [ + -1.9985794352805897e-08, + -0.9702958464622498, + -0.2419217824935913, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.10100752860307693, + 0.24068476259708405, + -0.9653332829475403, + -5.22653341293335 + ], + [ + 0.9948856830596924, + -0.02443588338792324, + 0.0980072170495987, + -2.100210428237915 + ], + [ + 3.577918761266119e-08, + -0.9702957272529602, + -0.24192199110984802, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.08757686614990234, + 0.2409924566745758, + -0.966567873954773, + -5.2248053550720215 + ], + [ + 0.9961580038070679, + -0.02118641696870327, + 0.08497575670480728, + -2.0819661617279053 + ], + [ + 1.4523865843329986e-07, + -0.9702959656715393, + -0.24192169308662415, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.07413065433502197, + 0.24125628173351288, + -0.9676260948181152, + -5.223323822021484 + ], + [ + 0.997248649597168, + -0.017933808267116547, + 0.0719287320971489, + -2.0637004375457764 + ], + [ + -4.8836639621185896e-08, + -0.970295786857605, + -0.2419218271970749, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.06067061424255371, + 0.24147628247737885, + -0.9685085415840149, + -5.22208833694458 + ], + [ + 0.9981580972671509, + -0.014677152037620544, + 0.058868736028671265, + -2.0454161167144775 + ], + [ + 2.1110159309500887e-07, + -0.9702959656715393, + -0.24192167818546295, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.04719977825880051, + 0.24165228009223938, + -0.9692143797874451, + -5.221099853515625 + ], + [ + 0.9988855719566345, + -0.011418580077588558, + 0.045797839760780334, + -2.0271170139312744 + ], + [ + 5.526892721263721e-09, + -0.9702958464622498, + -0.2419218122959137, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.03372018039226532, + 0.24178440868854523, + -0.969744086265564, + -5.220358371734619 + ], + [ + 0.9994314908981323, + -0.008157425560057163, + 0.032718725502491, + -2.0088062286376953 + ], + [ + 1.1220792117683231e-07, + -0.9702958464622498, + -0.24192184209823608, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.02023470401763916, + 0.24187231063842773, + -0.9700970649719238, + -5.2198638916015625 + ], + [ + 0.9997952580451965, + -0.004895282443612814, + 0.019633622840046883, + -1.9904870986938477 + ], + [ + -5.78822962893355e-08, + -0.9702957272529602, + -0.24192185699939728, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.0067452071234583855, + 0.24191631376743317, + -0.9702737331390381, + -5.219616889953613 + ], + [ + 0.9999772906303406, + -0.0016316778492182493, + 0.006544921081513166, + -1.9721629619598389 + ], + [ + 9.749944496206808e-08, + -0.970295786857605, + -0.24192176759243011, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + -0.0067453947849571705, + 0.2419164627790451, + -0.9702736735343933, + -5.219616889953613 + ], + [ + 0.9999772906303406, + 0.0016318140551447868, + -0.0065450058318674564, + -1.9538370370864868 + ], + [ + -7.93264121057291e-08, + -0.9702957272529602, + -0.24192193150520325, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + -0.020234815776348114, + 0.24187242984771729, + -0.9700971841812134, + -5.2198638916015625 + ], + [ + 0.9997953772544861, + 0.00489544402807951, + -0.019633591175079346, + -1.935512900352478 + ], + [ + 9.037864856509259e-08, + -0.9702958464622498, + -0.2419218122959137, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + -0.033720627427101135, + 0.24178436398506165, + -0.9697441458702087, + -5.220358371734619 + ], + [ + 0.9994314908981323, + 0.008157973177731037, + -0.03271876275539398, + -1.9171937704086304 + ], + [ + 5.910507994144609e-08, + -0.9702959060668945, + -0.24192173779010773, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + -0.04720016196370125, + 0.241652250289917, + -0.9692144393920898, + -5.221099853515625 + ], + [ + 0.9988855719566345, + 0.011418910697102547, + -0.04579797759652138, + -1.8988829851150513 + ], + [ + 6.581806388794575e-08, + -0.9702958464622498, + -0.24192175269126892, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + -0.06067109853029251, + 0.24147634208202362, + -0.9685084223747253, + -5.22208833694458 + ], + [ + 0.9981579780578613, + 0.014677795581519604, + -0.058868736028671265, + -1.8805837631225586 + ], + [ + -1.078992184488925e-08, + -0.9702959060668945, + -0.2419218271970749, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + -0.07413094490766525, + 0.2412562221288681, + -0.96762615442276, + -5.223323822021484 + ], + [ + 0.997248649597168, + 0.017933987081050873, + -0.07192880660295486, + -1.8622996807098389 + ], + [ + -1.5078256865308504e-08, + -0.9702959060668945, + -0.24192172288894653, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.08757754415273666, + 0.24099238216876984, + -0.9665678143501282, + -5.2248053550720215 + ], + [ + 0.9961579442024231, + 0.02118709497153759, + -0.08497590571641922, + -1.8440338373184204 + ], + [ + 1.2575537056136454e-08, + -0.9702959656715393, + -0.24192169308662415, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.10100781917572021, + 0.2406846433877945, + -0.9653332829475403, + -5.22653341293335 + ], + [ + 0.9948856830596924, + 0.02443585731089115, + -0.09800746291875839, + -1.8257896900177002 + ], + [ + -1.7698397414278588e-07, + -0.970295786857605, + -0.24192187190055847, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.11441994458436966, + 0.24033312499523163, + -0.9639232754707336, + -5.2285075187683105 + ], + [ + 0.9934325218200684, + 0.02768070064485073, + -0.11102116107940674, + -1.807570457458496 + ], + [ + -1.8881383567759258e-08, + -0.9702957272529602, + -0.24192193150520325, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.12781134247779846, + 0.23993784189224243, + -0.9623379707336426, + -5.230727195739746 + ], + [ + 0.9917986392974854, + 0.03092053160071373, + -0.12401468306779861, + -1.789379596710205 + ], + [ + 9.002424405935017e-08, + -0.970295786857605, + -0.24192187190055847, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.14117945730686188, + 0.23949888348579407, + -0.9605774283409119, + -5.233191967010498 + ], + [ + 0.9899842143058777, + 0.034154441207647324, + -0.1369856745004654, + -1.7712202072143555 + ], + [ + -9.996537642109615e-08, + -0.9702959060668945, + -0.24192176759243011, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.15452176332473755, + 0.2390163540840149, + -0.9586420655250549, + -5.235901355743408 + ], + [ + 0.987989604473114, + 0.03738223761320114, + -0.1499316543340683, + -1.7530958652496338 + ], + [ + -1.0060265509537203e-07, + -0.9702959060668945, + -0.2419217973947525, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.1678357571363449, + 0.23849022388458252, + -0.9565320611000061, + -5.238854885101318 + ], + [ + 0.9858149886131287, + 0.04060309752821922, + -0.1628503054380417, + -1.7350095510482788 + ], + [ + -6.655419326762058e-08, + -0.9702957272529602, + -0.24192185699939728, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.18111957609653473, + 0.23792079091072083, + -0.9542482495307922, + -5.2420525550842285 + ], + [ + 0.9834612607955933, + 0.04381681978702545, + -0.17573943734169006, + -1.716964840888977 + ], + [ + -6.788292239434668e-08, + -0.9702958464622498, + -0.24192176759243011, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.19437028467655182, + 0.23730801045894623, + -0.9517906904220581, + -5.245493412017822 + ], + [ + 0.9809284210205078, + 0.04702248051762581, + -0.18859651684761047, + -1.6989649534225464 + ], + [ + -6.180295031299465e-08, + -0.9702959060668945, + -0.24192170798778534, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.20758576691150665, + 0.23665212094783783, + -0.9491598606109619, + -5.249176502227783 + ], + [ + 0.9782171249389648, + 0.050219640135765076, + -0.2014193832874298, + -1.6810131072998047 + ], + [ + -6.671234586974606e-08, + -0.9702959656715393, + -0.24192169308662415, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.22076316177845, + 0.23595325648784637, + -0.9463562369346619, + -5.253101348876953 + ], + [ + 0.9753276705741882, + 0.05340756103396416, + -0.21420539915561676, + -1.6631125211715698 + ], + [ + -4.186853175269789e-08, + -0.9702958464622498, + -0.24192190170288086, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.23390017449855804, + 0.23521113395690918, + -0.9433801770210266, + -5.257267475128174 + ], + [ + 0.9722604751586914, + 0.056585490703582764, + -0.2269524484872818, + -1.6452665328979492 + ], + [ + -8.32212165846613e-09, + -0.9702956080436707, + -0.24192200601100922, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.2469952553510666, + 0.23442642390727997, + -0.9402328133583069, + -5.261673927307129 + ], + [ + 0.9690167307853699, + 0.059753671288490295, + -0.239658385515213, + -1.6274783611297607 + ], + [ + 6.989491652120705e-08, + -0.9702957272529602, + -0.24192194640636444, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.2600450813770294, + 0.233598992228508, + -0.9369142651557922, + -5.26632022857666 + ], + [ + 0.965596616268158, + 0.06291071325540543, + -0.2523205280303955, + -1.6097512245178223 + ], + [ + 1.5583246693040564e-08, + -0.9702958464622498, + -0.2419218271970749, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.27304762601852417, + 0.2327290177345276, + -0.9334251880645752, + -5.271204948425293 + ], + [ + 0.9620006680488586, + 0.06605635583400726, + -0.26493680477142334, + -1.5920884609222412 + ], + [ + 6.36268850939814e-08, + -0.9702958464622498, + -0.2419217824935913, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.2860002815723419, + 0.23181675374507904, + -0.9297659993171692, + -5.276327610015869 + ], + [ + 0.9582294821739197, + 0.0691896304488182, + -0.27750489115715027, + -1.574493169784546 + ], + [ + -1.0477280198983863e-07, + -0.9702957272529602, + -0.24192194640636444, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.29890134930610657, + 0.23086227476596832, + -0.9259378910064697, + -5.281687259674072 + ], + [ + 0.9542841911315918, + 0.07231086492538452, + -0.2900225818157196, + -1.5569685697555542 + ], + [ + -3.942705717463468e-08, + -0.9702958464622498, + -0.2419217973947525, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.3117476999759674, + 0.2298658788204193, + -0.9219411015510559, + -5.287282466888428 + ], + [ + 0.9501650929450989, + 0.07541865110397339, + -0.3024873435497284, + -1.539517879486084 + ], + [ + -9.08898130091984e-08, + -0.9702958464622498, + -0.24192190170288086, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.32453733682632446, + 0.22882749140262604, + -0.9177765846252441, + -5.293112754821777 + ], + [ + 0.9458730816841125, + 0.07851283252239227, + -0.3148970603942871, + -1.5221441984176636 + ], + [ + 1.5716700829671026e-08, + -0.9702958464622498, + -0.24192188680171967, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.33726784586906433, + 0.22774738073349, + -0.9134450554847717, + -5.299177169799805 + ], + [ + 0.9414088726043701, + 0.08159247040748596, + -0.3272494673728943, + -1.5048508644104004 + ], + [ + -8.25472596943655e-08, + -0.9702958464622498, + -0.24192173779010773, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.34993693232536316, + 0.2266259640455246, + -0.9089471697807312, + -5.305474281311035 + ], + [ + 0.9367733001708984, + 0.08465734869241714, + -0.33954229950904846, + -1.4876408576965332 + ], + [ + -7.255611933487671e-08, + -0.970295786857605, + -0.2419218271970749, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.36254262924194336, + 0.22546331584453583, + -0.9042840003967285, + -5.312002658843994 + ], + [ + 0.9319673776626587, + 0.0877070426940918, + -0.3517734408378601, + -1.4705172777175903 + ], + [ + -6.51809486384991e-08, + -0.9702959060668945, + -0.24192175269126892, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.3750821352005005, + 0.22425971925258636, + -0.8994562029838562, + -5.318761348724365 + ], + [ + 0.926991879940033, + 0.09074068069458008, + -0.36394041776657104, + -1.4534834623336792 + ], + [ + -7.132626933525898e-08, + -0.9702959060668945, + -0.2419218271970749, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.38755372166633606, + 0.2230151742696762, + -0.8944646716117859, + -5.32574987411499 + ], + [ + 0.9218475222587585, + 0.09375786781311035, + -0.3760414719581604, + -1.436542272567749 + ], + [ + -9.002091161391945e-08, + -0.9702959656715393, + -0.24192175269126892, + 1.6416746377944946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.3999541401863098, + 0.221730038523674, + -0.889310359954834, + -5.332965850830078 + ], + [ + 0.9165353775024414, + 0.09675780683755875, + -0.3880736529827118, + -1.4196970462799072 + ], + [ + 1.3317919211885965e-08, + -0.9702958464622498, + -0.24192185699939728, + 1.6416746377944946 + ], + [ + 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_000039__traj000__bullettime_mid/caption.txt b/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..56c2fea76505ada491004663b05e70f4c6e95399 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/caption.txt @@ -0,0 +1 @@ +Inside a vintage train car with pink upholstered seats and patterned curtains, various items including boxes, a toy train, and a small bird figurine float and scatter through the air before settling on the seats and floor, while framed landscape paintings hang on the walls and a wooden ceiling with hanging lamps completes the cozy, retro ambiance. A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. The motion of the scene is frozen at a middle moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/extras/blender_meta.json b/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..04fa274bf30e889823b403b56299b6f5c1bbdfa6 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000039", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "pattern": "bullettime_40", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 40, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 40, + 40 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "timestamps": [ + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333 + ], + "timestamp_range": [ + 1.333333333, + 1.333333333 + ], + "scene_time_span_seconds": 0.0, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..4e95360d92c401590665587333d83f22077d4891 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "bullettime_mid", + "original_pattern": "bullettime_40", + "trajectory": { + "dir": "traj000", + "index": 0, + "id": "T0", + "name": "low_elevation_arc" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40 + ], + "timestamps_seconds": [ + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 1.333333333, + 1.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/extras/traj_caption.txt b/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..39ee80a3e0474925cbbfc9ce5e29c5785238ee3a --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/extras/traj_caption.txt @@ -0,0 +1 @@ +A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. diff --git a/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/transforms.json b/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8857017865768a05c336be70e2225856c4e0fcb6 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj000__bullettime_mid/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.6192521452903748, + 0.1899552047252655, + -0.7618686556816101, + -1.4263839721679688 + ], + [ + 0.7851922512054443, + -0.14981064200401306, + 0.6008577346801758, + 3.469799041748047 + ], + [ + -4.184979118804222e-08, + -0.970295786857605, + -0.24192188680171967, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.6086033582687378, + 0.19195884466171265, + -0.7699050903320312, + -1.415132999420166 + ], + [ + 0.7934746742248535, + -0.14723438024520874, + 0.5905253291130066, + 3.484264612197876 + ], + [ + -5.137375680419609e-08, + -0.9702958464622498, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.5978437066078186, + 0.1939275860786438, + -0.7778013944625854, + -1.4040781259536743 + ], + [ + 0.8016127347946167, + -0.14463147521018982, + 0.580085277557373, + 3.498880624771118 + ], + [ + -1.005577985324635e-07, + -0.9702958464622498, + -0.2419217973947525, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.5869753956794739, + 0.19586116075515747, + -0.7855560183525085, + -1.3932214975357056 + ], + [ + 0.8096047639846802, + -0.14200222492218018, + 0.5695397257804871, + 3.5136444568634033 + ], + [ + 2.691173506264022e-08, + -0.9702956676483154, + -0.24192194640636444, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.5759999752044678, + 0.1977589726448059, + -0.7931680083274841, + -1.3825650215148926 + ], + [ + 0.8174497485160828, + -0.13934697210788727, + 0.5588904023170471, + 3.5285532474517822 + ], + [ + -4.7187466378773024e-08, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.5649200677871704, + 0.19962078332901, + -0.8006353378295898, + -1.3721106052398682 + ], + [ + 0.8251456618309021, + -0.13666662573814392, + 0.5481395125389099, + 3.543604612350464 + ], + [ + -1.1223676210647682e-07, + -0.9702957272529602, + -0.24192193150520325, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.5537372827529907, + 0.20144635438919067, + -0.8079569935798645, + -1.3618602752685547 + ], + [ + 0.832691490650177, + -0.13396114110946655, + 0.5372890830039978, + 3.55879545211792 + ], + [ + -3.702682960238235e-08, + -0.9702958464622498, + -0.24192187190055847, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.5424535274505615, + 0.2032351791858673, + -0.8151317834854126, + -1.3518157005310059 + ], + [ + 0.8400859236717224, + -0.13123127818107605, + 0.5263405442237854, + 3.5741233825683594 + ], + [ + -2.4412486254732357e-08, + -0.9702959060668945, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.5310712456703186, + 0.20498701930046082, + -0.8221578598022461, + -1.341978907585144 + ], + [ + 0.8473271131515503, + -0.12847794592380524, + 0.5152960419654846, + 3.589585304260254 + ], + [ + -7.107621513569029e-08, + -0.9702956080436707, + -0.2419220507144928, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.5195921063423157, + 0.206701397895813, + -0.8290347456932068, + -1.332351565361023 + ], + [ + 0.8544144630432129, + -0.12570060789585114, + 0.504158079624176, + 3.6051785945892334 + ], + [ + -1.5588280888323425e-08, + -0.970295786857605, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.5080185532569885, + 0.20837847888469696, + -0.8357605934143066, + -1.3229354619979858 + ], + [ + 0.8613462448120117, + -0.12290067225694656, + 0.4929283559322357, + 3.6209003925323486 + ], + [ + 5.447748918641082e-09, + -0.9702958464622498, + -0.24192173779010773, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.4963524639606476, + 0.21001751720905304, + -0.8423343896865845, + -1.3137322664260864 + ], + [ + 0.8681212663650513, + -0.12007841467857361, + 0.48160892724990845, + 3.6367475986480713 + ], + [ + -1.1376769748494553e-07, + -0.9702960252761841, + -0.24192170798778534, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.4845961034297943, + 0.21161817014217377, + -0.8487547039985657, + -1.3047436475753784 + ], + [ + 0.8747380971908569, + -0.1172342523932457, + 0.470201700925827, + 3.6527175903320312 + ], + [ + -2.7580789208059286e-08, + -0.9702959060668945, + -0.24192164838314056, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.4727517068386078, + 0.2131805121898651, + -0.8550204038619995, + -1.295971393585205 + ], + [ + 0.8811956644058228, + -0.11436907947063446, + 0.45870891213417053, + 3.6688075065612793 + ], + [ + -9.074689444332762e-08, + -0.9702957272529602, + -0.24192193150520325, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.46082088351249695, + 0.21470411121845245, + -0.8611308336257935, + -1.287416934967041 + ], + [ + 0.8874931931495667, + -0.1114826500415802, + 0.44713255763053894, + 3.685014247894287 + ], + [ + 1.2146614380981191e-08, + -0.9702957272529602, + -0.24192194640636444, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.4488064646720886, + 0.216188445687294, + -0.8670844435691833, + -1.27908194065094 + ], + [ + 0.8936290740966797, + -0.1085759848356247, + 0.4354751408100128, + 3.7013349533081055 + ], + [ + 2.5417392635063152e-08, + -0.9702958464622498, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.436710387468338, + 0.217633455991745, + -0.8728801608085632, + -1.2709678411483765 + ], + [ + 0.8996021747589111, + -0.1056496649980545, + 0.4237383306026459, + 3.717766523361206 + ], + [ + 7.00425175637065e-08, + -0.970295786857605, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.4245346486568451, + 0.21903888881206512, + -0.878517210483551, + -1.2630761861801147 + ], + [ + 0.9054117798805237, + -0.10270412266254425, + 0.4119243025779724, + 3.7343060970306396 + ], + [ + -1.804978211339403e-08, + -0.9702958464622498, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.4122816324234009, + 0.2204044908285141, + -0.8839942812919617, + -1.2554082870483398 + ], + [ + 0.9110565185546875, + -0.09973973780870438, + 0.4000352919101715, + 3.750950574874878 + ], + [ + 9.147581891966183e-08, + -0.9702959060668945, + -0.24192170798778534, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.3999537527561188, + 0.22173002362251282, + -0.8893103003501892, + -1.247965693473816 + ], + [ + 0.9165353178977966, + -0.09675759822130203, + 0.38807347416877747, + 3.7676970958709717 + ], + [ + -3.316637986472415e-08, + -0.9702957272529602, + -0.24192194640636444, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.38755306601524353, + 0.22301502525806427, + -0.8944646716117859, + -1.2407495975494385 + ], + [ + 0.9218474626541138, + -0.09375746548175812, + 0.3760412037372589, + 3.7845423221588135 + ], + [ + 1.8987691419170005e-09, + -0.9702958464622498, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.37508177757263184, + 0.224259614944458, + -0.8994562029838562, + -1.2337615489959717 + ], + [ + 0.9269918203353882, + -0.09074018895626068, + 0.36394044756889343, + 3.801483392715454 + ], + [ + 1.6486089293721307e-07, + -0.9702959060668945, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.3625422418117523, + 0.22546330094337463, + -0.9042840003967285, + -1.2270026206970215 + ], + [ + 0.9319674372673035, + -0.08770686388015747, + 0.35177329182624817, + 3.8185174465179443 + ], + [ + -6.538867580729857e-08, + -0.9702958464622498, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.3499367833137512, + 0.2266259640455246, + -0.908947229385376, + -1.2204740047454834 + ], + [ + 0.9367733597755432, + -0.0846572294831276, + 0.3395422399044037, + 3.8356409072875977 + ], + [ + 6.411634245750975e-08, + -0.970295786857605, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.33726751804351807, + 0.22774739563465118, + -0.9134451150894165, + -1.214177131652832 + ], + [ + 0.9414089322090149, + -0.08159217983484268, + 0.3272494375705719, + 3.852850914001465 + ], + [ + 7.414718083964544e-08, + -0.9702959060668945, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.3245370090007782, + 0.22882743179798126, + -0.9177766442298889, + -1.2081129550933838 + ], + [ + 0.9458730816841125, + -0.07851239293813705, + 0.3148970603942871, + 3.8701441287994385 + ], + [ + 1.1139042044305825e-07, + -0.9702958464622498, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.31174734234809875, + 0.22986575961112976, + -0.9219411611557007, + -1.2022825479507446 + ], + [ + 0.9501650929450989, + -0.0754183679819107, + 0.30248722434043884, + 3.8875179290771484 + ], + [ + 5.7866731850708675e-08, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.29890090227127075, + 0.23086221516132355, + -0.9259379506111145, + -1.19668710231781 + ], + [ + 0.9542842507362366, + -0.07231056690216064, + 0.2900224030017853, + 3.904968500137329 + ], + [ + 8.941256623984373e-09, + -0.9702958464622498, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.2860002815723419, + 0.23181672394275665, + -0.929766058921814, + -1.1913275718688965 + ], + [ + 0.9582296013832092, + -0.06918971985578537, + 0.27750492095947266, + 3.9224932193756104 + ], + [ + -4.3831118290427185e-08, + -0.970295786857605, + -0.24192185699939728, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.273047536611557, + 0.23272903263568878, + -0.9334249496459961, + -1.1862049102783203 + ], + [ + 0.9620004892349243, + -0.06605620682239532, + 0.26493680477142334, + 3.9400885105133057 + ], + [ + 3.544565174706804e-08, + -0.9702956676483154, + -0.24192197620868683, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.2600449025630951, + 0.23359903693199158, + -0.9369142651557922, + -1.1813201904296875 + ], + [ + 0.9655966758728027, + -0.0629103034734726, + 0.25232064723968506, + 3.9577512741088867 + ], + [ + 1.4524516700475942e-07, + -0.9702958464622498, + -0.2419217973947525, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.24699506163597107, + 0.2344263643026352, + -0.9402327537536621, + -1.1766741275787354 + ], + [ + 0.9690167307853699, + -0.0597534216940403, + 0.23965825140476227, + 3.975478410720825 + ], + [ + 1.069444195422875e-07, + -0.9702957272529602, + -0.24192188680171967, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.2339002788066864, + 0.23521114885807037, + -0.9433803558349609, + -1.1722675561904907 + ], + [ + 0.9722606539726257, + -0.05658553168177605, + 0.22695252299308777, + 3.9932665824890137 + ], + [ + 1.2969120888328689e-08, + -0.970295786857605, + -0.24192184209823608, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.22076280415058136, + 0.23595310747623444, + -0.9463562369346619, + -1.16810142993927 + ], + [ + 0.9753276109695435, + -0.05340728908777237, + 0.2142053097486496, + 4.011112689971924 + ], + [ + -1.4380944435288256e-08, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.20758526027202606, + 0.23665213584899902, + -0.9491598010063171, + -1.1641764640808105 + ], + [ + 0.9782170057296753, + -0.050219252705574036, + 0.20141921937465668, + 4.029013156890869 + ], + [ + 8.229441306184526e-08, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.19436991214752197, + 0.23730801045894623, + -0.9517906904220581, + -1.16049325466156 + ], + [ + 0.9809284210205078, + -0.04702221229672432, + 0.1885964423418045, + 4.0469651222229 + ], + [ + -4.303927880755509e-09, + -0.9702959060668945, + -0.24192172288894653, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.18111920356750488, + 0.23792089521884918, + -0.9542482495307922, + -1.1570526361465454 + ], + [ + 0.9834612607955933, + -0.043816499412059784, + 0.1757393628358841, + 4.064964771270752 + ], + [ + 9.42291933370143e-08, + -0.9702958464622498, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.167835533618927, + 0.23849031329154968, + -0.9565321207046509, + -1.1538550853729248 + ], + [ + 0.9858150482177734, + -0.04060303792357445, + 0.16285015642642975, + 4.083009719848633 + ], + [ + 2.615125183069722e-08, + -0.970295786857605, + -0.24192191660404205, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.15452128648757935, + 0.2390163391828537, + -0.9586421251296997, + -1.1509013175964355 + ], + [ + 0.987989604473114, + -0.03738171234726906, + 0.14993159472942352, + 4.101095676422119 + ], + [ + 2.3462186504730198e-07, + -0.9702959060668945, + -0.24192173779010773, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.14117899537086487, + 0.23949888348579407, + -0.9605774879455566, + -1.1481918096542358 + ], + [ + 0.9899842143058777, + -0.034154195338487625, + 0.13698554039001465, + 4.11922025680542 + ], + [ + -3.2550246942264494e-08, + -0.9702959060668945, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.1278110146522522, + 0.23993775248527527, + -0.9623380899429321, + -1.1457270383834839 + ], + [ + 0.9917986989021301, + -0.030919987708330154, + 0.1240147203207016, + 4.1373796463012695 + ], + [ + 1.3762428352492861e-07, + -0.9702959656715393, + -0.24192164838314056, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.11441979557275772, + 0.24033305048942566, + -0.9639233946800232, + -1.1435073614120483 + ], + [ + 0.9934325814247131, + -0.027680588886141777, + 0.11102113127708435, + 4.1555705070495605 + ], + [ + -1.9985794352805897e-08, + -0.9702958464622498, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.10100752860307693, + 0.24068476259708405, + -0.9653332829475403, + -1.141533374786377 + ], + [ + 0.9948856830596924, + -0.02443588338792324, + 0.0980072170495987, + 4.1737895011901855 + ], + [ + 3.577918761266119e-08, + -0.9702957272529602, + -0.24192199110984802, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.08757686614990234, + 0.2409924566745758, + -0.966567873954773, + -1.1398053169250488 + ], + [ + 0.9961580038070679, + -0.02118641696870327, + 0.08497575670480728, + 4.192033767700195 + ], + [ + 1.4523865843329986e-07, + -0.9702959656715393, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.07413065433502197, + 0.24125628173351288, + -0.9676260948181152, + -1.1383236646652222 + ], + [ + 0.997248649597168, + -0.017933808267116547, + 0.0719287320971489, + 4.210299491882324 + ], + [ + -4.8836639621185896e-08, + -0.970295786857605, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.06067061424255371, + 0.24147628247737885, + -0.9685085415840149, + -1.137088418006897 + ], + [ + 0.9981580972671509, + -0.014677152037620544, + 0.058868736028671265, + 4.228583812713623 + ], + [ + 2.1110159309500887e-07, + -0.9702959656715393, + -0.24192167818546295, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.04719977825880051, + 0.24165228009223938, + -0.9692143797874451, + -1.136099934577942 + ], + [ + 0.9988855719566345, + -0.011418580077588558, + 0.045797839760780334, + 4.246882915496826 + ], + [ + 5.526892721263721e-09, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.03372018039226532, + 0.24178440868854523, + -0.969744086265564, + -1.135358452796936 + ], + [ + 0.9994314908981323, + -0.008157425560057163, + 0.032718725502491, + 4.265193939208984 + ], + [ + 1.1220792117683231e-07, + -0.9702958464622498, + -0.24192184209823608, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.02023470401763916, + 0.24187231063842773, + -0.9700970649719238, + -1.134864091873169 + ], + [ + 0.9997952580451965, + -0.004895282443612814, + 0.019633622840046883, + 4.283513069152832 + ], + [ + -5.78822962893355e-08, + -0.9702957272529602, + -0.24192185699939728, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.0067452071234583855, + 0.24191631376743317, + -0.9702737331390381, + -1.1346168518066406 + ], + [ + 0.9999772906303406, + -0.0016316778492182493, + 0.006544921081513166, + 4.301836967468262 + ], + [ + 9.749944496206808e-08, + -0.970295786857605, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + -0.0067453947849571705, + 0.2419164627790451, + -0.9702736735343933, + -1.1346168518066406 + ], + [ + 0.9999772906303406, + 0.0016318140551447868, + -0.0065450058318674564, + 4.320162773132324 + ], + [ + -7.93264121057291e-08, + -0.9702957272529602, + -0.24192193150520325, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + -0.020234815776348114, + 0.24187242984771729, + -0.9700971841812134, + -1.134864091873169 + ], + [ + 0.9997953772544861, + 0.00489544402807951, + -0.019633591175079346, + 4.338487148284912 + ], + [ + 9.037864856509259e-08, + -0.9702958464622498, + -0.2419218122959137, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + -0.033720627427101135, + 0.24178436398506165, + -0.9697441458702087, + -1.135358452796936 + ], + [ + 0.9994314908981323, + 0.008157973177731037, + -0.03271876275539398, + 4.35680627822876 + ], + [ + 5.910507994144609e-08, + -0.9702959060668945, + -0.24192173779010773, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + -0.04720016196370125, + 0.241652250289917, + -0.9692144393920898, + -1.136099934577942 + ], + [ + 0.9988855719566345, + 0.011418910697102547, + -0.04579797759652138, + 4.37511682510376 + ], + [ + 6.581806388794575e-08, + -0.9702958464622498, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + -0.06067109853029251, + 0.24147634208202362, + -0.9685084223747253, + -1.137088418006897 + ], + [ + 0.9981579780578613, + 0.014677795581519604, + -0.058868736028671265, + 4.393416404724121 + ], + [ + -1.078992184488925e-08, + -0.9702959060668945, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + -0.07413094490766525, + 0.2412562221288681, + -0.96762615442276, + -1.1383236646652222 + ], + [ + 0.997248649597168, + 0.017933987081050873, + -0.07192880660295486, + 4.411700248718262 + ], + [ + -1.5078256865308504e-08, + -0.9702959060668945, + -0.24192172288894653, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.08757754415273666, + 0.24099238216876984, + -0.9665678143501282, + -1.1398053169250488 + ], + [ + 0.9961579442024231, + 0.02118709497153759, + -0.08497590571641922, + 4.429965972900391 + ], + [ + 1.2575537056136454e-08, + -0.9702959656715393, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.10100781917572021, + 0.2406846433877945, + -0.9653332829475403, + -1.141533374786377 + ], + [ + 0.9948856830596924, + 0.02443585731089115, + -0.09800746291875839, + 4.4482102394104 + ], + [ + -1.7698397414278588e-07, + -0.970295786857605, + -0.24192187190055847, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.11441994458436966, + 0.24033312499523163, + -0.9639232754707336, + -1.1435073614120483 + ], + [ + 0.9934325218200684, + 0.02768070064485073, + -0.11102116107940674, + 4.466429710388184 + ], + [ + -1.8881383567759258e-08, + -0.9702957272529602, + -0.24192193150520325, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.12781134247779846, + 0.23993784189224243, + -0.9623379707336426, + -1.1457270383834839 + ], + [ + 0.9917986392974854, + 0.03092053160071373, + -0.12401468306779861, + 4.484620571136475 + ], + [ + 9.002424405935017e-08, + -0.970295786857605, + -0.24192187190055847, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.14117945730686188, + 0.23949888348579407, + -0.9605774283409119, + -1.1481918096542358 + ], + [ + 0.9899842143058777, + 0.034154441207647324, + -0.1369856745004654, + 4.502779960632324 + ], + [ + -9.996537642109615e-08, + -0.9702959060668945, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.15452176332473755, + 0.2390163540840149, + -0.9586420655250549, + -1.1509013175964355 + ], + [ + 0.987989604473114, + 0.03738223761320114, + -0.1499316543340683, + 4.520904064178467 + ], + [ + -1.0060265509537203e-07, + -0.9702959060668945, + -0.2419217973947525, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.1678357571363449, + 0.23849022388458252, + -0.9565320611000061, + -1.1538550853729248 + ], + [ + 0.9858149886131287, + 0.04060309752821922, + -0.1628503054380417, + 4.538990497589111 + ], + [ + -6.655419326762058e-08, + -0.9702957272529602, + -0.24192185699939728, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.18111957609653473, + 0.23792079091072083, + -0.9542482495307922, + -1.1570526361465454 + ], + [ + 0.9834612607955933, + 0.04381681978702545, + -0.17573943734169006, + 4.557034969329834 + ], + [ + -6.788292239434668e-08, + -0.9702958464622498, + -0.24192176759243011, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.19437028467655182, + 0.23730801045894623, + -0.9517906904220581, + -1.16049325466156 + ], + [ + 0.9809284210205078, + 0.04702248051762581, + -0.18859651684761047, + 4.575035095214844 + ], + [ + -6.180295031299465e-08, + -0.9702959060668945, + -0.24192170798778534, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.20758576691150665, + 0.23665212094783783, + -0.9491598606109619, + -1.1641764640808105 + ], + [ + 0.9782171249389648, + 0.050219640135765076, + -0.2014193832874298, + 4.592987060546875 + ], + [ + -6.671234586974606e-08, + -0.9702959656715393, + -0.24192169308662415, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.22076316177845, + 0.23595325648784637, + -0.9463562369346619, + -1.16810142993927 + ], + [ + 0.9753276705741882, + 0.05340756103396416, + -0.21420539915561676, + 4.61088752746582 + ], + [ + -4.186853175269789e-08, + -0.9702958464622498, + -0.24192190170288086, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.23390017449855804, + 0.23521113395690918, + -0.9433801770210266, + -1.1722675561904907 + ], + [ + 0.9722604751586914, + 0.056585490703582764, + -0.2269524484872818, + 4.6287336349487305 + ], + [ + -8.32212165846613e-09, + -0.9702956080436707, + -0.24192200601100922, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.2469952553510666, + 0.23442642390727997, + -0.9402328133583069, + -1.1766741275787354 + ], + [ + 0.9690167307853699, + 0.059753671288490295, + -0.239658385515213, + 4.64652156829834 + ], + [ + 6.989491652120705e-08, + -0.9702957272529602, + -0.24192194640636444, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.2600450813770294, + 0.233598992228508, + -0.9369142651557922, + -1.1813201904296875 + ], + [ + 0.965596616268158, + 0.06291071325540543, + -0.2523205280303955, + 4.664248943328857 + ], + [ + 1.5583246693040564e-08, + -0.9702958464622498, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.27304762601852417, + 0.2327290177345276, + -0.9334251880645752, + -1.1862049102783203 + ], + [ + 0.9620006680488586, + 0.06605635583400726, + -0.26493680477142334, + 4.681911468505859 + ], + [ + 6.36268850939814e-08, + -0.9702958464622498, + -0.2419217824935913, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.2860002815723419, + 0.23181675374507904, + -0.9297659993171692, + -1.1913275718688965 + ], + [ + 0.9582294821739197, + 0.0691896304488182, + -0.27750489115715027, + 4.699506759643555 + ], + [ + -1.0477280198983863e-07, + -0.9702957272529602, + -0.24192194640636444, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.29890134930610657, + 0.23086227476596832, + -0.9259378910064697, + -1.19668710231781 + ], + [ + 0.9542841911315918, + 0.07231086492538452, + -0.2900225818157196, + 4.717031478881836 + ], + [ + -3.942705717463468e-08, + -0.9702958464622498, + -0.2419217973947525, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.3117476999759674, + 0.2298658788204193, + -0.9219411015510559, + -1.2022825479507446 + ], + [ + 0.9501650929450989, + 0.07541865110397339, + -0.3024873435497284, + 4.734482288360596 + ], + [ + -9.08898130091984e-08, + -0.9702958464622498, + -0.24192190170288086, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.32453733682632446, + 0.22882749140262604, + -0.9177765846252441, + -1.2081129550933838 + ], + [ + 0.9458730816841125, + 0.07851283252239227, + -0.3148970603942871, + 4.751855850219727 + ], + [ + 1.5716700829671026e-08, + -0.9702958464622498, + -0.24192188680171967, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.33726784586906433, + 0.22774738073349, + -0.9134450554847717, + -1.214177131652832 + ], + [ + 0.9414088726043701, + 0.08159247040748596, + -0.3272494673728943, + 4.769149303436279 + ], + [ + -8.25472596943655e-08, + -0.9702958464622498, + -0.24192173779010773, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.34993693232536316, + 0.2266259640455246, + -0.9089471697807312, + -1.2204740047454834 + ], + [ + 0.9367733001708984, + 0.08465734869241714, + -0.33954229950904846, + 4.7863593101501465 + ], + [ + -7.255611933487671e-08, + -0.970295786857605, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.36254262924194336, + 0.22546331584453583, + -0.9042840003967285, + -1.2270026206970215 + ], + [ + 0.9319673776626587, + 0.0877070426940918, + -0.3517734408378601, + 4.803482532501221 + ], + [ + -6.51809486384991e-08, + -0.9702959060668945, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.3750821352005005, + 0.22425971925258636, + -0.8994562029838562, + -1.2337615489959717 + ], + [ + 0.926991879940033, + 0.09074068069458008, + -0.36394041776657104, + 4.820516586303711 + ], + [ + -7.132626933525898e-08, + -0.9702959060668945, + -0.2419218271970749, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.38755372166633606, + 0.2230151742696762, + -0.8944646716117859, + -1.2407495975494385 + ], + [ + 0.9218475222587585, + 0.09375786781311035, + -0.3760414719581604, + 4.837457656860352 + ], + [ + -9.002091161391945e-08, + -0.9702959656715393, + -0.24192175269126892, + 4.26771354675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.3999541401863098, + 0.221730038523674, + -0.889310359954834, + -1.247965693473816 + ], + [ + 0.9165353775024414, + 0.09675780683755875, + -0.3880736529827118, + 4.854302883148193 + ], + [ + 1.3317919211885965e-08, + -0.9702958464622498, + -0.24192185699939728, + 4.26771354675293 + ], + [ + 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_000039__traj002__bullettime_late/caption.txt b/blenderobj_eval/target/scene_000039__traj002__bullettime_late/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..bab0dd42af8adece051ae37650e21f61b0099688 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj002__bullettime_late/caption.txt @@ -0,0 +1 @@ +Inside a vintage train car with pink upholstered seats and patterned curtains, various items including boxes, a toy train, and a small bird figurine float and scatter through the air before settling on the seats and floor, while framed landscape paintings hang on the walls and a wooden ceiling with hanging lamps completes the cozy, retro ambiance. A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. The motion of the scene is frozen at a late moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000039__traj002__bullettime_late/extras/blender_meta.json b/blenderobj_eval/target/scene_000039__traj002__bullettime_late/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c314db666babe24dfa0c46b1e83b2bda6d71806 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj002__bullettime_late/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000039", + "trajectory_index": 2, + "trajectory_id": "T4", + "trajectory_name": "spherical_figure_eight", + "pattern": "bullettime_70", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 70, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 70, + 70 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "timestamps": [ + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333 + ], + "timestamp_range": [ + 2.333333333, + 2.333333333 + ], + "scene_time_span_seconds": 0.0, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70 + ], + "written_at": "2026-09-17T14:34:27" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000039__traj002__bullettime_late/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000039__traj002__bullettime_late/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..2628be1194b8ad60fc1bb3789285018654abd63c --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj002__bullettime_late/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "bullettime_late", + "original_pattern": "bullettime_70", + "trajectory": { + "dir": "traj002", + "index": 2, + "id": "T4", + "name": "spherical_figure_eight" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70 + ], + "timestamps_seconds": [ + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 2.333333333, + 2.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000039__traj002__bullettime_late/extras/traj_caption.txt b/blenderobj_eval/target/scene_000039__traj002__bullettime_late/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c378e2e338d77cb23b8b1bf8d641615119c75209 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj002__bullettime_late/extras/traj_caption.txt @@ -0,0 +1 @@ +A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. diff --git a/blenderobj_eval/target/scene_000039__traj002__bullettime_late/transforms.json b/blenderobj_eval/target/scene_000039__traj002__bullettime_late/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8be3085078010dba5dcae6c91dddba902a1b1a23 --- /dev/null +++ b/blenderobj_eval/target/scene_000039__traj002__bullettime_late/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9510565400123596, + 0.16375407576560974, + -0.2620612382888794, + -2.1261141300201416 + ], + [ + 0.30901697278022766, + -0.503983199596405, + 0.8065416812896729, + 3.1818416118621826 + ], + [ + 2.0369292030864017e-08, + -0.8480480909347534, + -0.5299192667007446, + 4.670909881591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.947725772857666, + 0.17166249454021454, + -0.2689754366874695, + -2.116434335708618 + ], + [ + 0.31908586621284485, + -0.5098596215248108, + 0.7988913059234619, + 3.192552089691162 + ], + [ + -1.4949772975114684e-08, + -0.8429561853408813, + -0.537982165813446, + 4.6821980476379395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.944267988204956, + 0.1797303408384323, + -0.2757806181907654, + -2.1069071292877197 + ], + [ + 0.3291776776313782, + -0.5155683755874634, + 0.791094958782196, + 3.2034668922424316 + ], + [ + 7.036483395950199e-09, + -0.8377864360809326, + -0.5459979772567749, + 4.693419933319092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9406698942184448, + 0.1879659742116928, + -0.28250476717948914, + -2.0974934101104736 + ], + [ + 0.3393230736255646, + -0.5210784077644348, + 0.7831584215164185, + 3.214578151702881 + ], + [ + 4.841236744823618e-09, + -0.8325539827346802, + -0.5539439916610718, + 4.704544544219971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9369156956672668, + 0.19637899100780487, + -0.2891785204410553, + -2.0881500244140625 + ], + [ + 0.3495553135871887, + -0.5263561010360718, + 0.775087296962738, + 3.2258777618408203 + ], + [ + -7.87029641458048e-09, + -0.8272753953933716, + -0.5617966055870056, + 4.715538024902344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9329863786697388, + 0.20497994124889374, + -0.2958371341228485, + -2.0788280963897705 + ], + [ + 0.35991165041923523, + -0.5313623547554016, + 0.7668883204460144, + 3.237356424331665 + ], + [ + -3.630988842928673e-09, + -0.821971595287323, + -0.5695285201072693, + 4.726362705230713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9288583993911743, + 0.21378079056739807, + -0.3025223910808563, + -2.0694687366485596 + ], + [ + 0.3704349100589752, + -0.5360512137413025, + 0.7585691213607788, + 3.2490034103393555 + ], + [ + 2.8451800915263448e-09, + -0.8166681528091431, + -0.5771075487136841, + 4.736973285675049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9245024919509888, + 0.22279483079910278, + -0.30928564071655273, + -2.06000018119812 + ], + [ + 0.3811759948730469, + -0.5403655767440796, + 0.7501398921012878, + 3.2608041763305664 + ], + [ + -3.4909986013076377e-09, + -0.8113985061645508, + -0.5844933390617371, + 4.747313499450684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9198812246322632, + 0.2320365309715271, + -0.3161923289299011, + -2.050330877304077 + ], + [ + 0.3921970725059509, + -0.544231653213501, + 0.7416154742240906, + 3.272738456726074 + ], + [ + -3.2372618363751826e-08, + -0.8062078356742859, + -0.5916324853897095, + 4.757308483123779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9149464964866638, + 0.2415199875831604, + -0.3233279883861542, + -2.0403409004211426 + ], + [ + 0.4035751223564148, + -0.5475507974624634, + 0.7330178618431091, + 3.2847750186920166 + ], + [ + -7.229772336359019e-10, + -0.8011592626571655, + -0.5984511375427246, + 4.766854286193848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9096350073814392, + 0.25125566124916077, + -0.3308092951774597, + -2.029867172241211 + ], + [ + 0.41540849208831787, + -0.5501835942268372, + 0.7243852019309998, + 3.296860933303833 + ], + [ + 2.3795623249611708e-08, + -0.7963470816612244, + -0.6048399209976196, + 4.775798797607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9038641452789307, + 0.26123878359794617, + -0.33879774808883667, + -2.0186831951141357 + ], + [ + 0.4278196096420288, + -0.5519251823425293, + 0.7157855033874512, + 3.3089001178741455 + ], + [ + -3.686740157604618e-08, + -0.7919172048568726, + -0.6106284260749817, + 4.783902645111084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8975310921669006, + 0.2714196741580963, + -0.34751877188682556, + -2.0064737796783447 + ], + [ + 0.4409511685371399, + -0.5524592995643616, + 0.707354724407196, + 3.3207032680511475 + ], + [ + 4.0106645116111395e-08, + -0.788111686706543, + -0.6155322194099426, + 4.790767669677734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8905376195907593, + 0.2816151976585388, + -0.3572613000869751, + -1.992834210395813 + ], + [ + 0.45490962266921997, + -0.5512939691543579, + 0.6993798613548279, + 3.3318681716918945 + ], + [ + -2.828596201709388e-08, + -0.7853456735610962, + -0.6190574765205383, + 4.795703411102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.8829139471054077, + 0.29129236936569214, + -0.3682548999786377, + -1.9774430990219116 + ], + [ + 0.4695347845554352, + -0.5477466583251953, + 0.6924670934677124, + 3.341546058654785 + ], + [ + -5.178458550858522e-09, + -0.7842973470687866, + -0.6203850507736206, + 4.7975616455078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.8751294016838074, + 0.2993125915527344, + -0.3802110552787781, + -1.9607044458389282 + ], + [ + 0.4838888943195343, + -0.5413168668746948, + 0.6876245737075806, + 3.348325490951538 + ], + [ + 6.256375684188242e-08, + -0.7857404351234436, + -0.6185563802719116, + 4.79500150680542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.8681051135063171, + 0.3044913113117218, + -0.39201855659484863, + -1.9441739320755005 + ], + [ + 0.49638041853904724, + -0.5325157642364502, + 0.6855897903442383, + 3.3511743545532227 + ], + [ + 8.955965569157343e-08, + -0.789754331111908, + -0.613423228263855, + 4.787815093994141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.8623946905136108, + 0.3067505657672882, + -0.40271520614624023, + -1.9291987419128418 + ], + [ + 0.5062365531921387, + -0.5225620865821838, + 0.6860418319702148, + 3.350541353225708 + ], + [ + 1.9533818118588897e-08, + -0.7955079674720764, + -0.6059431433677673, + 4.777343273162842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.8579378724098206, + 0.30676764249801636, + -0.41211193799972534, + -1.9160432815551758 + ], + [ + 0.5137534737586975, + -0.5122838020324707, + 0.6882025003433228, + 3.3475165367126465 + ], + [ + -1.5631247407554838e-09, + -0.8021588921546936, + -0.5971105694770813, + 4.76497745513916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.8544936180114746, + 0.30518341064453125, + -0.42036139965057373, + -1.9044939279556274 + ], + [ + 0.5194618701934814, + -0.5020143985748291, + 0.6914772391319275, + 3.3429317474365234 + ], + [ + -2.4280662813680465e-08, + -0.8092246055603027, + -0.5874992609024048, + 4.751521587371826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.851856529712677, + 0.30242806673049927, + -0.4276420772075653, + -1.8943010568618774 + ], + [ + 0.5237752199172974, + -0.49186229705810547, + 0.6955077648162842, + 3.337289333343506 + ], + [ + 3.7252064544190944e-08, + -0.8164611458778381, + -0.5774004459381104, + 4.7373833656311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8498837947845459, + 0.2987757921218872, + -0.434085875749588, + -1.8852797746658325 + ], + [ + 0.5269701480865479, + -0.48185768723487854, + 0.7000826597213745, + 3.3308842182159424 + ], + [ + 9.663965272466157e-08, + -0.823739230632782, + -0.5669689178466797, + 4.722779273986816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.848481297492981, + 0.2944049537181854, + -0.43977856636047363, + -1.877310037612915 + ], + [ + 0.5292253494262695, + -0.47200512886047363, + 0.7050756812095642, + 3.3238940238952637 + ], + [ + 3.170163864751885e-08, + -0.8309854865074158, + -0.5562940835952759, + 4.707834720611572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8475890755653381, + 0.2894365191459656, + -0.44476884603500366, + -1.8703235387802124 + ], + [ + 0.5306532382965088, + -0.46230408549308777, + 0.7104098796844482, + 3.3164260387420654 + ], + [ + 6.765414184428664e-08, + -0.8381536602973938, + -0.5454342365264893, + 4.692630767822266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8471719026565552, + 0.2839537262916565, + -0.4490768611431122, + -1.8642923831939697 + ], + [ + 0.5313188433647156, + -0.4527556002140045, + 0.7160395383834839, + 3.308544635772705 + ], + [ + 2.6708237399475365e-08, + -0.8452116250991821, + -0.5344318151473999, + 4.67722749710083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.84721440076828, + 0.2780165672302246, + -0.4526969790458679, + -1.8592242002487183 + ], + [ + 0.5312511324882507, + -0.44336774945259094, + 0.7219399213790894, + 3.3002841472625732 + ], + [ + 2.4485498073545386e-08, + -0.8521336913108826, + -0.523324191570282, + 4.661676406860352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8477178812026978, + 0.27166783809661865, + -0.4555995464324951, + -1.8551605939865112 + ], + [ + 0.5304473042488098, + -0.43415746092796326, + 0.7281022667884827, + 3.291656732559204 + ], + [ + 3.646053414740891e-08, + -0.8588968515396118, + -0.5121485590934753, + 4.646030902862549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.8487008810043335, + 0.2649384140968323, + -0.45772749185562134, + -1.8521815538406372 + ], + [ + 0.5288731455802917, + -0.42515575885772705, + 0.7345309257507324, + 3.282656669616699 + ], + [ + 8.871932521969939e-09, + -0.8654768466949463, + -0.5009489059448242, + 4.6303510665893555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.8502002954483032, + 0.2578516900539398, + -0.4589901566505432, + -1.8504137992858887 + ], + [ + 0.5264593958854675, + -0.41641485691070557, + 0.7412416934967041, + 3.273261785507202 + ], + [ + 8.621207570058687e-08, + -0.8718435764312744, + -0.48978444933891296, + 4.614721298217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.8522757887840271, + 0.25042712688446045, + -0.4592518210411072, + -1.8500473499298096 + ], + [ + 0.5230926871299744, + -0.40802133083343506, + 0.7482597231864929, + 3.2634363174438477 + ], + [ + 1.0579508824548611e-08, + -0.87795490026474, + -0.478743314743042, + 4.5992631912231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.8550145626068115, + 0.24268831312656403, + -0.45831483602523804, + -1.851359248161316 + ], + [ + 0.5186039805412292, + -0.40011662244796753, + 0.7556167244911194, + 3.25313663482666 + ], + [ + -3.8110488986831115e-08, + -0.8837472200393677, + -0.46796467900276184, + 4.584173202514648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8585354685783386, + 0.23468059301376343, + -0.4558967649936676, + -1.8547443151474 + ], + [ + 0.5127541422843933, + -0.392939954996109, + 0.7633355855941772, + 3.2423300743103027 + ], + [ + 2.8563675869008875e-08, + -0.8891136646270752, + -0.4576863646507263, + 4.569783687591553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8629766702651978, + 0.22651131451129913, + -0.4516236186027527, + -1.8607269525527954 + ], + [ + 0.5052437782287598, + -0.38689056038856506, + 0.7713911533355713, + 3.2310521602630615 + ], + [ + -4.5315054819639045e-08, + -0.8938725590705872, + -0.44832098484039307, + 4.556672096252441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8684301972389221, + 0.2184293121099472, + -0.44510412216186523, + -1.869854211807251 + ], + [ + 0.49581149220466614, + -0.3825862407684326, + 0.7796144485473633, + 3.2195396423339844 + ], + [ + -4.713741574846608e-08, + -0.897728443145752, + -0.44054919481277466, + 4.5457916259765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8747780323028564, + 0.2108922302722931, + -0.4362199306488037, + -1.8822921514511108 + ], + [ + 0.48452383279800415, + -0.3807530701160431, + 0.787568211555481, + 3.208404541015625 + ], + [ + -3.3708289493006305e-08, + -0.9003063440322876, + -0.4352567493915558, + 4.538382053375244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8815814256668091, + 0.2044087052345276, + -0.42547768354415894, + -1.8973312377929688 + ], + [ + 0.47203195095062256, + -0.38176003098487854, + 0.7946352362632751, + 3.1985106468200684 + ], + [ + -2.578942925879346e-08, + -0.9013746976852417, + -0.43303999304771423, + 4.535278797149658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.888319194316864, + 0.1991737186908722, + -0.41378605365753174, + -1.9136996269226074 + ], + [ + 0.4592266082763672, + -0.38527774810791016, + 0.8004199266433716, + 3.1904122829437256 + ], + [ + 2.206634874823976e-08, + -0.9010499119758606, + -0.43371546268463135, + 4.536224842071533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8946959376335144, + 0.19501978158950806, + -0.4018537402153015, + -1.930404782295227 + ], + [ + 0.4466756582260132, + -0.39062654972076416, + 0.8049173355102539, + 3.1841158866882324 + ], + [ + -1.3537544418795733e-09, + -0.8996545672416687, + -0.4366025924682617, + 4.540266513824463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9006373882293701, + 0.19166108965873718, + -0.39002346992492676, + -1.9469670057296753 + ], + [ + 0.43457138538360596, + -0.39721232652664185, + 0.8083130121231079, + 3.179361581802368 + ], + [ + 6.14769390949732e-08, + -0.8974899649620056, + -0.4410347044467926, + 4.546471118927002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9061673879623413, + 0.1888468861579895, + -0.37841445207595825, + -1.9632197618484497 + ], + [ + 0.4229191839694977, + -0.4046326279640198, + 0.8108093738555908, + 3.1758668422698975 + ], + [ + -2.2758882778362022e-08, + -0.8947677612304688, + -0.44653186202049255, + 4.5541672706604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9113362431526184, + 0.18639104068279266, + -0.36704856157302856, + -1.979132056236267 + ], + [ + 0.4116628170013428, + -0.41263115406036377, + 0.8125696182250977, + 3.173402786254883 + ], + [ + -2.3705524654360488e-08, + -0.891624391078949, + -0.4527759850025177, + 4.562909126281738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9161940813064575, + 0.18416009843349457, + -0.3559121787548065, + -1.994722843170166 + ], + [ + 0.4007348418235779, + -0.42104265093803406, + 0.8137165307998657, + 3.1717967987060547 + ], + [ + -5.753129528329737e-08, + -0.8881486654281616, + -0.45955613255500793, + 4.57240104675293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.920784056186676, + 0.18205764889717102, + -0.34498080611228943, + -2.010026693344116 + ], + [ + 0.3900727331638336, + -0.4297552704811096, + 0.8143423795700073, + 3.1709203720092773 + ], + [ + -1.3024280320905746e-08, + -0.8844010829925537, + -0.46672752499580383, + 4.582441329956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9251418709754944, + 0.180012047290802, + -0.3342277407646179, + -2.025081157684326 + ], + [ + 0.3796215355396271, + -0.4386913776397705, + 0.8145166039466858, + 3.1706767082214355 + ], + [ + -6.083723746996839e-09, + -0.8804234862327576, + -0.4741882085800171, + 4.592886447906494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9292967319488525, + 0.17796865105628967, + -0.3236274719238281, + -2.039921522140503 + ], + [ + 0.369333952665329, + -0.4477945864200592, + 0.8142926096916199, + 3.170990228652954 + ], + [ + -6.988106804328709e-08, + -0.8762460350990295, + -0.48186391592025757, + 4.60363245010376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9332725405693054, + 0.17588414251804352, + -0.31315678358078003, + -2.0545804500579834 + ], + [ + 0.35916903614997864, + -0.4570211172103882, + 0.8137133121490479, + 3.1718013286590576 + ], + [ + -1.033925123294921e-08, + -0.8718924522399902, + -0.4896973967552185, + 4.614599227905273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9370890259742737, + 0.17372286319732666, + -0.30279454588890076, + -2.069087505340576 + ], + [ + 0.34909048676490784, + -0.4663369953632355, + 0.812813401222229, + 3.1730613708496094 + ], + [ + -6.05187899793691e-09, + -0.8673811554908752, + -0.4976442754268646, + 4.625724792480469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9407626390457153, + 0.17145483195781708, + -0.29252153635025024, + -2.083469867706299 + ], + [ + 0.3390657901763916, + -0.4757139980792999, + 0.811622142791748, + 3.1747288703918457 + ], + [ + -2.686093303339021e-08, + -0.8627278208732605, + -0.5056684613227844, + 4.636958599090576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9443074464797974, + 0.16905343532562256, + -0.28231972455978394, + -2.097752332687378 + ], + [ + 0.32906457781791687, + -0.48512789607048035, + 0.8101650476455688, + 3.1767690181732178 + ], + [ + 1.8763300246860126e-08, + -0.8579462766647339, + -0.5137393474578857, + 4.648258209228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9477352499961853, + 0.1664942055940628, + -0.2721719443798065, + -2.111959457397461 + ], + [ + 0.31905779242515564, + -0.49455755949020386, + 0.8084645867347717, + 3.179149627685547 + ], + [ + -3.3957881839796755e-08, + -0.8530489802360535, + -0.5218309164047241, + 4.659585952758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9510565400123596, + 0.16375407576560974, + -0.2620612382888794, + -2.1261141300201416 + ], + [ + 0.30901697278022766, + -0.503983199596405, + 0.8065416812896729, + 3.1818416118621826 + ], + [ + 2.0369292030864017e-08, + -0.8480480909347534, + -0.5299192667007446, + 4.670909881591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9542802572250366, + 0.16080999374389648, + -0.2519708275794983, + -2.1402409076690674 + ], + [ + 0.29891327023506165, + -0.5133858323097229, + 0.8044164180755615, + 3.184816837310791 + ], + [ + -2.464853210426554e-08, + -0.8429561853408813, + -0.5379822254180908, + 4.6821980476379395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9574146866798401, + 0.15763849020004272, + -0.24188272655010223, + -2.1543641090393066 + ], + [ + 0.2887163758277893, + -0.5227463245391846, + 0.8021091222763062, + 3.188047170639038 + ], + [ + -1.7238527050267294e-08, + -0.8377865552902222, + -0.5459977984428406, + 4.693419933319092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9604670405387878, + 0.154214546084404, + -0.23177778720855713, + -2.168511152267456 + ], + [ + 0.2783937454223633, + -0.5320450067520142, + 0.7996405363082886, + 3.1915032863616943 + ], + [ + -6.718281042594754e-09, + -0.8325538635253906, + -0.5539440512657166, + 4.704544544219971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.963444173336029, + 0.15051043033599854, + -0.22163458168506622, + -2.182711601257324 + ], + [ + 0.26790907979011536, + -0.5412597060203552, + 0.7970336675643921, + 3.195152759552002 + ], + [ + 2.9905864451507114e-09, + -0.8272753357887268, + -0.5617966651916504, + 4.715538024902344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9663525819778442, + 0.14649471640586853, + -0.21142838895320892, + -2.19700026512146 + ], + [ + 0.2572210431098938, + -0.5503653883934021, + 0.7943143248558044, + 3.198960065841675 + ], + [ + 5.822423432277901e-09, + -0.8219715356826782, + -0.5695285201072693, + 4.726362705230713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9691984057426453, + 0.14213071763515472, + -0.20113001763820648, + -2.2114179134368896 + ], + [ + 0.2462811917066574, + -0.5593317747116089, + 0.7915135025978088, + 3.202881097793579 + ], + [ + -3.763903677622693e-08, + -0.8166681528091431, + -0.5771075487136841, + 4.736973285675049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9719878435134888, + 0.13737408816814423, + -0.1907038539648056, + -2.2260146141052246 + ], + [ + 0.23503106832504272, + -0.5681204199790955, + 0.7886695265769958, + 3.206862688064575 + ], + [ + 7.902385412705826e-10, + -0.8113985061645508, + -0.5844933390617371, + 4.747313499450684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9747271537780762, + 0.13216988742351532, + -0.18010568618774414, + -2.240852117538452 + ], + [ + 0.2233986109495163, + -0.5766803026199341, + 0.7858327031135559, + 3.210834264755249 + ], + [ + -1.227705492823361e-09, + -0.8062078356742859, + -0.5916324853897095, + 4.757308483123779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9774227738380432, + 0.12644843757152557, + -0.16927926242351532, + -2.256009101867676 + ], + [ + 0.21129286289215088, + -0.5849397778511047, + 0.7830713987350464, + 3.214700222015381 + ], + [ + -2.407281307625908e-08, + -0.8011593222618103, + -0.5984511375427246, + 4.766854286193848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9800811409950256, + 0.12011975049972534, + -0.15815259516239166, + -2.2715864181518555 + ], + [ + 0.19859756529331207, + -0.5927922129631042, + 0.7804847359657288, + 3.2183215618133545 + ], + [ + -4.821076871053265e-09, + -0.7963470816612244, + -0.6048399806022644, + 4.775798797607422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9827075004577637, + 0.11306677758693695, + -0.14663507044315338, + -2.2877109050750732 + ], + [ + 0.18516463041305542, + -0.6000691056251526, + 0.7782230377197266, + 3.2214877605438232 + ], + [ + -7.954930048015285e-10, + -0.7919172644615173, + -0.6106283664703369, + 4.783902645111084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9853025078773499, + 0.10514430701732635, + -0.13462409377098083, + -2.3045263290405273 + ], + [ + 0.1708185374736786, + -0.6064854264259338, + 0.7765284776687622, + 3.223860025405884 + ], + [ + -7.122274325865874e-09, + -0.7881117463111877, + -0.6155322194099426, + 4.790767669677734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.987849235534668, + 0.0962110087275505, + -0.12205467373132706, + -2.3221235275268555 + ], + [ + 0.15541525185108185, + -0.6115355491638184, + 0.7758030891418457, + 3.2248756885528564 + ], + [ + 1.6053848028718676e-08, + -0.7853456139564514, + -0.6190575957298279, + 4.795703411102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9902780652046204, + 0.08629689365625381, + -0.10909745842218399, + -2.340263605117798 + ], + [ + 0.13910214602947235, + -0.6143537163734436, + 0.7766724228858948, + 3.223658561706543 + ], + [ + -1.441265773394207e-09, + -0.7842973470687866, + -0.6203850507736206, + 4.7975616455078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9924173355102539, + 0.07602911442518234, + -0.09657835215330124, + -2.357790231704712 + ], + [ + 0.12291380763053894, + -0.6138660311698914, + 0.7797824740409851, + 3.2193045616149902 + ], + [ + 2.334163085038199e-09, + -0.7857404947280884, + -0.6185563206672668, + 4.79500150680542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9940768480300903, + 0.06666634976863861, + -0.08582986146211624, + -2.372838258743286 + ], + [ + 0.10867919772863388, + -0.6097899079322815, + 0.7850764989852905, + 3.21189284324646 + ], + [ + 6.226858140223612e-09, + -0.789754331111908, + -0.6134232878684998, + 4.787815093994141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9952502846717834, + 0.058987922966480255, + -0.07744185626506805, + -2.3845813274383545 + ], + [ + 0.09734894335269928, + -0.6030651330947876, + 0.7917295098304749, + 3.202578544616699 + ], + [ + -6.014003517407218e-09, + -0.7955079674720764, + -0.6059431433677673, + 4.777343273162842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9960629940032959, + 0.052932627499103546, + -0.07110973447561264, + -2.393446445465088 + ], + [ + 0.08864793926477432, + -0.5947598814964294, + 0.7990007400512695, + 3.1923987865448 + ], + [ + -3.863376285551112e-09, + -0.8021588325500488, + -0.5971106886863708, + 4.76497745513916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.996631920337677, + 0.04817799851298332, + -0.06636063009500504, + -2.400094985961914 + ], + [ + 0.08200520277023315, + -0.5855205059051514, + 0.8064991235733032, + 3.181901216506958 + ], + [ + 4.0457739380883595e-09, + -0.8092246651649475, + -0.5874992609024048, + 4.751521587371826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9970337152481079, + 0.04444000497460365, + -0.06283945590257645, + -2.405024766921997 + ], + [ + 0.07696565240621567, + -0.5756877660751343, + 0.8140392303466797, + 3.1713449954986572 + ], + [ + -1.0694765073537837e-09, + -0.8164610862731934, + -0.5774005055427551, + 4.7373833656311035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973157048225403, + 0.04151427373290062, + -0.06031535565853119, + -2.4085586071014404 + ], + [ + 0.07322142273187637, + -0.5654470324516296, + 0.8215280175209045, + 3.160860776901245 + ], + [ + 3.3627514106626677e-09, + -0.8237391710281372, + -0.5669689178466797, + 4.722779273986816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9975066781044006, + 0.03925909474492073, + -0.058644749224185944, + -2.4108972549438477 + ], + [ + 0.07057254016399384, + -0.5549070239067078, + 0.8289135694503784, + 3.1505210399627686 + ], + [ + 9.860521288374002e-09, + -0.8309855461120605, + -0.5562940835952759, + 4.707834720611572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9976240396499634, + 0.03757654130458832, + -0.05774284154176712, + -2.4121599197387695 + ], + [ + 0.06889290362596512, + -0.5441382527351379, + 0.8361623287200928, + 3.1403727531433105 + ], + [ + -5.52147527699276e-09, + -0.8381537199020386, + -0.5454341769218445, + 4.692630767822266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9976778626441956, + 0.0363997258245945, + -0.05756665766239166, + -2.4124066829681396 + ], + [ + 0.0681091770529747, + -0.5331908464431763, + 0.8432488441467285, + 3.1304514408111572 + ], + [ + 1.5800107888708226e-08, + -0.8452115058898926, + -0.5344318747520447, + 4.67722749710083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.997672438621521, + 0.03568490967154503, + -0.058106034994125366, + -2.411651611328125 + ], + [ + 0.06818888336420059, + -0.5221061706542969, + 0.8501502871513367, + 3.1207895278930664 + ], + [ + 1.05448876297487e-08, + -0.8521336913108826, + -0.5233242511749268, + 4.661676406860352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9976072907447815, + 0.03540747985243797, + -0.05937999114394188, + -2.409868001937866 + ], + [ + 0.06913518160581589, + -0.5109230875968933, + 0.8568418622016907, + 3.1114213466644287 + ], + [ + 1.3306964419257383e-09, + -0.8588969111442566, + -0.5121484994888306, + 4.646030902862549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9974772930145264, + 0.035560596734285355, + -0.06143713369965553, + -2.4069879055023193 + ], + [ + 0.07098645716905594, + -0.4996851682662964, + 0.8632935285568237, + 3.102389097213745 + ], + [ + 9.05822883368046e-09, + -0.8654768466949463, + -0.5009489059448242, + 4.6303510665893555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9972715377807617, + 0.03615622967481613, + -0.06436006724834442, + -2.402895927429199 + ], + [ + 0.07382066547870636, + -0.4884481728076935, + 0.8694647550582886, + 3.093749523162842 + ], + [ + 3.6272753689559067e-09, + -0.8718435764312744, + -0.4897845387458801, + 4.614721298217773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9969717860221863, + 0.03722911328077316, + -0.06827349215745926, + -2.3974170684814453 + ], + [ + 0.07776423543691635, + -0.4772934913635254, + 0.8752963542938232, + 3.085585117340088 + ], + [ + 8.85149198381896e-09, + -0.8779550194740295, + -0.47874322533607483, + 4.5992631912231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9965490698814392, + 0.03884365037083626, + -0.07335590571165085, + -2.3903017044067383 + ], + [ + 0.08300553262233734, + -0.46634969115257263, + 0.88069748878479, + 3.0780234336853027 + ], + [ + -3.3546276867468805e-09, + -0.8837472796440125, + -0.4679645895957947, + 4.584173202514648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_003__backward/caption.txt b/camxtime_eval/target/eval_scene_003__backward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..5b110fa10d283196f35ff652fbf5bb76662ac224 --- /dev/null +++ b/camxtime_eval/target/eval_scene_003__backward/caption.txt @@ -0,0 +1 @@ +A person stands with their back to the viewer, gazing out a large, floor-to-ceiling window of a modern building. They wear a black shirt with bright green flame graphics and dark pants, one hand resting on their hip while the other touches the glass. The scene is bathed in bright, natural daylight, casting sharp shadows on the light-colored concrete floor and walls. The view outside the window is a hazy, pale blue sky, suggesting a calm, open horizon. The architecture features clean, geometric lines and a minimalist aesthetic. The camera sweeps along an arc around the scene. Scene time is reversed, playing backward. diff --git a/camxtime_eval/target/eval_scene_003__backward/transforms.json b/camxtime_eval/target/eval_scene_003__backward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9929813c6e8054c436be91fcd0693718b57c4e2b --- /dev/null +++ b/camxtime_eval/target/eval_scene_003__backward/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999995157416703, + 0.0009765099094344459, + 0.00012224901599410838, + -0.00032064496190287173 + ], + [ + -0.000976614013724889, + 0.9999991580849891, + 0.0008544321982009111, + -0.00018301398085895926 + ], + [ + -0.00012141455156202045, + -0.0008545511745365717, + 0.9999996275003289, + -0.00025920398184098303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999798247327552, + -0.0002809235276414162, + -0.006345960086590402, + 0.005666857585310936 + ], + [ + 0.0002073150560018465, + 0.9999327316684016, + -0.011596946090893633, + 0.009632045403122902 + ], + [ + 0.006348791059448672, + 0.011595396506336928, + 0.9999126159979899, + 0.0011853657197207212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998408643300387, + 0.0005962680754052991, + -0.017829483451358322, + 0.014376365579664707 + ], + [ + -0.001111729036855434, + 0.9995812651373204, + -0.02891467525361178, + 0.020787522196769714 + ], + [ + 0.017804776727289497, + 0.02892989545185905, + 0.9994228589915459, + 0.0029953240882605314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997338158824468, + 0.0001461662728903364, + -0.023071107830826176, + 0.018707744777202606 + ], + [ + -0.00106942365517177, + 0.9991986813593984, + -0.04001064236779597, + 0.02955225110054016 + ], + [ + 0.023046772315591543, + 0.04002466495872976, + 0.9989328668538111, + 0.00024096037668641657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994259414203231, + 0.0028401720173579044, + -0.03375975472380532, + 0.025936057791113853 + ], + [ + -0.004697146438400819, + 0.9984723180956293, + -0.05505421702355038, + 0.039789315313100815 + ], + [ + 0.03355181711078946, + 0.055181187189583314, + 0.9979124771987332, + 0.0042956811375916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9991638301035846, + 0.002230212844324422, + -0.04082483023118404, + 0.031493913382291794 + ], + [ + -0.004814506038707622, + 0.9979820668729432, + -0.06331362200673721, + 0.04456544294953346 + ], + [ + 0.040601245600834036, + 0.06345723245365953, + 0.9971583216846672, + 0.005924385040998459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9988074195562388, + 0.003501983481324609, + -0.048697790002256026, + 0.03810848668217659 + ], + [ + -0.007454757463645742, + 0.9966677861463711, + -0.08122653906974736, + 0.057326532900333405 + ], + [ + 0.048251064553701796, + 0.08149270010122056, + 0.9955052860731813, + 0.004281585570424795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9984148082710383, + 0.0025737713852877777, + -0.05622496176931994, + 0.043533921241760254 + ], + [ + -0.00765902512389188, + 0.9958744808712292, + -0.09041768457338328, + 0.06188385188579559 + ], + [ + 0.055760290164747275, + 0.09070498360242747, + 0.9943155414607711, + 0.008374786004424095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9977221056629326, + 0.0021170424933083837, + -0.06742490639671216, + 0.050424154847860336 + ], + [ + -0.009587236240911807, + 0.9938117231815317, + -0.1106631997016896, + 0.07769263535737991 + ], + [ + 0.06677338371525612, + 0.11105753913191448, + 0.9915682216717006, + 0.007291050627827644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9972464280160962, + 0.0006699502786519613, + -0.07415600431362163, + 0.05545506626367569 + ], + [ + -0.009540450042752002, + 0.9928087906781572, + -0.11933015111511913, + 0.08393994718790054 + ], + [ + 0.07354278769613976, + 0.1197090486086977, + 0.9900814118339366, + 0.00917996745556593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9965847529848245, + 0.002366584517796709, + -0.08254228853077208, + 0.06315959244966507 + ], + [ + -0.013814862979266295, + 0.9902796351573114, + -0.13840301208271016, + 0.09885278344154358 + ], + [ + 0.08141240494569116, + 0.1390706420148505, + 0.9869302796299929, + 0.011319256387650967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9961102921877887, + 0.002277217822012699, + -0.08808575410672174, + 0.06749643385410309 + ], + [ + -0.015102366263987364, + 0.9892858031024082, + -0.14520853388575866, + 0.10436227172613144 + ], + [ + 0.08681131453207643, + 0.1459740184382636, + 0.9854721617631818, + 0.014287177473306656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1283.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9950205518425131, + 0.00020047925725953398, + -0.09966976080580901, + 0.07732469588518143 + ], + [ + -0.01666364629312318, + 0.9862576107639561, + -0.1643722850799077, + 0.11921094357967377 + ], + [ + 0.09826710692412569, + 0.16521466344801292, + 0.9813499328366629, + 0.01242984738200903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9947667700477423, + 0.0007903276972041817, + -0.10216872609029747, + 0.0774463564157486 + ], + [ + -0.018640168755013453, + 0.9845915019707365, + -0.17387385759737878, + 0.12529292702674866 + ], + [ + 0.1004570421502037, + 0.17486837801369406, + 0.9794536400735321, + 0.014626519754529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9938580775262835, + -0.002443303519626414, + -0.11063522044842677, + 0.08602168411016464 + ], + [ + -0.019066425419011695, + 0.9810247560464362, + -0.1929427361829723, + 0.14054913818836212 + ], + [ + 0.1090073078169639, + 0.19386711503486548, + 0.9749527929856687, + 0.015245335176587105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9934768766142092, + -0.002839114000301032, + -0.11399839939476691, + 0.08878372609615326 + ], + [ + -0.02020589494955581, + 0.9794883809548414, + -0.20048499540801196, + 0.14674721658229828 + ], + [ + 0.11222930741193676, + 0.2014806467285542, + 0.9730416905516847, + 0.014856390655040741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9918955013087186, + -0.004349548065915771, + -0.12698187238794062, + 0.0967022180557251 + ], + [ + -0.02399955981890921, + 0.9750089692413733, + -0.22086541383243571, + 0.15900389850139618 + ], + [ + 0.12476912924286801, + 0.22212291941737283, + 0.967002623087176, + 0.024959415197372437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1283.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9914022652194233, + -0.005397799906623429, + -0.13073795269150135, + 0.10132861137390137 + ], + [ + -0.025067025154837972, + 0.9728083931349967, + -0.23025089466925674, + 0.1677999645471573 + ], + [ + 0.12842582593732413, + 0.23154847009270985, + 0.9643091377924626, + 0.018537886440753937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9900936846824888, + -0.007218908923357852, + -0.140222619094812, + 0.10789245367050171 + ], + [ + -0.028321855731374922, + 0.9678818254290253, + -0.2498052131003449, + 0.1821933537721634 + ], + [ + 0.13752224561787732, + 0.2513019286796932, + 0.9580892299791718, + 0.024156033992767334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9891044194068397, + -0.009902836031942764, + -0.1468822022859908, + 0.112981416285038 + ], + [ + -0.028549487329355853, + 0.9658903605643357, + -0.2573727610725898, + 0.18694961071014404 + ], + [ + 0.14442082357848968, + 0.2587619469849108, + 0.9550837034048317, + 0.027466559782624245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9872865447814546, + -0.009189693798282743, + -0.15868468111758774, + 0.12338117510080338 + ], + [ + -0.03535164974259868, + 0.9606283075076267, + -0.27557851091024715, + 0.19939808547496796 + ], + [ + 0.15496947878202752, + 0.2776847211189813, + 0.9480905317020629, + 0.028211766853928566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9868488721277392, + -0.011662832533532447, + -0.16122432173063947, + 0.12585479021072388 + ], + [ + -0.03492224606337791, + 0.9584567861461071, + -0.2830919034878334, + 0.205954909324646 + ], + [ + 0.15782819871651246, + 0.2849992411003421, + 0.9454447060839313, + 0.032237641513347626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1289.5999755859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9852120263212557, + -0.015284440738392913, + -0.17065652364700307, + 0.1320069581270218 + ], + [ + -0.03847487740727405, + 0.9508416872621716, + -0.3072780004701302, + 0.2253796011209488 + ], + [ + 0.16696390927521063, + 0.30929997031319084, + 0.9361925984346375, + 0.033174555748701096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9840113892635447, + -0.01616013775761718, + -0.177370898817377, + 0.13674035668373108 + ], + [ + -0.04179630367581083, + 0.9471129890486041, + -0.3181667094063385, + 0.23297759890556335 + ], + [ + 0.1731319000030579, + 0.32049311369056444, + 0.9312945341181047, + 0.040646396577358246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.980886845887391, + -0.022475713136881445, + -0.19327658390005423, + 0.1540805548429489 + ], + [ + -0.04552941366010925, + 0.9392199842452236, + -0.3402835489502372, + 0.243799090385437 + ], + [ + 0.189177345516985, + 0.342579426576364, + 0.9202452218999875, + 0.05969009920954704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9792233935199491, + -0.017521631137302388, + -0.20202608253778465, + 0.16380466520786285 + ], + [ + -0.05360851848628629, + 0.9384489778312198, + -0.3412325347226496, + 0.24843476712703705 + ], + [ + 0.1955701212582867, + 0.3449731996109648, + 0.9180118840304802, + 0.051710568368434906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1253.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.975872661305254, + -0.024336869076197403, + -0.21697987399887803, + 0.17582029104232788 + ], + [ + -0.058020042042383924, + 0.9291349329839163, + -0.3651601717471016, + 0.2628844380378723 + ], + [ + 0.21049043597845754, + 0.36893901001729384, + 0.9053053535957122, + 0.06447377800941467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.974819175230091, + -0.026013841416083764, + -0.22147427764529057, + 0.18019451200962067 + ], + [ + -0.05982175681366422, + 0.9262620740562482, + -0.37210203919992574, + 0.26564496755599976 + ], + [ + 0.21482302720018537, + 0.3759811833320852, + 0.9013818373834434, + 0.06987524032592773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9726721631922838, + -0.029279021534381593, + -0.23032933345284892, + 0.188437357544899 + ], + [ + -0.06529270972748717, + 0.9174920558901741, + -0.39235849606560624, + 0.2783116400241852 + ], + [ + 0.22281320653697034, + 0.396675013425867, + 0.8905072760602819, + 0.07439206540584564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9716361928832651, + -0.035121373915926214, + -0.23385807185892132, + 0.1909351646900177 + ], + [ + -0.0640432617058626, + 0.9128745771005279, + -0.4031854004221954, + 0.289660781621933 + ], + [ + 0.22764351365542804, + 0.40672656119042594, + 0.8847326913327107, + 0.08190899342298508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9696238013761678, + -0.03878771674084278, + -0.24150610103031053, + 0.19484668970108032 + ], + [ + -0.06884055815234098, + 0.9041632985085721, + -0.42160373241157756, + 0.3008078634738922 + ], + [ + 0.234713999067172, + 0.4254224284874159, + 0.8740280864948017, + 0.09438196569681168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9674862202251961, + -0.04255764094713475, + -0.24931759037696835, + 0.19769138097763062 + ], + [ + -0.07304907848467193, + 0.8967163091615361, + -0.43653601571491635, + 0.3079077899456024 + ], + [ + 0.2421450924691702, + 0.44055500006324827, + 0.8644518761113129, + 0.1013752818107605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9658367784278965, + -0.04616295792349397, + -0.25500646805870725, + 0.20727190375328064 + ], + [ + -0.07730843966573085, + 0.8878789722594945, + -0.4535353743379608, + 0.3275652229785919 + ], + [ + 0.24735141518186815, + 0.4577552970039542, + 0.853977379953561, + 0.10266867280006409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9643588697530782, + -0.049933595667366555, + -0.25984342660974213, + 0.20775525271892548 + ], + [ + -0.08021892138722839, + 0.8806388386846818, + -0.4669477063350502, + 0.33488720655441284 + ], + [ + 0.25214459141539036, + 0.47114952172725627, + 0.8452462559492014, + 0.11726683378219604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1236.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9618451728568336, + -0.055978801994073825, + -0.26780634267940207, + 0.21408598124980927 + ], + [ + -0.08547815313056843, + 0.8683604251007083, + -0.48851167586487115, + 0.3473624885082245 + ], + [ + 0.2598987279487841, + 0.4927641888837155, + 0.8304433185741085, + 0.12894269824028015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1236.1142578125, + "fy": 1230.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9613872935106796, + -0.06339415996520344, + -0.2677977825870046, + 0.2164507508277893 + ], + [ + -0.08153197480604381, + 0.86380724647018, + -0.4971816348477009, + 0.3610519468784332 + ], + [ + 0.2628440772785967, + 0.4998181883724441, + 0.8252846597457455, + 0.12675757706165314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1248.0, + "fy": 1242.05712890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9590141435478086, + -0.06572581060278224, + -0.2756301694224914, + 0.22093293070793152 + ], + [ + -0.08973777083742396, + 0.8522112711132181, + -0.515444547815498, + 0.3762117624282837 + ], + [ + 0.26877314776665095, + 0.5190530485491827, + 0.8113845745584554, + 0.1378706395626068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9586091815564435, + -0.07204212399302572, + -0.27546028644118553, + 0.22165584564208984 + ], + [ + -0.08974386641478718, + 0.8416952282711225, + -0.5324426552658494, + 0.3863162100315094 + ], + [ + 0.2702119084655808, + 0.5351252891390922, + 0.8003914351410765, + 0.14468631148338318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1253.94287109375, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9575187287501845, + -0.07069830205326123, + -0.2795704458261219, + 0.2204774171113968 + ], + [ + -0.09648496630581421, + 0.83506173639517, + -0.5416295299239591, + 0.39149343967437744 + ], + [ + 0.27175087004386317, + 0.5455947639919844, + 0.7927659289695376, + 0.14941373467445374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1259.8857421875, + "fy": 1248.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9565415803553825, + -0.07616795902309659, + -0.2814722847270815, + 0.21999433636665344 + ], + [ + -0.09741888836660124, + 0.8263433717391733, + -0.5546766555139586, + 0.40050947666168213 + ], + [ + 0.27484134558076045, + 0.5579920017356794, + 0.7830115968224012, + 0.15441983938217163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1277.71435546875, + "fy": 1265.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.957870019333189, + -0.07607953460568787, + -0.2769421067241642, + 0.21940076351165771 + ], + [ + -0.09810806564338605, + 0.8195937186008664, + -0.564482899551188, + 0.41246286034584045 + ], + [ + 0.26992560737793947, + 0.5678715002922631, + 0.7776002351063591, + 0.14900460839271545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9560667980153384, + -0.07746165606069583, + -0.28272949894383587, + 0.22233206033706665 + ], + [ + -0.10403134868598429, + 0.8120313586623207, + -0.5742669684385483, + 0.4177001416683197 + ], + [ + 0.27406888955748565, + 0.5784503128094588, + 0.7682977804128854, + 0.15528440475463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9590790006487601, + -0.07321521989692732, + -0.2735086874123387, + 0.21413752436637878 + ], + [ + -0.10509602752822328, + 0.8049242177433968, + -0.5839964286602848, + 0.42545363306999207 + ], + [ + 0.26291119320478284, + 0.588843387723447, + 0.7642912855855489, + 0.1507428139448166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9568538270729772, + -0.07533708283750036, + -0.2806333507716667, + 0.21212124824523926 + ], + [ + -0.1122998303059245, + 0.7948770996540113, + -0.5962878034631327, + 0.4259474277496338 + ], + [ + 0.2679916075720625, + 0.602075344450479, + 0.7521208532382143, + 0.16710573434829712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9575124082244038, + -0.08130636088458695, + -0.27669344729503026, + 0.19980458915233612 + ], + [ + -0.10415843431384349, + 0.7971750592136121, + -0.5946956747186434, + 0.40961188077926636 + ], + [ + 0.2689256563766111, + 0.5982484439156359, + 0.7548362674745625, + 0.17704440653324127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9561178308032809, + -0.07646338718307721, + -0.2828286478426803, + 0.2047097384929657 + ], + [ + -0.11177333655665488, + 0.7971363477130381, + -0.5933636021780503, + 0.40751996636390686 + ], + [ + 0.2708235862236168, + 0.5989382218352821, + 0.7536097077199642, + 0.1780158281326294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9536590916105507, + -0.07775327242923123, + -0.2906695127031471, + 0.2099566012620926 + ], + [ + -0.11555838565804344, + 0.7973039096154673, + -0.5924126393114826, + 0.40291982889175415 + ], + [ + 0.27781396021914756, + 0.598548999112384, + 0.751371079539875, + 0.18516960740089417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9530209333229979, + -0.07862870195927271, + -0.29252115799777967, + 0.20795561373233795 + ], + [ + -0.11479255056048272, + 0.7999325093470239, + -0.5890081924944615, + 0.40007856488227844 + ], + [ + 0.28031013357347806, + 0.5949163871654348, + 0.7533264374081436, + 0.18172022700309753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9504667425391178, + -0.08250649034949105, + -0.2996759089037507, + 0.21632736921310425 + ], + [ + -0.11875293614481003, + 0.794596952736557, + -0.5954102979112511, + 0.4106306731700897 + ], + [ + 0.28724677802208043, + 0.6015050804041372, + 0.7454400893190187, + 0.1850844919681549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9500059118282485, + -0.08379275920153288, + -0.3007782256028053, + 0.2103135734796524 + ], + [ + -0.1180389633180802, + 0.7954410413879429, + -0.5944243878025681, + 0.39796942472457886 + ], + [ + 0.28905980459097236, + 0.600210232486134, + 0.7457828813996532, + 0.19738586246967316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.94864407818313, + -0.07999565528147168, + -0.3060638953946825, + 0.21577143669128418 + ], + [ + -0.12305918897705621, + 0.79797865689804, + -0.589988558485254, + 0.39851677417755127 + ], + [ + 0.2914289775166297, + 0.5973531269452661, + 0.7471535269222279, + 0.19273245334625244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9471477122668708, + -0.0840986592859329, + -0.30957814304944253, + 0.21873433887958527 + ], + [ + -0.12365852785684527, + 0.7947358480020806, + -0.5942251260159659, + 0.4060102701187134 + ], + [ + 0.2960063844512659, + 0.6011009461036654, + 0.7423327238896095, + 0.19207578897476196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1337.1429443359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9445149674295853, + -0.08556395234488165, + -0.3171281860078228, + 0.22296182811260223 + ], + [ + -0.12706156116231881, + 0.7951382655066705, + -0.5929675357066672, + 0.4020191431045532 + ], + [ + 0.30289740173280455, + 0.6003615150775123, + 0.7401481035828908, + 0.19870391488075256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9438508406040843, + -0.08901995895083112, + -0.31815253825697476, + 0.21955852210521698 + ], + [ + -0.12509111196849892, + 0.7950156933576257, + -0.5935505547310845, + 0.3971935212612152 + ], + [ + 0.3057741068132615, + 0.6000212448101198, + 0.7392406248164846, + 0.20568282902240753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9444969582541206, + -0.08471119951489751, + -0.3174106307694519, + 0.21827499568462372 + ], + [ + -0.12790426703253646, + 0.7951272492964728, + -0.5928011099020438, + 0.39599186182022095 + ], + [ + 0.3025987348347371, + 0.6004970192290487, + 0.7401603445020841, + 0.20240767300128937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1360.914306640625, + "fy": 1349.028564453125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9417840121487685, + -0.08795459502080151, + -0.3245101904034668, + 0.21751241385936737 + ], + [ + -0.13096941471943113, + 0.7929679293501858, + -0.5950200630484052, + 0.3837139308452606 + ], + [ + 0.3096609224119453, + 0.602881291994374, + 0.7352851561769608, + 0.22057421505451202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9410583941555111, + -0.08911826424069276, + -0.3262928650279959, + 0.2193421870470047 + ], + [ + -0.1312615775084915, + 0.7928477929518558, + -0.5951157664533456, + 0.38782426714897156 + ], + [ + 0.31173626202197574, + 0.6028684037085514, + 0.7344182668959621, + 0.21904951333999634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.938603749551745, + -0.09149517642862326, + -0.3326434036888471, + 0.22162209451198578 + ], + [ + -0.13390178770848077, + 0.7919928936963105, + -0.5956656508336019, + 0.3871535658836365 + ], + [ + 0.31795174567201123, + 0.6036355597749702, + 0.7311161319511974, + 0.2252877652645111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1331.2000732421875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9364376677239645, + -0.0925757884668098, + -0.3383994944698498, + 0.2211146205663681 + ], + [ + -0.13660649572882583, + 0.7922178546757114, + -0.5947516591466583, + 0.3806070387363434 + ], + [ + 0.323145725319695, + 0.6031754256621875, + 0.7292161861100221, + 0.2309901863336563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9363692041036831, + -0.08923891891826576, + -0.3394836210430983, + 0.20820993185043335 + ], + [ + -0.13844976263027375, + 0.7948416083251341, + -0.5908117135794921, + 0.3551710247993469 + ], + [ + 0.32255910595401854, + 0.6002193207698445, + 0.7319100970342809, + 0.24460266530513763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9342629719787622, + -0.09258265791691277, + -0.34435613925477027, + 0.20895929634571075 + ], + [ + -0.1387509952247623, + 0.795213474325355, + -0.5902403676262209, + 0.34858542680740356 + ], + [ + 0.3284826639467431, + 0.5992194770736656, + 0.7300925679542383, + 0.2547641694545746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9315342073963334, + -0.09832456372199115, + -0.3501089839169578, + 0.21159501373767853 + ], + [ + -0.1404240490926073, + 0.7908214571189526, + -0.5957201603074156, + 0.3489750325679779 + ], + [ + 0.3354476216742658, + 0.6040974285073026, + 0.722870105886211, + 0.26326054334640503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9320430568193844, + -0.09358661799801672, + -0.3500532604711348, + 0.21182076632976532 + ], + [ + -0.14293472872846455, + 0.7927721002059874, + -0.5925217805771433, + 0.3494637906551361 + ], + [ + 0.3329645680220326, + 0.6022905794271413, + 0.7255209537809499, + 0.25793522596359253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1325.2572021484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9274130505915538, + -0.09532315936164996, + -0.36168844173097436, + 0.2095140665769577 + ], + [ + -0.15013345665353683, + 0.7908000498461953, + -0.5933761255363376, + 0.33416956663131714 + ], + [ + 0.3425857247255462, + 0.6046062987205545, + 0.7190870912217124, + 0.28159210085868835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1289.5999755859375, + "fy": 1271.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9235728194062709, + -0.10286547911654949, + -0.36936694554341754, + 0.21935895085334778 + ], + [ + -0.15345538923460886, + 0.7836547477307138, + -0.6019440836771853, + 0.34167972207069397 + ], + [ + 0.3513754270987171, + 0.6126205428854258, + 0.7079769626661306, + 0.284100741147995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1283.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9242846928301216, + -0.10355944817566447, + -0.3673870537913381, + 0.2141624391078949 + ], + [ + -0.15174438724257946, + 0.7834756777326081, + -0.6026105735396654, + 0.34213337302207947 + ], + [ + 0.3502448394199429, + 0.6127326522187169, + 0.7084400111263597, + 0.2827889323234558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.922562273147359, + -0.10048006745951031, + -0.3725353784656041, + 0.2152346521615982 + ], + [ + -0.15741766852761574, + 0.7834750949891829, + -0.6011542673615659, + 0.3365408778190613 + ], + [ + 0.35227621236823287, + 0.6132458981314292, + 0.7069872266345898, + 0.2843853235244751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9195008065030581, + -0.10326645341916166, + -0.37928130251629016, + 0.21980570256710052 + ], + [ + -0.15965686022342054, + 0.7835940971338463, + -0.600408176094056, + 0.3425399959087372 + ], + [ + 0.3592046127541025, + 0.6126306640507151, + 0.7040282065662963, + 0.2902204096317291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.916289390214526, + -0.10545907665848345, + -0.3863834061274266, + 0.2282126098871231 + ], + [ + -0.1635694172507693, + 0.7820618792086335, + -0.6013520290386528, + 0.3432539701461792 + ], + [ + 0.3655937624201697, + 0.6142129925677262, + 0.6993451226972731, + 0.29170772433280945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9129573884444332, + -0.10763869351968644, + -0.3936022339140056, + 0.22446052730083466 + ], + [ + -0.1664329086787918, + 0.7824772725705212, + -0.6000245035157442, + 0.3294679522514343 + ], + [ + 0.37257065610892853, + 0.6133051683851797, + 0.6964537864342396, + 0.30958011746406555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9139802230094888, + -0.10723798947134378, + -0.3913312734265809, + 0.22563716769218445 + ], + [ + -0.16823787442834864, + 0.7774806294253584, + -0.6059867065177086, + 0.3416768014431 + ], + [ + 0.36923728083084534, + 0.6196966068024677, + 0.6925604276611184, + 0.3062492609024048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1331.2000732421875, + "fy": 1313.3714599609375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9060335019766881, + -0.11848603818800821, + -0.4062811244081731, + 0.23319193720817566 + ], + [ + -0.17472885198230298, + 0.7696355387999253, + -0.614109897087725, + 0.34391888976097107 + ], + [ + 0.38545184080609346, + 0.6273931751068543, + 0.6766126530360888, + 0.3216879665851593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9030898249838588, + -0.11760337815871984, + -0.41303536586626644, + 0.23468643426895142 + ], + [ + -0.17832160124590818, + 0.7722515137936067, + -0.6097778332905994, + 0.33279097080230713 + ], + [ + 0.3906791196617999, + 0.6243372845579065, + 0.6764412617301971, + 0.3304469585418701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.900930915398571, + -0.12194847867657059, + -0.41647575466953995, + 0.2352028340101242 + ], + [ + -0.18117113675019295, + 0.7663750850638512, + -0.6163166785038501, + 0.34036293625831604 + ], + [ + 0.39433552323844173, + 0.6307121352422554, + 0.6683574624184422, + 0.338046669960022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1325.2572021484375, + "fy": 1307.4285888671875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8981485000534433, + -0.12222536248581192, + -0.42236267900580793, + 0.23392841219902039 + ], + [ + -0.18495617504043835, + 0.7664449420750382, + -0.6151043521891247, + 0.3290264308452606 + ], + [ + 0.39889909145818053, + 0.6305736368837535, + 0.6657750395599364, + 0.3454156219959259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8956273449048997, + -0.12196590656000757, + -0.42775691308919317, + 0.22920571267604828 + ], + [ + -0.190079506216233, + 0.7644981386260992, + -0.6159645909902799, + 0.32202422618865967 + ], + [ + 0.4021460435901282, + 0.6329825540046309, + 0.6615222187882894, + 0.3561508357524872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8926616366628792, + -0.12089706824104589, + -0.43421089498199994, + 0.23422375321388245 + ], + [ + -0.1952725821470171, + 0.7645198234050257, + -0.6143110435946805, + 0.31952834129333496 + ], + [ + 0.4062312409108707, + 0.6331613842548107, + 0.6588496341325129, + 0.35967326164245605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1307.4285888671875, + "fy": 1295.5428466796875, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8856066114184084, + -0.11859943284321865, + -0.4490379765022901, + 0.2372838258743286 + ], + [ + -0.20948789051483976, + 0.7608970335126205, + -0.614125824338414, + 0.30796948075294495 + ], + [ + 0.41450663871601223, + 0.6379419087353961, + 0.6490102984848486, + 0.37531527876853943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1295.5428466796875, + "fy": 1283.6572265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.886149980899094, + -0.12065879416799473, + -0.4474144239320637, + 0.23762984573841095 + ], + [ + -0.20996684171871158, + 0.7561632956585461, + -0.6197830230632935, + 0.31469690799713135 + ], + [ + 0.4131006375342508, + 0.6431629075815327, + 0.644739744067375, + 0.378814160823822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1313.3714599609375, + "fy": 1301.4857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8818715335848535, + -0.1267787810591226, + -0.45412524585830105, + 0.24865755438804626 + ], + [ + -0.21452131617632678, + 0.7498131389235843, + -0.6259080296685277, + 0.3338223993778229 + ], + [ + 0.4198609331179503, + 0.6493900194572795, + 0.6340421117485803, + 0.3730583190917969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1349.028564453125, + "fy": 1337.1429443359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.883215187334776, + -0.12173544217240519, + -0.45289227745710775, + 0.23717617988586426 + ], + [ + -0.21573273475277374, + 0.7520079237211081, + -0.6228510815730818, + 0.3181995153427124 + ], + [ + 0.4164016330627032, + 0.6478152242574711, + 0.637922499370383, + 0.38377174735069275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1343.085693359375, + "fy": 1337.1429443359375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_009__bullettime_early/caption.txt b/camxtime_eval/target/eval_scene_009__bullettime_early/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..563b9ec5736f07d44c4f0284c388d27a313208b0 --- /dev/null +++ b/camxtime_eval/target/eval_scene_009__bullettime_early/caption.txt @@ -0,0 +1 @@ +A person wearing a red and yellow "ONE" t-shirt and black shorts sits on a gray ottoman in a modern, brightly lit living room with light wood floors and beige walls. They gesture with their right hand while looking forward, then raise their right arm in a fist, and finally gesture with both hands before returning to a resting pose. The room contains a white sofa, a wall-mounted TV, and recessed ceiling lights. The camera sweeps along an arc around the scene while scene time is frozen at an early moment. diff --git a/camxtime_eval/target/eval_scene_009__bullettime_early/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_009__bullettime_early/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..2bc6585e3b89042207889a9df2bd022b63947f82 --- /dev/null +++ b/camxtime_eval/target/eval_scene_009__bullettime_early/extras/temporal_mapping.json @@ -0,0 +1,263 @@ +{ + "pattern": "bullettime_early", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30, + 30 + ], + "timestamps_seconds": [ + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "preprocessed_latent": null, + "pattern_parameters": { + "fixed_motion_frame": 30 + }, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.004696044704533442, + "max_input_determinant_error": 0.004030157618199692, + "max_rotation_element_change": 0.0022525163849711483, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_009__bullettime_early/transforms.json b/camxtime_eval/target/eval_scene_009__bullettime_early/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..83a90986bc4a59ebdf3bc89eb2973100c9aa26e7 --- /dev/null +++ b/camxtime_eval/target/eval_scene_009__bullettime_early/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.999999873340168, + -0.0004882392240820216, + 0.00012223791323238907, + 0.00042724612285383046 + ], + [ + 0.0004883230430874438, + 0.9999996450497662, + -0.0006866155736436401, + 6.107616354711354e-05 + ], + [ + -0.00012190263718897716, + 0.0006866751782670336, + 0.9999997568084439, + 0.0002441304677631706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999486202520071, + 0.0029179848654543408, + 0.009707843243062493, + -0.00464440044015646 + ], + [ + -0.002941232978470332, + 0.9999928391062588, + 0.002381361957307917, + -0.0011161700822412968 + ], + [ + -0.009700824948077802, + -0.00240979263222675, + 0.9999500421995078, + -0.00022694197832606733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996442835451056, + 0.008099477102899334, + 0.025410723056477676, + -0.010693780146539211 + ], + [ + -0.008254411705797255, + 0.9999479414516459, + 0.005998255913862211, + -0.0029761851765215397 + ], + [ + -0.025360817474690843, + -0.006205872805383078, + 0.9996590999334419, + -0.0017864450346678495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9994218881831921, + 0.010716303214129834, + 0.032265310563613425, + -0.013612794689834118 + ], + [ + -0.011005335892165121, + 0.999900771169784, + 0.008793770293365808, + -0.004268443211913109 + ], + [ + -0.032167872205730766, + -0.009143777091262871, + 0.9994406532347291, + -0.002149654785171151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.998702758618951, + 0.01574229787019012, + 0.04842499338838175, + -0.021014325320720673 + ], + [ + -0.016458706061919622, + 0.9997603975008745, + 0.014431167092883095, + -0.006698695942759514 + ], + [ + -0.0481862109079544, + -0.015209459117982434, + 0.9987225647954865, + -0.0025839710142463446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.998345086152873, + 0.017482071352418454, + 0.054785638041749116, + -0.023147063329815865 + ], + [ + -0.018375934232934234, + 0.9997054356864886, + 0.01585455454922116, + -0.007539495825767517 + ], + [ + -0.05449232969399959, + -0.016835053908921177, + 0.99837225871135, + -0.0003807331377174705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972287039689565, + 0.02241156290846362, + 0.07094105883334288, + -0.03030824474990368 + ], + [ + -0.023913294938168333, + 0.9995060668156058, + 0.020390603816417732, + -0.008841004222631454 + ], + [ + -0.07044903339007567, + -0.022030529880098525, + 0.9972720739334913, + 0.00023229444923345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966411836609151, + 0.024047867294897128, + 0.07828186960935679, + -0.03308553993701935 + ], + [ + -0.025913985942726866, + 0.9994016106011185, + 0.02291039197504076, + -0.010560098104178905 + ], + [ + -0.07768408050256807, + -0.024862035444767085, + 0.9966679802371566, + 0.00018371213809587061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9953312216289969, + 0.02912867824878942, + 0.09201782085013499, + -0.03881825879216194 + ], + [ + -0.031867224149476445, + 0.9990876063412923, + 0.028432989294712465, + -0.012884711846709251 + ], + [ + -0.09110564897708627, + -0.031232594492048044, + 0.9953513378530011, + 0.0011379830539226532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9944524674650483, + 0.030073265239258972, + 0.10079627309839655, + -0.04246166720986366 + ], + [ + -0.033335563334185164, + 0.9989683351845446, + 0.0308383773213268, + -0.01343496609479189 + ], + [ + -0.09976487442917929, + -0.034027400965532896, + 0.9944290350817705, + 0.002140843076631427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.992727818351246, + 0.0340197383116235, + 0.11547352976671119, + -0.04886424541473389 + ], + [ + -0.03844645120823515, + 0.9986001491403798, + 0.03632647142656342, + -0.01598726212978363 + ], + [ + -0.11407606699508756, + -0.04050184615571072, + 0.9926460856704732, + 0.0017686904175207019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.991705026043845, + 0.03640811174170735, + 0.12327039676572486, + -0.051611196249723434 + ], + [ + -0.04137198745308335, + 0.9984228324120176, + 0.037950051021640493, + -0.015877025201916695 + ], + [ + -0.12169428899318889, + -0.04273519764510985, + 0.991647216962098, + 0.0020777438767254353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9895965050058158, + 0.04061771736420442, + 0.13801796374529152, + -0.05801818147301674 + ], + [ + -0.046955473943949305, + 0.9979720148774043, + 0.04297721475658552, + -0.018072450533509254 + ], + [ + -0.13599242900608116, + -0.049010800418440345, + 0.9894968421856486, + 0.0023692415561527014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9885231490346692, + 0.042675353865589905, + 0.14491652078016565, + -0.06049368157982826 + ], + [ + -0.04975201896972422, + 0.9977217601847523, + 0.04556342680567935, + -0.01926293782889843 + ], + [ + -0.14264193083037596, + -0.05225039163764187, + 0.9883942412533049, + 0.0034466120414435863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9861712537125626, + 0.04472870225709655, + 0.159579452140269, + -0.06558527797460556 + ], + [ + -0.05341043169302869, + 0.9972931517660657, + 0.05053409964441731, + -0.020601719617843628 + ], + [ + -0.15688717008524494, + -0.05835848382971909, + 0.9858908170927143, + 0.005610797554254532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9848335096084473, + 0.045710120599461, + 0.16737246854573046, + -0.0692344456911087 + ], + [ + -0.05526292573914211, + 0.9970712387197026, + 0.052867324092558406, + -0.02172026038169861 + ], + [ + -0.16446570278042472, + -0.06131500462970104, + 0.9844752423581817, + 0.0054033063352108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9820532364866392, + 0.04934843821539459, + 0.1820334374553733, + -0.07539356499910355 + ], + [ + -0.06077542098380619, + 0.9964802336958613, + 0.05773640149579222, + -0.02418840490281582 + ], + [ + -0.17854352105399707, + -0.06776337874651464, + 0.9815958107034167, + 0.009294535964727402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9805418135221652, + 0.05008502765365486, + 0.18981370324504143, + -0.07828012853860855 + ], + [ + -0.06284503950651954, + 0.9961075243306642, + 0.061808583394707454, + -0.02542775124311447 + ], + [ + -0.1859791734148963, + -0.07253475013239569, + 0.9798726739118421, + 0.010697572492063046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9773330793432575, + 0.05271912579787362, + 0.2050384007851558, + -0.0851953998208046 + ], + [ + -0.06800648847609947, + 0.9953486385789084, + 0.06823639208123121, + -0.02798505499958992 + ], + [ + -0.20048733013977763, + -0.08063362483617677, + 0.9763723925834867, + 0.010686193592846394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9754049386587211, + 0.05354667069353336, + 0.21381758509957663, + -0.08898621052503586 + ], + [ + -0.07052984884148458, + 0.9948640836615861, + 0.07260162162507357, + -0.030105166137218475 + ], + [ + -0.20883186074584933, + -0.08589650224445243, + 0.9741719790876738, + 0.010780379176139832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9726385024794896, + 0.05570854232945471, + 0.22554578649574233, + -0.09236007928848267 + ], + [ + -0.07515186499465899, + 0.9940732743620215, + 0.07855267269160045, + -0.032613229006528854 + ], + [ + -0.21983298360864822, + -0.0933535404293616, + 0.9710605417825515, + 0.013476463966071606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9707266675935001, + 0.057152149996699285, + 0.23328816638135375, + -0.0960647314786911 + ], + [ + -0.07815661670617284, + 0.9935793484572061, + 0.08180233238972401, + -0.03365272283554077 + ], + [ + -0.22711512518514415, + -0.09764071932400592, + 0.96896078859881, + 0.013739603571593761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.966728034124373, + 0.059665691837008955, + 0.24875070503545563, + -0.10247280448675156 + ], + [ + -0.08363548415281892, + 0.9926978773675609, + 0.086925428158069, + -0.03653854876756668 + ], + [ + -0.2417478310731014, + -0.10483763392766522, + 0.9646590364910805, + 0.014958913438022137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.965218201948708, + 0.059751667002264405, + 0.2545261497712041, + -0.10481321811676025 + ], + [ + -0.08513787628500778, + 0.9923041280109921, + 0.08991139835428681, + -0.037166375666856766 + ], + [ + -0.24719499317053661, + -0.10845393410473896, + 0.9628771362581123, + 0.016370253637433052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9615024689370468, + 0.06006827811428562, + 0.26815071171329813, + -0.10924886912107468 + ], + [ + -0.08885944426026979, + 0.9913537742817763, + 0.09654891704743776, + -0.03966426104307175 + ], + [ + -0.26003269293248427, + -0.11665974533514897, + 0.9585267353728942, + 0.019115028902888298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9593799487822734, + 0.05976679867993643, + 0.2757136986986237, + -0.11246885359287262 + ], + [ + -0.09030490295941171, + 0.9909393003902531, + 0.09941995495657173, + -0.04090229049324989 + ], + [ + -0.2672735272637659, + -0.12027981009973183, + 0.9560845302097287, + 0.021207481622695923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9552801830727174, + 0.0617460817981531, + 0.28918366691625447, + -0.11791801452636719 + ], + [ + -0.09593886906692055, + 0.9897712576878822, + 0.10558688771390023, + -0.04326013848185539 + ], + [ + -0.2797061051008998, + -0.12860901538198363, + 0.9514327175012224, + 0.022322505712509155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9535231100576734, + 0.061822835199957835, + 0.2949095041428485, + -0.11968052387237549 + ], + [ + -0.09779080495911886, + 0.989241165430063, + 0.10880659485535753, + -0.04432300850749016 + ], + [ + -0.28500988939226185, + -0.13258904052148945, + 0.9493100174770102, + 0.026051200926303864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9485724277230716, + 0.061840590563567416, + 0.310461093733672, + -0.12458040565252304 + ], + [ + -0.10241743776087807, + 0.9879388406286206, + 0.1161357637417299, + -0.04706086590886116 + ], + [ + -0.2995346687881978, + -0.14195981310260813, + 0.943465099332147, + 0.027324384078383446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9466010540230658, + 0.06225493437534572, + 0.31633963973606344, + -0.12820284068584442 + ], + [ + -0.1048484839971804, + 0.9872887143048957, + 0.1194478547721916, + -0.04827184975147247 + ], + [ + -0.30488233783857327, + -0.14623719688269132, + 0.9410958730766907, + 0.028718741610646248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9427616796558641, + 0.061787778356897693, + 0.32769297492954036, + -0.13336580991744995 + ], + [ + -0.1087619243553042, + 0.9859211606333204, + 0.127005152753648, + -0.05114015191793442 + ], + [ + -0.3152320719453917, + -0.15537610968603008, + 0.9362088470826636, + 0.030847694724798203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9401669138848008, + 0.06115111642442707, + 0.3351816149438627, + -0.13559578359127045 + ], + [ + -0.11083564806368995, + 0.9851464176251479, + 0.13115637597402782, + -0.05281658470630646 + ], + [ + -0.3221826083987643, + -0.16045895674715369, + 0.9329797908020218, + 0.031708478927612305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.93451811647754, + 0.06052545683133095, + 0.35073146287527307, + -0.14068451523780823 + ], + [ + -0.11537310142703742, + 0.9837390181381537, + 0.13764661877317436, + -0.05587991327047348 + ], + [ + -0.33669710043654505, + -0.1690982355553712, + 0.926304944005851, + 0.03456440195441246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9331419466376945, + 0.05919795069004592, + 0.3546007756045007, + -0.14378990232944489 + ], + [ + -0.11641427925251278, + 0.9829612491560221, + 0.14224942264821575, + -0.05755514279007912 + ], + [ + -0.3401379470322777, + -0.1740194968724237, + 0.9241338602696771, + 0.03586947172880173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9279515867222373, + 0.0601748548358446, + 0.36781087469672225, + -0.15038219094276428 + ], + [ + -0.12270249912156275, + 0.9811884165368656, + 0.14904156454895712, + -0.06026366725564003 + ], + [ + -0.3519232152174758, + -0.18343466984014503, + 0.917878953071499, + 0.038073595613241196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.924760466059587, + 0.05912823164258629, + 0.3759280950342434, + -0.15280304849147797 + ], + [ + -0.1246779030784514, + 0.9804083379846793, + 0.15249561073709453, + -0.06209639832377434 + ], + [ + -0.35954624305812866, + -0.18789183865442347, + 0.9140148554973521, + 0.03844268620014191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9203058140840392, + 0.05676864633372516, + 0.3870588189882125, + -0.15658067166805267 + ], + [ + -0.1277014088775863, + 0.9788095663189958, + 0.16007555420206637, + -0.06429936736822128 + ], + [ + -0.36976960223062316, + -0.19674641972817625, + 0.9080535708813389, + 0.041883789002895355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9172559461289931, + 0.056039218687207584, + 0.39433632252169426, + -0.15970531105995178 + ], + [ + -0.13028972229348929, + 0.9778001074027135, + 0.16410831248882055, + -0.06623369455337524 + ], + [ + -0.376385596902554, + -0.20190729539115299, + 0.9041942968810069, + 0.04376322031021118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9119656258827774, + 0.05492442001008486, + 0.40657349310400115, + -0.16302500665187836 + ], + [ + -0.13489979809420288, + 0.9760390427900425, + 0.17073321710680803, + -0.06791558861732483 + ], + [ + -0.3874541801069863, + -0.2105495073279746, + 0.8975233497138498, + 0.04846898093819618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9096949062949234, + 0.05240953790282247, + 0.41195681545264273, + -0.16462917625904083 + ], + [ + -0.13553695685005687, + 0.9751521876346879, + 0.1752368234108022, + -0.0696040689945221 + ], + [ + -0.3925365088611452, + -0.21524741877220166, + 0.8941944072308933, + 0.05075065419077873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9041007031194629, + 0.050410779136064274, + 0.42433556528505595, + -0.17164115607738495 + ], + [ + -0.13979616876688963, + 0.9732673194023179, + 0.18222995412808715, + -0.07393492013216019 + ], + [ + -0.40380558418252754, + -0.2240747159550149, + 0.8869789015826063, + 0.04991065338253975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9009009149932403, + 0.04922816932943047, + 0.4312239890228913, + -0.1724664568901062 + ], + [ + -0.14253881858737044, + 0.9719973570316581, + 0.1868256489863962, + -0.07539281994104385 + ], + [ + -0.4099514929355159, + -0.22977755605790665, + 0.8826902334182686, + 0.05218194052577019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8984700886328482, + 0.04749841121856261, + 0.43645778806637675, + -0.1755756288766861 + ], + [ + -0.1437191632435674, + 0.9711760387137561, + 0.1901628353407309, + -0.07702182233333588 + ], + [ + -0.4148449131285701, + -0.23358296761529798, + 0.8793990534969776, + 0.05375256389379501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8935129196395192, + 0.0446142610583739, + 0.44681565566515047, + -0.1784670501947403 + ], + [ + -0.14710123260089256, + 0.9692263192568696, + 0.19738685221432214, + -0.07937317341566086 + ], + [ + -0.42425922477249817, + -0.24209483631419318, + 0.872579051103935, + 0.05656692385673523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.889256543476251, + 0.041699213029781274, + 0.45550408946283577, + -0.18290360271930695 + ], + [ + -0.14894212095133155, + 0.9679605924931501, + 0.2021596794289817, + -0.08153810352087021 + ], + [ + -0.43248010878095805, + -0.24761556294588336, + 0.8669760599323401, + 0.05832747370004654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8838766932578547, + 0.03982432581007696, + 0.4660214739572995, + -0.1871645748615265 + ], + [ + -0.15394366196959877, + 0.9656234819012093, + 0.20945796747886145, + -0.08406518399715424 + ], + [ + -0.44165975598298624, + -0.2568760679291839, + 0.8596227926656496, + 0.061609428375959396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8813026476332161, + 0.03759020799031023, + 0.47105479462364896, + -0.18929006159305573 + ], + [ + -0.15556386508613307, + 0.9643467699116833, + 0.21409154873643788, + -0.08632316440343857 + ], + [ + -0.44621242380075665, + -0.2619585532563279, + 0.8557290396040708, + 0.06311961263418198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.87505829085825, + 0.032762814875446106, + 0.48290742959875393, + -0.1926828920841217 + ], + [ + -0.15802898107731697, + 0.9623702423452501, + 0.22106641035673041, + -0.08910778164863586 + ], + [ + -0.4574929821755775, + -0.26975936426708624, + 0.8473075336914656, + 0.067919060587883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.872327035139536, + 0.029804628862132074, + 0.4880135529501788, + -0.194956436753273 + ], + [ + -0.15986995880646526, + 0.9606603060522193, + 0.22709771607586768, + -0.0904620960354805 + ], + [ + -0.4620466859916705, + -0.2761221839585635, + 0.8427748213432027, + 0.06902415305376053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8656729825501337, + 0.026171362659027916, + 0.4999253414854313, + -0.19921156764030457 + ], + [ + -0.16437528921214517, + 0.9581244164201174, + 0.23447466165032083, + -0.09325877577066422 + ], + [ + -0.47285415465995395, + -0.2851537522744151, + 0.8337243465226637, + 0.07225483655929565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8619166482580334, + 0.023610451283205307, + 0.50649998819925, + -0.20090347528457642 + ], + [ + -0.16574908026096438, + 0.9571571675257552, + 0.23743925338224237, + -0.09490183740854263 + ], + [ + -0.47919404613192074, + -0.28860475263632734, + 0.8289031082746897, + 0.07463673502206802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8557120209050648, + 0.018364625965540365, + 0.5171263653999054, + -0.20430351793766022 + ], + [ + -0.16850365041792267, + 0.9547874673068218, + 0.24492327792527047, + -0.09829702228307724 + ], + [ + -0.4892478483084056, + -0.29672147341736266, + 0.8201176196977021, + 0.07931218296289444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8539383964918006, + 0.01529972842400385, + 0.520149145252747, + -0.20754386484622955 + ], + [ + -0.16847402374066778, + 0.9538602482210365, + 0.24852993821335082, + -0.10033121705055237 + ], + [ + -0.49234715224284653, + -0.2998608763641147, + 0.8171154976528745, + 0.08049159497022629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.848180359357261, + 0.009812461436247798, + 0.5296166477756808, + -0.2117990404367447 + ], + [ + -0.1726544801336222, + 0.9503483935835421, + 0.2588983609507194, + -0.1033354252576828 + ], + [ + -0.5007799002459822, + -0.3110331918200093, + 0.8077610074123914, + 0.08289085328578949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8442050514036887, + 0.006982515235821901, + 0.535974883427831, + -0.213712677359581 + ], + [ + -0.17305282652995377, + 0.9499210864051508, + 0.26019732672118573, + -0.10537677258253098 + ], + [ + -0.507317011753488, + -0.31241186610600985, + 0.8031365235759559, + 0.08477035164833069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.837543103986916, + 0.002243041595797949, + 0.5463666513691705, + -0.21794162690639496 + ], + [ + -0.17760797239696752, + 0.9468002894939358, + 0.26837402995677095, + -0.10770053416490555 + ], + [ + -0.516698129573738, + -0.32181389121447107, + 0.7933844353882932, + 0.08867966383695602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8358670725768058, + -0.0013003189018899537, + 0.5489303654860378, + -0.21924105286598206 + ], + [ + -0.17836649801732077, + 0.9450907561257238, + 0.2738409302327618, + -0.10951172560453415 + ], + [ + -0.5191450947152624, + -0.32680540365247995, + 0.7897383103133727, + 0.09088676422834396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8271013211411054, + -0.008731891664057516, + 0.561985016379089, + -0.22399847209453583 + ], + [ + -0.1816730132819199, + 0.9420524255784898, + 0.2820144388267226, + -0.11362968385219574 + ], + [ + -0.5318818673462229, + -0.33535202627932775, + 0.7775864567098913, + 0.09449812024831772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.825043894461677, + -0.011498969305143063, + 0.564951631483996, + -0.22540006041526794 + ], + [ + -0.1834392358710749, + 0.9401942504029863, + 0.28702755660772933, + -0.11556320637464523 + ], + [ + -0.5344647967402023, + -0.3404446287050016, + 0.7735921637603161, + 0.09573527425527573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8182031437287064, + -0.018699457565935926, + 0.5746250480784857, + -0.23008981347084045 + ], + [ + -0.18755610808051665, + 0.9361106742383489, + 0.29752228807051295, + -0.11900236457586288 + ], + [ + -0.5434761465916895, + -0.3512081090518317, + 0.7624214990555326, + 0.10118929296731949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8160405182777621, + -0.02074616377556107, + 0.5776222547803701, + -0.2299869954586029 + ], + [ + -0.18908887696260285, + 0.9347824999326986, + 0.30071094830184464, + -0.12082282453775406 + ], + [ + -0.5461897739229312, + -0.35461426156906084, + 0.7588975269124592, + 0.10247106850147247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.807209438098112, + -0.03021421752208105, + 0.5894913265730538, + -0.23161043226718903 + ], + [ + -0.19221043642099986, + 0.9308014926626054, + 0.31090791142702456, + -0.12386449426412582 + ], + [ + -0.5580932459510498, + -0.3642741856302673, + 0.7455442619370275, + 0.10967841744422913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8050624120038747, + -0.032528113460967775, + 0.592297589572315, + -0.2344924658536911 + ], + [ + -0.19360860551323628, + 0.929405835214581, + 0.3141981879965372, + -0.12528946995735168 + ], + [ + -0.5607051102404218, + -0.3676230614416856, + 0.7419319807411723, + 0.10996153205633163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7976893114882472, + -0.042034087862800565, + 0.6016019429780363, + -0.2370055764913559 + ], + [ + -0.1942652232009679, + 0.9264837133532637, + 0.32231809124811095, + -0.1297157108783722 + ], + [ + -0.5709227490581227, + -0.373980032018676, + 0.7308803939491239, + 0.11292724311351776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7959293280933448, + -0.04451192463953976, + 0.6037509364346861, + -0.2387111634016037 + ], + [ + -0.1950555075680173, + 0.9252542713169727, + 0.32535808331295607, + -0.13060857355594635 + ], + [ + -0.5731054472331063, + -0.3767269859919533, + 0.7277547144314209, + 0.11449921131134033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7860850960425553, + -0.05359425863438964, + 0.6157904491149542, + -0.24194347858428955 + ], + [ + -0.19980290749416726, + 0.9207202622388504, + 0.33519098564803235, + -0.13318555057048798 + ], + [ + -0.5849350561700368, + -0.38652536028603923, + 0.7130561870702079, + 0.12049304693937302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7835488372913868, + -0.055890477681433785, + 0.618811339653579, + -0.24343916773796082 + ], + [ + -0.20158941105988767, + 0.9192008978273738, + 0.33827713310520685, + -0.13517527282238007 + ], + [ + -0.5877184095532858, + -0.3898024678447937, + 0.7089718662501814, + 0.12165665626525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.779825748586538, + -0.06367191798916069, + 0.6227501013255852, + -0.24618332087993622 + ], + [ + -0.20248427086455617, + 0.9156785443945094, + 0.34717851803935246, + -0.1377958506345749 + ], + [ + -0.5923444284315451, + -0.3968358479209425, + 0.701177144458497, + 0.12530583143234253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7752463209062633, + -0.06664285758601154, + 0.6281336413965369, + -0.2475060224533081 + ], + [ + -0.2058505700776968, + 0.9134765632138, + 0.3509787903247042, + -0.13987722992897034 + ], + [ + -0.5971755895211973, + -0.4013966840818146, + 0.6944508746399088, + 0.12879003584384918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7667767162529194, + -0.0757809762627036, + 0.6374250630851145, + -0.25082600116729736 + ], + [ + -0.20823234483995992, + 0.9099430888922303, + 0.35866818306021925, + -0.14380080997943878 + ], + [ + -0.6072007559076674, + -0.40775092717728817, + 0.6819431232963786, + 0.13315218687057495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7639615179496975, + -0.08327190830875984, + 0.6398660706574546, + -0.2522919476032257 + ], + [ + -0.2076217032788612, + 0.907179926752961, + 0.3659478225431558, + -0.1452808976173401 + ], + [ + -0.6109468286353389, + -0.41242013746070894, + 0.6757614984573411, + 0.13663466274738312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7571014032761966, + -0.09172896837689055, + 0.6468255263343627, + -0.25614574551582336 + ], + [ + -0.20962908788361764, + 0.9036270990877172, + 0.37351534280053295, + -0.14932508766651154 + ], + [ + -0.6187512510454395, + -0.4183824352847863, + 0.6649082847843565, + 0.13963593542575836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7534581560428183, + -0.09390750290362802, + 0.6507550906377622, + -0.25774967670440674 + ], + [ + -0.21349409972308536, + 0.9011747570199227, + 0.3772324571050489, + -0.15111003816127777 + ], + [ + -0.6218690187458977, + -0.4231612437457955, + 0.6589487729069124, + 0.14145050942897797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7449380486976116, + -0.10690312719353062, + 0.6585127371576335, + -0.2598719298839569 + ], + [ + -0.21409107476448602, + 0.8965627682507622, + 0.38773730062081635, + -0.15425655245780945 + ], + [ + -0.6318483325203776, + -0.42982196777593146, + 0.6449967137191044, + 0.14699460566043854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.742277989064222, + -0.10933723615850556, + 0.6611117573754026, + -0.2604491114616394 + ], + [ + -0.21609862798537313, + 0.8948282524930118, + 0.3906197403142107, + -0.15642298758029938 + ], + [ + -0.6342907613497251, + -0.4328137790430445, + 0.640583689096799, + 0.14843347668647766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7337739098811156, + -0.12080756456176231, + 0.6685666619884925, + -0.26205378770828247 + ], + [ + -0.2195071883908464, + 0.8891293806438395, + 0.40157880760897585, + -0.1593768447637558 + ], + [ + -0.6429560198198058, + -0.44142324000958194, + 0.6259018131919065, + 0.15272469818592072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7310227224045025, + -0.12336466525970763, + 0.6711087383529356, + -0.2627492845058441 + ], + [ + -0.2201608139780113, + 0.8882784716352954, + 0.4031011942649169, + -0.15987835824489594 + ], + [ + -0.6458598883015176, + -0.44242797853958427, + 0.6221916814684423, + 0.15599963068962097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7237102646574537, + -0.1319267405480883, + 0.6773764005025547, + -0.267556369304657 + ], + [ + -0.2219590629308951, + 0.8849039054208551, + 0.40948657188454823, + -0.1634870171546936 + ], + [ + -0.65343525097157, + -0.44669946641928854, + 0.6111317038809596, + 0.1596117913722992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7197353586763636, + -0.13809066075888982, + 0.6803763538529096, + -0.26796895265579224 + ], + [ + -0.22390597199411955, + 0.8814789373686543, + 0.4157655573526947, + -0.16384023427963257 + ], + [ + -0.6571507659406441, + -0.4515815013777701, + 0.6035122355321586, + 0.16413100063800812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7131968462730647, + -0.1462996006627697, + 0.6855265752048337, + -0.2684805691242218 + ], + [ + -0.22736548846410443, + 0.8768190541136627, + 0.4236664737723544, + -0.16775815188884735 + ], + [ + -0.6630649991679802, + -0.45802267759264476, + 0.5920811039792019, + 0.1700260043144226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7086178671862915, + -0.15239078762946062, + 0.6889395954291088, + -0.26968687772750854 + ], + [ + -0.2284110736978203, + 0.8742813568210087, + 0.4283228811625932, + -0.16955506801605225 + ], + [ + -0.6675995054795655, + -0.4608786792214286, + 0.5847236469671386, + 0.17233939468860626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_022__bullettime_late/caption.txt b/camxtime_eval/target/eval_scene_022__bullettime_late/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..b550307e25c684a9b11f5c2c2431e190010f7d3b --- /dev/null +++ b/camxtime_eval/target/eval_scene_022__bullettime_late/caption.txt @@ -0,0 +1 @@ +A person wearing a white hard hat and an orange safety vest walks along the side of a modern building with wood-paneled walls and a large window. The person is moving from left to right, their gaze directed forward, and their arms are relaxed at their sides. The scene is lit by soft, ambient light, suggesting either early morning or late afternoon, casting gentle shadows on the building's surface. The atmosphere is calm and focused, with the person appearing to be inspecting or surveying the structure. The camera sweeps along an arc around the scene while scene time is frozen at a late moment. diff --git a/camxtime_eval/target/eval_scene_022__bullettime_late/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_022__bullettime_late/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..a6f2fd104f3cec6abb60c88636eb0ec0b1ea52ef --- /dev/null +++ b/camxtime_eval/target/eval_scene_022__bullettime_late/extras/temporal_mapping.json @@ -0,0 +1,263 @@ +{ + "pattern": "bullettime_late", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90, + 90 + ], + "timestamps_seconds": [ + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0, + 3.0 + ], + "preprocessed_latent": null, + "pattern_parameters": { + "fixed_motion_frame": 90 + }, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.004590999977848398, + "max_input_determinant_error": 0.004327808890557172, + "max_rotation_element_change": 0.0016977399049999953, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_022__bullettime_late/transforms.json b/camxtime_eval/target/eval_scene_022__bullettime_late/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c0c33aaf716f405368ec0e0a369947bfe359f635 --- /dev/null +++ b/camxtime_eval/target/eval_scene_022__bullettime_late/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999998733692619, + 0.0004883479850377804, + -0.00012156358483774801, + -0.0004575560160446912 + ], + [ + -0.00048821413661903466, + 0.9999992772939589, + 0.0010986621482292791, + 0.0003661742666736245 + ], + [ + 0.0001221000264295798, + -0.0010986026600439053, + 0.9999993890817026, + -0.00023696929565630853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999954333839892, + -0.0022198585082272627, + -0.002050716794471358, + 0.002865177346393466 + ], + [ + 0.0021742684495474137, + 0.9997562170847405, + -0.021972231500657708, + 0.013887055218219757 + ], + [ + 0.002098992109794246, + 0.0219676723530887, + 0.9997564781503095, + 0.0017609687056392431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999939702352373, + -0.003261774345681159, + 0.0011917723294267068, + -0.0006924495100975037 + ], + [ + 0.0033244851437758544, + 0.9983640490364191, + -0.057080411614983, + 0.032943423837423325 + ], + [ + -0.0010036392260896977, + 0.057084029462932374, + 0.9983688728564103, + -0.0030981150921434164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1491.6572265625, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999941025970012, + -0.0032539890424278144, + 0.0010983289725145448, + -0.0003583822981454432 + ], + [ + 0.003328102979062193, + 0.9970977333948876, + -0.07605940960419659, + 0.04358170926570892 + ], + [ + -0.0008476448435908204, + 0.07606261640313168, + 0.9971026827183502, + 4.133481979806675e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1491.6572265625, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999838008169537, + -0.004307956600442906, + 0.003720163115811641, + -0.0027281215880066156 + ], + [ + 0.004697352862081113, + 0.9937035659965473, + -0.11194265407714449, + 0.06348901242017746 + ], + [ + -0.0032144952587677563, + 0.11195831561645968, + 0.9937077048028539, + 0.0033547182101756334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999843831851442, + -0.005246020579360176, + 0.0019268248254042542, + -0.0010321850422769785 + ], + [ + 0.0054511656427984195, + 0.9915865819901235, + -0.12933033368192723, + 0.07315336167812347 + ], + [ + -0.001232144050685466, + 0.12933881739533876, + 0.9915996934932026, + 0.005388760939240456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999668770711401, + -0.007296970104682394, + 0.0036054109173265475, + -0.0022774282842874527 + ], + [ + 0.007792321203536841, + 0.9862318713577993, + -0.16518467134801998, + 0.09244272112846375 + ], + [ + -0.0023504235474305097, + 0.1652072944678405, + 0.9862560648045535, + 0.012583678588271141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1461.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999677859856759, + -0.0069911494098985495, + 0.003943452907646605, + -0.002445367630571127 + ], + [ + 0.007588351313586786, + 0.9835320083314893, + -0.18057465356956653, + 0.10165639966726303 + ], + [ + -0.002616087775272798, + 0.1805987608411418, + 0.9835533761150927, + 0.019473744556307793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999506171418088, + -0.008332477897995351, + 0.005416003119923832, + -0.004282646346837282 + ], + [ + 0.009298566874762621, + 0.9767889807220752, + -0.21400192474369242, + 0.12041022628545761 + ], + [ + -0.003507125859042612, + 0.21404171778419442, + 0.9768182241933248, + 0.020657368004322052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999478999578919, + -0.008645368702700421, + 0.005427243296252773, + -0.003268440719693899 + ], + [ + 0.009675028043703368, + 0.9722156767913797, + -0.23388687785643966, + 0.1326925903558731 + ], + [ + -0.003254412720585276, + 0.233927201071346, + 0.9722486684983275, + 0.024503089487552643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999924014396364, + -0.009246242583126788, + 0.008153062710052686, + -0.005554024130105972 + ], + [ + 0.011086806308168287, + 0.9636766428691506, + -0.2668415460799331, + 0.14863933622837067 + ], + [ + -0.005389634435213577, + 0.26691166139106376, + 0.9637059286183296, + 0.03389498218894005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1450.05712890625, + "fy": 1444.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999288742049685, + -0.009883279058451322, + 0.00667587643959223, + -0.004059026949107647 + ], + [ + 0.011371207132871625, + 0.9588525287432388, + -0.2836767945585922, + 0.157464861869812 + ], + [ + -0.0035975240826509216, + 0.28373253059483516, + 0.9588967144081396, + 0.039011865854263306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.999914811218155, + -0.010813829031227698, + 0.007309679079458275, + -0.004601301159709692 + ], + [ + 0.012568477604623754, + 0.9487899946148511, + -0.31565737673853544, + 0.17210906744003296 + ], + [ + -0.0035218854699389252, + 0.315722357808938, + 0.948845081718982, + 0.0517352856695652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1420.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999024366521312, + -0.010146498111329363, + 0.00960029964152483, + -0.0068772886879742146 + ], + [ + 0.012753008017880778, + 0.9435218402812492, + -0.33106479380746723, + 0.17958012223243713 + ], + [ + -0.005698944079927856, + 0.3311549267161243, + 0.9435591855034916, + 0.05144377797842026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999917955393082, + -0.00973604987216665, + 0.008324170553577278, + -0.005551450420171022 + ], + [ + 0.012073818538116338, + 0.9334113383308194, + -0.3586049307822993, + 0.191442608833313 + ], + [ + -0.004278479686407269, + 0.35867601370645896, + 0.9334523082639079, + 0.06261789053678513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1420.3428955078125, + "fy": 1420.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999142535054555, + -0.009242208734417877, + 0.009277241741874625, + -0.007777949329465628 + ], + [ + 0.012026106911017437, + 0.9284604967329014, + -0.37123641895570947, + 0.19419170916080475 + ], + [ + -0.005182508002165716, + 0.37131615583516425, + 0.9284920322903175, + 0.06911984086036682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1420.3428955078125, + "fy": 1414.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999428604375931, + -0.007809694966162876, + 0.007299624950610233, + -0.0056650592014193535 + ], + [ + 0.010081687152516911, + 0.9160107778336265, + -0.40102694981359194, + 0.2054484337568283 + ], + [ + -0.0035546369776473983, + 0.4010776278442484, + 0.9160371722800263, + 0.08080165088176727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1408.4571533203125, + "fy": 1402.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999285699788412, + -0.008224780156572522, + 0.008672250656377344, + -0.008757947012782097 + ], + [ + 0.011090043191279646, + 0.909033163176752, + -0.4165761865336093, + 0.2139500081539154 + ], + [ + -0.004457115893326216, + 0.4166426061221352, + 0.9090594440858468, + 0.08618416637182236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1408.4571533203125, + "fy": 1402.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999391020339322, + -0.007037170223177261, + 0.008501203375051886, + -0.008817917667329311 + ], + [ + 0.010091147514296416, + 0.8948864982018645, + -0.446179699311666, + 0.22730806469917297 + ], + [ + -0.004467769624619817, + 0.4462383147727839, + 0.8949030145570674, + 0.0974699929356575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1408.4571533203125, + "fy": 1414.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999684078633841, + -0.003982880858584993, + 0.006878948701245672, + -0.006597941275686026 + ], + [ + 0.0066939811075702816, + 0.8886362382250006, + -0.4585638742097457, + 0.2315809428691864 + ], + [ + -0.004286477819789142, + 0.4585954347498306, + 0.8886348256367821, + 0.10506082326173782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1396.5714111328125, + "fy": 1396.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999458607054346, + -0.004933574524485717, + 0.009161631976829399, + -0.008352547883987427 + ], + [ + 0.008775197348165594, + 0.8729893641113341, + -0.48766029780984815, + 0.24401722848415375 + ], + [ + -0.005592098851796591, + 0.48771429135396455, + 0.8729853941730821, + 0.11166103184223175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1396.5714111328125, + "fy": 1396.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999278034725797, + -0.0029441778895302594, + 0.011649878070480946, + -0.010587355121970177 + ], + [ + 0.008352748480271087, + 0.8672808440028917, + -0.4977491026797104, + 0.2498168647289276 + ], + [ + -0.008638254182854358, + 0.49781047542431905, + 0.8672428213150487, + 0.11764378100633621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1396.5714111328125, + "fy": 1396.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999556305345366, + -0.0009017977568025123, + 0.009376765064897822, + -0.009474871680140495 + ], + [ + 0.005661173005367205, + 0.8531288947682898, + -0.5216694739311852, + 0.26518768072128296 + ], + [ + -0.007529148854934699, + 0.5216994112247415, + 0.8530961471283749, + 0.12420376390218735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1396.5714111328125, + "fy": 1396.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998966468326834, + -0.001574931948589349, + 0.014290389851698823, + -0.01402646116912365 + ], + [ + 0.008983741750060033, + 0.8444731676024614, + -0.535522512676762, + 0.2711586654186249 + ], + [ + -0.011224439269934706, + 0.5355955459008429, + 0.8444000374077759, + 0.1308349221944809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1396.5714111328125, + "fy": 1396.5714111328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999082989170863, + -0.0019395898217567356, + 0.01340267689912766, + -0.01338683720678091 + ], + [ + 0.009056239863192416, + 0.8316041962682736, + -0.5552949173804307, + 0.27800604701042175 + ], + [ + -0.010068677980718085, + 0.5553653740919778, + 0.8315455026535823, + 0.1386602818965912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1396.5714111328125, + "fy": 1402.5142822265625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998929363190355, + -0.0011783096045879298, + 0.014585180347634449, + -0.01383207831531763 + ], + [ + 0.009264552820290992, + 0.822502000070841, + -0.5686867573106538, + 0.28942930698394775 + ], + [ + -0.011326250939182143, + 0.5687609967868246, + 0.8224248564906828, + 0.14156842231750488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1408.4571533203125, + "fy": 1414.4000244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998600530247009, + -0.0021383838095484784, + 0.016592217456562176, + -0.015942435711622238 + ], + [ + 0.011508750842851951, + 0.8077405420703264, + -0.5894257929120271, + 0.2987478971481323 + ], + [ + -0.012141788150018953, + 0.5895342602517837, + 0.8076521113511076, + 0.147051140666008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1420.3428955078125, + "fy": 1420.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998803430977176, + 0.0005011544933663522, + 0.01546118788982776, + -0.01706462725996971 + ], + [ + 0.008874103069138505, + 0.8000820606908227, + -0.599824929838236, + 0.3134520649909973 + ], + [ + -0.012670824026442963, + 0.5998903608201254, + 0.7999818780532412, + 0.1450558751821518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1444.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998642720056473, + 0.0031452568328870028, + 0.01617235066624701, + -0.016886549070477486 + ], + [ + 0.0075482977768965755, + 0.7850701755696471, + -0.6193608339503829, + 0.3176743984222412 + ], + [ + -0.014644479071929499, + 0.6193988430651912, + 0.7849398782341319, + 0.1614948809146881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1420.3428955078125, + "fy": 1420.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998590051563554, + 0.004364510185133617, + 0.01621483452235098, + -0.017450032755732536 + ], + [ + 0.006855279792808598, + 0.7754012313710368, + -0.6314316554681448, + 0.32609468698501587 + ], + [ + -0.015328892546615049, + 0.6314537840880547, + 0.7752619838571801, + 0.16212867200374603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997344930205214, + 0.00569510395282548, + 0.022327320841700513, + -0.024745851755142212 + ], + [ + 0.010248337774338891, + 0.7579618678892458, + -0.6522183517800687, + 0.3418879508972168 + ], + [ + -0.020637709123465728, + 0.6522740011811089, + 0.7577022583741734, + 0.171921506524086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997632584740492, + 0.0027810653019743974, + 0.021579913835288417, + -0.024173475801944733 + ], + [ + 0.012175519298615706, + 0.7504736332071658, + -0.660788228247633, + 0.3413735628128052 + ], + [ + -0.018032851553799138, + 0.6608945388915111, + 0.7502621040197989, + 0.1765076220035553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9997014250158782, + 0.0037725243307442716, + 0.024141849171016454, + -0.028190257027745247 + ], + [ + 0.013560614516480848, + 0.7362385124020194, + -0.6765862565778262, + 0.3494099974632263 + ], + [ + -0.020326597235090116, + 0.6767116231573349, + 0.7359675322516667, + 0.18499791622161865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1420.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9996953182718182, + 0.005728559585026911, + 0.024009461270275763, + -0.027210891246795654 + ], + [ + 0.012338727419238674, + 0.7264701156254979, + -0.6870872775046479, + 0.35608527064323425 + ], + [ + -0.02137817651442247, + 0.6871741807636226, + 0.7261780903199724, + 0.18925787508487701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9996396488622356, + 0.00674047173907303, + 0.02598342670474072, + -0.02849430777132511 + ], + [ + 0.01304196057402809, + 0.724082325645136, + -0.6895902355404374, + 0.3571222722530365 + ], + [ + -0.023462303530799648, + 0.6896806157411306, + 0.7237334927885838, + 0.191032275557518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9996523479981271, + 0.006199926901016365, + 0.025627017935268708, + -0.02876145951449871 + ], + [ + 0.013282468548610982, + 0.7212006971305321, + -0.6925988236256903, + 0.35902905464172363 + ], + [ + -0.022776285278501663, + 0.6926984303178817, + 0.7208676199303558, + 0.1956920474767685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995991703331041, + 0.006933081256377216, + 0.027448698578661043, + -0.030727732926607132 + ], + [ + 0.014015296990575106, + 0.7212209032932075, + -0.6925633401380668, + 0.3569026291370392 + ], + [ + -0.024598173095490134, + 0.6926704418677199, + 0.7208346473659141, + 0.19513928890228271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9996440616584382, + 0.005884078589032955, + 0.026021675775750593, + -0.029260843992233276 + ], + [ + 0.013783579975818566, + 0.7212022673614435, + -0.6925873969946056, + 0.35528939962387085 + ], + [ + -0.02284213024370571, + 0.6926995504342927, + 0.7208644601546526, + 0.19957424700260162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9996224214001569, + 0.00619572248014674, + 0.026769902073704947, + -0.030226891860365868 + ], + [ + 0.014092925027951569, + 0.7207429064275506, + -0.6930591982641339, + 0.35607126355171204 + ], + [ + -0.02358821948014057, + 0.6931747801653753, + 0.7203834534776886, + 0.19983923435211182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995929329916085, + 0.00509198596479445, + 0.028072050017207383, + -0.03059045970439911 + ], + [ + 0.015790876919043486, + 0.7207459130395372, + -0.6930194636826094, + 0.3536455035209656 + ], + [ + -0.023761660702944897, + 0.6931806406094577, + 0.720372114233262, + 0.20231811702251434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9996711389705014, + 0.0065240387344696225, + 0.024800218305713974, + -0.028234871104359627 + ], + [ + 0.012584073803470382, + 0.7178443939865782, + -0.6960898412622847, + 0.3548957407474518 + ], + [ + -0.022344014767466024, + 0.696173012217965, + 0.7175262239552209, + 0.20483732223510742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9996188983889427, + 0.006730742236693435, + 0.026772282170553333, + -0.030244095250964165 + ], + [ + 0.01393830081339126, + 0.7140600638247847, + -0.6999456757641845, + 0.3536454439163208 + ], + [ + -0.023828171438697365, + 0.7000520854618523, + 0.7136941192740768, + 0.20846177637577057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9996002484196469, + 0.007623750351843868, + 0.027225388701577972, + -0.03096006251871586 + ], + [ + 0.013703637946510102, + 0.7116365168083034, + -0.7024141785670163, + 0.3498218357563019 + ], + [ + -0.024729611125333485, + 0.7025064742587916, + 0.7112475658714564, + 0.2150413990020752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995756577582461, + 0.006509762223803084, + 0.028392383009529003, + -0.03197576850652695 + ], + [ + 0.015316064664039748, + 0.7116398262656609, + -0.7023775166075484, + 0.34907329082489014 + ], + [ + -0.02477746113662976, + 0.7025143277317334, + 0.7112381434872943, + 0.21576125919818878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999623977490548, + 0.007937586197755076, + 0.026246873172429557, + -0.030452070757746696 + ], + [ + 0.012893400784145997, + 0.7087121867802043, + -0.7053798951809163, + 0.3491741120815277 + ], + [ + -0.024200492602337167, + 0.7054530679177559, + 0.7083433525651457, + 0.21935147047042847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1420.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995932645313274, + 0.007779932296712117, + 0.02743680296722458, + -0.03283876180648804 + ], + [ + 0.013844414058241073, + 0.7087223371438058, + -0.7053516718863051, + 0.3418806493282318 + ], + [ + -0.024932663375333657, + 0.7054446268041737, + 0.7083263660277881, + 0.22393092513084412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1420.3428955078125, + "fy": 1420.3428955078125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995859636293515, + 0.009243521466705358, + 0.027248093989771086, + -0.032053329050540924 + ], + [ + 0.012673996205492593, + 0.7087291445100776, + -0.7053668333159675, + 0.34364941716194153 + ], + [ + -0.025831591808558766, + 0.7054201280321587, + 0.7083185525113183, + 0.22221241891384125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9996127050246217, + 0.010630123679915853, + 0.025718484090404715, + -0.031098537147045135 + ], + [ + 0.01063012195213283, + 0.708233986321725, + -0.7058977412671912, + 0.34449437260627747 + ], + [ + -0.025718484804542648, + 0.7058977412411723, + 0.7078466913463465, + 0.22521187365055084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9996270039254775, + 0.010180509680026532, + 0.025341867445541465, + -0.030144229531288147 + ], + [ + 0.01068274644734367, + 0.7082284276782403, + -0.7059025238350894, + 0.340706467628479 + ], + [ + -0.025134278412444463, + 0.7059099457091264, + 0.7078555054512348, + 0.22897805273532867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.999630771679599, + 0.009357390910690008, + 0.025509989153150066, + -0.03001784160733223 + ], + [ + 0.011384380241839296, + 0.708226679610664, + -0.7058933107589018, + 0.34206509590148926 + ], + [ + -0.02467217456485169, + 0.7059230903738729, + 0.7078586541670888, + 0.22757433354854584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9995917159267695, + 0.010864969061377851, + 0.026426386394508377, + -0.031176650896668434 + ], + [ + 0.01107237208081705, + 0.7053189107529588, + -0.7088036658417922, + 0.3409726917743683 + ], + [ + -0.026340159966873784, + 0.7088068753768931, + 0.7049106392950562, + 0.22953957319259644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9996530566652139, + 0.01105143212593776, + 0.023908829914112143, + -0.028256580233573914 + ], + [ + 0.009241249963874265, + 0.7028581691572883, + -0.7112699862555504, + 0.34471598267555237 + ], + [ + -0.024665068396445916, + 0.711244163348165, + 0.7025121881534636, + 0.2310573309659958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1432.2286376953125, + "fy": 1432.2286376953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9996606556585345, + 0.009823688698342261, + 0.024126099326388806, + -0.028452381491661072 + ], + [ + 0.010325101188512108, + 0.7008805235431623, + -0.7132039568057019, + 0.3443397581577301 + ], + [ + -0.023915806777018864, + 0.7132110394954783, + 0.7005412531235997, + 0.23104485869407654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9996218177698732, + 0.010184323480603807, + 0.02554409899948479, + -0.029697703197598457 + ], + [ + 0.011083496026125577, + 0.700896486531573, + -0.7131768863918229, + 0.3405057191848755 + ], + [ + -0.0251669933502577, + 0.713190293486204, + 0.700518542026383, + 0.23211054503917694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1438.1715087890625, + "fy": 1438.1715087890625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999629192173845, + 0.011082079991456667, + 0.02487299051037633, + -0.02928241714835167 + ], + [ + 0.009975660146526776, + 0.7008935797554632, + -0.7131960993038403, + 0.34295347332954407 + ], + [ + -0.025337015580121372, + 0.7131797651087943, + 0.7005231318670769, + 0.2324698567390442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1450.05712890625, + "fy": 1444.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9996289092457905, + 0.01030184256335965, + 0.025217371787529294, + -0.029426895081996918 + ], + [ + 0.010802971874003614, + 0.6998998314679858, + -0.7141593111552729, + 0.34651196002960205 + ], + [ + -0.025006791052836305, + 0.7141667157960275, + 0.699528814596193, + 0.23374316096305847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1450.05712890625, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9996575803759626, + 0.01067102356936829, + 0.023892493650858757, + -0.02784915640950203 + ], + [ + 0.009564577289998938, + 0.7008822688421648, + -0.7132128462695562, + 0.3395196795463562 + ], + [ + -0.024356536250829605, + 0.7131971497970531, + 0.7005402091694816, + 0.2330678552389145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1450.05712890625, + "fy": 1444.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9996337295550026, + 0.010776364583936566, + 0.02482492099302614, + -0.028636593371629715 + ], + [ + 0.010276307900831188, + 0.697450573834037, + -0.7165592051983555, + 0.33837223052978516 + ], + [ + -0.025036058633164007, + 0.7165518592711387, + 0.6970843770614801, + 0.23869574069976807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1450.05712890625, + "fy": 1444.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9996069016705603, + 0.011998741899742173, + 0.025339146106495222, + -0.029546383768320084 + ], + [ + 0.009792128106516544, + 0.6974604459947834, + -0.716556376358416, + 0.34044715762138367 + ], + [ + -0.02627082716110229, + 0.7165228234087044, + 0.6970687822408128, + 0.23947282135486603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1450.05712890625, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9996536878286183, + 0.011619946527695636, + 0.023611040920224858, + -0.028834808617830276 + ], + [ + 0.008919959228227218, + 0.6944925341729087, + -0.7194446151758012, + 0.34172317385673523 + ], + [ + -0.024757599601128607, + 0.7194060722712753, + 0.6941483735061302, + 0.24166055023670197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1450.05712890625, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9996558227546434, + 0.010397614746366548, + 0.024085797481560596, + -0.028360875323414803 + ], + [ + 0.010192489745206217, + 0.6920481549334768, + -0.7217793737742614, + 0.3379479646682739 + ], + [ + -0.024173315567593945, + 0.7217764479814767, + 0.6917039901241804, + 0.24764235317707062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1450.05712890625, + "fy": 1444.1142578125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9996412388889213, + 0.011158837598009919, + 0.024349001131126504, + -0.02912275865674019 + ], + [ + 0.009855623852352982, + 0.6920533627015645, + -0.7217790588898642, + 0.3435957729816437 + ], + [ + -0.024905023411016882, + 0.7217600872290721, + 0.6916951035622411, + 0.24227195978164673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1461.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.999626784942372, + 0.011070833649908695, + 0.024974536393525194, + -0.029383808374404907 + ], + [ + 0.010367953889466191, + 0.6920598180951203, + -0.7217656916966169, + 0.3431704342365265 + ], + [ + -0.025274421020497567, + 0.7217552527141354, + 0.6916867490574278, + 0.2453891783952713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1461.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9996599823850866, + 0.011556294222895572, + 0.023374594791844623, + -0.02771042473614216 + ], + [ + 0.009150129790125541, + 0.683954623490529, + -0.7294671672739985, + 0.3450213372707367 + ], + [ + -0.0244170993910603, + 0.7294330161637613, + 0.6836163252787085, + 0.2509860098361969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9996733331803972, + 0.011736768315945846, + 0.022704078873467124, + -0.02623077481985092 + ], + [ + 0.008537633964437326, + 0.683948165686244, + -0.7294806477629907, + 0.33942773938179016 + ], + [ + -0.024090158452863955, + 0.7294361897547451, + 0.6836245382823785, + 0.25352731347084045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996579258072015, + 0.010397603255057833, + 0.023998358639588564, + -0.028145097196102142 + ], + [ + 0.010397603186334758, + 0.6839570040331221, + -0.7294482205626485, + 0.33873629570007324 + ], + [ + -0.023998358669363735, + 0.7294482205616688, + 0.683614929840324, + 0.2514735460281372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1461.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996547764040067, + 0.010734369478864384, + 0.023981270286345488, + -0.02898642234504223 + ], + [ + 0.010236474676008451, + 0.68149387315382, + -0.731752222709308, + 0.3376372456550598 + ], + [ + -0.02419798749613216, + 0.7317450882415928, + 0.6811487232869495, + 0.25752753019332886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1461.94287109375, + "fy": 1456.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996228044936087, + 0.010107033846820252, + 0.02553618223523911, + -0.029912207275629044 + ], + [ + 0.011902515153869682, + 0.6785231224628566, + -0.7344826086547372, + 0.33846989274024963 + ], + [ + -0.02475033069160922, + 0.7345095099112571, + 0.6781468874665587, + 0.2573856711387634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996284850163281, + 0.008664722362162019, + 0.02584210769940122, + -0.029776545241475105 + ], + [ + 0.013179902902897757, + 0.6762373579812553, + -0.7365659005343661, + 0.3370361924171448 + ], + [ + -0.023857537664876263, + 0.7366328517361402, + 0.6758719254708329, + 0.259160578250885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996166820873963, + 0.012516929187767404, + 0.024694440189900798, + -0.02927030622959137 + ], + [ + 0.009816613385011705, + 0.6737627292558113, + -0.7388825473425451, + 0.33716705441474915 + ], + [ + -0.025886733942955827, + 0.7388417361989427, + 0.6733815900782395, + 0.2614592909812927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.999583834165958, + 0.01279288419989934, + 0.02585537831730465, + -0.03017880953848362 + ], + [ + 0.010597657598493442, + 0.6707631544874691, + -0.7415959009025361, + 0.3391842842102051 + ], + [ + -0.026829985603948364, + 0.7415612804724011, + 0.6703484311733897, + 0.2655504643917084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996156855735928, + 0.013352796448111093, + 0.024293702522492338, + -0.0281866155564785 + ], + [ + 0.009064094515821958, + 0.6707469948403022, + -0.7416308455716439, + 0.3414182662963867 + ], + [ + -0.02619777368106469, + 0.7415660265544255, + 0.6703681860846593, + 0.2635151147842407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995620813164763, + 0.01682621302832835, + 0.024341818941873396, + -0.02831273339688778 + ], + [ + 0.0067696345024397505, + 0.6707582763989589, + -0.7416451352843897, + 0.33822721242904663 + ], + [ + -0.02880655555558511, + 0.7414851402404656, + 0.6703506315053344, + 0.26653847098350525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9995773832747689, + 0.011897509671213528, + 0.026523651882580702, + -0.030385486781597137 + ], + [ + 0.011693793712754126, + 0.670766824570629, + -0.7415761068454396, + 0.33131420612335205 + ], + [ + -0.026614094652429997, + 0.7415728664932792, + 0.670344220268045, + 0.26999855041503906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9995650295788001, + 0.011117698075722141, + 0.027315717684674858, + -0.0305539071559906 + ], + [ + 0.012911928915649675, + 0.6677559663490645, + -0.7442682658134129, + 0.33066627383232117 + ], + [ + -0.026514783325703093, + 0.7442972297373709, + 0.6673219613278636, + 0.2711114287376404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9996196778756764, + 0.013710717010034705, + 0.02392730329142201, + -0.028266163542866707 + ], + [ + 0.008745541675393731, + 0.6652535329097519, + -0.746566308141412, + 0.3339014947414398 + ], + [ + -0.026153682427774883, + 0.7464916296852663, + 0.6648806146258911, + 0.27308812737464905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9996180534865099, + 0.014206164796584196, + 0.023705105475671402, + -0.02711217664182186 + ], + [ + 0.008250049353626155, + 0.6652526038766831, + -0.7465727759039671, + 0.33335575461387634 + ], + [ + -0.026375819029996906, + 0.7464831933252516, + 0.6648813114033449, + 0.2709560692310333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996688404829516, + 0.01698330736048918, + 0.019333303871020526, + -0.023824332281947136 + ], + [ + 0.003241845171204297, + 0.6621916622696529, + -0.7493274937305048, + 0.331606388092041 + ], + [ + -0.0255284117672054, + 0.7491420223773679, + 0.661917313945625, + 0.27568918466567993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996678754096153, + 0.015380855399026769, + 0.020677721373973203, + -0.025042658671736717 + ], + [ + 0.005310400537974849, + 0.6622044395496924, + -0.7493043973491692, + 0.32935842871665955 + ], + [ + -0.025217821479099282, + 0.7491653419158353, + 0.6619028266686715, + 0.2776506543159485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9996465781674369, + 0.015384243224078976, + 0.021680493964757425, + -0.02557164616882801 + ], + [ + 0.00633380794843457, + 0.654226640870529, + -0.7562720312507503, + 0.329033225774765 + ], + [ + -0.02581862961130684, + 0.7561420682885497, + 0.6538979820501883, + 0.28617486357688904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1473.82861328125, + "fy": 1473.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996571701062194, + 0.016601587721603566, + 0.020246716779441523, + -0.02525133267045021 + ], + [ + 0.004453119924864053, + 0.6542120713159504, + -0.7562980467166551, + 0.32835862040519714 + ], + [ + -0.02580139488786986, + 0.7561289261955361, + 0.6539138589999639, + 0.2842116057872772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1485.71435546875, + "fy": 1479.771484375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dycheck_eval/source/block__camera_1/rgb_video/00257.png b/dycheck_eval/source/block__camera_1/rgb_video/00257.png new file mode 100644 index 0000000000000000000000000000000000000000..c12ac64b47e341f6f474cb9347b68518f6cb7539 --- /dev/null +++ b/dycheck_eval/source/block__camera_1/rgb_video/00257.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d57a6c99af8c2c2ccd6a3b665fb407c4c4e13ff7dabd2faab6dc80eccbe32a46 +size 385962 diff --git a/dycheck_eval/source/spin__camera_1/rgb_video/00117.png b/dycheck_eval/source/spin__camera_1/rgb_video/00117.png new file mode 100644 index 0000000000000000000000000000000000000000..81bd1bf56646f8b372e4db2f9cf3a82f27d60946 --- /dev/null +++ b/dycheck_eval/source/spin__camera_1/rgb_video/00117.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba26afdcc23ae682f1a6b3509b88577b0809941abe404eb9453660ff3fa53ef8 +size 473371 diff --git a/dynpose_eval/camera_controls/032f2605-18fa-4952-adfa-e799d303d8e5/pan_left/transforms.json b/dynpose_eval/camera_controls/032f2605-18fa-4952-adfa-e799d303d8e5/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a8c2a62cafff2e0ba236e6f3be9e54aa5b6a1b22 --- /dev/null +++ b/dynpose_eval/camera_controls/032f2605-18fa-4952-adfa-e799d303d8e5/pan_left/transforms.json @@ -0,0 +1,5053 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 144, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -3.410512726986781e-05, + 0.00024300339282490313, + -0.0016687720781192183 + ], + [ + 3.403113078093156e-05, + 0.9999999403953552, + 0.0003044925688300282, + -0.0017285413341596723 + ], + [ + -0.00024301375378854573, + -0.00030448430334217846, + 0.9999999403953552, + -0.00025716322124935687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999799675644279, + -0.0002586553746368736, + -0.006322749700828758, + -0.006376881618052721 + ], + [ + 0.00025966645478903795, + 0.9999999403953552, + 0.00015909015067523986, + -0.002199412090703845 + ], + [ + 0.006322707900505168, + -0.0001607287849765271, + 0.9999800272456991, + -0.0023789769038558006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999930470323131, + -0.00033018353860825306, + -0.011785271090335888, + -0.01280581671744585 + ], + [ + 0.0003336122368399756, + 0.9999998807907107, + 0.00028896466125581514, + -0.0030175326392054558 + ], + [ + 0.011785174451681103, + -0.0002928762987721712, + 0.9999305302820222, + -0.0016236070077866316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998629338772608, + 9.507207141723484e-05, + -0.016556495663578304, + -0.025286583229899406 + ], + [ + -8.800541681227885e-05, + 0.9999998807907104, + 0.00042754907408707404, + -0.00441646296530962 + ], + [ + 0.0165565341238072, + -0.0004260334244463593, + 0.9998628144549361, + -0.0022218399681150913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997614008918317, + 0.0012038198765367272, + -0.021811727598828504, + -0.036987677216529846 + ], + [ + -0.0011966538560749434, + 0.9999992251396181, + 0.00034158802493322046, + -0.0036612909752875566 + ], + [ + 0.021812121682555637, + -0.000315405399305746, + 0.9997620536745547, + -0.0011411593295633793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996227674979282, + 0.0025604076217859983, + -0.027345487530825482, + -0.05117805302143097 + ], + [ + -0.0025536783252705962, + 0.9999967217445374, + 0.0002810039419463156, + -0.0006462089950218797 + ], + [ + 0.027346116739989577, + -0.00021106634812895209, + 0.9996259805237689, + 0.0007055413443595171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994267529188181, + 0.003686809679493308, + -0.03365443571576483, + -0.06913500279188156 + ], + [ + -0.003665597450280655, + 0.9999930262565613, + 0.0006919747782925752, + -0.0031365291215479374 + ], + [ + 0.033656753949426535, + -0.0005682144546881318, + 0.9994332843594517, + 0.0070756482891738415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9991609417315802, + 0.004776914604008198, + -0.04067708059486851, + -0.10620864480733871 + ], + [ + -0.004751147444842154, + 0.9999884366989136, + 0.0007301006714705764, + -0.0054564327001571655 + ], + [ + 0.040680099119732735, + -0.0005362252122722566, + 0.9991720500299092, + 0.012471729889512062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9986351722030969, + 0.005867422092705967, + -0.051897897256425546, + -0.14035023748874664 + ], + [ + -0.005812709032032873, + 0.9999823570251467, + 0.0012051123710535255, + -0.00928784441202879 + ], + [ + 0.0519040550618012, + -0.0009018001728691163, + 0.9986516538773155, + 0.015138990245759487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9979469920145628, + 0.007008255459368231, + -0.06366108561331113, + -0.18200252950191498 + ], + [ + -0.006906699370398918, + 0.9999744892120364, + 0.0018151861696504017, + -0.013108513318002224 + ], + [ + 0.06367218658057303, + -0.001371771562844515, + 0.9979699388304748, + 0.01592209003865719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9969359589841776, + 0.007959014736115932, + -0.07781612160448603, + -0.2236325889825821 + ], + [ + -0.007832408283279217, + 0.9999674558639526, + 0.001932074174978529, + -0.015244572423398495 + ], + [ + 0.07782896403812335, + -0.001316666603088379, + 0.9969658292338156, + 0.020198553800582886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9954618796024661, + 0.008649757131934166, + -0.09476725958382591, + -0.25909340381622314 + ], + [ + -0.00856032802487034, + 0.9999624490737915, + 0.0013501787063090447, + -0.009928216226398945 + ], + [ + 0.09477537592482103, + -0.0005328126135282218, + 0.99549855927132, + 0.01943468302488327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9938183005612294, + 0.009144676849246025, + -0.11064173616023891, + -0.30124351382255554 + ], + [ + -0.008955324214252975, + 0.9999574422836304, + 0.0022082294801842807, + -0.018694836646318436 + ], + [ + 0.11065722794291868, + -0.0012037463020533323, + 0.9938579049158872, + -0.024726683273911476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9920876033717843, + 0.009144489653408529, + -0.12521389612334402, + -0.3495301306247711 + ], + [ + -0.008914965182653445, + 0.9999573826789858, + 0.002393298937087289, + -0.022039614617824554 + ], + [ + 0.12523045138907332, + -0.00125808478333056, + 0.992126857600359, + -0.0789555087685585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9901605469515616, + 0.008676332421600819, + -0.13966690749181032, + -0.3938988745212555 + ], + [ + -0.008489418201849749, + 0.9999620914459229, + 0.001934008686685096, + -0.02087138034403324 + ], + [ + 0.13967838737699445, + -0.0007292884401977062, + 0.9901966830529878, + -0.15001048147678375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9883025533329871, + 0.009327392093837261, + -0.15222055800408327, + -0.45433926582336426 + ], + [ + -0.008742280030540178, + 0.9999516010284424, + 0.004512680299668981, + -0.04302576184272766 + ], + [ + 0.15225529197473045, + -0.0031291386112570763, + 0.9883362426077359, + -0.3071146011352539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9867154929011585, + 0.011279665865004063, + -0.16206590746152102, + -0.5249341726303101 + ], + [ + -0.010172600932452789, + 0.9999189376831055, + 0.007659155816768677, + -0.0671648159623146 + ], + [ + 0.16213916635605086, + -0.0059087760746479034, + 0.9867501978494039, + -0.5191061496734619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9845743559928595, + 0.013203464448451996, + -0.17446777459066173, + -0.556196391582489 + ], + [ + -0.010710326183557798, + 0.9998267292976379, + 0.015223806670747483, + -0.12513093650341034 + ], + [ + 0.17463855134893436, + -0.013120363466441631, + 0.984545185780624, + -0.8151788711547852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9829135525492206, + 0.014226000756025314, + -0.18351706228270548, + -0.6154237389564514 + ], + [ + -0.010972030176486923, + 0.9997642636299133, + 0.018734443728183493, + -0.1569167822599411 + ], + [ + 0.18374032652770642, + -0.016400784254074097, + 0.9828379677317912, + -1.1172740459442139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9809680780130129, + 0.014362589456140998, + -0.19363704965379824, + -0.677193284034729 + ], + [ + -0.01060153807531713, + 0.9997347593307497, + 0.020445519510831994, + -0.1734340935945511 + ], + [ + 0.19387934226633785, + -0.018003551289439205, + 0.9808601658510756, + -1.42362380027771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9792403083702974, + 0.014168353751301765, + -0.20220699866334813, + -0.7460337281227112 + ], + [ + -0.00979233437804019, + 0.9996960759162903, + 0.022625325776892295, + -0.19776490330696106 + ], + [ + 0.20246608945568928, + -0.020175553858280182, + 0.9790814076623237, + -1.7349071502685547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9765425260746418, + 0.015037819743156433, + -0.2147988243324848, + -0.7625311613082886 + ], + [ + -0.009434874440664555, + 0.9995885491371155, + 0.027086172297032453, + -0.24754439294338226 + ], + [ + 0.2151177613189178, + -0.024424200877547264, + 0.976282656309821, + -2.0571959018707275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9749007191357141, + 0.016421355307102203, + -0.2220336266718321, + -0.8283826112747192 + ], + [ + -0.009410505515801514, + 0.9994242787361145, + 0.03259683293328731, + -0.30724915862083435 + ], + [ + 0.22244107077852257, + -0.029689228162169456, + 0.9744939899668512, + -2.384263753890991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9731732168960274, + 0.01515771634876728, + -0.22957370356425189, + -0.8900385499000549 + ], + [ + -0.009032627454240359, + 0.9995752573013306, + 0.027707736683847472, + -0.26660311222076416 + ], + [ + 0.22989617104682525, + -0.024890772998332977, + 0.9728968391386444, + -2.7061963081359863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9754125219123104, + 0.01584589295089245, + -0.21981655595508626, + -1.1217483282089233 + ], + [ + -0.009755177599033734, + 0.9995385408401489, + 0.02876607193592034, + -0.28647756576538086 + ], + [ + 0.22017096304210423, + -0.02591443620622158, + 0.9751170046494352, + -3.0917587280273438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9693496779411093, + 0.017598029226064685, + -0.2450540739116332, + -0.9806762337684631 + ], + [ + -0.009779589268242227, + 0.9994046688079836, + 0.03308539961517046, + -0.34759223461151123 + ], + [ + 0.24549042858879114, + -0.029674794524908073, + 0.9689447200924767, + -3.391145944595337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9623857270443598, + 0.020538115873932842, + -0.27090948628573525, + -0.8007202744483948 + ], + [ + -0.010193484220059912, + 0.9991661310195925, + 0.03953692354136202, + -0.42927831411361694 + ], + [ + 0.2714955844322907, + -0.035288255661726005, + 0.9617925326837194, + -3.7033748626708984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9582882264350409, + 0.02055780589580536, + -0.28506316939814286, + -0.7743583917617798 + ], + [ + -0.009150671705383948, + 0.9991052746772766, + 0.04129061332620131, + -0.46116209030151367 + ], + [ + 0.2856569740583272, + -0.03695978969335556, + 0.9576189877940581, + -3.9841601848602295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9690573825194081, + 0.01977934502065182, + -0.24604190121887454, + -1.218177318572998 + ], + [ + -0.012649578023855275, + 0.9994539618492129, + 0.030524792854438404, + -0.36291855573654175 + ], + [ + 0.24651131830196113, + -0.026467947289347656, + 0.9687783921572805, + -4.700186252593994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9643381810308969, + 0.018509946763515472, + -0.26402519639820005, + -1.2006152868270874 + ], + [ + -0.010514450839990898, + 0.9994432330131531, + 0.031664231574407675, + -0.3812282085418701 + ], + [ + 0.2644643105599394, + -0.027758948504924774, + 0.9639958688926419, + -4.8116230964660645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9606343896245685, + 0.01665591262280941, + -0.2773160743975574, + -1.1917270421981812 + ], + [ + -0.007859274458210042, + 0.9994309544563293, + 0.03280208422058772, + -0.4012681245803833 + ], + [ + 0.2777046319591338, + -0.029331305995583534, + 0.9602186248111843, + -4.9881720542907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9539845538543139, + 0.016601987183094028, + -0.2993957330505355, + -1.1046091318130493 + ], + [ + -0.006381773847530585, + 0.9993640780448916, + 0.03508171252080913, + -0.42368969321250916 + ], + [ + 0.29978775758034426, + -0.03155673667788506, + 0.9534838391445929, + -5.0153913497924805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9495582991406013, + 0.01667555421590805, + -0.3131468295990919, + -1.1279805898666382 + ], + [ + -0.005960366102378224, + 0.9993644952774048, + 0.035144033379400065, + -0.4227864444255829 + ], + [ + 0.3135338421081977, + -0.03150483965873718, + 0.9490542417850535, + -5.020432472229004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9622006836368807, + 0.01691884733736515, + -0.27181540759043715, + -1.816532850265503 + ], + [ + -0.008943045936474256, + 0.9994930624961853, + 0.030554801445868123, + -0.3600768446922302 + ], + [ + 0.27219457100074695, + -0.02696899138391018, + 0.9618642521337829, + -5.180973529815674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9578297582886586, + 0.016538169234991074, + -0.2868600776685963, + -1.8338170051574707 + ], + [ + -0.008123806618079304, + 0.9995018243789673, + 0.030498174371146523, + -0.35653334856033325 + ], + [ + 0.2872215448535829, + -0.026881661266088486, + 0.9574868895922468, + -5.1789655685424805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.950362053439654, + 0.01319296844303608, + -0.3108663180439638, + -1.8317627906799316 + ], + [ + -0.0037182723426863293, + 0.9995108842849731, + 0.031051324966645946, + -0.35847434401512146 + ], + [ + 0.3111239136042183, + -0.028354117646813393, + 0.9499463081961691, + -5.184297561645508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9480045290078826, + 0.01337248831987381, + -0.31797572320744866, + -1.8717244863510132 + ], + [ + -0.0039467959957777445, + 0.999534010887146, + 0.030268589132593306, + -0.34894275665283203 + ], + [ + 0.31823229536067577, + -0.027439773082733154, + 0.947615569003713, + -5.168589115142822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9552044586349169, + 0.014691970311105251, + -0.2955818288082027, + -2.36271333694458 + ], + [ + -0.006558692317480204, + 0.9995725750923157, + 0.02848889574124392, + -0.3156898617744446 + ], + [ + 0.2958740436078378, + -0.025274088606238365, + 0.954892557223187, + -5.193336486816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9553533078228578, + 0.013993626460433006, + -0.29513421888179125, + -2.583538055419922 + ], + [ + -0.007022434095077317, + 0.9996710419654846, + 0.024667143823806845, + -0.26923868060112 + ], + [ + 0.2953823063076275, + -0.021493278443813324, + 0.9551373547064329, + -5.141932010650635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9534786134196029, + 0.01425929181277752, + -0.3011231653660455, + -2.728437900543213 + ], + [ + -0.007124291191297032, + 0.9996675252914429, + 0.024779534783724196, + -0.2637948989868164 + ], + [ + 0.30137639899774515, + -0.0214814692735672, + 0.9532632442708479, + -5.171805381774902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9495997911391053, + 0.00883706659078598, + -0.31334024055241144, + -2.8299543857574463 + ], + [ + -0.0034583624702415132, + 0.9998370409011841, + 0.017717372405489568, + -0.19936247169971466 + ], + [ + 0.31344576066441554, + -0.01574076898396015, + 0.949475628117856, + -5.221519947052002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9463188118934781, + 0.0022747376933693886, + -0.3232266701169064, + -2.9464471340179443 + ], + [ + 0.0006283526655669664, + 0.9999604225158691, + 0.008876957272921157, + -0.1166895404458046 + ], + [ + 0.3232340875397037, + -0.008603532798588276, + 0.9462799396211519, + -5.28350830078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9437887527292144, + -0.004541065078228712, + -0.3305180362448197, + -3.0949957370758057 + ], + [ + 0.005157763632123353, + 0.9999862313270569, + 0.0009888627072999995, + -0.04115711525082588 + ], + [ + 0.33050897227296366, + -0.002638011472299695, + 0.9437991356219657, + -5.359609603881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9405176102631189, + -0.009733453392982483, + -0.3396054060857879, + -3.2363431453704834 + ], + [ + 0.008613736382623709, + 0.9999513626098633, + -0.004804424390361368, + 0.01662125065922737 + ], + [ + 0.3396356750001419, + 0.0015933739487081766, + 0.9405557001778344, + -5.429908752441406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9333768662115048, + -0.013644483871757988, + -0.35863832016391695, + -3.3100931644439697 + ], + [ + 0.010627375675144187, + 0.9998896121978762, + -0.010382690707698268, + 0.06600862741470337 + ], + [ + 0.3587403777088722, + 0.0058795800432562845, + 0.9334188580592852, + -5.447989463806152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9270600478936415, + -0.01908070407807827, + -0.37442699183478756, + -3.4176652431488037 + ], + [ + 0.013829477628837093, + 0.9997648000717163, + -0.01670675268428736, + 0.12359301000833511 + ], + [ + 0.3746576867244332, + 0.010310033336281776, + 0.9271058902422694, + -5.477609157562256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9197439009475711, + -0.027557145804166794, + -0.391550441869804, + -3.5202457904815674 + ], + [ + 0.01992372444499384, + 0.9995242357254028, + -0.02354565137650325, + 0.18682710826396942 + ], + [ + 0.39201302074308736, + 0.013854825869202614, + 0.9198553510780059, + -5.5062689781188965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9086394364999812, + -0.03654216602444649, + -0.41597966828120864, + -3.5709571838378906 + ], + [ + 0.027226202793873847, + 0.9992284178733826, + -0.028307078925386243, + 0.22857823967933655 + ], + [ + 0.41669312651818, + 0.01439538225531578, + 0.9089332008491298, + -5.5149736404418945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8981292610820145, + -0.0445902943611145, + -0.43746485529636797, + -3.6586921215057373 + ], + [ + 0.03260345304603284, + 0.9988596439361572, + -0.03487670510135014, + 0.27829116582870483 + ], + [ + 0.43852117029084886, + 0.01706092432141304, + 0.8985589191000186, + -5.536207675933838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8890555023125861, + -0.05152935907244684, + -0.45489015164709856, + -3.778769016265869 + ], + [ + 0.03689443902814711, + 0.9984778165817263, + -0.040998293230710116, + 0.32169294357299805 + ], + [ + 0.45631036561709454, + 0.019666839390993122, + 0.8896033490395979, + -5.565591812133789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8771081835604091, + -0.05744674801826477, + -0.4768449517105387, + -3.8552045822143555 + ], + [ + 0.03985649460073876, + 0.998102605342865, + -0.046932011975574985, + 0.3610525131225586 + ], + [ + 0.4786363077943452, + 0.022159090265631676, + 0.8777335961774206, + -5.581223964691162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8649128641262801, + -0.06320560723543167, + -0.4979265072280141, + -3.9488754272460938 + ], + [ + 0.0429243131577341, + 0.9977195858955383, + -0.052087379493713, + 0.3938426077365875 + ], + [ + 0.5000832578619175, + 0.023677898570895195, + 0.8656536037061988, + -5.604648113250732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8537907097838326, + -0.07067690789699554, + -0.5157966944800745, + -4.069978713989258 + ], + [ + 0.04786228593587042, + 0.9972023963928223, + -0.0574156692986516, + 0.41968685388565063 + ], + [ + 0.5184116764008447, + 0.024333756417036057, + 0.854784868467189, + -5.643661022186279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8380509965572004, + -0.07866649329662323, + -0.5398908908753888, + -4.122899055480957 + ], + [ + 0.05338621618414338, + 0.9966256618499756, + -0.062347192632826204, + 0.4394787549972534 + ], + [ + 0.5429737619542332, + 0.02342739701271057, + 0.8394228283240102, + -5.669576644897461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8226030723983904, + -0.08684983104467393, + -0.5619442354287819, + -4.201333522796631 + ], + [ + 0.05873951146892825, + 0.9959586262702944, + -0.06794185815489419, + 0.459122896194458 + ], + [ + 0.5655739202937855, + 0.02288085594773293, + 0.824380132388342, + -5.7044997215271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8054891615458536, + -0.09566815942525866, + -0.5848374377519008, + -4.270177841186523 + ], + [ + 0.06439210280943988, + 0.9951694607734682, + -0.07410416944584775, + 0.48714959621429443 + ], + [ + 0.589101766756185, + 0.022031195461750034, + 0.8077584977454431, + -5.738879203796387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.7886715007251067, + -0.104137659072876, + -0.6059312175778387, + -4.347283840179443 + ], + [ + 0.07028469780545823, + 0.9943609237670901, + -0.07941310137504176, + 0.5118473768234253 + ], + [ + 0.6107842664492924, + 0.0200431551784277, + 0.7915433799164657, + -5.785305976867676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.7711191704285648, + -0.1105354502797127, + -0.6270224434007685, + -4.412787437438965 + ], + [ + 0.07501677261912605, + 0.9937283396720888, + -0.08292421159509195, + 0.526053786277771 + ], + [ + 0.6322560303720222, + 0.01690725237131119, + 0.7745750031521573, + -5.840305328369141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.7527710275617657, + -0.11643465608358386, + -0.6479034560070264, + -4.482302665710449 + ], + [ + 0.07814737749858618, + 0.9930795431137087, + -0.0876701563231166, + 0.5440031290054321 + ], + [ + 0.6536274614662229, + 0.01536360010504723, + 0.7566604983806035, + -5.889655113220215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.7334472015404625, + -0.12065272033214569, + -0.6689530125508231, + -4.54506254196167 + ], + [ + 0.07902645456775287, + 0.9925830960273743, + -0.09237738077323203, + 0.5631396770477295 + ], + [ + 0.6751370497662661, + 0.014888953417539597, + 0.7375420700223695, + -5.939643859863281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.7152631584862316, + -0.12366469204425812, + -0.6878268503218787, + -4.605504035949707 + ], + [ + 0.0795665967385445, + 0.9922296404838562, + -0.09565303849842195, + 0.5766075253486633 + ], + [ + 0.6943110369758771, + 0.013689063489437103, + 0.7195448703982945, + -6.014375686645508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6944572055994604, + -0.12473510205745697, + -0.7086398187594181, + -4.65626859664917 + ], + [ + 0.07846343962155407, + 0.9921141862869263, + -0.09773930419671574, + 0.5949907898902893 + ], + [ + 0.7152430688143626, + 0.012273456901311874, + 0.6987680056535241, + -6.066337585449219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6764206703645105, + -0.12412273883819583, + -0.7259811964932398, + -4.709522247314453 + ], + [ + 0.07859605953204728, + 0.9922333359718325, + -0.09641397118672884, + 0.5952048301696777 + ], + [ + 0.7323099160786227, + 0.008157148957252504, + 0.6809227218152439, + -6.14531946182251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6575560653285674, + -0.12411097437143329, + -0.7431127572191084, + -4.758551597595215 + ], + [ + 0.07909677436932562, + 0.9922595620155337, + -0.09573209655182785, + 0.6087198257446289 + ], + [ + 0.749242143616147, + 0.004171401262283326, + 0.662283101444029, + -6.202250003814697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6395033387798265, + -0.1225745752453804, + -0.758953882378827, + -4.80033016204834 + ], + [ + 0.07959051626614481, + 0.9924589991569519, + -0.09322283657147813, + 0.6143243312835693 + ], + [ + 0.7646573057963002, + -0.000789206475019455, + 0.6444366069840075, + -6.253808498382568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6251181191912962, + -0.12110141664743426, + -0.7710783256326093, + -4.860047340393066 + ], + [ + 0.08080732885375104, + 0.9926231503486636, + -0.09038503572585506, + 0.6186220049858093 + ], + [ + 0.7763359494420059, + -0.00580744817852974, + 0.6302926340060966, + -6.340402126312256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6095867440251226, + -0.1190970167517662, + -0.7837218373318208, + -4.924815654754639 + ], + [ + 0.08326285298554151, + 0.9928005337715149, + -0.08610663950711596, + 0.6174069046974182 + ], + [ + 0.7883345705667918, + -0.012765433639287949, + 0.6151144780216633, + -6.421881675720215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.590893649212281, + -0.11900752782821655, + -0.7979235498852351, + -5.021565914154053 + ], + [ + 0.08732235800817248, + 0.9926837086677551, + -0.0833897043940817, + 0.6164689064025879 + ], + [ + 0.802009748781957, + -0.020402109250426292, + 0.5969625367662996, + -6.421833515167236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.573620407597233, + -0.11892297863960266, + -0.8104424391211863, + -5.137146472930908 + ], + [ + 0.08906680575510967, + 0.9925938248634338, + -0.08261126968090339, + 0.6178370714187622 + ], + [ + 0.8142645152631536, + -0.024796007201075554, + 0.5799641526957493, + -6.400367259979248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.5629984586716802, + -0.11630100011825562, + -0.8182340112102058, + -5.3026838302612305 + ], + [ + 0.08621271215999378, + 0.9929121732711792, + -0.08180919292229778, + 0.6076809167861938 + ], + [ + 0.8219490215881945, + -0.024483710527420044, + 0.5690347092105834, + -6.443230152130127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.5512259179193052, + -0.1144307479262352, + -0.8264717212680918, + -5.498841285705566 + ], + [ + 0.08418918541834385, + 0.9931232333183289, + -0.08135374027872885, + 0.5914255976676941 + ], + [ + 0.830097690780244, + -0.0247357040643692, + 0.5570690910241897, + -6.466647148132324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.5382554253388984, + -0.11431007832288745, + -0.8349936657415282, + -5.723723888397217 + ], + [ + 0.08098667317084403, + 0.9931893944740298, + -0.08376117456680864, + 0.6093812584877014 + ], + [ + 0.838881572986131, + -0.022538444027304653, + 0.5438471530567985, + -6.4245758056640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5261532036830082, + -0.1118455231189728, + -0.8430026761372961, + -5.968615531921387 + ], + [ + 0.07819546952174412, + 0.9934765696525576, + -0.0830046172352105, + 0.6064209938049316 + ], + [ + 0.846787056729414, + -0.022245841100811962, + 0.5314666255290802, + -6.366216659545898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.5199040031976739, + -0.11052292585372925, + -0.8470445746097163, + -6.2857537269592285 + ], + [ + 0.07451645235043212, + 0.9936825037002563, + -0.08391917965165019, + 0.6084671020507812 + ], + [ + 0.8509683307643324, + -0.019488831982016563, + 0.5248552445039792, + -6.333008766174316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5123681159981752, + -0.10931538045406344, + -0.8517799094392949, + -6.601693153381348 + ], + [ + 0.07077706556115493, + 0.99386602640152, + -0.08497608260296893, + 0.6139742136001587 + ], + [ + 0.8558443040621938, + -0.016747444868087772, + 0.5169623497753549, + -6.269961357116699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.5048485022837166, + -0.10746057331562045, + -0.8564929531425759, + -6.907782554626465 + ], + [ + 0.06860083559295044, + 0.994077265262604, + -0.08428683910360478, + 0.6053333282470703 + ], + [ + 0.8604777448650578, + -0.016204049810767177, + 0.5092303511065682, + -6.201735973358154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.49604137331099624, + -0.10552281886339188, + -0.8618630532613105, + -7.198073387145996 + ], + [ + 0.06827448897013691, + 0.9942548274993896, + -0.08243722948597672, + 0.5934216976165771 + ], + [ + 0.8656105352093993, + -0.01795097254216671, + 0.5003961080015306, + -6.138332843780518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.4882208975071352, + -0.10416670888662341, + -0.8664812242765406, + -7.489892959594727 + ], + [ + 0.07001025193348016, + 0.9943261146545412, + -0.08008853673814638, + 0.5760828256607056 + ], + [ + 0.8699074781237165, + -0.02156166732311249, + 0.49274346925122664, + -6.101828575134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.4775174585624028, + -0.10472285747528079, + -0.8723589721362213, + -7.775369644165039 + ], + [ + 0.07012033212371657, + 0.9942467808723452, + -0.08097202361699746, + 0.5785274505615234 + ], + [ + 0.8758197704185324, + -0.022504536435008052, + 0.482113434505784, + -6.031922817230225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.462787644892575, + -0.10371667891740799, + -0.8803808734628668, + -7.941519737243652 + ], + [ + 0.07198051151273932, + 0.9942491054534912, + -0.07929354855294116, + 0.5704271793365479 + ], + [ + 0.8835419648556798, + -0.0266741830855608, + 0.4675917710287605, + -6.0082173347473145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.4423540769169562, + -0.1017633005976677, + -0.8910483134708408, + -7.976312160491943 + ], + [ + 0.07209261991721456, + 0.994361162185669, + -0.07777243858432006, + 0.5726616978645325 + ], + [ + 0.893938215986604, + -0.029835045337677002, + 0.4471961195508131, + -6.0184454917907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.423446215377555, + -0.09754090011119845, + -0.9006548729955822, + -7.995196342468262 + ], + [ + 0.0700344907095984, + 0.9947360157966616, + -0.07480291870236574, + 0.5729765295982361 + ], + [ + 0.9032101485870858, + -0.0314018800854683, + 0.42804836992634976, + -6.056406021118164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.4032257694727632, + -0.09167670458555222, + -0.9104968044140161, + -8.01358413696289 + ], + [ + 0.06710194047907501, + 0.9952527284622192, + -0.07049366522285258, + 0.5636416077613831 + ], + [ + 0.9126369925882211, + -0.032671231776475906, + 0.40746320991619145, + -6.089184284210205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.3839495389229046, + -0.08645806461572647, + -0.9192975069216117, + -8.034350395202637 + ], + [ + 0.0626568853824944, + 0.9957513213157654, + -0.06747940973558052, + 0.5684546232223511 + ], + [ + 0.9212257940334786, + -0.031691621989011765, + 0.3877354407667972, + -6.115077018737793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.36635990704358795, + -0.08221928030252457, + -0.9268335889653293, + -8.052206039428711 + ], + [ + 0.06089989649586418, + 0.9960713386535645, + -0.06428877373369633, + 0.5682010054588318 + ], + [ + 0.9284781264152012, + -0.03289123252034187, + 0.369927787916558, + -6.137994289398193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.3495826066246651, + -0.07775740325450897, + -0.9336733448811413, + -8.064115524291992 + ], + [ + 0.05958686159741388, + 0.9963777661323547, + -0.060669203663935314, + 0.5636310577392578 + ], + [ + 0.9350088369141498, + -0.0344257615506649, + 0.35294961104505324, + -6.164155006408691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.333320618234816, + -0.07405775040388107, + -0.9399003765053116, + -8.078092575073242 + ], + [ + 0.05866660046384468, + 0.9966075420379639, + -0.05772071915335277, + 0.5550661683082581 + ], + [ + 0.9409864900120039, + -0.0359012596309185, + 0.33653454922330245, + -6.188668251037598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.31810017509477345, + -0.07205376774072647, + -0.9453150315132528, + -8.088974952697754 + ], + [ + 0.05859082415559708, + 0.9966958165168762, + -0.05625419440711227, + 0.5492420196533203 + ], + [ + 0.9462448789271075, + -0.03749231621623039, + 0.3212707877717022, + -6.219111919403076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.30198912523008814, + -0.06992667168378831, + -0.9507433576032305, + -8.098390579223633 + ], + [ + 0.05781929722793403, + 0.9968136548995974, + -0.0549496997809723, + 0.5449094772338867 + ], + [ + 0.9515563761272957, + -0.038377091288566596, + 0.3050700489798832, + -6.237584114074707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.28566525743648696, + -0.067449189722538, + -0.9559529249977553, + -8.10352611541748 + ], + [ + 0.05678846723499945, + 0.9969586133956909, + -0.05337246243594745, + 0.5389909744262695 + ], + [ + 0.9566454071289663, + -0.03904043883085251, + 0.2886268014504432, + -6.254431247711182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.2699383860776687, + -0.06446947902441025, + -0.9607169157835483, + -8.111554145812988 + ], + [ + 0.055101006709971354, + 0.9971552491188049, + -0.05143263593941637, + 0.5294959545135498 + ], + [ + 0.9612997772435337, + -0.039052821695804596, + 0.2727228010085256, + -6.280086517333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.2535441660614311, + -0.06262857466936111, + -0.9652943302270123, + -8.115058898925781 + ], + [ + 0.054244548466491356, + 0.9972521662712097, + -0.05045414068803445, + 0.5239373445510864 + ], + [ + 0.965801757963662, + -0.03956959396600723, + 0.2562447073435451, + -6.304678916931152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.23739693703591402, + -0.06188984215259552, + -0.9694392297270816, + -8.122529983520508 + ], + [ + 0.05522348612383783, + 0.9972143173217773, + -0.05013985911753285, + 0.5182745456695557 + ], + [ + 0.9698418034024676, + -0.0416327603161335, + 0.24015342574363976, + -6.328961372375488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.2214127293680785, + -0.061914194375276566, + -0.9732128309578085, + -8.127876281738281 + ], + [ + 0.056487150732493725, + 0.9971210956573486, + -0.05058397591339344, + 0.5170228481292725 + ], + [ + 0.9735429235989991, + -0.0437740758061409, + 0.22427264496059254, + -6.351955890655518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.20567321112199174, + -0.061522245407104506, + -0.9766850526394274, + -8.132770538330078 + ], + [ + 0.05743609684997688, + 0.9970604181289675, + -0.05071064814747227, + 0.513634443283081 + ], + [ + 0.9769338871581752, + -0.0456671454012394, + 0.2086022415648202, + -6.375452518463135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.1903418867643758, + -0.060940984636545195, + -0.9798245570392878, + -8.13524055480957 + ], + [ + 0.057600571785708224, + 0.9970452785491946, + -0.05082248258566689, + 0.5145283937454224 + ], + [ + 0.9800265844344697, + -0.0467648096382618, + 0.19328972917933923, + -6.3983564376831055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.17496541622700224, + -0.058899011462926865, + -0.9828113111282462, + -8.137359619140625 + ], + [ + 0.057002525602122045, + 0.9971407055854797, + -0.049609856053748985, + 0.5106474757194519 + ], + [ + 0.9829231430252877, + -0.047342706471681595, + 0.17782252712045052, + -6.4168901443481445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.15925611670817857, + -0.05709379166364671, + -0.985585045618245, + -8.140058517456055 + ], + [ + 0.05667106895139619, + 0.9972088336944582, + -0.048609933852076834, + 0.5089322924613953 + ], + [ + 0.9856093876598407, + -0.048112723976373686, + 0.16204718040564087, + -6.430239200592041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.14268452376691265, + -0.05564458668231964, + -0.9882028273808198, + -8.139278411865234 + ], + [ + 0.05643015505639551, + 0.9972517490386963, + -0.04800628778446856, + 0.5092159509658813 + ], + [ + 0.9881583010044044, + -0.04891468212008476, + 0.1454323763561678, + -6.445258140563965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.12579893958966026, + -0.05442953854799272, + -0.9905615390468517, + -8.142963409423828 + ], + [ + 0.05658748712406516, + 0.9972617626190188, + -0.047611230401222934, + 0.5018448829650879 + ], + [ + 0.990440640017996, + -0.050063937902450575, + 0.12853451806236704, + -6.454431533813477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.10996124609611627, + -0.05338227748870851, + -0.9925013825211352, + -8.13812255859375 + ], + [ + 0.055820131421014184, + 0.9973123669624331, + -0.04745661467123263, + 0.4951944947242737 + ], + [ + 0.9923672317870352, + -0.05018316209316255, + 0.1126455631818509, + -6.476905822753906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.09363147874945191, + -0.05237193405628204, + -0.9942285037491752, + -8.138145446777344 + ], + [ + 0.053485802815503865, + 0.9974380135536194, + -0.0475039710769681, + 0.49448174238204956 + ], + [ + 0.9941692306379386, + -0.04872924089431763, + 0.09619277093533742, + -6.485252380371094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.07755432950409495, + -0.05253991484642029, + -0.9956028491721292, + -8.152673721313477 + ], + [ + 0.05110612187559017, + 0.9975070953369141, + -0.04865939770702176, + 0.4989306628704071 + ], + [ + 0.9956774116541443, + -0.04710764437913895, + 0.08004607332070961, + -6.492438793182373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.12331526357636836, + -0.16057291626930237, + -0.9792904493644681, + -7.983382701873779 + ], + [ + 0.20277298205805583, + 0.9700789451599121, + -0.13352870353235394, + 0.9043477773666382 + ], + [ + 0.971430218628524, + -0.18210749328136444, + 0.15218536795213444, + -4.852622985839844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.12129966270579372, + -0.16119472682476044, + -0.9794399911680196, + -7.983797073364258 + ], + [ + 0.20189646739452577, + 0.9701061844825745, + -0.1346545327283785, + 0.9081243276596069 + ], + [ + 0.9718663473473553, + -0.18141192197799683, + 0.1502182180936421, + -4.846338272094727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.11945114347216851, + -0.16250261664390564, + -0.9794510531360928, + -7.982842922210693 + ], + [ + 0.20005843831456696, + 0.9702188372612, + -0.13657230365221948, + 0.9195166826248169 + ], + [ + 0.97247522904779, + -0.1796337068080902, + 0.14840377119520945, + -4.834324359893799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.11802171414566018, + -0.16310946643352509, + -0.9795234900329343, + -7.983381748199463 + ], + [ + 0.19822854887779426, + 0.9704334139823914, + -0.13771144070671373, + 0.9234342575073242 + ], + [ + 0.9730244130376072, + -0.17791655659675598, + 0.14686515315866608, + -4.828794956207275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.11680691888316275, + -0.16444700956344604, + -0.9794454900729949, + -7.975440979003906 + ], + [ + 0.19772499337452926, + 0.9703047871589661, + -0.13933196301992146, + 0.9352611303329468 + ], + [ + 0.973273351417169, + -0.17738589644432068, + 0.14585361388955836, + -4.821280479431152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.1132474684334089, + -0.16461059451103213, + -0.979835895136083, + -7.980913162231445 + ], + [ + 0.19729769190168991, + 0.9702668190002444, + -0.14019971126442846, + 0.9372215270996094 + ], + [ + 0.9737806338481814, + -0.1774420887231827, + 0.14235751684341527, + -4.808928489685059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.11030334460938773, + -0.16517283022403717, + -0.9800771616578295, + -7.967371940612793 + ], + [ + 0.1964921997964842, + 0.9702556133270264, + -0.14140326831333755, + 0.9447417259216309 + ], + [ + 0.9742812871927293, + -0.17698025703430176, + 0.13947761654000657, + -4.800720691680908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.105451730312513, + -0.16563686728477478, + -0.9805327562690319, + -7.97944450378418 + ], + [ + 0.19425773770943933, + 0.9704649448394775, + -0.1430446445328807, + 0.948540210723877 + ], + [ + 0.9752660780384067, + -0.1753917634487152, + 0.134513457858707, + -4.7839531898498535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.10249229951301038, + -0.1666012853384018, + -0.9806831100248133, + -7.976850509643555 + ], + [ + 0.19371464194499816, + 0.9703430533409119, + -0.14459935467727197, + 0.9564498662948608 + ], + [ + 0.9756895365384021, + -0.17515234649181366, + 0.13172583193723145, + -4.779296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.09753851005170523, + -0.16698363423347473, + -0.9811232430127836, + -7.980531692504883 + ], + [ + 0.19319738955254132, + 0.9702476263046265, + -0.14592588796778805, + 0.9603525400161743 + ], + [ + 0.9762996514384878, + -0.17531703412532806, + 0.1268973060396822, + -4.7697248458862305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.09308033062350889, + -0.16729536652565002, + -0.9815031664577771, + -7.980325222015381 + ], + [ + 0.19362145561508415, + 0.9700049161911011, + -0.14697351098154277, + 0.9643172025680542 + ], + [ + 0.97665093579985, + -0.17635968327522278, + 0.12268037275646536, + -4.762728691101074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.0883982732462586, + -0.16752579808235168, + -0.981896583404279, + -7.97650146484375 + ], + [ + 0.19371622548820466, + 0.9698258638381958, + -0.14802645774379153, + 0.9685440063476562 + ], + [ + 0.9770669004443652, + -0.1771240085363388, + 0.11818335079884976, + -4.756134033203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.07805635942657184, + -0.1681570112705231, + -0.9826650292414466, + -7.976477146148682 + ], + [ + 0.19678336626655263, + 0.9688788652420046, + -0.15016672185606827, + 0.9772059917449951 + ], + [ + 0.977334952811237, + -0.1816506385803223, + 0.10871765859588708, + -4.7417473793029785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.06926504618439898, + -0.16685810685157776, + -0.9835450580537435, + -7.975260257720947 + ], + [ + 0.20021329272801477, + 0.9681782722473145, + -0.15015132930285977, + 0.9811084270477295 + ], + [ + 0.977300985080888, + -0.18651852011680603, + 0.10046809335154351, + -4.735980987548828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.05082579971940268, + -0.1644148826599121, + -0.9850809895374383, + -7.989710330963135 + ], + [ + 0.19805351138936597, + 0.968425452709198, + -0.15141632642799868, + 0.990278959274292 + ], + [ + 0.9788725829817434, + -0.1874029040336609, + 0.08178394416663731, + -4.722519874572754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.0426970483829811, + -0.16319477558135986, + -0.9856695359491948, + -7.9949116706848145 + ], + [ + 0.19609602121418382, + 0.9687482118606567, + -0.1518987222567888, + 0.9953538179397583 + ], + [ + 0.9796547547637363, + -0.18680024147033691, + 0.07336453662944574, + -4.717248916625977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.03444415191520533, + -0.16149216890335083, + -0.9862728221365447, + -8.003560066223145 + ], + [ + 0.1944378666409211, + 0.9690842032432556, + -0.15188724044439605, + 0.9999654293060303 + ], + [ + 0.9803100252489427, + -0.18653714656829834, + 0.06477945892172446, + -4.710434913635254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.020363261645447214, + -0.1571953445672989, + -0.9873576169830937, + -8.019155502319336 + ], + [ + 0.19127326931628602, + 0.9699336886405945, + -0.15047647704777312, + 1.0081242322921753 + ], + [ + 0.9813256369973422, + -0.18579089641571045, + 0.04981826630712027, + -4.699108123779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.005607787268733423, + -0.15326167643070224, + -0.988169708644902, + -8.031333923339844 + ], + [ + 0.1888237211741959, + 0.970570504665375, + -0.14946054144143686, + 1.0135687589645386 + ], + [ + 0.9819949627665554, + -0.18575173616409305, + 0.03438216560079838, + -4.692353248596191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + -0.007117451820900518, + -0.15045839548110962, + -0.9885908283462498, + -8.037056922912598 + ], + [ + 0.18561305338962403, + 0.9712368249893188, + -0.14915354964821423, + 1.017337441444397 + ], + [ + 0.9825972608550466, + -0.18455691635608673, + 0.02101432109231305, + -4.69059944152832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + -0.014315102855600151, + -0.14888659119606018, + -0.9887507039659555, + -8.041369438171387 + ], + [ + 0.18401393324632656, + 0.9715701937675476, + -0.1489636968042434, + 1.0188053846359253 + ], + [ + 0.9828193997199016, + -0.18407632410526276, + 0.01348906116836567, + -4.689931392669678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + -0.026516697644553475, + -0.14581966400146484, + -0.9889557535857367, + -8.049381256103516 + ], + [ + 0.18215996422055872, + 0.9720349311828613, + -0.14820892606092748, + 1.022410273551941 + ], + [ + 0.9829113281635591, + -0.1840781569480896, + 0.0007873148515535952, + -4.690570831298828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + -0.03378971820228809, + -0.14391696453094482, + -0.9890126397732129, + -8.054840087890625 + ], + [ + 0.1807061928206589, + 0.972387969493866, + -0.14767164100763086, + 1.0243796110153198 + ], + [ + 0.9829564879583714, + -0.183710515499115, + -0.006850031360675101, + -4.690730571746826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + -0.040426029100880695, + -0.1422746479511261, + -0.9890014172339244, + -8.060840606689453 + ], + [ + 0.1788747034709572, + 0.9727898240089417, + -0.1472541110347705, + 1.0261578559875488 + ], + [ + 0.9830410212266187, + -0.18286021053791046, + -0.013876705415051403, + -4.690684795379639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + -0.050472919613788844, + -0.13837349414825442, + -0.9890932287159568, + -8.075790405273438 + ], + [ + 0.17566836128272842, + 0.973685145378113, + -0.14518217993510915, + 1.029066562652588 + ], + [ + 0.9831547195754257, + -0.18108011782169345, + -0.024836830082454506, + -4.6906352043151855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + -0.05518348164161737, + -0.13621626794338226, + -0.9891410407173894, + -8.079285621643066 + ], + [ + 0.17378216191614598, + 0.9742202162742615, + -0.14385665594993546, + 1.0305125713348389 + ], + [ + 0.9832368623693323, + -0.1798335611820221, + -0.03008892837075106, + -4.6928181648254395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + -0.06146670719603522, + -0.13217639923095706, + -0.9893186087030724, + -8.090621948242188 + ], + [ + 0.17184676112966735, + 0.974989712238312, + -0.1409389183955412, + 1.0325895547866821 + ], + [ + 0.9832042422423335, + -0.17867423593997958, + -0.03721529419768587, + -4.698128700256348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + -0.06685186759159356, + -0.13096168637275696, + -0.9891309581517587, + -8.103996276855469 + ], + [ + 0.17257182429183263, + 0.974890410900116, + -0.14073974752819124, + 1.0330395698547363 + ], + [ + 0.9827257826898623, + -0.1801048219203949, + -0.042572991854083884, + -4.698803901672363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + -0.0719042129540544, + -0.12900933623313904, + -0.9890330832925756, + -8.105520248413086 + ], + [ + 0.17109109019018529, + 0.9753069281578064, + -0.13965746841201734, + 1.0342990159988403 + ], + [ + 0.982627923536816, + -0.17925669252872467, + -0.048056363117104435, + -4.704713344573975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + -0.07997895339167682, + -0.12491630762815475, + -0.9889385236086438, + -8.120315551757812 + ], + [ + 0.16848690926254542, + 0.9761471152305603, + -0.1369267164760695, + 1.0355274677276611 + ], + [ + 0.9824538912447923, + -0.17757444083690643, + -0.05702450282677477, + -4.712215423583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + -0.08397320467437623, + -0.12318818271160129, + -0.9888241936906842, + -8.126628875732422 + ], + [ + 0.16707050590998618, + 0.9765415191650393, + -0.1358459833069465, + 1.0361891984939575 + ], + [ + 0.9823624521349588, + -0.17661075294017795, + -0.06142219099033176, + -4.7170186042785645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + -0.08898204635339686, + -0.11911824345588687, + -0.9888848055938466, + -8.131522178649902 + ], + [ + 0.16605428890637905, + 0.9771543741226199, + -0.1326471452756759, + 1.0376396179199219 + ], + [ + 0.982093878027854, + -0.17601174116134646, + -0.06716913234658578, + -4.728282928466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + -0.0920806901011801, + -0.11681826412677768, + -0.9888755788228815, + -8.132219314575195 + ], + [ + 0.1654763247768787, + 0.9774904251098635, + -0.13088189350598203, + 1.0378483533859253 + ], + [ + 0.9819057653619704, + -0.17568716406822207, + -0.07067731680853902, + -4.733731269836426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + -0.09465790633756761, + -0.11498323827981949, + -0.9888472978449876, + -8.1347017288208 + ], + [ + 0.166098686459213, + 0.9775595664978027, + -0.12957057122206153, + 1.0387349128723145 + ], + [ + 0.981555581159085, + -0.17651107907295227, + -0.07343517647081141, + -4.739193916320801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + -0.09825415025606012, + -0.11141300201416016, + -0.9889051656207972, + -8.167947769165039 + ], + [ + 0.16567071969813904, + 0.9780152440071106, + -0.12664656772915525, + 1.0384588241577148 + ], + [ + 0.9812744292992877, + -0.17627614736557007, + -0.0776361426299617, + -4.746304512023926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + -0.0996454856926299, + -0.10920263826847079, + -0.9890124608563129, + -8.144716262817383 + ], + [ + 0.1663807991560608, + 0.9781365394592287, + -0.12476504560457431, + 1.041523814201355 + ], + [ + 0.9810139495728799, + -0.17698495090007785, + -0.07929771632836267, + -4.750975608825684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + -0.10162149557276018, + -0.1058153361082077, + -0.989179667937154, + -8.145055770874023 + ], + [ + 0.16642407714096785, + 0.9785064458847046, + -0.12177085518640282, + 1.0444519519805908 + ], + [ + 0.9808038976219751, + -0.1769978255033493, + -0.08182703699847281, + -4.756373405456543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + -0.10353722303266996, + -0.10482639074325562, + -0.9890862804727879, + -8.149911880493164 + ], + [ + 0.1651979390479667, + 0.9788061380386353, + -0.1210297383115228, + 1.047782063484192 + ], + [ + 0.9808107974423386, + -0.175926074385643, + -0.08402577555181752, + -4.756020545959473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + -0.10493070491943553, + -0.10260929167270663, + -0.9891718984749137, + -8.147513389587402 + ], + [ + 0.16416054535246105, + 0.9792304039001467, + -0.11899206204593746, + 1.0495917797088623 + ], + [ + 0.9808368800403655, + -0.17486888170242312, + -0.0859069322634938, + -4.757290363311768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + -0.10440014937249628, + -0.09891532361507416, + -0.9896042308612057, + -8.138635635375977 + ], + [ + 0.16266388176446023, + 0.9799439311027527, + -0.11511024930298198, + 1.0561403036117554 + ], + [ + 0.9811428240529989, + -0.1729903668165207, + -0.08621634430318113, + -4.759486198425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + -0.1047596342095022, + -0.09682844579219818, + -0.9897726302217444, + -8.139394760131836 + ], + [ + 0.1619669675623898, + 0.9802997708320618, + -0.11304464216880909, + 1.0558351278305054 + ], + [ + 0.9812198329636941, + -0.17215296626091003, + -0.08701283991754712, + -4.759063720703125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 817.9420572916666, + "fy": 818.216552734375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/32786d8c-6436-4ae0-b0db-fab3b549e1e3/boom_down/transforms.json b/dynpose_eval/camera_controls/32786d8c-6436-4ae0-b0db-fab3b549e1e3/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c1ff1870ad42a7bb5962f9321696a46d5d026dbe --- /dev/null +++ b/dynpose_eval/camera_controls/32786d8c-6436-4ae0-b0db-fab3b549e1e3/boom_down/transforms.json @@ -0,0 +1,8728 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 249, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.1205625014554244e-05, + 4.693852588388836e-06, + -5.664822310791351e-05 + ], + [ + -1.1205919690837618e-05, + 1.0, + 6.278318323893473e-05, + -0.0003303457924630493 + ], + [ + -4.693148639489664e-06, + -6.278324144659564e-05, + 1.0, + 0.00023780959600117058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 1.0, + 0.00012145095388405025, + 0.00013567846326623112, + -0.01335648951730212 + ], + [ + -0.00012139463797211647, + 0.9999998807907104, + -0.00041495816549286246, + 0.0036158241436726624 + ], + [ + -0.00013572884199675173, + 0.00041494169272482395, + 0.9999998807907104, + 0.0448968109240072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 1.0, + 0.0001730493240756914, + 1.6453632269985974e-05, + -0.024185236685896658 + ], + [ + -0.00017304082575719804, + 0.9999998807907104, + -0.0005159430438652635, + 0.006286067164112483 + ], + [ + -1.654291190789081e-05, + 0.0005159401334822178, + 0.9999998807907104, + 0.08943301324109217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999998807907104, + 0.00050769979134202, + 6.800264964113012e-05, + -0.0381688816084211 + ], + [ + -0.000507660093717277, + 0.9999997019767761, + -0.0005825526895932853, + 0.0062867322486014135 + ], + [ + -6.829838821431622e-05, + 0.0005825181142427027, + 0.9999998211860657, + 0.1346165878901722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999996423721313, + 0.0008690131362527609, + -3.0433571737376042e-05, + -0.05153939780486267 + ], + [ + -0.0008690251270309091, + 0.9999995231628418, + -0.000397267984226346, + 0.0031233329333425048 + ], + [ + 3.0088327548583038e-05, + 0.0003972942940890789, + 0.9999999403953552, + 0.185438394593826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999994039535522, + 0.001111449208110571, + -1.920632530527655e-05, + -0.0645982566591908 + ], + [ + -0.0011114510707557201, + 0.9999994039535522, + -9.22767139854841e-05, + -0.0008306849988237506 + ], + [ + 1.91037524928106e-05, + 9.22980034374632e-05, + 1.0, + 0.23136002552407645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999992847442627, + 0.0011725249933078885, + -9.8323384008836e-05, + -0.0771805514195641 + ], + [ + -0.0011724791256710887, + 0.9999992251396179, + 0.0004648963513318449, + -0.010643517165895431 + ], + [ + 9.886841144179925e-05, + -0.0004647807509172708, + 0.9999998807907104, + 0.27969581690617373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999988675117493, + 0.00150486349593848, + 4.192143751424737e-05, + -0.09045498741395404 + ], + [ + -0.0015048821223899722, + 0.9999987483024597, + 0.00044727715430781245, + -0.01796734975951333 + ], + [ + -4.124829501961358e-05, + -0.00044733972754329443, + 0.9999998807907104, + 0.3252003977422118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999986886978149, + 0.0015954935224726796, + 0.00021289900178089738, + -0.10389059196759556 + ], + [ + -0.0015957708237692714, + 0.9999978542327881, + 0.0013088008854538202, + -0.027650786683924736 + ], + [ + -0.00021081036538816988, + -0.0013091389555484056, + 0.9999991059303284, + 0.367961505015621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999998152256012, + 0.001913013169541955, + 0.0002100548445014283, + -0.1195852175999936 + ], + [ + -0.0019132820889353752, + 0.9999973177909851, + 0.0012878578854724765, + -0.035666032447930304 + ], + [ + -0.0002075905940728262, + -0.0012882574228569865, + 0.9999991655349731, + 0.4146262445671563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999978542327881, + 0.0020660762675106525, + 0.00020658137509599328, + -0.13366101561827706 + ], + [ + -0.002066323533654213, + 0.9999971389770508, + 0.0012048035860061646, + -0.04111267277790654 + ], + [ + -0.00020409157150425017, + -0.001205227803438902, + 0.9999992251396179, + 0.45956358112462403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999998152256012, + 0.001932992017827928, + 5.358711860026233e-05, + -0.14625138975750288 + ], + [ + -0.0019330697832629085, + 0.9999970197677612, + 0.0014932082267478108, + -0.04448066805639574 + ], + [ + -5.070060069556348e-05, + -0.001493309042416513, + 0.9999988675117493, + 0.500745944696762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999980330467224, + 0.0019939204212278128, + 9.292146569350734e-05, + -0.16024678250466803 + ], + [ + -0.001994060119614005, + 0.9999968409538269, + 0.0015291686868295074, + -0.04683944904996503 + ], + [ + -8.98721264093183e-05, + -0.0015293509932234883, + 0.9999988079071045, + 0.5476639775733929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999979138374329, + 0.002030322328209877, + 8.824557880870998e-05, + -0.17410695213869576 + ], + [ + -0.0020304624922573566, + 0.9999966025352478, + 0.0016193580813705921, + -0.04716231464858978 + ], + [ + -8.495745714753866e-05, + -0.0016195338685065508, + 0.9999986886978149, + 0.5893569332336248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999973773956299, + 0.0022285168524831533, + 0.00048360813525505364, + -0.18992298465774154 + ], + [ + -0.0022292861249297857, + 0.9999962449073792, + 0.0015963056357577443, + -0.04702037664190416 + ], + [ + -0.00048004891141317785, + -0.0015973796835169196, + 0.9999986290931702, + 0.6393688149467643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999969005584717, + 0.002333584940060973, + 0.0008649708470329642, + -0.20431552524819235 + ], + [ + -0.0023348035756498575, + 0.9999963045120239, + 0.0014104145811870694, + -0.0462287122443799 + ], + [ + -0.000861676293425262, + -0.0014124297304078937, + 0.9999986290931702, + 0.6845824523899806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999945163726807, + 0.002933017909526825, + 0.0015486929332837462, + -0.2213241028689569 + ], + [ + -0.0029351292178034782, + 0.9999947547912598, + 0.001362765091471374, + -0.043545914561517775 + ], + [ + -0.0015446877805516124, + -0.0013673031935468316, + 0.9999978542327881, + 0.7323879601336235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999927282333374, + 0.00313432770781219, + 0.002174252877011895, + -0.23756261386264552 + ], + [ + -0.0031368581112474203, + 0.9999943971633911, + 0.0011612913804128766, + -0.04216699136360999 + ], + [ + -0.0021706006955355406, + -0.0011681033065542579, + 0.9999969601631165, + 0.7794855035633513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999904036521912, + 0.003288096748292446, + 0.0028906562365591526, + -0.25749940324289305 + ], + [ + -0.0032911160960793495, + 0.9999940395355225, + 0.001040413393639028, + -0.0408819755719554 + ], + [ + -0.0028872182592749596, + -0.001049916842021048, + 0.9999952912330627, + 0.8297036976518762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999873638153076, + 0.0036171639803797007, + 0.003496230812743306, + -0.2737696807017557 + ], + [ + -0.003620222909376025, + 0.999993085861206, + 0.0008690130780451, + -0.0426629344301839 + ], + [ + -0.003493063384667039, + -0.0008816591580398381, + 0.9999935030937195, + 0.8742092058558492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999837279319763, + 0.003884674981236458, + 0.004184512887150049, + -0.2925270439966792 + ], + [ + -0.003886932972818613, + 0.999992311000824, + 0.0005316556198522449, + -0.044348752426524314 + ], + [ + -0.004182415548712015, + -0.000547911855392158, + 0.9999911189079285, + 0.9216356198463003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999815821647644, + 0.003990566357970238, + 0.004573466721922159, + -0.3115931498795568 + ], + [ + -0.003993554040789604, + 0.9999918341636658, + 0.0006442860467359424, + -0.051348531222151175 + ], + [ + -0.004570858087390661, + -0.0006625385722145438, + 0.9999893307685852, + 0.9660617039422974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999754428863525, + 0.0041850870475173, + 0.005623169708997011, + -0.3318168004095975 + ], + [ + -0.004190758801996708, + 0.999990701675415, + 0.000997187220491469, + -0.05991490137192511 + ], + [ + -0.005618944298475981, + -0.0010207280283793807, + 0.9999836683273315, + 1.0176259329857027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999677538871765, + 0.00425250269472599, + 0.006815800908952951, + -0.35106777138782724 + ], + [ + -0.004255741834640503, + 0.9999908208847046, + 0.0004608413146343082, + -0.07012190102569518 + ], + [ + -0.006813779007643461, + -0.0004898327169939876, + 0.9999766945838928, + 1.06135605480705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999561905860901, + 0.004878554493188858, + 0.007988610304892063, + -0.36893164617640356 + ], + [ + -0.0048788366839289665, + 0.9999880790710449, + 1.5798246749909595e-05, + -0.07964550141365298 + ], + [ + -0.007988438941538334, + -5.4772677685832605e-05, + 0.9999681115150452, + 1.10569614810345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999455809593201, + 0.004831017926335335, + 0.009248060174286366, + -0.3854059847184427 + ], + [ + -0.004833932034671307, + 0.9999882578849792, + 0.00029279565205797553, + -0.08843862709979858 + ], + [ + -0.009246536530554295, + -0.00033748423447832465, + 0.9999572038650513, + 1.1496148659541852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999270439147949, + 0.005106725730001926, + 0.010946997441351414, + -0.4041220114919387 + ], + [ + -0.005110179074108601, + 0.9999868869781494, + 0.0002875220961868763, + -0.09543407790122493 + ], + [ + -0.010945386253297329, + -0.00034344225423410535, + 0.999940037727356, + 1.197558617108124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999157786369324, + 0.004517493303865194, + 0.012166503816843033, + -0.4167101893707314 + ], + [ + -0.004522124771028757, + 0.9999896883964539, + 0.0003531952970661223, + -0.10318405683482847 + ], + [ + -0.012164782732725143, + -0.00040818401612341404, + 0.9999259114265442, + 1.2413332130359072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998944401741028, + 0.0038926571141928434, + 0.013999723829329014, + -0.43220962001003266 + ], + [ + -0.0038946152199059725, + 0.9999924302101135, + 0.00011261778126936406, + -0.1107462050453309 + ], + [ + -0.013999179936945438, + -0.00016712943033780903, + 0.9999020099639893, + 1.2851790393777558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998717308044434, + 0.002071554306894541, + 0.01588243432343006, + -0.4494336004096699 + ], + [ + -0.002063085325062275, + 0.9999977350234985, + -0.0005495967343449593, + -0.11479654951441673 + ], + [ + -0.015883537009358406, + 0.0005167594645172358, + 0.999873697757721, + 1.3363177407117026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998375177383423, + 0.0012610501144081354, + 0.01798124611377716, + -0.4622247260591511 + ], + [ + -0.001252450980246067, + 0.9999991059303284, + -0.0004894749727100134, + -0.11375646221060906 + ], + [ + -0.017981845885515213, + 0.0004668748297262937, + 0.9998382329940796, + 1.3816659898958836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.99979168176651, + 0.001543833059258759, + 0.020352914929389954, + -0.4769330462659127 + ], + [ + -0.001536275609396398, + 0.9999987483024597, + -0.0003869560605380684, + -0.1115206815302372 + ], + [ + -0.020353488624095917, + 0.0003556077426765114, + 0.999792754650116, + 1.4257408724039125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9997406005859375, + 0.0032116854563355446, + 0.02254866249859333, + -0.4906487604182574 + ], + [ + -0.0032078195363283157, + 0.9999948143959045, + -0.00020762585336342454, + -0.1074694717603345 + ], + [ + -0.022549213841557503, + 0.00013523994130082428, + 0.9997457265853882, + 1.473585920141364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9996975064277649, + 0.0033680303022265434, + 0.024363046512007713, + -0.5015573563193151 + ], + [ + -0.0033617988228797913, + 0.9999942779541016, + -0.0002967300242744386, + -0.10565694061017805 + ], + [ + -0.024363907054066658, + 0.00021473661763593554, + 0.9997031092643738, + 1.517709132368679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9996482133865356, + 0.0022892924025654793, + 0.026422617956995964, + -0.5156114959330749 + ], + [ + -0.0022738315165042877, + 0.9999971985816956, + -0.0006151614361442626, + -0.10284833163022995 + ], + [ + -0.026423951610922813, + 0.0005548644694499671, + 0.9996506571769714, + 1.566396214038034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9996004104614258, + 0.002341062529012561, + 0.028169598430395126, + -0.5290311988825241 + ], + [ + -0.002307783579453826, + 0.9999966025352478, + -0.0012138390447944403, + -0.10021549186879589 + ], + [ + -0.028172343969345093, + 0.0011483447160571814, + 0.9996024370193481, + 1.6102526128041414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995568990707397, + 0.003200073726475239, + 0.029592517763376236, + -0.5408136637986547 + ], + [ + -0.0031565329991281033, + 0.9999938607215881, + -0.001517943455837667, + -0.10274641292710458 + ], + [ + -0.029597193002700806, + 0.0014238612493500113, + 0.9995608925819397, + 1.6593666534125429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995036721229553, + 0.002597777172923088, + 0.031394947320222855, + -0.5525068499305616 + ], + [ + -0.0025484166108071804, + 0.9999954700469971, + -0.001612158608622849, + -0.10637543470628799 + ], + [ + -0.031398992985486984, + 0.001531351008452475, + 0.9995057582855225, + 1.706587511609776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9994437098503113, + 0.0005466828588396311, + 0.03334558755159378, + -0.5651740708412798 + ], + [ + -0.0004823444178327918, + 0.9999980330467224, + -0.0019374581752344966, + -0.11261172655128664 + ], + [ + -0.03334657847881317, + 0.0019202964613214135, + 0.9994419813156128, + 1.7544284851003942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9993939995765686, + -9.625888924347237e-05, + 0.03480806201696396, + -0.5773827073865094 + ], + [ + 0.00016497011529281735, + 0.9999980330467224, + -0.0019711367785930634, + -0.11867199941508232 + ], + [ + -0.034807801246643066, + 0.0019756844267249107, + 0.9993920922279358, + 1.7979363951204916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9993332028388977, + 0.0004312450473662466, + 0.036509715020656586, + -0.5891362610446748 + ], + [ + -0.0003750563773792237, + 0.9999987483024597, + -0.001545840292237699, + -0.1267787266162134 + ], + [ + -0.03651033341884613, + 0.001531116315163672, + 0.9993321299552917, + 1.8435484361928707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.999276876449585, + 0.00018102610192727298, + 0.03802230581641197, + -0.6007760637788387 + ], + [ + -0.0001252300717169419, + 0.999998927116394, + -0.0014698321465402842, + -0.13289213377621867 + ], + [ + -0.03802252933382988, + 0.001464007655158639, + 0.999275803565979, + 1.883009318403633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992308616638184, + 0.0004991973401047289, + 0.03921012952923775, + -0.6140503384425932 + ], + [ + -0.00045415153726935387, + 0.9999992251396179, + -0.001157730002887547, + -0.13906775112113645 + ], + [ + -0.03921067342162132, + 0.0011390323052182794, + 0.9992303252220154, + 1.9259320279096082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9991990923881531, + 0.00036582184839062393, + 0.040012866258621216, + -0.6257661333174661 + ], + [ + -0.0003222064988221973, + 0.9999993443489075, + -0.0010964768007397652, + -0.14589221258797952 + ], + [ + -0.04001323878765106, + 0.0010827062651515007, + 0.9991985559463501, + 1.9682598682725052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9991523027420044, + 0.0008645627531222999, + 0.04115739092230797, + -0.6377383860352922 + ], + [ + -0.0008121011196635664, + 0.9999988079071045, + -0.001291360124014318, + -0.15040417438553225 + ], + [ + -0.04115845635533333, + 0.00125684158410877, + 0.9991518259048462, + 2.011070377339286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999119758605957, + 0.001079006353393197, + 0.04193492233753204, + -0.650560112188912 + ], + [ + -0.001020470866933465, + 0.9999984502792358, + -0.0014172462979331613, + -0.15411306509087164 + ], + [ + -0.04193639010190964, + 0.0013732054503634572, + 0.9991193413734436, + 2.0519772790949284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9990745186805725, + 0.0008228832739405334, + 0.043005309998989105, + -0.6618338183587653 + ], + [ + -0.0007555548218078911, + 0.9999984502792358, + -0.0015818162355571985, + -0.15653369936250872 + ], + [ + -0.043006546795368195, + 0.0015478595159947872, + 0.9990735650062561, + 2.094846110276112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9990254044532776, + 6.738869706168771e-05, + 0.04413936287164688, + -0.6725538118723864 + ], + [ + 3.149954864056781e-06, + 0.9999987483024597, + -0.0015980182215571404, + -0.1553450581287184 + ], + [ + -0.04413941502571106, + 0.001596599817276001, + 0.9990240931510925, + 2.138034322701635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9989683628082275, + 0.0001027208854793571, + 0.04541165381669998, + -0.6853800800110255 + ], + [ + -2.534873055992648e-05, + 0.9999985694885254, + -0.001704367808997631, + -0.1550995352768129 + ], + [ + -0.045411765575408936, + 0.0017014583572745323, + 0.9989669322967529, + 2.1803539096167492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9989016056060791, + 0.001324706943705678, + 0.04683792591094971, + -0.6981556939542286 + ], + [ + -0.0012602000497281551, + 0.9999982118606567, + -0.0014067385345697403, + -0.1539539710648598 + ], + [ + -0.04683970659971237, + 0.001346168341115117, + 0.9989014863967896, + 2.2245642086886237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.998813271522522, + 0.0011530400952324271, + 0.04869043454527855, + -0.711309789646616 + ], + [ + -0.0011134232627227902, + 0.9999990463256836, + -0.0008407630957663059, + -0.15372386574745178 + ], + [ + -0.04869135841727257, + 0.0007855523144826293, + 0.9988135695457458, + 2.26782379825853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9987038969993591, + 0.0009931765962392092, + 0.050887368619441986, + -0.7230236732274211 + ], + [ + -0.0009432511287741363, + 0.9999990463256836, + -0.0010051041608676314, + -0.15342822670936584 + ], + [ + -0.050888314843177795, + 0.0009558018646202981, + 0.9987038969993591, + 2.307203874963213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9985581636428833, + 0.0018258151831105351, + 0.053649529814720154, + -0.7365410753561469 + ], + [ + -0.0017677330179139972, + 0.9999977946281433, + -0.0011300548212602735, + -0.15416921319500093 + ], + [ + -0.05365147441625595, + 0.0010335874976590276, + 0.9985591769218445, + 2.3500363585803914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9983757734298706, + 0.0009057718561962247, + 0.05696532130241394, + -0.750070526583201 + ], + [ + -0.0008487151935696602, + 0.9999991059303284, + -0.0010257893009111285, + -0.1566328393595834 + ], + [ + -0.05696620047092438, + 0.0009757758816704154, + 0.998375654220581, + 2.3901160871921268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9981733560562134, + -0.0003248312568757683, + 0.0604136623442173, + -0.7632528343331585 + ], + [ + 0.0003636200854089111, + 0.9999997615814209, + -0.0006310608005151153, + -0.16124774448333248 + ], + [ + -0.06041343882679939, + 0.0006518757436424494, + 0.9981732368469238, + 2.433704742011727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9979153871536255, + -0.0007885303348302841, + 0.06453097611665726, + -0.7771654959144672 + ], + [ + 0.0008159605786204338, + 0.9999995827674866, + -0.0003987174713984132, + -0.16719866099376832 + ], + [ + -0.0645306333899498, + 0.0004505410324782133, + 0.9979156255722046, + 2.4741985580452996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9976439476013184, + -0.0010766300838440657, + 0.06859615445137024, + -0.7908015770274365 + ], + [ + 0.0011123549193143845, + 0.9999992847442627, + -0.0004826045478694141, + -0.17410765049919005 + ], + [ + -0.06859558820724487, + 0.0005577707779593766, + 0.9976443648338318, + 2.5113813463498973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9973863363265991, + 0.00012909098586533219, + 0.07225330173969269, + -0.8062561286582305 + ], + [ + -8.766509563429281e-05, + 0.9999998211860657, + -0.0005765135283581913, + -0.18004999764023288 + ], + [ + -0.07225336134433746, + 0.0005686726071871817, + 0.9973861575126648, + 2.5495156814581046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9971370100975037, + -0.00021107977954670787, + 0.07561544328927994, + -0.8217337621123841 + ], + [ + 0.00024105567717924714, + 0.9999998807907104, + -0.00038729916559532285, + -0.1867747111666587 + ], + [ + -0.07561535388231277, + 0.00040441786404699087, + 0.9971369504928589, + 2.5920938659661203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9969243407249451, + -0.0013803917681798339, + 0.07835818827152252, + -0.8369895793911118 + ], + [ + 0.0014235862763598561, + 0.9999988675117493, + -0.0004953867755830288, + -0.19398025103634403 + ], + [ + -0.07835741341114044, + 0.0006054127588868141, + 0.9969251751899719, + 2.6321657682449797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9967465996742249, + -0.0006932485848665237, + 0.0805959478020668, + -0.8498341077488036 + ], + [ + 0.0007162542315199971, + 0.9999997019767761, + -0.00025653341435827315, + -0.1968549778384547 + ], + [ + -0.08059573918581009, + 0.0003134259895887226, + 0.996746838092804, + 2.6683837902385297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9965636134147644, + -0.0006402592989616096, + 0.08282814919948578, + -0.8618065245661485 + ], + [ + 0.0006714775809086859, + 0.9999997019767761, + -0.00034904794301837683, + -0.19897699233505034 + ], + [ + -0.08282789587974548, + 0.00040346570312976837, + 0.9965637922286987, + 2.705133586903403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.99638831615448, + -0.0008551045903004706, + 0.08490927517414093, + -0.8760491405046196 + ], + [ + 0.0008820698712952435, + 0.9999995827674866, + -0.0002800626971293241, + -0.20004673451185226 + ], + [ + -0.08490899205207825, + 0.0003539471363183111, + 0.9963886737823486, + 2.7473151955717183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9962241053581238, + -0.0007279235869646072, + 0.08681584894657135, + -0.8911048911624558 + ], + [ + 0.0007588565349578857, + 0.9999996423721313, + -0.00032330339308828115, + -0.1993277070503081 + ], + [ + -0.08681558072566986, + 0.0003879633732140064, + 0.9962243437767029, + 2.789614280951472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.99604332447052, + -0.0008029132150113583, + 0.08886531740427017, + -0.9058754223368821 + ], + [ + 0.0008011949248611927, + 0.9999997019767761, + 5.500577390193939e-05, + -0.19715112245851948 + ], + [ + -0.08886533230543137, + 1.641030394239351e-05, + 0.9960436224937439, + 2.832264846862076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.995881199836731, + -0.00046358827967196703, + 0.09066662937402725, + -0.9176338822573833 + ], + [ + 0.00041206012247130275, + 0.9999997615814209, + 0.0005870434688404202, + -0.19484939786695665 + ], + [ + -0.09066688269376755, + -0.0005472654011100531, + 0.9958811402320862, + 2.8743195148403644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9957157969474792, + -0.0006720158271491528, + 0.09246401488780975, + -0.9286139040370471 + ], + [ + 0.0006265428382903337, + 0.9999996423721313, + 0.000520818866789341, + -0.191123767725883 + ], + [ + -0.09246432781219482, + -0.0004606549337040633, + 0.9957159161567688, + 2.9190253211249413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9955365061759949, + -0.00019082907238043845, + 0.09437680244445801, + -0.9417296346612983 + ], + [ + 0.0001044658783939667, + 0.9999995827674866, + 0.0009200288914144039, + -0.18877732794611685 + ], + [ + -0.09437693655490875, + -0.0009060632437467575, + 0.9955361485481262, + 2.9618612123675825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.995362401008606, + -0.002516512991860509, + 0.0961630642414093, + -0.9545924453384003 + ], + [ + 0.002452129265293479, + 0.9999966621398926, + 0.0007876980234868824, + -0.18814538996065816 + ], + [ + -0.09616473317146301, + -0.00054824078688398, + 0.9953652620315552, + 3.0072247861643255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9952983856201172, + -0.001682928646914661, + 0.09684128314256668, + -0.9694107512591854 + ], + [ + 0.0015929386718198657, + 0.9999982118606567, + 0.0010065570240840316, + -0.1858428948829251 + ], + [ + -0.09684280306100845, + -0.0008475624490529299, + 0.9952993392944336, + 3.0543382388463565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9952679872512817, + -0.0014791848370805383, + 0.09715680778026581, + -0.9807164352326165 + ], + [ + 0.001332161366008222, + 0.9999978542327881, + 0.001578109571710229, + -0.18828158465123945 + ], + [ + -0.09715893864631653, + -0.0014412133023142815, + 0.9952678084373474, + 3.103765816258777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9952096343040466, + -0.0014152134535834193, + 0.09775350242853165, + -0.9937305896817575 + ], + [ + 0.0011910643661394715, + 0.999996542930603, + 0.002351320581510663, + -0.1911653847944352 + ], + [ + -0.09775649756193161, + -0.00222362601198256, + 0.9952079057693481, + 3.149204013231605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9951905012130737, + -0.0023364974185824394, + 0.09793056547641754, + -1.0044575966744413 + ], + [ + 0.00206335773691535, + 0.9999936819076538, + 0.002890300238505006, + -0.1982556797804371 + ], + [ + -0.0979367047548294, + -0.002674333518370986, + 0.9951890707015991, + 3.1971021523706673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9951661825180054, + -0.0023548470344394445, + 0.09817682206630707, + -1.0136831361378895 + ], + [ + 0.0020484270062297583, + 0.9999927282333374, + 0.003221786580979824, + -0.20535366953380646 + ], + [ + -0.09818369150161743, + -0.003005105070769787, + 0.9951637983322144, + 3.2366113628429782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9950979351997375, + -0.002900458639487624, + 0.09885183721780777, + -1.0274140834798962 + ], + [ + 0.0025539782363921404, + 0.9999901652336121, + 0.00363141275011003, + -0.2132300404290999 + ], + [ + -0.09886138886213303, + -0.003361145732924342, + 0.9950955510139465, + 3.287890754653809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9950512051582336, + -0.0031826640479266644, + 0.0993121936917305, + -1.040273595196683 + ], + [ + 0.0028225136920809746, + 0.9999889135360718, + 0.003766736714169383, + -0.21754945165687992 + ], + [ + -0.0993230864405632, + -0.003467785893008113, + 0.9950491786003113, + 3.332645447877322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9949998259544373, + -0.0025952875148504972, + 0.09984289109706879, + -1.0539066995617994 + ], + [ + 0.0022053869906812906, + 0.9999895095825195, + 0.004015316255390644, + -0.22208657283936778 + ], + [ + -0.09985226392745972, + -0.003775046905502677, + 0.9949951171875, + 3.3799549994190343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.994961142539978, + -0.0016192776383832097, + 0.10024841129779816, + -1.0666352206839702 + ], + [ + 0.001222672057338059, + 0.9999911785125732, + 0.0040175411850214005, + -0.2276643871299682 + ], + [ + -0.10025402903556824, + -0.0038747265934944153, + 0.9949543476104736, + 3.422031261540589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9949142932891846, + -0.0013885117368772626, + 0.10071565210819244, + -1.0789233849458058 + ], + [ + 0.000987330568023026, + 0.9999913573265076, + 0.004033041186630726, + -0.23227879746306326 + ], + [ + -0.10072039067745209, + -0.003913090564310551, + 0.9949070811271667, + 3.4747039781530358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9948575496673584, + -0.000974460388533771, + 0.10127932578325272, + -1.0918449632069114 + ], + [ + 0.0005375349428504705, + 0.9999904036521912, + 0.00434126565232873, + -0.23397902363250334 + ], + [ + -0.10128258913755417, + -0.0042644995264709, + 0.9948485493659973, + 3.515731626750353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9948179721832275, + -0.0005866853753104806, + 0.1016705110669136, + -1.1042356201665355 + ], + [ + 9.494533878751099e-05, + 0.9999882578849792, + 0.004841375630348921, + -0.23571821085868344 + ], + [ + -0.10167216509580612, + -0.00480663450434804, + 0.9948063492774963, + 3.558616080696905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9947783350944519, + -0.00031958319596014917, + 0.10205837339162827, + -1.1142010164602387 + ], + [ + -0.000220457004616037, + 0.9999860525131226, + 0.005280161276459694, + -0.23668853164680542 + ], + [ + -0.10205864161252975, + -0.005275089293718338, + 0.9947643876075745, + 3.5972610374056404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9947264194488525, + -0.0003391220816411078, + 0.10256349295377731, + -1.1278919053895327 + ], + [ + -0.0002142644370906055, + 0.9999854564666748, + 0.005384485237300396, + -0.23368576399741633 + ], + [ + -0.10256383568048477, + -0.0053780656307935715, + 0.9947118759155273, + 3.6507850064520513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9946824908256531, + 5.330087151378393e-05, + 0.10298918187618256, + -1.1413930697321062 + ], + [ + -0.0006164295482449234, + 0.9999850392341614, + 0.005436023697257042, + -0.2308679440569493 + ], + [ + -0.10298734903335571, + -0.00547060277312994, + 0.994667649269104, + 3.700248735008626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.99460768699646, + 0.0003589356492739171, + 0.1037081703543663, + -1.1556453723331346 + ], + [ + -0.0009526378707960248, + 0.9999834299087524, + 0.00567526463419199, + -0.23073252285680462 + ], + [ + -0.10370441526174545, + -0.0057434579357504845, + 0.9945915937423706, + 3.749495042531541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9945589900016785, + 0.0004131695022806525, + 0.10417425632476807, + -1.1690064917195067 + ], + [ + -0.0010103888344019651, + 0.9999833703041077, + 0.005680182483047247, + -0.2294124373264851 + ], + [ + -0.10417017340660095, + -0.005754532758146524, + 0.9945428371429443, + 3.7959188816931864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9944722056388855, + 0.0005243999185040593, + 0.10499889403581619, + -1.181373888795403 + ], + [ + -0.001171797513961792, + 0.9999806880950928, + 0.006104162894189358, + -0.2342538643267847 + ], + [ + -0.10499366372823715, + -0.00619345810264349, + 0.9944536089897156, + 3.840513986621743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9943978190422058, + 0.00047207780880853534, + 0.10570130497217178, + -1.1953424308288254 + ], + [ + -0.0011381290387362242, + 0.9999798536300659, + 0.006241026800125837, + -0.23691304302023303 + ], + [ + -0.10569623857736588, + -0.006326364818960428, + 0.9943783283233643, + 3.889449392724219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9943383932113647, + 0.0005306719103828073, + 0.10625845938920975, + -1.2099111127911226 + ], + [ + -0.001252414076589048, + 0.9999765753746033, + 0.006725712213665247, + -0.24233951434012382 + ], + [ + -0.10625240951776505, + -0.006820713635534048, + 0.9943158030509949, + 3.9365701370767407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.994276762008667, + 4.363100742921233e-06, + 0.10683505982160568, + -1.2203261478567113 + ], + [ + -0.000717872055247426, + 0.999977707862854, + 0.006640147417783737, + -0.25008608982447655 + ], + [ + -0.10683264583349228, + -0.006678838282823563, + 0.9942545890808105, + 3.9833337526212658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.994248628616333, + 1.5208788681775331e-06, + 0.1070963516831398, + -1.227810566068412 + ], + [ + -0.0007209255127236247, + 0.9999774098396301, + 0.006678643170744181, + -0.2568236692778526 + ], + [ + -0.1070939227938652, + -0.006717440206557512, + 0.9942262172698975, + 4.013235931553232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9942124485969543, + 0.00034045547363348305, + 0.10743112117052078, + -1.244731212276442 + ], + [ + -0.0010701750870794058, + 0.9999767541885376, + 0.006734863389283419, + -0.2603834404580055 + ], + [ + -0.10742632299661636, + -0.006810855586081743, + 0.9941897392272949, + 4.063225694366678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9941397309303284, + 0.00037454304401762784, + 0.10810212045907974, + -1.2581891352938386 + ], + [ + -0.0011205730261281133, + 0.9999759793281555, + 0.006840496324002743, + -0.2665726754934557 + ], + [ + -0.10809696465730667, + -0.006921545602381229, + 0.9941162467002869, + 4.111286411544068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9941186308860779, + 0.000327365065459162, + 0.10829628258943558, + -1.2706800722902698 + ], + [ + -0.0010670069605112076, + 0.9999765157699585, + 0.00677192397415638, + -0.2731525406241417 + ], + [ + -0.10829151421785355, + -0.00684764888137579, + 0.9940956234931946, + 4.156802405824419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9940914511680603, + 0.00019060441991314292, + 0.10854554176330566, + -1.2794065947906816 + ], + [ + -0.0009281115490011871, + 0.9999768137931824, + 0.006743969861418009, + -0.278621979826881 + ], + [ + -0.10854174196720123, + -0.0068048653192818165, + 0.9940686225891113, + 4.191516441939354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.994072437286377, + 0.00015267872367985547, + 0.10871948301792145, + -1.2878864930336287 + ], + [ + -0.0008895966457203031, + 0.9999769330024719, + 0.00672968989238143, + -0.28423352311215094 + ], + [ + -0.1087159514427185, + -0.006786515470594168, + 0.9940496683120728, + 4.2229637188917675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9940406084060669, + 4.249808262102306e-05, + 0.1090102568268776, + -1.3017060995113194 + ], + [ + -0.0007680357666686177, + 0.9999778270721436, + 0.006613704841583967, + -0.28519569520027405 + ], + [ + -0.10900755971670151, + -0.0066580153070390224, + 0.9940186142921448, + 4.273963213826139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9940236806869507, + 0.0001326808996964246, + 0.10916455835103989, + -1.3112412055758942 + ], + [ + -0.000852035591378808, + 0.999978244304657, + 0.006543016992509365, + -0.2853970617296234 + ], + [ + -0.10916130989789963, + -0.0065969256684184074, + 0.9940021634101868, + 4.3085741436638445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9939805865287781, + 0.0002797448541969061, + 0.1095561608672142, + -1.3270066104756082 + ], + [ + -0.0010037579340860248, + 0.9999780058860779, + 0.006553508806973696, + -0.28458892996272733 + ], + [ + -0.10955191403627396, + -0.00662402855232358, + 0.9939590096473694, + 4.366376427626763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9939376711845398, + 0.0003761980915442109, + 0.10994461178779602, + -1.338388088150673 + ], + [ + -0.0010984680848196149, + 0.9999781847000122, + 0.006508904509246349, + -0.2828306538924094 + ], + [ + -0.10993976891040802, + -0.006590215489268303, + 0.993916392326355, + 4.407955783475641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9939051866531372, + 0.000613656360656023, + 0.11023645102977753, + -1.3533264911816185 + ], + [ + -0.0013398549053817987, + 0.9999778866767883, + 0.006513690110296011, + -0.2801009306023198 + ], + [ + -0.11023001372814178, + -0.006621690932661295, + 0.9938840270042419, + 4.462023760188341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9938722252845764, + 0.00013568467693403363, + 0.11053501814603806, + -1.3631045395923138 + ], + [ + -0.0009623155347071588, + 0.9999719858169556, + 0.0074251387268304825, + -0.28071284231639676 + ], + [ + -0.11053090542554855, + -0.0074860090389847755, + 0.9938445091247559, + 4.507044617364168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.993806779384613, + 0.0005541866994462907, + 0.11112039536237717, + -1.375014519344991 + ], + [ + -0.001401001587510109, + 0.999970555305481, + 0.007542761042714119, + -0.28066883442863344 + ], + [ + -0.11111294478178024, + -0.0076517267152667046, + 0.9937783479690552, + 4.559342388747891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9937522411346436, + 0.0006751851178705692, + 0.11160682886838913, + -1.3889484127722456 + ], + [ + -0.0015439607668668032, + 0.9999691843986511, + 0.0076980069279670715, + -0.28242265031703057 + ], + [ + -0.1115981861948967, + -0.007822227664291859, + 0.9937226176261902, + 4.6103428307578955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9936904907226562, + 0.0008205970516428351, + 0.11215393245220184, + -1.3974283135049195 + ], + [ + -0.001716039958409965, + 0.9999673962593079, + 0.00788775272667408, + -0.2903675596560201 + ], + [ + -0.11214379966259003, + -0.008030446246266365, + 0.9936595559120178, + 4.65457380377357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9936458468437195, + 0.0007649750332348049, + 0.11254937946796417, + -1.4081436764354294 + ], + [ + -0.0016600755043327808, + 0.9999677538871765, + 0.007859455421566963, + -0.2975843982590783 + ], + [ + -0.11253973841667175, + -0.00799635611474514, + 0.9936150312423706, + 4.697533606465215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9935948848724365, + 0.0005552368238568306, + 0.1129995584487915, + -1.4200578835514945 + ], + [ + -0.0014785313978791237, + 0.9999662041664124, + 0.008087140507996082, + -0.30526048247852633 + ], + [ + -0.11299124360084534, + -0.008202414028346539, + 0.9935621023178101, + 4.742712862808408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9935248494148254, + 0.00025102929794229567, + 0.11361494660377502, + -1.4312097007640747 + ], + [ + -0.0012053577229380608, + 0.9999645948410034, + 0.008331055752933025, + -0.31265636908431205 + ], + [ + -0.11360883712768555, + -0.008414057083427906, + 0.9934899210929871, + 4.782389964872686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9934422969818115, + 0.0003001021104864776, + 0.11433405429124832, + -1.4448109113685448 + ], + [ + -0.0013228412717580795, + 0.9999597668647766, + 0.008869417943060398, + -0.3206228732101379 + ], + [ + -0.11432679742574692, + -0.008962501771748066, + 0.9934027791023254, + 4.827250230950754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9933969974517822, + -9.631307329982519e-05, + 0.1147274449467659, + -1.4591420304705671 + ], + [ + -0.000924923806451261, + 0.9999604225158691, + 0.008848151192069054, + -0.32825353626281983 + ], + [ + -0.11472376435995102, + -0.008895840495824814, + 0.9933575987815857, + 4.876859684848798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9933419823646545, + -0.00021528665092773736, + 0.11520267277956009, + -1.4771058682032867 + ], + [ + -0.0007949105929583311, + 0.9999616146087646, + 0.00872285757213831, + -0.3324406060480302 + ], + [ + -0.11520012468099594, + -0.008756357245147228, + 0.9933037161827087, + 4.927570578488221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9933151006698608, + -0.0002368792484048754, + 0.11543422192335129, + -1.4853825495451958 + ], + [ + -0.0007708362536504865, + 0.9999619722366333, + 0.008685063570737839, + -0.33782531854606446 + ], + [ + -0.11543189734220505, + -0.008715985342860222, + 0.9932771325111389, + 4.957868518210917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.993269681930542, + -0.0001552643079776317, + 0.11582432687282562, + -1.494528510616604 + ], + [ + -0.0008513502543792129, + 0.999962329864502, + 0.00864135380834341, + -0.34103997465102903 + ], + [ + -0.11582130193710327, + -0.00868180114775896, + 0.9932321310043335, + 4.99243056575257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9932246804237366, + -9.879493154585361e-05, + 0.11620975285768509, + -1.5066113187887353 + ], + [ + -0.0009074014378711581, + 0.999962568283081, + 0.008605515584349632, + -0.3411112955501003 + ], + [ + -0.11620625108480453, + -0.008652659133076668, + 0.993187427520752, + 5.030797571640071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9931690692901611, + -0.0002409463340882212, + 0.11668413877487183, + -1.5247659576177313 + ], + [ + -0.0007506933761760592, + 0.9999639987945557, + 0.008454474620521069, + -0.3416488187928354 + ], + [ + -0.11668197810649872, + -0.008484316058456898, + 0.9931330680847168, + 5.083387422822265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9931424260139465, + -0.00018924192409031093, + 0.1169104352593422, + -1.5385198131576956 + ], + [ + -0.0007915541063994169, + 0.9999648928642273, + 0.008342809975147247, + -0.34088129225757813 + ], + [ + -0.11690790206193924, + -0.008378138765692711, + 0.9931074380874634, + 5.117111325936182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.993090808391571, + -9.016474359668791e-05, + 0.11734837293624878, + -1.5547751638858538 + ], + [ + -0.0009023194434121251, + 0.9999642968177795, + 0.008404433727264404, + -0.339672998747518 + ], + [ + -0.1173449456691742, + -0.008452251553535461, + 0.9930552244186401, + 5.1588906749361945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9930709600448608, + -0.0002918654936365783, + 0.11751598119735718, + -1.5712856658230931 + ], + [ + -0.0007047278922982514, + 0.9999641180038452, + 0.008438852615654469, + -0.339360216019615 + ], + [ + -0.1175142377614975, + -0.008463195525109768, + 0.9930351376533508, + 5.201849778416011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9930660724639893, + -0.0004784703778568655, + 0.1175563633441925, + -1.5876036851950162 + ], + [ + -0.0005161450244486332, + 0.9999643564224243, + 0.00843016430735588, + -0.3373002822360685 + ], + [ + -0.11755619943141937, + -0.008432386443018913, + 0.9930304288864136, + 5.247304718044677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9930585622787476, + -0.0004283590824343264, + 0.11761996150016785, + -1.60558467175858 + ], + [ + -0.0005792774609290063, + 0.9999634027481079, + 0.008532565087080002, + -0.3392252143832945 + ], + [ + -0.11761932075023651, + -0.008541472256183624, + 0.9930220246315002, + 5.291204679568088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9930515289306641, + -0.0004787352227140218, + 0.11767935007810593, + -1.6224973581805486 + ], + [ + -0.0005337264738045633, + 0.999963104724884, + 0.008571899496018887, + -0.3423766003501031 + ], + [ + -0.11767911165952682, + -0.008575146086513996, + 0.9930146336555481, + 5.327988069639692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.99306720495224, + -0.000553347053937614, + 0.11754687130451202, + -1.6403765053131087 + ], + [ + -0.0005047352751716971, + 0.9999596476554871, + 0.008971406146883965, + -0.34755684437770995 + ], + [ + -0.11754709482192993, + -0.008968539535999298, + 0.9930267930030823, + 5.36784903171262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9930952191352844, + -0.0007369102677330375, + 0.11730865389108658, + -1.655207407160478 + ], + [ + -0.0003885221667587757, + 0.999954104423523, + 0.009570615366101265, + -0.3546467776260068 + ], + [ + -0.11731032282114029, + -0.009550109505653381, + 0.9930493831634521, + 5.40781867507725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9930781126022339, + -0.0007928544655442238, + 0.11745314300060272, + -1.673247559718232 + ], + [ + -0.00033724738750606775, + 0.9999538660049438, + 0.009601540863513947, + -0.3637735303851866 + ], + [ + -0.11745533347129822, + -0.009574690833687782, + 0.9930320382118225, + 5.444750365020798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9930628538131714, + -0.0007510612485930324, + 0.1175822988152504, + -1.684984328498831 + ], + [ + -0.0003911220992449671, + 0.9999529719352722, + 0.009690530598163605, + -0.37420649230480196 + ], + [ + -0.11758404225111008, + -0.009669294580817223, + 0.9930158853530884, + 5.468728590477258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9930492043495178, + -0.0007354911649599671, + 0.1176978349685669, + -1.7088125914519732 + ], + [ + -0.00040810066275298595, + 0.9999529719352722, + 0.009691942483186722, + -0.3755271411951511 + ], + [ + -0.11769942939281464, + -0.009672608226537704, + 0.99300217628479, + 5.522416865400549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9930368661880493, + -0.0007060884963721037, + 0.11780213564634323, + -1.725291005572522 + ], + [ + -0.0005030726315453649, + 0.9999474883079529, + 0.0102342888712883, + -0.3828785388219741 + ], + [ + -0.1178031787276268, + -0.010222289711236954, + 0.9929843544960022, + 5.55780450190087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9930247664451599, + -0.0010524028912186623, + 0.11790117621421814, + -1.7399623500149426 + ], + [ + -0.00019744355813600123, + 0.9999439120292664, + 0.010588615201413631, + -0.3885656815142401 + ], + [ + -0.11790570616722107, + -0.010538036935031414, + 0.9929688572883606, + 5.5939179768706975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9929956793785095, + -0.000965055194683373, + 0.11814670264720917, + -1.7483594215745406 + ], + [ + -0.00029623197042383254, + 0.9999431371688843, + 0.01065757591277361, + -0.39605050759930766 + ], + [ + -0.11815027892589569, + -0.01061792578548193, + 0.9929389357566833, + 5.618750912960499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9929648041725159, + -0.0008606684277765453, + 0.1184065192937851, + -1.7645300086225981 + ], + [ + -0.000410181877668947, + 0.9999426007270813, + 0.010708154179155827, + -0.398400828795087 + ], + [ + -0.1184089332818985, + -0.010681387968361378, + 0.9929074645042419, + 5.660308748725126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.992900013923645, + -0.001048819744028151, + 0.11894715577363968, + -1.7839606037976468 + ], + [ + -0.0002608523063827306, + 0.999939501285553, + 0.010994432494044304, + -0.4021240393480947 + ], + [ + -0.11895149201154709, + -0.010947400704026222, + 0.9928396940231323, + 5.7126867949527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9928776025772095, + -0.0010319437133148313, + 0.11913423985242844, + -1.792848856739405 + ], + [ + -0.0002840743400156498, + 0.9999391436576843, + 0.011029004119336605, + -0.40481064240297965 + ], + [ + -0.11913836747407913, + -0.010984295047819614, + 0.9928169250488281, + 5.732667061309856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9928364753723145, + -0.0009394310181960464, + 0.11947719007730484, + -1.8003917273229755 + ], + [ + -0.0004008139076177031, + 0.9999372959136963, + 0.011193054728209972, + -0.40766380083176396 + ], + [ + -0.11948021501302719, + -0.011160762049257755, + 0.9927738308906555, + 5.7472730668306715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.992812991142273, + -0.0008631192613393068, + 0.11967276781797409, + -1.821437989949012 + ], + [ + -0.00046050932724028826, + 0.9999390244483948, + 0.011032304726541042, + -0.40449482228967454 + ], + [ + -0.11967498809099197, + -0.011008125729858875, + 0.9927520751953125, + 5.805280177859634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9927836656570435, + -0.0009603521320968866, + 0.11991540342569351, + -1.838966642000765 + ], + [ + -0.0003537749871611595, + 0.9999400973320007, + 0.010937015525996685, + -0.40086742865462455 + ], + [ + -0.11991872638463974, + -0.010900513269007206, + 0.9927238821983337, + 5.863531027215292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9927281737327576, + -0.0013118600472807884, + 0.12037041038274765, + -1.848896270401911 + ], + [ + 2.6820111088454723e-05, + 0.9999430179595947, + 0.010676711797714233, + -0.40088475759952297 + ], + [ + -0.1203775629401207, + -0.010595845058560371, + 0.9926716089248657, + 5.896576587580174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9926972985267639, + -0.0013282112777233124, + 0.1206248551607132, + -1.8582619433801981 + ], + [ + 5.335913738235831e-05, + 0.9999440908432007, + 0.010571351274847984, + -0.4010076261335804 + ], + [ + -0.12063215672969818, + -0.010487714782357216, + 0.9926418662071228, + 5.926438264470668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.992660641670227, + -0.0013074602466076612, + 0.12092623859643936, + -1.8698594428211142 + ], + [ + 3.8111815229058266e-05, + 0.9999448657035828, + 0.010498599149286747, + -0.40066085546728103 + ], + [ + -0.12093330174684525, + -0.010416937060654163, + 0.992605984210968, + 5.967459769334809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9926154017448425, + -0.0012443468440324068, + 0.1212974488735199, + -1.88036797559208 + ], + [ + -4.001002525910735e-05, + 0.9999439716339111, + 0.010585479438304901, + -0.4029454836922307 + ], + [ + -0.12130382657051086, + -0.010512163862586021, + 0.9925597310066223, + 6.003254541744208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9925975799560547, + -0.0011904462007805705, + 0.12144412845373154, + -1.8890051495609148 + ], + [ + -9.18613513931632e-05, + 0.9999443292617798, + 0.010552682913839817, + -0.40747433617230383 + ], + [ + -0.12144992500543594, + -0.010485722683370113, + 0.9925421476364136, + 6.033703559551072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9925590753555298, + -0.0012071751989424229, + 0.12175822257995605, + -1.898461897177772 + ], + [ + -7.232272764667869e-05, + 0.999944806098938, + 0.010503547266125679, + -0.41283511346386326 + ], + [ + -0.1217641830444336, + -0.010434197261929512, + 0.9925042390823364, + 6.070331916949081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9925190806388855, + -0.0011779197957366705, + 0.12208396196365356, + -1.913532827945798 + ], + [ + -9.334564674645662e-05, + 0.9999458193778992, + 0.010406801477074623, + -0.4184099299532752 + ], + [ + -0.12208960950374603, + -0.010340344160795212, + 0.9924651980400085, + 6.117649596822899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.992351233959198, + -0.0007654119981452823, + 0.12344413250684738, + -1.9275453852670785 + ], + [ + -0.0004493808373808861, + 0.9999517798423767, + 0.009812688454985619, + -0.4244849029567934 + ], + [ + -0.12344568222761154, + -0.009793106466531754, + 0.9923030138015747, + 6.1651358866192885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.992128312587738, + -0.0005354746826924384, + 0.12522423267364502, + -1.938619733811896 + ], + [ + -0.0006608940311707556, + 0.9999545216560364, + 0.00951207336038351, + -0.4298315985789222 + ], + [ + -0.12522363662719727, + -0.009519957937300205, + 0.9920828938484192, + 6.19755497166564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9919396042823792, + -0.0014538872055709362, + 0.12670312821865082, + -1.9438183498448662 + ], + [ + 0.0003041086602024734, + 0.9999586343765259, + 0.009093456901609898, + -0.4391715447748861 + ], + [ + -0.12671111524105072, + -0.008981629274785519, + 0.9918990135192871, + 6.225426819782344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9916349053382874, + -0.002536980900913477, + 0.12904950976371765, + -1.9551169032075126 + ], + [ + 0.0014628488570451736, + 0.9999635219573975, + 0.008417516946792603, + -0.44479220192278585 + ], + [ + -0.12906616926193237, + -0.008158324286341667, + 0.9916024208068848, + 6.261478739268627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9913107752799988, + -0.003758577862754464, + 0.13148705661296844, + -1.9683431573694707 + ], + [ + 0.0027179408352822065, + 0.9999635815620422, + 0.008092939853668213, + -0.4476262347832803 + ], + [ + -0.13151268661022186, + -0.007665244396775961, + 0.9912848472595215, + 6.307525939198826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9909785985946655, + -0.0038663572631776333, + 0.1339644193649292, + -1.9737468315350388 + ], + [ + 0.0028443471528589725, + 0.9999653697013855, + 0.00781951192766428, + -0.45051357089992494 + ], + [ + -0.13399001955986023, + -0.007367928046733141, + 0.9909552931785583, + 6.3335886550025124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9906345009803772, + -0.003933147992938757, + 0.13648363947868347, + -1.9818747013919957 + ], + [ + 0.002876728307455778, + 0.9999643564224243, + 0.007936638779938221, + -0.45374332262623696 + ], + [ + -0.1365099847316742, + -0.007469682022929192, + 0.9906105399131775, + 6.369386744370023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9902516603469849, + -0.005181604530662298, + 0.13919350504875183, + -1.9874446978940883 + ], + [ + 0.004153440240770578, + 0.9999619126319885, + 0.007676052860915661, + -0.45655354441654294 + ], + [ + -0.1392279863357544, + -0.007023092359304428, + 0.990235447883606, + 6.3944206727443325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9898541569709778, + -0.005422784481197596, + 0.14198361337184906, + -1.9932786688685507 + ], + [ + 0.004370723385363817, + 0.9999606609344482, + 0.007720558438450098, + -0.4552900166280808 + ], + [ + -0.14201988279819489, + -0.007021655794233084, + 0.9898388981819153, + 6.425624058722714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9894741177558899, + -0.004205543082207441, + 0.14464865624904633, + -2.0008056181334637 + ], + [ + 0.003111995756626129, + 0.9999648332595825, + 0.007785458117723465, + -0.45596033031902006 + ], + [ + -0.1446763128042221, + -0.007253363728523254, + 0.9894524812698364, + 6.455487166230958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9890204668045044, + -0.00520893931388855, + 0.14768683910369873, + -2.005619302584279 + ], + [ + 0.004117659293115139, + 0.9999619126319885, + 0.0076939258724451065, + -0.46129269503778025 + ], + [ + -0.1477212905883789, + -0.00700132641941309, + 0.9890042543411255, + 6.480570356202342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9885809421539307, + -0.006031740922480822, + 0.15057000517845154, + -2.013264127328218 + ], + [ + 0.004958274308592081, + 0.9999595284461975, + 0.007503763306885958, + -0.46190934794083716 + ], + [ + -0.15060916543006897, + -0.006671510171145201, + 0.9885708689689636, + 6.507186810980408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9881835579872131, + -0.005198812577873468, + 0.1531868577003479, + -2.021373282676758 + ], + [ + 0.004078584257513285, + 0.9999626278877258, + 0.0076261647045612335, + -0.4643554056363721 + ], + [ + -0.1532207727432251, + -0.006911264732480049, + 0.9881678223609924, + 6.540858254934691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9877038598060608, + -0.005524447187781334, + 0.15623882412910461, + -2.0268862725934014 + ], + [ + 0.0044443029910326, + 0.9999637603759766, + 0.007261904422193766, + -0.46894192695617676 + ], + [ + -0.1562732756137848, + -0.006478238385170698, + 0.9876925945281982, + 6.5597867414180655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9872183203697205, + -0.006208810955286026, + 0.1592528522014618, + -2.0391650445939553 + ], + [ + 0.00513024628162384, + 0.9999610185623169, + 0.007182893343269825, + -0.470609970823411 + ], + [ + -0.15929123759269714, + -0.006274078041315079, + 0.9872117042541504, + 6.60957209516557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9866573810577393, + -0.007072721607983112, + 0.16265657544136047, + -2.0473468291847365 + ], + [ + 0.006026499904692173, + 0.9999578595161438, + 0.006924605928361416, + -0.47629784016359233 + ], + [ + -0.1626986861228943, + -0.00585196353495121, + 0.9866584539413452, + 6.639123952051534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9861010909080505, + -0.00732326228171587, + 0.16598480939865112, + -2.050918795038465 + ], + [ + 0.006284534931182861, + 0.999957263469696, + 0.006782324053347111, + -0.48271892431282226 + ], + [ + -0.16602739691734314, + -0.005644920282065868, + 0.9861049652099609, + 6.660605806607243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9855034947395325, + -0.008027749136090279, + 0.16946524381637573, + -2.047689374457414 + ], + [ + 0.006923767272382975, + 0.9999507665634155, + 0.007104448042809963, + -0.4914092380673655 + ], + [ + -0.16951394081115723, + -0.005828120745718479, + 0.985510528087616, + 6.659609500370213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9848583340644836, + -0.00876418687403202, + 0.17313940823078156, + -2.053229234511814 + ], + [ + 0.007692553102970123, + 0.9999468922615051, + 0.006859482266008854, + -0.49418809721546786 + ], + [ + -0.17319034039974213, + -0.005423733964562416, + 0.9848734140396118, + 6.695955833480243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9842333197593689, + -0.008153748698532581, + 0.17668695747852325, + -2.0538478366238246 + ], + [ + 0.007135563995689154, + 0.999954104423523, + 0.006397268734872341, + -0.5029723613973587 + ], + [ + -0.17673100531101227, + -0.005035644397139549, + 0.9842463135719299, + 6.701061925121523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9835333228111267, + -0.009216071106493473, + 0.18049170076847076, + -2.0558161841893208 + ], + [ + 0.008314543403685093, + 0.9999489188194275, + 0.005750791169703007, + -0.5082142911130382 + ], + [ + -0.1805354803800583, + -0.004155389033257961, + 0.9835596680641174, + 6.727013944396599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9829027056694031, + -0.010234619490802288, + 0.18384112417697906, + -2.063101629883186 + ], + [ + 0.009476476348936558, + 0.9999426007270813, + 0.0050020297057926655, + -0.508384838243646 + ], + [ + -0.18388177454471588, + -0.003174342680722475, + 0.9829432368278503, + 6.766907910398215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9822511672973633, + -0.011391103267669678, + 0.18722425401210785, + -2.0669201603820246 + ], + [ + 0.010790999978780746, + 0.9999328255653381, + 0.004224169068038464, + -0.5100856703135275 + ], + [ + -0.18725980818271637, + -0.0021288583520799875, + 0.9823080897331238, + 6.793820268783583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9816058874130249, + -0.011608021333813667, + 0.1905653327703476, + -2.06939704274954 + ], + [ + 0.011141514405608177, + 0.9999317526817322, + 0.003519280580803752, + -0.5090472766708943 + ], + [ + -0.1905931681394577, + -0.001331360312178731, + 0.98166823387146, + 6.817192667777436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9809936285018921, + -0.011731235310435295, + 0.19368501007556915, + -2.0676163478198673 + ], + [ + 0.01129167154431343, + 0.9999305605888367, + 0.0033733306918293238, + -0.512093538574634 + ], + [ + -0.19371114671230316, + -0.0011221885215491056, + 0.9810579419136047, + 6.832569348353765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9803750514984131, + -0.012456502765417099, + 0.19674763083457947, + -2.0668657308639657 + ], + [ + 0.012140149250626564, + 0.9999223351478577, + 0.002813945058733225, + -0.5123259821486088 + ], + [ + -0.1967673897743225, + -0.00037017592694610357, + 0.9804501533508301, + 6.850908147781897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9797837138175964, + -0.013533872552216053, + 0.19960127770900726, + -2.068003984183193 + ], + [ + 0.013333967886865139, + 0.9999083280563354, + 0.0023458143696188927, + -0.5138222636715059 + ], + [ + -0.1996147185564041, + 0.0003630860010161996, + 0.9798743724822998, + 6.872230330401385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9792283773422241, + -0.012298558838665485, + 0.2023869901895523, + -2.0698426229507483 + ], + [ + 0.012231449596583843, + 0.9999239444732666, + 0.0015823196154087782, + -0.5123497165979878 + ], + [ + -0.20239104330539703, + 0.0009260336519218981, + 0.9793043732643127, + 6.892910642706955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.978708028793335, + -0.011681430973112583, + 0.20492468774318695, + -2.0671607400478433 + ], + [ + 0.011714561842381954, + 0.9999308586120605, + 0.0010515463072806597, + -0.5107118737313056 + ], + [ + -0.20492281019687653, + 0.0013714462984353304, + 0.9787771701812744, + 6.907883717615586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9782055020332336, + -0.011741611175239086, + 0.2073068469762802, + -2.06866090803655 + ], + [ + 0.01188975665718317, + 0.9999291896820068, + 0.0005313538713380694, + -0.5102083570534183 + ], + [ + -0.2072984129190445, + 0.0019450545078143477, + 0.9782758355140686, + 6.924482945822256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9777024984359741, + -0.012844830751419067, + 0.20960167050361633, + -2.0698205234062286 + ], + [ + 0.01312127336859703, + 0.9999139308929443, + 7.167982403188944e-05, + -0.5097383879846142 + ], + [ + -0.2095845341682434, + 0.0026801591739058495, + 0.9777868390083313, + 6.950332080279928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9772831797599792, + -0.012719668447971344, + 0.21155555546283722, + -2.066294814024361 + ], + [ + 0.013078177347779274, + 0.9999144077301025, + -0.0002954435767605901, + -0.5111443434030779 + ], + [ + -0.21153368055820465, + 0.003055492416024208, + 0.9773659110069275, + 6.9621214856911875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9769070744514465, + -0.013007954694330692, + 0.21326828002929688, + -2.0646209602446985 + ], + [ + 0.013386675156652927, + 0.9999103546142578, + -0.00033173710107803345, + -0.5116575598716736 + ], + [ + -0.21324485540390015, + 0.003179029328748584, + 0.9769936203956604, + 6.980929736541622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9767386317253113, + -0.013127073645591736, + 0.21403120458126068, + -2.0641117590149083 + ], + [ + 0.013564260676503181, + 0.9999078512191772, + -0.0005740902852267027, + -0.5131102778738545 + ], + [ + -0.21400393545627594, + 0.003463911125436425, + 0.9768266677856445, + 6.997372915845781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9765720963478088, + -0.013741090893745422, + 0.21475133299827576, + -2.067634147886307 + ], + [ + 0.014284668490290642, + 0.9998974800109863, + -0.0009793913923203945, + -0.5145357804913675 + ], + [ + -0.2147158682346344, + 0.004024097695946693, + 0.9766682386398315, + 7.031970933452248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9765104651451111, + -0.013830017298460007, + 0.21502575278282166, + -2.0622165291104464 + ], + [ + 0.014347275719046593, + 0.9998967051506042, + -0.0008449035231024027, + -0.5158399071664579 + ], + [ + -0.21499186754226685, + 0.003910090774297714, + 0.9766080379486084, + 7.0342069844429895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9764001369476318, + -0.013686864636838436, + 0.21553532779216766, + -2.060198147744391 + ], + [ + 0.014169816859066486, + 0.9998993873596191, + -0.0006955864373594522, + -0.5207678083450563 + ], + [ + -0.21550412476062775, + 0.003733266843482852, + 0.9764958024024963, + 7.053902595771679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9762687087059021, + -0.014152943156659603, + 0.2160998284816742, + -2.0577186531165705 + ], + [ + 0.01472060289233923, + 0.9998911023139954, + -0.0010174084454774857, + -0.5247497983757526 + ], + [ + -0.21606189012527466, + 0.004174383357167244, + 0.9763707518577576, + 7.071270877822122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9761513471603394, + -0.013670744374394417, + 0.21666023135185242, + -2.055391483384395 + ], + [ + 0.014195363968610764, + 0.9998988509178162, + -0.000865238020196557, + -0.5270180707016299 + ], + [ + -0.21662649512290955, + 0.003920174203813076, + 0.97624671459198, + 7.0918096065926814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9759969711303711, + -0.014774665236473083, + 0.2172822803258896, + -2.0519496844841107 + ], + [ + 0.015293002128601074, + 0.9998828172683716, + -0.0007041081553325057, + -0.5309349488346807 + ], + [ + -0.2172464281320572, + 0.0040101055055856705, + 0.9761085510253906, + 7.106036081225912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9759275317192078, + -0.014873743057250977, + 0.2175872027873993, + -2.048640311725678 + ], + [ + 0.015422061085700989, + 0.9998807311058044, + -0.0008219457231462002, + -0.5369934841029106 + ], + [ + -0.21754902601242065, + 0.004157802555710077, + 0.9760405421257019, + 7.118082953460379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9757679104804993, + -0.014219994656741619, + 0.21834561228752136, + -2.04931904668056 + ], + [ + 0.014869282953441143, + 0.99988853931427, + -0.0013307329500094056, + -0.5387627367531099 + ], + [ + -0.21830236911773682, + 0.004545128904283047, + 0.9758706092834473, + 7.130442789329531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9756813049316406, + -0.014313499443233013, + 0.2187262326478958, + -2.048159652266411 + ], + [ + 0.014980140142142773, + 0.9998868107795715, + -0.0013896914897486567, + -0.542803866055704 + ], + [ + -0.21868158876895905, + 0.004632445052266121, + 0.9757852554321289, + 7.146050827968264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9755740761756897, + -0.015274491161108017, + 0.219138965010643, + -2.0444696203339845 + ], + [ + 0.016120929270982742, + 0.9998679161071777, + -0.0020748856477439404, + -0.5471853681149021 + ], + [ + -0.21907831728458405, + 0.005556928459554911, + 0.9756914377212524, + 7.1481930399848705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9754326343536377, + -0.015401331707835197, + 0.21975894272327423, + -2.0446748352143915 + ], + [ + 0.01638592965900898, + 0.9998621940612793, + -0.0026581885758787394, + -0.5480744361877441 + ], + [ + -0.21968771517276764, + 0.006193838082253933, + 0.9755505919456482, + 7.168883898970671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9753652215003967, + -0.014273772947490215, + 0.22013388574123383, + -2.0418852046165887 + ], + [ + 0.015430386178195477, + 0.9998747110366821, + -0.0035354779101908207, + -0.5517549688296933 + ], + [ + -0.22005583345890045, + 0.006845132913440466, + 0.9754632711410522, + 7.172768323294886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.975238561630249, + -0.014193935319781303, + 0.22069956362247467, + -2.038223752262251 + ], + [ + 0.01555890403687954, + 0.9998690485954285, + -0.004447525832802057, + -0.5554235776585917 + ], + [ + -0.22060753405094147, + 0.007771241944283247, + 0.975331723690033, + 7.178187586686334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9750279784202576, + -0.014664414338767529, + 0.22159726917743683, + -2.035095078831223 + ], + [ + 0.016167890280485153, + 0.9998569488525391, + -0.004972213879227638, + -0.5575532128733973 + ], + [ + -0.22149266302585602, + 0.00843080785125494, + 0.9751256108283997, + 7.177863330527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9747629165649414, + -0.015596779994666576, + 0.2226971685886383, + -2.0363244617155063 + ], + [ + 0.017231034114956856, + 0.9998369812965393, + -0.005397174973040819, + -0.5568606442501468 + ], + [ + -0.22257667779922485, + 0.009098268114030361, + 0.9748727083206177, + 7.195806888942307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9744893908500671, + -0.014395702630281448, + 0.22397145628929138, + -2.0362546992923822 + ], + [ + 0.01620381698012352, + 0.999849259853363, + -0.006237022578716278, + -0.5560778702218686 + ], + [ + -0.223847895860672, + 0.009707104414701462, + 0.9745757579803467, + 7.200447959135918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9741829037666321, + -0.012621673755347729, + 0.2254071980714798, + -2.037629250004407 + ], + [ + 0.014553503133356571, + 0.9998701810836792, + -0.006910769734531641, + -0.5568976033118463 + ], + [ + -0.22529073059558868, + 0.010012817569077015, + 0.9742401242256165, + 7.209122029595798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9738065600395203, + -0.01305997371673584, + 0.2270025908946991, + -2.0358068767574524 + ], + [ + 0.015229696407914162, + 0.9998535513877869, + -0.007809239439666271, + -0.5596124508928868 + ], + [ + -0.22686734795570374, + 0.011061868630349636, + 0.9738628268241882, + 7.203579121067624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9734533429145813, + -0.013334473595023155, + 0.22849668562412262, + -2.0400321670282153 + ], + [ + 0.015635553747415543, + 0.9998435974121094, + -0.008263112977147102, + -0.5587603457512393 + ], + [ + -0.22835077345371246, + 0.011616427451372147, + 0.9735096096992493, + 7.221506925230665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9731367826461792, + -0.013464532792568207, + 0.22983378171920776, + -2.0426329429141217 + ], + [ + 0.015913862735033035, + 0.9998345971107483, + -0.00880662351846695, + -0.5595383010804653 + ], + [ + -0.2296772003173828, + 0.012227591127157211, + 0.9731900691986084, + 7.2325250117724105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9727922677993774, + -0.01359877921640873, + 0.23127977550029755, + -2.042958210856323 + ], + [ + 0.016224907711148262, + 0.9998236298561096, + -0.009456442669034004, + -0.5608005876502683 + ], + [ + -0.2311103790998459, + 0.012951646000146866, + 0.9728413224220276, + 7.244972534291446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9723186492919922, + -0.01367995236068964, + 0.2332579344511032, + -2.0449525927482624 + ], + [ + 0.016452070325613022, + 0.9998152256011963, + -0.009942776523530483, + -0.5602022992987786 + ], + [ + -0.23307882249355316, + 0.013505122624337673, + 0.972364068031311, + 7.254065892792442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9715121984481812, + -0.013591569848358631, + 0.2365996241569519, + -2.045842022742445 + ], + [ + 0.01652248203754425, + 0.9998093247413635, + -0.010409210808575153, + -0.5618338660367074 + ], + [ + -0.23641303181648254, + 0.014021887443959713, + 0.9715514779090881, + 7.2592781731776235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9706485867500305, + -0.013333266600966454, + 0.24013246595859528, + -2.0435021953154053 + ], + [ + 0.01638929359614849, + 0.9998080730438232, + -0.010733815841376781, + -0.5612365064121062 + ], + [ + -0.2399432510137558, + 0.014354364015161991, + 0.9706807732582092, + 7.25420787129814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9697210192680359, + -0.012916799634695053, + 0.2438734769821167, + -2.046100643072878 + ], + [ + 0.01605360209941864, + 0.9998119473457336, + -0.010879185982048512, + -0.5612966504789167 + ], + [ + -0.24368709325790405, + 0.014464822597801685, + 0.9697460532188416, + 7.2657434298777055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9687108397483826, + -0.012952453456819057, + 0.2478538602590561, + -2.0516374295753907 + ], + [ + 0.0163873340934515, + 0.9997960925102234, + -0.011800404638051987, + -0.559824047670249 + ], + [ + -0.24765045940876007, + 0.015492843464016914, + 0.9687255620956421, + 7.274718919180844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9677346348762512, + -0.012345968745648861, + 0.25166890025138855, + -2.0552887411570295 + ], + [ + 0.01591026596724987, + 0.9997997879981995, + -0.012132680043578148, + -0.5586677964175901 + ], + [ + -0.2514687478542328, + 0.015745334327220917, + 0.9677373170852661, + 7.285672932400579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9667373895645142, + -0.012848119251430035, + 0.2554481029510498, + -2.056500212833541 + ], + [ + 0.01660795323550701, + 0.9997830986976624, + -0.012566925026476383, + -0.5586504674005893 + ], + [ + -0.25523126125335693, + 0.016391385346651077, + 0.9667410850524902, + 7.284173383057538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9657820463180542, + -0.012383409775793552, + 0.25905922055244446, + -2.0606449761863557 + ], + [ + 0.016323955729603767, + 0.9997813701629639, + -0.013065282255411148, + -0.5553242806465395 + ], + [ + -0.25884076952934265, + 0.01684708520770073, + 0.9657731056213379, + 7.296639562284033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9649016857147217, + -0.012122072279453278, + 0.26233145594596863, + -2.060437393720232 + ], + [ + 0.01618250086903572, + 0.9997802972793579, + -0.013323274441063404, + -0.5544221619925191 + ], + [ + -0.2621122896671295, + 0.017100827768445015, + 0.9648858308792114, + 7.291622869854402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9639769792556763, + -0.012113668024539948, + 0.26570969820022583, + -2.063010782165633 + ], + [ + 0.016357703134417534, + 0.9997714757919312, + -0.013765211217105389, + -0.5551163637830365 + ], + [ + -0.26548224687576294, + 0.017615746706724167, + 0.9639548063278198, + 7.290285894385869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9632522463798523, + -0.012055406346917152, + 0.2683278024196625, + -2.065126530209466 + ], + [ + 0.016446193680167198, + 0.9997650384902954, + -0.014121752232313156, + -0.5555022176715636 + ], + [ + -0.2680945098400116, + 0.018015779554843903, + 0.9632241725921631, + 7.2847712344550075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9625596404075623, + -0.01290934905409813, + 0.27076253294944763, + -2.0660603654721093 + ], + [ + 0.017431413754820824, + 0.9997457265853882, + -0.014302972704172134, + -0.5557338268526139 + ], + [ + -0.2705090343952179, + 0.01848723739385605, + 0.9625399112701416, + 7.28414522327723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9620094895362854, + -0.012064455077052116, + 0.27274927496910095, + -2.0662826161583765 + ], + [ + 0.016755715012550354, + 0.999748945236206, + -0.01487714797258377, + -0.5570028194496708 + ], + [ + -0.2725013196468353, + 0.018882066011428833, + 0.9619700908660889, + 7.273043697796041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9613993167877197, + -0.012296952307224274, + 0.27488207817077637, + -2.0680593062612798 + ], + [ + 0.01707492023706436, + 0.9997417330741882, + -0.014995669014751911, + -0.5578162999403092 + ], + [ + -0.2746266722679138, + 0.019110415130853653, + 0.9613609910011292, + 7.270608737298678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9608976244926453, + -0.012923983857035637, + 0.2766020894050598, + -2.0721635762459387 + ], + [ + 0.017884520813822746, + 0.9997211694717407, + -0.015418588183820248, + -0.5553847936372603 + ], + [ + -0.27632570266723633, + 0.01976258121430874, + 0.9608608484268188, + 7.274314012036719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.960563063621521, + -0.01295461691915989, + 0.27776038646698, + -2.0764963191873846 + ], + [ + 0.017985275015234947, + 0.9997169971466064, + -0.015571113675832748, + -0.5536630457447421 + ], + [ + -0.2774800658226013, + 0.01995263248682022, + 0.9605242013931274, + 7.281372528895735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9604827165603638, + -0.013073375448584557, + 0.278032511472702, + -2.077897908267445 + ], + [ + 0.018159538507461548, + 0.9997113943099976, + -0.01572592929005623, + -0.5526891047435422 + ], + [ + -0.27774670720100403, + 0.020153425633907318, + 0.9604429006576538, + 7.283173084592507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9603196978569031, + -0.013504991307854652, + 0.27857449650764465, + -2.0808009701735912 + ], + [ + 0.018561678007245064, + 0.9997072219848633, + -0.015522264875471592, + -0.5511161373507591 + ], + [ + -0.27828332781791687, + 0.020077146589756012, + 0.9602891802787781, + 7.286754245377115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9602521061897278, + -0.013264980167150497, + 0.278818815946579, + -2.0824953079478994 + ], + [ + 0.018308419734239578, + 0.999712347984314, + -0.01549225952476263, + -0.5494152901153411 + ], + [ + -0.27853313088417053, + 0.019981207326054573, + 0.9602187275886536, + 7.290430438175287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9601078629493713, + -0.012729843147099018, + 0.2793399393558502, + -2.0865188463771296 + ], + [ + 0.017732881009578705, + 0.9997243285179138, + -0.015390370972454548, + -0.5495267766137277 + ], + [ + -0.2790670096874237, + 0.019729919731616974, + 0.960068941116333, + 7.295627485239698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.959984302520752, + -0.013397295027971268, + 0.27973318099975586, + -2.088578421762213 + ], + [ + 0.0183868445456028, + 0.9997150897979736, + -0.015220235101878643, + -0.548536291718483 + ], + [ + -0.27944958209991455, + 0.019754596054553986, + 0.9599571228027344, + 7.298677913751453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9598252177238464, + -0.014375199563801289, + 0.2802300751209259, + -2.09101439316742 + ], + [ + 0.019324753433465958, + 0.9997020959854126, + -0.01490727812051773, + -0.5479757150334696 + ], + [ + -0.27993229031562805, + 0.019723758101463318, + 0.959817111492157, + 7.3020076772258165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9597761034965515, + -0.014491571113467216, + 0.28039228916168213, + -2.091324912922667 + ], + [ + 0.019420983269810677, + 0.9997016787528992, + -0.014809779822826385, + -0.5480831599764285 + ], + [ + -0.2800940275192261, + 0.01965956762433052, + 0.9597712159156799, + 7.301806829291426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9595792293548584, + -0.014327424578368664, + 0.281073659658432, + -2.093471022029858 + ], + [ + 0.019213631749153137, + 0.9997082948684692, + -0.014635873027145863, + -0.5484936073903115 + ], + [ + -0.28078195452690125, + 0.019444726407527924, + 0.9595745801925659, + 7.30415651881166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9594757556915283, + -0.013701468706130981, + 0.28145790100097656, + -2.096397674432205 + ], + [ + 0.018561232835054398, + 0.9997209906578064, + -0.014607541263103485, + -0.5480307168777911 + ], + [ + -0.2811792492866516, + 0.01923978701233864, + 0.9594624042510986, + 7.308052346682657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9593387842178345, + -0.013915710151195526, + 0.2819138467311859, + -2.098018589669899 + ], + [ + 0.01879047602415085, + 0.9997168779373169, + -0.014595461077988148, + -0.5488989215704703 + ], + [ + -0.28163090348243713, + 0.019299287348985672, + 0.9593287110328674, + 7.311987416527324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9592041969299316, + -0.014417719095945358, + 0.282346248626709, + -2.099602849464563 + ], + [ + 0.019312798976898193, + 0.9997074604034424, + -0.014561617746949196, + -0.5486004284312648 + ], + [ + -0.28205370903015137, + 0.019420461729168892, + 0.9592020511627197, + 7.31179342504756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9591168165206909, + -0.014543503522872925, + 0.2826366424560547, + -2.102428595096834 + ], + [ + 0.019437767565250397, + 0.9997056126594543, + -0.014519941061735153, + -0.5482003485002825 + ], + [ + -0.28234225511550903, + 0.019420143216848373, + 0.9591171741485596, + 7.319764407652039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9589952230453491, + -0.014296917244791985, + 0.2830613851547241, + -2.1038449833342323 + ], + [ + 0.019205382093787193, + 0.9997093677520752, + -0.014573188498616219, + -0.5482562737118813 + ], + [ + -0.2827707529067993, + 0.01941191963851452, + 0.9589910507202148, + 7.318543159744642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9588882327079773, + -0.013566396199166775, + 0.2834596335887909, + -2.105292889312841 + ], + [ + 0.01844578981399536, + 0.9997239708900452, + -0.01455162838101387, + -0.5451061463644428 + ], + [ + -0.2831839621067047, + 0.019182022660970688, + 0.9588737487792969, + 7.3270353812333795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.958766520023346, + -0.013637087307870388, + 0.28386756777763367, + -2.106565826015562 + ], + [ + 0.018545102328062057, + 0.9997212886810303, + -0.01460940856486559, + -0.546377869863664 + ], + [ + -0.2835892140865326, + 0.01927136443555355, + 0.9587522149085999, + 7.326537739954919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9586421847343445, + -0.013845379464328289, + 0.2842771112918854, + -2.108851874504058 + ], + [ + 0.018834184855222702, + 0.9997127056121826, + -0.014823008328676224, + -0.5451581274309466 + ], + [ + -0.2839902341365814, + 0.019564088433980942, + 0.9586275815963745, + 7.332253937128811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.958558201789856, + -0.013570712879300117, + 0.2845734655857086, + -2.110084507756326 + ], + [ + 0.01861991174519062, + 0.9997134208679199, + -0.015045128762722015, + -0.544306545680569 + ], + [ + -0.2842877209186554, + 0.01972036436200142, + 0.9585361480712891, + 7.33367338906523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9584797024726868, + -0.01352979987859726, + 0.2848397195339203, + -2.1112403698085296 + ], + [ + 0.018599554896354675, + 0.9997129440307617, + -0.0151010537520051, + -0.543837974148412 + ], + [ + -0.2845536172389984, + 0.019771944731473923, + 0.9584562182426453, + 7.3423650376048055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9583988189697266, + -0.013717924244701862, + 0.2851025462150574, + -2.113165928508651 + ], + [ + 0.01884269155561924, + 0.9997063279151917, + -0.01523984782397747, + -0.5430730245046077 + ], + [ + -0.28480976819992065, + 0.019977951422333717, + 0.958375871181488, + 7.349657289631995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9582891464233398, + -0.013978390023112297, + 0.2854584753513336, + -2.1147832169828398 + ], + [ + 0.019142134115099907, + 0.999699592590332, + -0.015306983143091202, + -0.542258023446606 + ], + [ + -0.28515878319740295, + 0.020132798701524734, + 0.9582688212394714, + 7.355733755531331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9582585096359253, + -0.013913769274950027, + 0.2855644226074219, + -2.1161300855974154 + ], + [ + 0.019086595624685287, + 0.9997001886367798, + -0.01533908024430275, + -0.5409370108477531 + ], + [ + -0.28526538610458374, + 0.02014925703406334, + 0.9582367539405823, + 7.363235485311898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.958148717880249, + -0.013559110462665558, + 0.2859496474266052, + -2.1187868254139057 + ], + [ + 0.0186956524848938, + 0.9997090697288513, + -0.015240618959069252, + -0.5414887688332988 + ], + [ + -0.2856597900390625, + 0.019948793575167656, + 0.9581234455108643, + 7.367264459719281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9581428170204163, + -0.013580300845205784, + 0.2859683334827423, + -2.1196230437377497 + ], + [ + 0.01871546171605587, + 0.9997088313102722, + -0.01523154228925705, + -0.5410266743311959 + ], + [ + -0.2856782376766205, + 0.01994602382183075, + 0.9581180214881897, + 7.373197896496182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.958166778087616, + -0.013742893934249878, + 0.2858802378177643, + -2.1214099586490662 + ], + [ + 0.018867284059524536, + 0.9997068047523499, + -0.01517817284911871, + -0.5425978646163018 + ], + [ + -0.2855878174304962, + 0.019937004894018173, + 0.9581451416015625, + 7.381235495576214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9585614204406738, + -0.014227872714400291, + 0.28453055024147034, + -2.1221344257126593 + ], + [ + 0.019332310184836388, + 0.9996984601020813, + -0.01513940654695034, + -0.5423229296120905 + ], + [ + -0.2842293679714203, + 0.020012682303786278, + 0.9585474133491516, + 7.383862880718774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9594739079475403, + -0.015005962923169136, + 0.2813977003097534, + -2.1197524472335054 + ], + [ + 0.019937148317694664, + 0.9996936321258545, + -0.014668945223093033, + -0.5440329753583477 + ], + [ + -0.2810913920402527, + 0.019684739410877228, + 0.9594790935516357, + 7.385827412522368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9606095552444458, + -0.015288633294403553, + 0.27748069167137146, + -2.1198806298367168 + ], + [ + 0.020094983279705048, + 0.9996931552886963, + -0.014485660009086132, + -0.5460445032004387 + ], + [ + -0.27717408537864685, + 0.019491031765937805, + 0.9606220126152039, + 7.392821419978094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9616965055465698, + -0.015487204305827618, + 0.2736785113811493, + -2.1207307010228114 + ], + [ + 0.020251834765076637, + 0.9996883869171143, + -0.014592815190553665, + -0.5460161201415523 + ], + [ + -0.2733672559261322, + 0.01957635208964348, + 0.961710512638092, + 7.406696331236632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.9630101323127747, + -0.015875525772571564, + 0.26899710297584534, + -2.118519003764396 + ], + [ + 0.020525041967630386, + 0.9996844530105591, + -0.014480858109891415, + -0.5455759705555054 + ], + [ + -0.2686823308467865, + 0.01946639083325863, + 0.9630321264266968, + 7.407166084799645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9644820690155029, + -0.015740249305963516, + 0.26367902755737305, + -2.1146503006769044 + ], + [ + 0.020174548029899597, + 0.9996967911720276, + -0.014117593877017498, + -0.5471370119721659 + ], + [ + -0.2633768916130066, + 0.01893577165901661, + 0.9645071625709534, + 7.405663987959645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.9660496711730957, + -0.014678942039608955, + 0.2579391300678253, + -2.1186148323081135 + ], + [ + 0.0189452413469553, + 0.9997216463088989, + -0.014062190428376198, + -0.5463963757118872 + ], + [ + -0.2576608955860138, + 0.0184714924544096, + 0.9660588502883911, + 7.424161268654279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.9676172137260437, + -0.013969121500849724, + 0.25203534960746765, + -2.1171304161600286 + ], + [ + 0.018062470480799675, + 0.9997397661209106, + -0.013934837654232979, + -0.5468379845542293 + ], + [ + -0.2517751157283783, + 0.018035968765616417, + 0.9676176905632019, + 7.42911310676305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.969212532043457, + -0.013616076670587063, + 0.24584893882274628, + -2.1141440658210477 + ], + [ + 0.01752721332013607, + 0.9997521638870239, + -0.013727509416639805, + -0.5481348150680142 + ], + [ + -0.2456011027097702, + 0.01761392131447792, + 0.9692109227180481, + 7.429944621406555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.9708105325698853, + -0.012948937714099884, + 0.2394978106021881, + -2.117654413771966 + ], + [ + 0.016673168167471886, + 0.9997694492340088, + -0.013530546799302101, + -0.5477061327426664 + ], + [ + -0.23926737904548645, + 0.017128784209489822, + 0.9708026051521301, + 7.448880766545453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.9724512696266174, + -0.012601244263350964, + 0.23276549577713013, + -2.1163835604303336 + ], + [ + 0.01619006134569645, + 0.999777615070343, + -0.013514048419892788, + -0.5481883288631516 + ], + [ + -0.2325434386730194, + 0.016910240054130554, + 0.9724389910697937, + 7.454538361854371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.97404545545578, + -0.012155010364949703, + 0.22602578997612, + -2.11631326219067 + ], + [ + 0.01553379837423563, + 0.9997925162315369, + -0.013176093809306622, + -0.5487812459468842 + ], + [ + -0.22581875324249268, + 0.016345154494047165, + 0.9740322232246399, + 7.468064702674747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/32786d8c-6436-4ae0-b0db-fab3b549e1e3/pan_left/transforms.json b/dynpose_eval/camera_controls/32786d8c-6436-4ae0-b0db-fab3b549e1e3/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..97c5ee588280cfc3c755542e8bb5e76ecc72aabb --- /dev/null +++ b/dynpose_eval/camera_controls/32786d8c-6436-4ae0-b0db-fab3b549e1e3/pan_left/transforms.json @@ -0,0 +1,8728 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 249, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.1205625014554244e-05, + 4.693852588388836e-06, + -5.664822310791351e-05 + ], + [ + -1.1205919690837618e-05, + 1.0, + 6.278318323893473e-05, + -0.0003303457924630493 + ], + [ + -4.693148639489664e-06, + -6.278324144659564e-05, + 1.0, + 0.00023780959600117058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999995860372561, + 0.00012145095388405025, + -0.0009199641090062827, + -0.013356538489460945 + ], + [ + -0.00012183261780598974, + 0.9999998807907104, + -0.0004148297849433219, + 0.0032125983852893114 + ], + [ + 0.0009199136044614406, + 0.00041494169272482395, + 0.9999994668812149, + 0.04489664360880852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999978059761261, + 0.0001730493240756914, + -0.0020948302213603656, + -0.02418537624180317 + ], + [ + -0.00017412974228933856, + 0.9999998807907104, + -0.0005155765556558354, + 0.005479615647345781 + ], + [ + 0.0020947406902368, + 0.0005159401334822178, + 0.9999976869555969, + 0.08943259716033936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999950814379139, + 0.0005076997913420201, + -0.003098920098315098, + -0.0381694957613945 + ], + [ + -0.0005095024473336684, + 0.9999997019767763, + -0.0005809420479414516, + 0.005077055189758539 + ], + [ + 0.003098624172461648, + 0.0005825181142427028, + 0.9999950227701493, + 0.13461588323116302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999905988290796, + 0.0008690131362527611, + -0.00425299001313568, + -0.0515407994389534 + ], + [ + -0.0008706948668317183, + 0.999999523162842, + -0.0003935949333709069, + 0.001510430476628244 + ], + [ + 0.004252646030445167, + 0.000397294294089079, + 0.9999908983074604, + 0.18543775379657745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999853728508965, + 0.001111449208110571, + -0.005297391867349581, + -0.06460049748420715 + ], + [ + -0.0011119226424679647, + 0.9999994039535522, + -8.640897982880254e-05, + -0.002846812829375267 + ], + [ + 0.0052972924420117045, + 9.22980034374632e-05, + 0.9999859694304402, + 0.2313598394393921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999786031967572, + 0.0011725249933078887, + -0.00643213068798653, + -0.07718338817358017 + ], + [ + -0.001169511040218316, + 0.9999992251396181, + 0.00047231329054302077, + -0.013062870129942894 + ], + [ + 0.006432679479734117, + -0.0004647807509172709, + 0.9999791957791467, + 0.2796969413757324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999971875095879, + 0.00150486349593848, + -0.007347502937723201, + -0.09045923501253128 + ], + [ + -0.0015015359118259913, + 0.9999987483024597, + 0.00045838516615563744, + -0.02078992687165737 + ], + [ + 0.0073481835493951235, + -0.00044733972754329443, + 0.999972883373035, + 0.3252016603946686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999648266895181, + 0.0015954935224726796, + -0.008232138673294214, + -0.10389573872089386 + ], + [ + -0.0015846610412441498, + 0.9999978542327881, + 0.0013222305639036525, + -0.030876586213707924 + ], + [ + 0.008234230758751925, + -0.0013091389555484056, + 0.9999652262685328, + 0.3679657280445099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999550158840884, + 0.001913013169541955, + -0.009290578385031075, + -0.11959215998649597 + ], + [ + -0.0019009602626551833, + 0.9999973177909851, + 0.001305977168567846, + -0.03929505497217178 + ], + [ + 0.009293052151042805, + -0.0012882574228569865, + 0.9999560057053587, + 0.4146309196949005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999443165157322, + 0.0020660762675106525, + -0.010349638347803326, + -0.13366934657096863 + ], + [ + -0.002053490216288706, + 0.9999971389770508, + 0.0012265490443488637, + -0.04514491930603981 + ], + [ + 0.010352142484275793, + -0.001205227803438902, + 0.9999456610632356, + 0.45956844091415405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999313553010966, + 0.001932992017827928, + -0.011558203698217724, + -0.14625996351242065 + ], + [ + -0.0019156006087890593, + 0.9999970197677612, + 0.0015155539921092992, + -0.04891613870859146 + ], + [ + 0.011561098326928105, + -0.001493309042416513, + 0.9999320369909181, + 0.5007525682449341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999189758807819, + 0.0019939204212278128, + -0.012574434589312254, + -0.16025643050670624 + ], + [ + -0.0019745295764828793, + 0.9999968409538269, + 0.0015543054992533617, + -0.051678143441677094 + ], + [ + 0.012577493499380433, + -0.0015293509932234883, + 0.9999197120518739, + 0.547671377658844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999049612628021, + 0.0020303223282098774, + -0.013634658357810196, + -0.17411759495735168 + ], + [ + -0.00200804896798475, + 0.999996602535248, + 0.0016470694795118943, + -0.05240423232316971 + ], + [ + 0.013637956803199805, + -0.0016195338685065512, + 0.9999056909275761, + 0.5893654227256775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998953172666599, + 0.0022285168524831533, + -0.014294865622735768, + -0.189935564994812 + ], + [ + -0.002205451731880236, + 0.9999962449073792, + 0.001629076722534229, + -0.05266551673412323 + ], + [ + 0.014298442956045727, + -0.0015973796835169196, + 0.9998965162276594, + 0.6393778324127197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998852315783253, + 0.002333584940060973, + -0.014969067194544355, + -0.20432963967323303 + ], + [ + -0.002312178397892763, + 0.9999963045120239, + 0.0014472069941824193, + -0.05227707698941231 + ], + [ + 0.014972388704710926, + -0.0014124297304078937, + 0.999886907730434, + 0.6845909953117371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998780363329055, + 0.002933017909526825, + -0.015340915366629139, + -0.2213430255651474 + ], + [ + -0.0029116941647088414, + 0.9999947547912598, + 0.001412143516409407, + -0.049997493624687195 + ], + [ + 0.015344976322798114, + -0.0013673031935468316, + 0.9998813060719621, + 0.7323967814445496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998707224863056, + 0.00313432770781219, + -0.015770929263677874, + -0.23758409917354584 + ], + [ + -0.003115513672117569, + 0.9999943971633911, + 0.0012173951861119204, + -0.04902179166674614 + ], + [ + 0.01577465679888737, + -0.0011681033065542579, + 0.9998748881963834, + 0.779493510723114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998648047113283, + 0.003288096748292446, + -0.016110108302787585, + -0.2575232684612274 + ], + [ + -0.003270753672721674, + 0.9999940395355225, + 0.001102758178348153, + -0.04813999682664871 + ], + [ + 0.01611363852554707, + -0.001049916842021048, + 0.9998696260868427, + 0.8297113180160522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998563471783418, + 0.0036171639803797007, + -0.016560085367155586, + -0.2737973928451538 + ], + [ + -0.0036020659307616897, + 0.999993085861206, + 0.0009414449924612446, + -0.05032417178153992 + ], + [ + 0.01656337528668567, + -0.0008816591580398381, + 0.9998624216963904, + 0.8742159605026245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999849203984106, + 0.0038846749812364587, + -0.016927361554166392, + -0.29255837202072144 + ], + [ + -0.003874842766252663, + 0.9999923110008242, + 0.0006135952820258875, + -0.0524132065474987 + ], + [ + 0.016929614458177263, + -0.0005479118553921581, + 0.9998565490353357, + 0.9216400384902954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998372542107614, + 0.003990566357970238, + -0.01759392960333772, + -0.31162694096565247 + ], + [ + -0.0039782910972414095, + 0.9999918341636658, + 0.0007326515763549193, + -0.05981620401144028 + ], + [ + 0.017596709357726694, + -0.0006625385722145438, + 0.9998449430858956, + 0.9660673141479492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998363628450591, + 0.0041850870475173, + -0.017599828013267194, + -0.3318539261817932 + ], + [ + -0.004166471954523135, + 0.999990701675415, + 0.0010942363279459145, + -0.06878578662872314 + ], + [ + 0.01760424329594421, + -0.0010207280283793807, + 0.9998444879451971, + 1.0176349878311157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998384938667302, + 0.00425250269472599, + -0.01746282160774314, + -0.3511072099208832 + ], + [ + -0.00424329947242521, + 0.9999908208847046, + 0.0005640238183792652, + -0.07939600944519043 + ], + [ + 0.017465059969957616, + -0.0004898327169939876, + 0.999847382841771, + 1.0613605976104736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998376531246572, + 0.004878554493188859, + -0.017345557939323082, + -0.3689788579940796 + ], + [ + -0.004876870732240849, + 0.9999880790710451, + 0.00013938735259692812, + -0.08932280540466309 + ], + [ + 0.017346031237169646, + -5.477267768583262e-05, + 0.9998495658867929, + 1.105696678161621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998414137521687, + 0.004831017926335335, + -0.01714172812536339, + -0.3854546844959259 + ], + [ + -0.004824522450684963, + 0.9999882578849792, + 0.00042025151102915916, + -0.09851915389299393 + ], + [ + 0.017143557943808056, + -0.00033748423447832465, + 0.9998529924046083, + 1.1496182680130005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999850855434498, + 0.005106725730001926, + -0.016498387559514945, + -0.4041755497455597 + ], + [ + -0.005100363845236322, + 0.9999868869781494, + 0.0004276537986026676, + -0.10591781139373779 + ], + [ + 0.016500354733365374, + -0.00034344225423410535, + 0.9998638001368453, + 1.1975622177124023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998563753203447, + 0.004517493303865195, + -0.016334531321423793, + -0.4167593717575073 + ], + [ + -0.004510222510270307, + 0.9999896883964541, + 0.00048192558603224884, + -0.11407104134559631 + ], + [ + 0.016336540475739406, + -0.00040818401612341415, + 0.9998664549460715, + 1.2413376569747925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998714240610126, + 0.0038926571141928434, + -0.015556963218526655, + -0.43225356936454773 + ], + [ + -0.0038895857584406537, + 0.9999924302101135, + 0.00022766884617120642, + -0.12203644216060638 + ], + [ + 0.01555773058857047, + -0.00016712943033780903, + 0.9998789744703437, + 1.285180926322937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998893732368526, + 0.002071554306894541, + -0.014729937879219565, + -0.4494578242301941 + ], + [ + -0.002078941171674334, + 0.9999977350234985, + -0.0004861905322065665, + -0.12649007141590118 + ], + [ + 0.014728895916157243, + 0.0005167594645172358, + 0.9998913730204482, + 1.3363116979599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999055273986185, + 0.0012610501144081354, + -0.013686612680454886, + -0.46223998069763184 + ], + [ + -0.0012673216933683175, + 0.9999991059303284, + -0.0004495719434605131, + -0.12585322558879852 + ], + [ + 0.013686035857308819, + 0.0004668748297262937, + 0.9999062612868699, + 1.3816603422164917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999223094883061, + 0.001543833059258759, + -0.012370249116396996, + -0.47695234417915344 + ], + [ + -0.0015481139155885068, + 0.9999987483024597, + -0.00033648335051624477, + -0.12402066588401794 + ], + [ + 0.012369710832621925, + 0.0003556077426765114, + 0.9999234005682414, + 1.425736427307129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999318012318842, + 0.0032116854563355455, + -0.011229582608737972, + -0.4906902015209198 + ], + [ + -0.003213001831217186, + 0.9999948143959048, + -9.91660487743421e-05, + -0.12037263065576553 + ], + [ + 0.011229204706552705, + 0.0001352399413008243, + 0.9999369429280413, + 1.4735841751098633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999395151195605, + 0.0033680303022265434, + -0.010470362729899966, + -0.5016021728515625 + ], + [ + -0.003370094012914739, + 0.9999942779541016, + -0.00017946135221292393, + -0.1189633160829544 + ], + [ + 0.010469697852059787, + 0.00021473661763593554, + 0.9999451445287798, + 1.517706274986267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999525496706031, + 0.0022892924025654797, + -0.009465921711816103, + -0.5156428813934326 + ], + [ + -0.002294441613152632, + 0.9999971985816958, + -0.0005331707435717094, + -0.11655797064304352 + ], + [ + 0.009464676610152803, + 0.0005548644694499673, + 0.9999550397441641, + 1.5663886070251465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999587614429849, + 0.0023410625290125613, + -0.008773954854717499, + -0.5290642380714417 + ], + [ + -0.002351046668911083, + 0.999996602535248, + -0.0011277632007058458, + -0.11432834714651108 + ], + [ + 0.008771286048748292, + 0.0011483447160571816, + 0.9999608880355263, + 1.610236406326294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999595245245112, + 0.003200073726475239, + -0.008406003818851744, + -0.540860116481781 + ], + [ + -0.0032119266088187315, + 0.9999938607215881, + -0.0013969181684219236, + -0.11726245284080505 + ], + [ + 0.00840148368462559, + 0.0014238612493500113, + 0.9999636927832631, + 1.6593459844589233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999967290069581, + 0.002597777172923088, + -0.007658465604154808, + -0.5525456070899963 + ], + [ + -0.0026094258789547274, + 0.9999954700469971, + -0.0015114162840978202, + -0.12129472196102142 + ], + [ + 0.007654504486755424, + 0.001531351008452475, + 0.9999695326196103, + 1.7065646648406982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999769620827326, + 0.0005466828588396311, + -0.006762593607739076, + -0.5651824474334717 + ], + [ + -0.0005596555566151947, + 0.9999980330467224, + -0.0019165557586846192, + -0.1279342770576477 + ], + [ + 0.006761534157120395, + 0.0019202964613214135, + 0.9999752746784109, + 1.754399061203003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999797910339495, + -9.625888924347237e-05, + -0.006354926807307511, + -0.5773811936378479 + ], + [ + 8.370141875964473e-05, + 0.9999980330467224, + -0.0019762564133633032, + -0.13439777493476868 + ], + [ + 0.006355108853174193, + 0.0019756844267249107, + 0.9999778745686433, + 1.7979053258895874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9999836149302671, + 0.0004312450473662467, + -0.005707841810583449, + -0.5891432166099548 + ], + [ + -0.0004399768669937281, + 0.9999987483024599, + -0.0015286300572174896, + -0.1429077386856079 + ], + [ + 0.005707178673809138, + 0.0015311163151636724, + 0.9999825691075425, + 1.8435237407684326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999862052027405, + 0.00018102610192727298, + -0.005249852441576029, + -0.6007790565490723 + ], + [ + -0.00018870925504042328, + 0.999998927116394, + -0.0014630372267743354, + -0.14942437410354614 + ], + [ + 0.005249582712125476, + 0.001464007655158639, + 0.9999851429949965, + 1.8829851150512695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9999867837655022, + 0.0004991973401047289, + -0.00511678155124032, + -0.614058792591095 + ], + [ + -0.0005050186834466767, + 0.9999992251396179, + -0.001136463157238237, + -0.1560032218694687 + ], + [ + 0.005116214416927659, + 0.0011390323052182794, + 0.9999862719575262, + 1.9259127378463745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999855143627934, + 0.00036582184839062393, + -0.005369055793976224, + -0.6257724761962891 + ], + [ + -0.0003716294853329315, + 0.9999993443489075, + -0.0010807265741504416, + -0.16323091089725494 + ], + [ + 0.005368659306530999, + 0.0010827062651515007, + 0.9999849953778304, + 1.9682410955429077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999856922814667, + 0.0008645627531223001, + -0.00527921722774859, + -0.6377537250518799 + ], + [ + -0.0008711851356141255, + 0.9999988079071047, + -0.001252260219737931, + -0.16814608871936798 + ], + [ + 0.005278130803519861, + 0.0012568415841087701, + 0.9999852654283278, + 2.0110480785369873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999839766105877, + 0.001079006353393197, + -0.005556642003627858, + -0.6505796909332275 + ], + [ + -0.001086619112851879, + 0.9999984502792358, + -0.0013671893661267938, + -0.172258198261261 + ], + [ + 0.005555156082307113, + 0.0013732054503634572, + 0.9999836295470964, + 2.051952362060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999843241370614, + 0.0008228832739405334, + -0.005540942615789053, + -0.6618490815162659 + ], + [ + -0.0008314463083403525, + 0.9999984502792358, + -0.0015432766207575039, + -0.17508205771446228 + ], + [ + 0.00553966098551475, + 0.0015478595159947872, + 0.9999834316216133, + 2.0948173999786377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999851070979353, + 6.738869706168772e-05, + -0.005461472336378638, + -0.6725550889968872 + ], + [ + -7.610740025132757e-05, + 0.9999987483024599, + -0.001596207950823224, + -0.17429664731025696 + ], + [ + 0.005461355212655161, + 0.0015965998172760014, + 0.9999837999959881, + 2.1380040645599365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999862565996254, + 0.0001027208854793571, + -0.005243548987730707, + -0.685382068157196 + ], + [ + -0.00011164100856721776, + 0.9999985694885254, + -0.0017008963730029175, + -0.17445434629917145 + ], + [ + 0.005243364918246056, + 0.0017014583572745323, + 0.9999848335846877, + 2.180320978164673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999872393469933, + 0.001324706943705678, + -0.004871358046944776, + -0.6981818675994873 + ], + [ + -0.0013312477159164024, + 0.9999982118606567, + -0.0013397003354652217, + -0.17371200025081635 + ], + [ + 0.0048695735763541635, + 0.001346168341115117, + 0.9999872123648618, + 2.2245376110076904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9999910626510654, + 0.0011530400952324271, + -0.004072395330069405, + -0.7113330364227295 + ], + [ + -0.0011562293182024886, + 0.9999990463256836, + -0.0007808506316215766, + -0.17388513684272766 + ], + [ + 0.004071488467707917, + 0.0007855523144826293, + 0.999991409000543, + 2.267807960510254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999952113391959, + 0.0009931765962392092, + -0.0029283895564478574, + -0.7230440974235535 + ], + [ + -0.000995970886133289, + 0.9999990463256836, + -0.0009528898467829211, + -0.17399272322654724 + ], + [ + 0.0029274447036985642, + 0.0009558018646202981, + 0.9999952622571727, + 2.3071842193603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999975973134656, + 0.0018258151831105351, + -0.0012180289338073165, + -0.7365793585777283 + ], + [ + -0.0018270717676555075, + 0.9999977946281433, + -0.001031364473652789, + -0.17513690888881683 + ], + [ + 0.0012161428557751729, + 0.0010335874976590276, + 0.9999987157583873, + 2.3500146865844727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999990681559839, + 0.0009057718561962247, + 0.0010471341572161088, + -0.7500898838043213 + ], + [ + -0.0009047491867750109, + 0.9999991059303284, + -0.0009767241569090446, + -0.17800378799438477 + ], + [ + -0.0010480186162248085, + 0.0009757758816704154, + 0.9999989982962216, + 2.3900952339172363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999939930051311, + -0.00032483125687576836, + 0.0034457643591936007, + -0.7632457613945007 + ], + [ + 0.0003270754916562065, + 0.9999997615814211, + -0.0006507525821826701, + -0.1830219328403473 + ], + [ + -0.0034455479966520237, + 0.0006518757436424495, + 0.9999938612548317, + 2.4336905479431152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999784574810426, + -0.0007885303348302841, + 0.006515471615565028, + -0.7771480083465576 + ], + [ + 0.0007914489906265561, + 0.9999995827674866, + -0.0004453939639208674, + -0.1893760710954666 + ], + [ + -0.0065151156314721325, + 0.0004505410324782133, + 0.9999786756102257, + 2.4741885662078857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.999953990017393, + -0.0010766300838440657, + 0.009533962416218357, + -0.7907772660255432 + ], + [ + 0.0010818987799042358, + 0.9999992847442627, + -0.0005474811834107896, + -0.19668827950954437 + ], + [ + -0.009533372510481924, + 0.0005577707779593766, + 0.9999543730664785, + 2.511368751525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999262760096805, + 0.0001290909858653322, + 0.012144383421792975, + -0.8062590956687927 + ], + [ + -0.00012217527368445932, + 0.9999998211860659, + -0.0005701984039548938, + -0.20303386449813843 + ], + [ + -0.012144453671602239, + 0.0005686726071871818, + 0.9999261011037026, + 2.5495026111602783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9998954061227, + -0.00021107977954670787, + 0.014459909569021262, + -0.8217288255691528 + ], + [ + 0.00021690552625979305, + 0.9999998807907104, + -0.00040132340555858555, + -0.21016180515289307 + ], + [ + -0.01445982397673557, + 0.00040441786404699087, + 0.9998953411590171, + 2.5920844078063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9998685722098183, + -0.0013803917681798339, + 0.01615503346209516, + -0.8369567394256592 + ], + [ + 0.001389991817753894, + 0.9999988675117493, + -0.0005830340386631783, + -0.2177705466747284 + ], + [ + -0.01615420816480959, + 0.0006054127588868141, + 0.9998693568274851, + 2.6321513652801514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9998493261104218, + -0.0006932485848665239, + 0.0173440433803281, + -0.8498173356056213 + ], + [ + 0.0006985803914941336, + 0.9999997019767763, + -0.00030135519486565714, + -0.2210485190153122 + ], + [ + -0.017343820091397226, + 0.00031342598958872264, + 0.9998495508462996, + 2.6683762073516846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998281126227558, + -0.0006402592989616096, + 0.018527900348448458, + -0.8617907762527466 + ], + [ + 0.0006476247488112629, + 0.9999997019767761, + -0.00039153389753058344, + -0.22357375919818878 + ], + [ + -0.01852763604711133, + 0.00040346570312976837, + 0.9998282747650301, + 2.7051236629486084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998083045824868, + -0.0008551045903004706, + 0.01956056409338247, + -0.8760277628898621 + ], + [ + 0.0008618643152189938, + 0.9999995827674866, + -0.00033715319117910497, + -0.22504672408103943 + ], + [ + -0.019560258187524146, + 0.0003539471363183111, + 0.9998086429275779, + 2.7473063468933105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9997912528540602, + -0.0007279235869646073, + 0.020418384887568555, + -0.8910863995552063 + ], + [ + 0.0007356933458415957, + 0.9999996423721316, + -0.00037301960473289195, + -0.22473092377185822 + ], + [ + -0.020418101415157975, + 0.00038796337321400653, + 0.9997914729205577, + 2.789604425430298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997702409345101, + -0.0008029132150113585, + 0.021419948678723783, + -0.9058547019958496 + ], + [ + 0.000803080516393081, + 0.9999997019767763, + 7.91817975262025e-07, + -0.2229575663805008 + ], + [ + -0.021419943426417298, + 1.6410303942393515e-05, + 0.9997705392838018, + 2.8322644233703613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997540558096839, + -0.00046358827967196703, + 0.022172725641684852, + -0.9176217317581177 + ], + [ + 0.00045133988767747513, + 0.9999997615814209, + 0.0005574099789477603, + -0.22105906903743744 + ], + [ + -0.022172982451981148, + -0.0005472654011100531, + 0.9997540137136482, + 2.8743338584899902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9997370305331684, + -0.0006720158271491528, + 0.022921869920440104, + -0.928596019744873 + ], + [ + 0.0006612801162096155, + 0.9999996423721313, + 0.00047593784060782364, + -0.21773666143417358 + ], + [ + -0.022922173786744944, + -0.0004606549337040633, + 0.9997371712378033, + 2.9190375804901123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.999717003264759, + -0.00019082907238043845, + 0.023787167802764745, + -0.9417244791984558 + ], + [ + 0.0001692223135590077, + 0.9999995827674866, + 0.0009103461371256414, + -0.2157934457063675 + ], + [ + -0.02378732685115613, + -0.0009060632437467575, + 0.9997166560084925, + 2.961885690689087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996960145837833, + -0.002516512991860509, + 0.02452595953708217, + -0.9545234441757202 + ], + [ + 0.0025023095219917336, + 0.9999966621398926, + 0.0006097976435370834, + -0.21556465327739716 + ], + [ + -0.024527418970579036, + -0.00054824078688398, + 0.9996989879377326, + 3.007239818572998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9997068599123624, + -0.001682928646914661, + 0.024151703519094524, + -0.9693639278411865 + ], + [ + 0.001661966956725119, + 0.9999982118606567, + 0.000887961986610905, + -0.2136654257774353 + ], + [ + -0.02415315000369723, + -0.0008475624490529299, + 0.9997079216698985, + 3.0543618202209473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9997247775138525, + -0.0014791848370805383, + 0.023413264833148144, + -0.980674684047699 + ], + [ + 0.001445034196995325, + 0.9999978542327881, + 0.0014754524373636752, + -0.21650733053684235 + ], + [ + -0.023415403085512976, + -0.0014412133023142815, + 0.9997247565049602, + 3.103806495666504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9997354281715528, + -0.0014152134535834193, + 0.022957288761546027, + -0.9936900734901428 + ], + [ + 0.0013637884791708023, + 0.999996542930603, + 0.0022555318187522547, + -0.21979431807994843 + ], + [ + -0.022960404919660157, + -0.00222362601198256, + 0.9997339287667059, + 3.1492676734924316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9997534729144563, + -0.0023364974185824394, + 0.02207991745327388, + -1.004389762878418 + ], + [ + 0.0022768701426960666, + 0.9999936819076538, + 0.002725278512829418, + -0.22728775441646576 + ], + [ + -0.02208614763024881, + -0.002674333518370986, + 0.9997525127075211, + 3.1971797943115234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9997709360660209, + -0.0023548470344394445, + 0.021271920838790523, + -1.0136138200759888 + ], + [ + 0.0022903790716721005, + 0.9999927282333374, + 0.003054525442892811, + -0.2347889393568039 + ], + [ + -0.021278953435120932, + -0.003005105070769787, + 0.9997690878040744, + 3.2366998195648193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9997774722794605, + -0.002900458639487624, + 0.020894790800807684, + -1.027327537536621 + ], + [ + 0.002829578232340805, + 0.9999901652336121, + 0.0034210306079732, + -0.24306845664978027 + ], + [ + -0.02090449937360605, + -0.003361145732924342, + 0.9997758407570362, + 3.2879910469055176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9997887988147969, + -0.0031826640479266644, + 0.02030198185356864, + -1.040177345275879 + ], + [ + 0.0031115851347306286, + 0.9999889135360718, + 0.0035317031252894847, + -0.24779105186462402 + ], + [ + -0.020313000761705915, + -0.003467785893008113, + 0.9997876401182847, + 3.3327503204345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.999800991018009, + -0.0025952875148504972, + 0.019779659031156003, + -1.053827166557312 + ], + [ + 0.0025200918316827755, + 0.9999895095825195, + 0.003825654658925238, + -0.25273141264915466 + ], + [ + -0.019789379086615735, + -0.003775046905502677, + 0.999797048562243, + 3.380070686340332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9998156847114242, + -0.0016192776383832101, + 0.019131537764044193, + -1.0665849447250366 + ], + [ + 0.0015448393651422607, + 0.9999911785125735, + 0.003905001340466518, + -0.258712500333786 + ], + [ + -0.019137688667709842, + -0.003874726593494416, + 0.9998093683494398, + 3.422151565551758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9998270623741264, + -0.0013885117368772626, + 0.018545590177202014, + -1.078879714012146 + ], + [ + 0.0013156914757774514, + 0.9999913573265076, + 0.003938172013025713, + -0.26373013854026794 + ], + [ + -0.018550905871574663, + -0.003913090564310551, + 0.9998202643808243, + 3.4748270511627197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998364899102439, + -0.000974460388533771, + 0.01805656127875445, + -1.0918139219284058 + ], + [ + 0.0008972904771254685, + 0.9999904036521912, + 0.004281401765606026, + -0.2658335566520691 + ], + [ + -0.018060563008905454, + -0.0042644995264709, + 0.9998277927232455, + 3.5158674716949463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9998485545459204, + -0.0005866853753104807, + 0.017394210870007, + -1.1042166948318481 + ], + [ + 0.0005029821584518493, + 0.9999882578849795, + 0.0048161127021461, + -0.26797589659690857 + ], + [ + -0.017396839408591803, + -0.0048066345043480405, + 0.999837112582185, + 3.5587711334228516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9998599918002655, + -0.00031958319596014917, + 0.01672854894507417, + -1.1141905784606934 + ], + [ + 0.00023128951737268896, + 0.9999860525131226, + 0.005279697865925877, + -0.2693493664264679 + ], + [ + -0.016730007341847906, + -0.005275089293718338, + 0.999846118177397, + 3.59743332862854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9998690427209411, + -0.0003391220816411078, + 0.016180761561892295, + -1.1278806924819946 + ], + [ + 0.0002520515333908235, + 0.9999854564666748, + 0.005382848738746333, + -0.2667497992515564 + ], + [ + -0.01618236036125932, + -0.0053780656307935715, + 0.9998545832719972, + 3.6509628295898438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998790570448618, + 5.3300871513783945e-05, + 0.015553148289952676, + -1.141394853591919 + ], + [ + -0.00013837869720950718, + 0.9999850392341616, + 0.005469112392449818, + -0.26433518528938293 + ], + [ + -0.01555262120736119, + -0.005470602773129941, + 0.9998641120357428, + 3.7004318237304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9998840806128293, + 0.0003589356492739171, + 0.015220412863504632, + -1.1556575298309326 + ], + [ + -0.00044630590866637124, + 0.9999834299087524, + 0.005737330269112509, + -0.264602929353714 + ], + [ + -0.015218097708056598, + -0.0057434579357504845, + 0.9998677180457011, + 3.7496895790100098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.999892855337853, + 0.00041316950228065263, + 0.01463345886292295, + -1.169020652770996 + ], + [ + -0.0004973270368141601, + 0.9999833703041079, + 0.005747871297780998, + -0.26368606090545654 + ], + [ + -0.014630839816211607, + -0.005754532758146525, + 0.9998764015948026, + 3.7961161136627197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9998960810982609, + 0.0005243999185040593, + 0.014407030969443103, + -1.1813920736312866 + ], + [ + -0.0006135647116741586, + 0.9999806880950928, + 0.006185260899680259, + -0.2689306139945984 + ], + [ + -0.014403508184718134, + -0.00619345810264349, + 0.9998770868500393, + 3.840728759765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9999010789518664, + 0.00047207780880853534, + 0.01405776296603306, + -1.1953589916229248 + ], + [ + -0.0005609563198778909, + 0.9999798536300659, + 0.0063191044647080055, + -0.2719929814338684 + ], + [ + -0.014054505453175619, + -0.006326364818960428, + 0.9998812057264796, + 3.8896713256835938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9999078755050004, + 0.0005306719103828073, + 0.013562481668322175, + -1.2099299430847168 + ], + [ + -0.0006231166837155653, + 0.9999765753746033, + 0.006812890091492714, + -0.2778225541114807 + ], + [ + -0.013558553413700622, + -0.006820713635534048, + 0.9998848215442635, + 3.936812162399292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999914369321356, + 4.363100742921233e-06, + 0.013086768210686075, + -1.22032630443573 + ], + [ + -9.176698870140116e-05, + 0.999977707862854, + 0.006678209104048021, + -0.28597238659858704 + ], + [ + -0.01308644500085774, + -0.006678838282823563, + 0.9998920677159486, + 3.9835734367370605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9999244080581922, + 1.5208788681775331e-06, + 0.012293991165272541, + -1.2278106212615967 + ], + [ + -8.410492440926769e-05, + 0.9999774098396301, + 0.006716914065157736, + -0.29311317205429077 + ], + [ + -0.012293699281760237, + -0.006717440206557512, + 0.999901867367072, + 4.013479709625244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.999932925444222, + 0.00034045547363348305, + 0.011575117868368364, + -1.2447437047958374 + ], + [ + -0.0004192611520805025, + 0.9999767541885376, + 0.006806458673618145, + -0.29707613587379456 + ], + [ + -0.01157252000414131, + -0.006810855586081743, + 0.9999098605565223, + 4.063475608825684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9999372769524346, + 0.00037454304401762794, + 0.01119442820895503, + -1.2582030296325684 + ], + [ + -0.0004519933186675658, + 0.9999759793281557, + 0.00691691953874417, + -0.3036685585975647 + ], + [ + -0.011191573887372283, + -0.006921545602381231, + 0.9999134034482748, + 4.11154317855835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9999465698858385, + 0.000327365065459162, + 0.010334141040591082, + -1.2706923484802246 + ], + [ + -0.0003981044078776761, + 0.9999765157699585, + 0.006843900280246759, + -0.31065165996551514 + ], + [ + -0.010331650748878419, + -0.00684764888137579, + 0.999923205897694, + 4.157059192657471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9999545693898532, + 0.00019060441991314297, + 0.009529274813076822, + -1.2794138193130493 + ], + [ + -0.00025543667873019986, + 0.9999768137931826, + 0.006802740083397507, + -0.31652432680130005 + ], + [ + -0.00952775528286045, + -0.006804865319281818, + 0.9999314766746559, + 4.191774368286133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9999625680415866, + 0.00015267872367985547, + 0.008648645896189232, + -1.2878923416137695 + ], + [ + -0.00021136356966235304, + 0.9999769330024719, + 0.006784941685903954, + -0.3225390911102295 + ], + [ + -0.008647411650214326, + -0.006786515470594168, + 0.9999395598940914, + 4.223223686218262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9999688922716058, + 4.249808262102306e-05, + 0.007885540112324485, + -1.3017077445983887 + ], + [ + -9.49978025831773e-05, + 0.9999778270721436, + 0.006657472950600537, + -0.32390451431274414 + ], + [ + -0.007885081947747587, + -0.0066580153070390224, + 0.9999467381402587, + 4.274220943450928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9999755928273603, + 0.0001326808996964246, + 0.0069851496748395536, + -1.311246395111084 + ], + [ + -0.00017875527484871882, + 0.999978244304657, + 0.0065958382761371805, + -0.3245091140270233 + ], + [ + -0.006984117700771257, + -0.0065969256684184074, + 0.9999538562067245, + 4.308832168579102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9999799859386178, + 0.0002797448541969061, + 0.0063234881401348034, + -1.3270176649093628 + ], + [ + -0.00032162001449123373, + 0.9999780058860779, + 0.00662212716878807, + -0.3241041898727417 + ], + [ + -0.006321492228043018, + -0.00662402855232358, + 0.9999580858537028, + 4.36663818359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9999839455193245, + 0.0003761980915442109, + 0.005658671621516266, + -1.3384031057357788 + ], + [ + -0.0004134756960426283, + 0.9999781847000122, + 0.006587982080473261, + -0.32274913787841797 + ], + [ + -0.005656074945480644, + -0.006590215489268303, + 0.9999622775581696, + 4.408218860626221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9999878087819911, + 0.000613656360656023, + 0.004896680410219098, + -1.3533512353897095 + ], + [ + -0.0006460597451844563, + 0.9999778866767883, + 0.006618608375338121, + -0.32042261958122253 + ], + [ + -0.004892508499858698, + -0.006621690932661295, + 0.9999660886356365, + 4.4622907638549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9999914194669173, + 0.00013568467693403363, + 0.0041414274351420765, + -1.363110065460205 + ], + [ + -0.000166682437249963, + 0.9999719858169556, + 0.007485382639927563, + -0.3214375078678131 + ], + [ + -0.0041402875676979775, + -0.0074860090389847755, + 0.9999634230263, + 4.507349491119385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.999993076362355, + 0.0005541866994462908, + 0.0036748120579603765, + -1.3750373125076294 + ], + [ + -0.0005822853075584113, + 0.9999705553054812, + 0.007649640084101556, + -0.3217966556549072 + ], + [ + -0.003670460083029995, + -0.007651726715266706, + 0.999964008908802, + 4.559657096862793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9999949686273766, + 0.0006751851178705692, + 0.0031086540683824323, + -1.3889764547348022 + ], + [ + -0.0006994778140657883, + 0.9999691843986511, + 0.007820093113274465, + -0.32395362854003906 + ], + [ + -0.0031032770900626546, + -0.007822227664291859, + 0.9999645821803593, + 4.610667705535889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9999962586094114, + 0.0008205970516428351, + 0.0026035906563143356, + -1.3974627256393433 + ], + [ + -0.000841475617149037, + 0.9999673962593079, + 0.008028284686142969, + -0.33230167627334595 + ], + [ + -0.0025969082880709965, + -0.008030446246266365, + 0.9999643998290014, + 4.654910564422607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9999978226004618, + 0.0007649750332348051, + 0.0019459092301276945, + -1.408176064491272 + ], + [ + -0.0007805092599570146, + 0.9999677538871767, + 0.007994854313794932, + -0.3399217426776886 + ], + [ + -0.0019397360313254941, + -0.007996356114745142, + 0.9999661296552994, + 4.697872161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9999989454694098, + 0.0005552368238568306, + 0.0013433221358344172, + -1.420081615447998 + ], + [ + -0.0005662359999075288, + 0.9999662041664124, + 0.008201662848654184, + -0.34800097346305847 + ], + [ + -0.0013387199454317445, + -0.008202414028346539, + 0.9999654394635645, + 4.743063449859619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9999995798868904, + 0.00025102929794229567, + 0.0009070405574626971, + -1.431220531463623 + ], + [ + -0.00025865218618576944, + 0.9999645948410034, + 0.00841382649246502, + -0.35580000281333923 + ], + [ + -0.0009049069155523464, + -0.008414057083427906, + 0.999964185523826, + 4.782752990722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9999997712575937, + 0.0003001021104864776, + 0.0005752285914395693, + -1.444823980331421 + ], + [ + -0.00030524541560031306, + 0.9999597668647766, + 0.00896232720420334, + -0.36416950821876526 + ], + [ + -0.0005725144939407922, + -0.008962501771748066, + 0.9999596843698279, + 4.827640533447266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9999999870214258, + -9.631307329982519e-05, + -8.44237977729092e-05, + -1.4591377973556519 + ], + [ + 9.70602678253374e-05, + 0.9999604225158691, + 0.0088958328935442, + -0.37220340967178345 + ], + [ + 8.355663302088732e-05, + -0.008895840495824814, + 0.9999604263091237, + 4.877250671386719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9999997559716982, + -0.0002152866509277374, + -0.0006616647491437169, + -1.4770963191986084 + ], + [ + 0.00022107217334898285, + 0.9999616146087649, + 0.008756212318621493, + -0.3767937421798706 + ], + [ + 0.0006597621713109599, + -0.00875635724514723, + 0.999961452268423, + 4.927958965301514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9999988729756263, + -0.0002368792484048754, + -0.0014842025813525115, + -1.4853719472885132 + ], + [ + 0.00024980629901992843, + 0.9999619722366333, + 0.008715624737829721, + -0.3825816810131073 + ], + [ + 0.0014820724262819265, + -0.008715985342860222, + 0.999960893412785, + 4.958258628845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9999976628382506, + -0.0001552643079776317, + -0.002147104091529792, + -1.4945214986801147 + ], + [ + 0.0001738989722602563, + 0.999962329864502, + 0.008681448729564067, + -0.38619956374168396 + ], + [ + 0.0021456785254000636, + -0.00868180114775896, + 0.9999600172534304, + 4.992822647094727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9999960249536708, + -9.879493154585361e-05, + -0.002814700505434687, + -1.5066068172454834 + ], + [ + 0.00012314559149799163, + 0.999962568283081, + 0.008652347138506964, + -0.38667410612106323 + ], + [ + 0.0028137441146444454, + -0.008652659133076668, + 0.9999586200541155, + 5.031191825866699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9999942389744253, + -0.0002409463340882212, + -0.00339270604070674, + -1.5247548818588257 + ], + [ + 0.0002697210557417823, + 0.9999639987945557, + 0.008483450489403414, + -0.387614905834198 + ], + [ + 0.0033905290293431375, + -0.008484316058456898, + 0.9999582387535539, + 5.08377742767334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9999910578321188, + -0.00018924192409031099, + -0.004220483052506903, + -1.538511037826538 + ], + [ + 0.00022459369953419992, + 0.9999648928642275, + 0.00837726649062233, + -0.3872506320476532 + ], + [ + 0.004218760535317143, + -0.008378138765692713, + 0.9999560206372653, + 5.117499828338623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9999883077631795, + -9.016474359668791e-05, + -0.004835150415629852, + -1.5547709465026855 + ], + [ + 0.00013102833226181655, + 0.9999642968177795, + 0.00845171688061566, + -0.3864455223083496 + ], + [ + 0.004834205481026508, + -0.008452251553535461, + 0.9999525716135864, + 5.159286022186279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9999835979774641, + -0.0002918654936365784, + -0.005722001157383768, + -1.5712718963623047 + ], + [ + 0.0003402768937633516, + 0.9999641180038454, + 0.008461387977541994, + -0.3865359425544739 + ], + [ + 0.005719318122088847, + -0.00846319552510977, + 0.9999478336848847, + 5.202249050140381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9999771679351832, + -0.0004784703778568655, + -0.006736946644842333, + -1.587580919265747 + ], + [ + 0.0005352511069181057, + 0.9999643564224243, + 0.008428972783668429, + -0.3848792314529419 + ], + [ + 0.006732680788812012, + -0.008432386443018913, + 0.9999417801694708, + 5.247705936431885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9999700162433347, + -0.0004283590824343264, + -0.007728523322033393, + -1.6055641174316406 + ], + [ + 0.0004943437691150572, + 0.9999634027481079, + 0.008537906861750955, + -0.3872073292732239 + ], + [ + 0.007724581172040695, + -0.008541472256183624, + 0.9999336862325959, + 5.291614532470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9999618265900709, + -0.0004787352227140218, + -0.008724328569225774, + -1.622474193572998 + ], + [ + 0.0005535119200740972, + 0.999963104724884, + 0.008570644635791673, + -0.3907619118690491 + ], + [ + 0.008719903780181594, + -0.008575146086513996, + 0.9999251968287939, + 5.328402996063232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9999507320592776, + -0.0005533470539376141, + -0.009913322311354982, + -1.6403495073318481 + ], + [ + 0.0006422056008313625, + 0.9999596476554873, + 0.00896261445765748, + -0.39634519815444946 + ], + [ + 0.009907952710107092, + -0.0089685395359993, + 0.9999106778088515, + 5.368286609649658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9999368972469435, + -0.0007369102677330375, + -0.011208749763169304, + -1.6551711559295654 + ], + [ + 0.0008438752636201582, + 0.999954104423523, + 0.009541252669296974, + -0.40383806824684143 + ], + [ + 0.011201207818116812, + -0.009550109505653381, + 0.999891655223269, + 5.408288478851318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9999262535057276, + -0.0007928544655442238, + -0.012118831640654136, + -1.673208236694336 + ], + [ + 0.0009087943165877112, + 0.9999538660049438, + 0.009564382658815242, + -0.41336801648139954 + ], + [ + 0.012110693919717027, + -0.009574690833687782, + 0.9998808505860903, + 5.445225238800049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9999146331711154, + -0.0007510612485930326, + -0.013044346994511138, + -1.6849467754364014 + ], + [ + 0.0008770920641040344, + 0.9999529719352724, + 0.009658678443842543, + -0.42420414090156555 + ], + [ + 0.013036487859737846, + -0.009669294580817224, + 0.9998682940967636, + 5.469212055206299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9999019764658431, + -0.0007354911649599671, + -0.013983564466863425, + -1.708775520324707 + ], + [ + 0.0008706424916866589, + 0.9999529719352722, + 0.009661380693255424, + -0.425927996635437 + ], + [ + 0.013975796292809622, + -0.009672608226537704, + 0.99985556702141, + 5.522904396057129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.999888260769854, + -0.0007060884963721038, + -0.01493408002047467, + -1.7252551317214966 + ], + [ + 0.0008586333844476557, + 0.9999474883079531, + 0.010210607204505397, + -0.43368232250213623 + ], + [ + 0.014926082098115042, + -0.010222289711236955, + 0.99983635124223, + 5.558323860168457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9998731857196246, + -0.0010524028912186623, + -0.015889827093128365, + -1.7399084568023682 + ], + [ + 0.0012196593338642593, + 0.9999439120292664, + 0.010519989874119414, + -0.43977248668670654 + ], + [ + 0.015877864671591985, + -0.010538036935031414, + 0.9998183837601777, + 5.594457626342773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9998601079134448, + -0.000965055194683373, + -0.016698120077130736, + -1.74830961227417 + ], + [ + 0.0011421658580351732, + 0.9999431371688843, + 0.010600336545108942, + -0.4476604759693146 + ], + [ + 0.016686932380427733, + -0.01061792578548193, + 0.999804363282944, + 5.619298934936523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9998466062231522, + -0.0008606684277765453, + -0.01749200276346243, + -1.764485239982605 + ], + [ + 0.0010473267902657262, + 0.9999426007270813, + 0.010664704482156648, + -0.4504139721393585 + ], + [ + 0.017481826839085383, + -0.010681387968361378, + 0.9997901251160505, + 5.660864353179932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9998373635107098, + -0.001048819744028151, + -0.01800305652287388, + -1.7839056253433228 + ], + [ + 0.0012456737232034202, + 0.999939501285553, + 0.010926750970309655, + -0.4545402228832245 + ], + [ + 0.01799050909772583, + -0.010947400704026222, + 0.9997782039343152, + 5.713260650634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9998213935512696, + -0.0010319437133148313, + -0.018870129885091624, + -1.7927943468093872 + ], + [ + 0.0012389730909903114, + 0.9999391436576843, + 0.010962872605973357, + -0.4576300084590912 + ], + [ + 0.018857677341639574, + -0.010984295047819614, + 0.9997618642822288, + 5.73324728012085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9998078216234562, + -0.0009394310181960464, + -0.019580234907894737, + -1.8003417253494263 + ], + [ + 0.0011577229391281359, + 0.9999372959136963, + 0.01114023354932292, + -0.46088626980781555 + ], + [ + 0.019568538328919, + -0.011160762049257755, + 0.9997462044881875, + 5.747867107391357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9997907107489656, + -0.000863119261339307, + -0.020438723985613656, + -1.8213917016983032 + ], + [ + 0.0010878790782505336, + 0.999939024448395, + 0.010988190730545222, + -0.45812058448791504 + ], + [ + 0.020428001002902228, + -0.011008125729858877, + 0.9997307049171813, + 5.805870532989502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9997737530565858, + -0.0009603521320968866, + -0.021249787606746177, + -1.8389147520065308 + ], + [ + 0.0011917119917942782, + 0.9999400973320007, + 0.010877650844095296, + -0.4548964500427246 + ], + [ + 0.021238069276947616, + -0.010900513269007206, + 0.9997150352165525, + 5.864120006561279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9997604590197448, + -0.0013118600472807884, + -0.021846903650552883, + -1.8488248586654663 + ], + [ + 0.0015429601034835302, + 0.9999430179595947, + 0.010564666026376186, + -0.4553171396255493 + ], + [ + 0.021831789711373346, + -0.010595845058560371, + 0.9997054835214634, + 5.897153377532959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9997426864999951, + -0.0013282112777233124, + -0.022646036621245935, + -1.8581891059875488 + ], + [ + 0.001565303316527076, + 0.9999440908432007, + 0.010454957699629475, + -0.4558432698249817 + ], + [ + 0.022630879207893043, + -0.010487714782357216, + 0.9996888691441432, + 5.927013397216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.999725384371199, + -0.0013074602466076612, + -0.02339787481991883, + -1.8697872161865234 + ], + [ + 0.001550766002846954, + 0.9999448657035828, + 0.01038350429345886, + -0.45589974522590637 + ], + [ + 0.023383008205116816, + -0.010416937060654163, + 0.9996723154564687, + 5.9680352210998535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9997092531719135, + -0.0012443468440324068, + -0.024079368902742714, + -1.8802987337112427 + ], + [ + 0.0014970439508112552, + 0.9999439716339111, + 0.010479161948850515, + -0.45858752727508545 + ], + [ + 0.02406497737565674, + -0.010512163862586021, + 0.9996550979315297, + 6.003839492797852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9996870924442316, + -0.0011904462007805705, + -0.024986982028666338, + -1.8889384269714355 + ], + [ + 0.0014520161173408512, + 0.9999443292617798, + 0.01045271277625617, + -0.4635196030139923 + ], + [ + 0.024973143100006506, + -0.010485722683370113, + 0.9996331033145294, + 6.0342912673950195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9996683244137601, + -0.0012071751989424229, + -0.025725940220714737, + -1.8983937501907349 + ], + [ + 0.0014751399178064314, + 0.999944806098938, + 0.010399697013450176, + -0.4692836105823517 + ], + [ + 0.02571196994996531, + -0.010434197261929512, + 0.9996149636085777, + 6.070920944213867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.999649363568009, + -0.0011779197957366705, + -0.026453149511459446, + -1.9134658575057983 + ], + [ + 0.001450979917773681, + 0.9999458193778992, + 0.010305575562346167, + -0.4752616882324219 + ], + [ + 0.026439573809591162, + -0.010340344160795212, + 0.9995969142640135, + 6.118237495422363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9996580456385473, + -0.0007654119981452823, + -0.026138423457264227, + -1.9275015592575073 + ], + [ + 0.0010210904244905433, + 0.9999517798423767, + 0.009769758041867103, + -0.48174020648002625 + ], + [ + 0.026129689892748754, + -0.009793106466531754, + 0.9996105976661299, + 6.165696620941162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9996772085634343, + -0.0005354746826924384, + -0.025400310346836496, + -1.9385888576507568 + ], + [ + 0.0007770876727175947, + 0.9999545216560364, + 0.009503286551644391, + -0.4874902665615082 + ], + [ + 0.025394069352956072, + -0.009519957937300205, + 0.9996322167069704, + 6.198103904724121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9996872515887211, + -0.0014538872055709362, + -0.024965180857830317, + -1.9437339305877686 + ], + [ + 0.0016776037462084468, + 0.9999586343765259, + 0.008942543607349881, + -0.49723365902900696 + ], + [ + 0.024951139370140058, + -0.008981629274785519, + 0.9996483383621951, + 6.225948333740234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9997169594081603, + -0.0025369809009134774, + -0.023655074027215752, + -1.9549685716629028 + ], + [ + 0.0027291737036895785, + 0.9999635219573977, + 0.008096056399456982, + -0.5032578110694885 + ], + [ + 0.023633656358927745, + -0.008158324286341669, + 0.9996873947815549, + 6.261955738067627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9997453416053397, + -0.003758577862754464, + -0.022251992751143698, + -1.968121886253357 + ], + [ + 0.003928106111761078, + 0.9999635815620422, + 0.007579766502599608, + -0.5064950585365295 + ], + [ + 0.022222686237345256, + -0.007665244396775961, + 0.999723655497942, + 6.307977199554443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9997760040188745, + -0.0038663572631776333, + -0.0208084193652845, + -1.973517656326294 + ], + [ + 0.00401873252653496, + 0.9999653697013855, + 0.007285936205665736, + -0.5097857117652893 + ], + [ + 0.020779524762218494, + -0.007367928046733141, + 0.9997569353452421, + 6.3340253829956055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9998055655483877, + -0.003933147992938757, + -0.019321735855167475, + -1.9816399812698364 + ], + [ + 0.004076633359058427, + 0.9999643564224243, + 0.007392351542908972, + -0.5134186148643494 + ], + [ + 0.019291983135670574, + -0.007469682022929192, + 0.9997859956536759, + 6.369832515716553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9998309784908677, + -0.005181604530662298, + -0.017640779963244774, + -1.9871333837509155 + ], + [ + 0.005304567106101409, + 0.9999619126319885, + 0.006930686919353001, + -0.5166319012641907 + ], + [ + 0.017604184768951956, + -0.007023092359304428, + 0.9998203674175554, + 6.394842624664307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.999859228340493, + -0.005422784481197596, + -0.01587835133777368, + -1.992950677871704 + ], + [ + 0.005533463161037825, + 0.9999606609344482, + 0.006934769711989464, + -0.5157715082168579 + ], + [ + 0.015840129574382474, + -0.007021655794233084, + 0.9998498796114684, + 6.426048755645752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9998897047053187, + -0.004205543082207441, + -0.01424225711613713, + -2.000549554824829 + ], + [ + 0.004308312155026192, + 0.9999648332595825, + 0.007192796540076662, + -0.5168452858924866 + ], + [ + 0.014211516867308689, + -0.007253363728523254, + 0.9998727323844727, + 6.455928802490234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.999911699949991, + -0.005208939313888551, + -0.012226140264250162, + -2.0053000450134277 + ], + [ + 0.005294023712218798, + 0.9999619126319887, + 0.00693721315221918, + -0.5225806832313538 + ], + [ + 0.012189541068511457, + -0.0070013264194130915, + 0.9999012000625268, + 6.48099946975708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9999280798937709, + -0.006031740922480822, + -0.010365360068447764, + -2.012892007827759 + ], + [ + 0.006100438006451332, + 0.9999595284461975, + 0.006608752076939825, + -0.5236003994941711 + ], + [ + 0.010325089596196553, + -0.006671510171145201, + 0.9999244352501964, + 6.507598400115967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9999479837041073, + -0.005198812577873468, + -0.008774254068864071, + -2.021050453186035 + ], + [ + 0.005259131112572061, + 0.9999626278877258, + 0.006865477229407092, + -0.5264498591423035 + ], + [ + 0.00873823933305814, + -0.006911264732480049, + 0.999937944836106, + 6.541287422180176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9999620245712725, + -0.005524447187781334, + -0.006740493777007579, + -2.026540994644165 + ], + [ + 0.00556787327046671, + 0.9999637603759766, + 0.006440952736761933, + -0.5314396619796753 + ], + [ + 0.0067046673865971095, + -0.006478238385170698, + 0.9999565217508914, + 6.560191631317139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9999694918575474, + -0.006208810955286026, + -0.00474324383423876, + -2.0387744903564453 + ], + [ + 0.006238379720555219, + 0.9999610185623169, + 0.0062446779062711125, + -0.5335107445716858 + ], + [ + 0.0047042931401137375, + -0.006274078041315079, + 0.9999692580355902, + 6.60996675491333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9999722147476584, + -0.007072721607983112, + -0.002349225976957644, + -2.0468990802764893 + ], + [ + 0.00708632905253698, + 0.9999578595161438, + 0.005835478465689269, + -0.5396016240119934 + ], + [ + 0.002307869331459684, + -0.00585196353495121, + 0.9999802202739765, + 6.6394944190979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.99997315839715, + -0.00732326228171587, + -3.043652964450711e-05, + -2.05045223236084 + ], + [ + 0.007323317895951133, + 0.999957263469696, + 0.005644848435583565, + -0.5464258790016174 + ], + [ + -1.0916772240771774e-05, + -0.005644920282065868, + 0.9999840492826431, + 6.660965442657471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9999648131213505, + -0.00802774913609028, + 0.0024453066797759013, + -2.0471746921539307 + ], + [ + 0.008013335866713019, + 0.9999507665634157, + 0.005847921299261699, + -0.5555189847946167 + ], + [ + -0.002492144328707574, + -0.00582812074571848, + 0.999979882956405, + 6.659983158111572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9999484877369753, + -0.00876418687403202, + 0.00512003235451177, + -2.052663803100586 + ], + [ + 0.008736171600717362, + 0.9999468922615051, + 0.005468745373714584, + -0.5587007999420166 + ], + [ + -0.005167704790978799, + -0.005423733964562416, + 0.9999719148641187, + 6.696305751800537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9999373640510266, + -0.008153748698532581, + 0.00766659261018115, + -2.053318500518799 + ], + [ + 0.008114796427381839, + 0.999954104423523, + 0.005098176119447177, + -0.5678887367248535 + ], + [ + -0.007707808000398716, + -0.005035644397139549, + 0.9999576209590105, + 6.701388835906982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9999026121078902, + -0.009216071106493473, + 0.010479380993623775, + -2.0552141666412354 + ], + [ + 0.009171936337187797, + 0.9999489188194275, + 0.004251918968638924, + -0.5735335350036621 + ], + [ + -0.010518038496920767, + -0.004155389033257961, + 0.999936023545823, + 6.727285385131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9998653076219729, + -0.010234619490802288, + 0.012831771697868654, + -2.0624289512634277 + ], + [ + 0.010192989454649573, + 0.9999426007270813, + 0.003305581816713791, + -0.5741068720817566 + ], + [ + -0.012864881938583038, + -0.003174342680722475, + 0.999912200469637, + 6.767116546630859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9998192818784885, + -0.011391103267669678, + 0.015221055528671763, + -2.066166877746582 + ], + [ + 0.011357350630531336, + 0.9999328255653381, + 0.0023021449807925885, + -0.5762102603912354 + ], + [ + -0.01524627264178657, + -0.0021288583520799875, + 0.9998814780194195, + 6.793961048126221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9997782911601545, + -0.011608021333813667, + 0.017567947594034912, + -2.06862473487854 + ], + [ + 0.011582826940621252, + 0.9999317526817322, + 0.0015351869985169458, + -0.5755749940872192 + ], + [ + -0.017584557037493988, + -0.001331360312178731, + 0.9998445181564692, + 6.817281246185303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9997372855137284, + -0.011731235310435295, + 0.019691171700110515, + -2.066831111907959 + ], + [ + 0.011706853543449284, + 0.9999305605888367, + 0.0013530655317922653, + -0.5790243744850159 + ], + [ + -0.019705695584476168, + -0.0011221885215491056, + 0.9998051706777102, + 6.832644462585449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9996856500218007, + -0.012456502765417102, + 0.021759434276342852, + -2.0660269260406494 + ], + [ + 0.01244549690101419, + 0.9999223351478579, + 0.0006411844570044469, + -0.5796594619750977 + ], + [ + -0.021765715559903875, + -0.0003701759269461037, + 0.9997630531833192, + 6.850933074951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.999629440340987, + -0.013533872552216056, + 0.023617322643251903, + -2.067087173461914 + ], + [ + 0.013538672940647591, + 0.9999083280563357, + -4.335517083385367e-05, + -0.5815579891204834 + ], + [ + -0.023614558690840975, + 0.00036308600101619964, + 0.999721048257848, + 6.87220573425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9996016415608183, + -0.012298558838665489, + 0.025402105802252842, + -2.069004535675049 + ], + [ + 0.012318111419029613, + 0.9999239444732668, + -0.0006133723725851593, + -0.5804896950721741 + ], + [ + -0.025392608446465924, + 0.0009260336519218983, + 0.999677150554688, + 6.892847537994385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9995688809713452, + -0.011681430973112583, + 0.026936693651429602, + -2.0663599967956543 + ], + [ + 0.011714128601176812, + 0.9999308586120605, + -0.0010563616380947845, + -0.5792555212974548 + ], + [ + -0.02692250469008216, + 0.0013714462984353304, + 0.9996365768359325, + 6.907789707183838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.999530081798391, + -0.01174161117523909, + 0.02831516539664908, + -2.0678513050079346 + ], + [ + 0.011791961737310315, + 0.9999291896820071, + -0.0016119208074303873, + -0.5791550874710083 + ], + [ + -0.02829424098015905, + 0.0019450545078143482, + 0.9995977582392133, + 6.924348831176758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9994790673456023, + -0.012844830751419067, + 0.029607932447528174, + -2.068929672241211 + ], + [ + 0.012918520318802468, + 0.9999139308929443, + -0.0022988661516744947, + -0.5790872573852539 + ], + [ + -0.029575848052679765, + 0.0026801591739058495, + 0.9995589270835357, + 6.950146198272705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9994522707150127, + -0.012719668447971347, + 0.03055036909058009, + -2.0654075145721436 + ], + [ + 0.012807032724554425, + 0.9999144077301028, + -0.002665693613153644, + -0.5808964371681213 + ], + [ + -0.030513832916727796, + 0.003055492416024209, + 0.9995296533918502, + 6.961908340454102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9994270160147887, + -0.013007954694330692, + 0.031247896564628688, + -2.0637083053588867 + ], + [ + 0.013100890750197994, + 0.9999103546142578, + -0.0027712421051501396, + -0.5818125605583191 + ], + [ + -0.03120905831442336, + 0.003179029328748584, + 0.999507827547727, + 6.980706691741943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9994340096105119, + -0.013127073645591736, + 0.030973725526545245, + -2.063185453414917 + ], + [ + 0.013228004336859051, + 0.9999078512191772, + -0.0030559202574282486, + -0.5836682915687561 + ], + [ + -0.0309307491891935, + 0.003463911125436425, + 0.9995155386698973, + 6.997128486633301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9994355070862893, + -0.013741090893745426, + 0.030657161722223256, + -2.0666589736938477 + ], + [ + 0.01385791096404548, + 0.9998974800109866, + -0.0036012865880740066, + -0.5854962468147278 + ], + [ + -0.030604547318935766, + 0.004024097695946694, + 0.9995234435084488, + 7.0316853523254395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9994577318920455, + -0.013830017298460007, + 0.02988319024047947, + -2.0612294673919678 + ], + [ + 0.013940602017548317, + 0.9998967051506042, + -0.0034953966742020254, + -0.5872035026550293 + ], + [ + -0.029831769331063976, + 0.003910090774297714, + 0.9995473117535361, + 7.033927917480469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9994755236988404, + -0.013686864636838436, + 0.029349318301457417, + -2.059215784072876 + ], + [ + 0.013790461678112995, + 0.9998993873596191, + -0.003330272814022926, + -0.5925347805023193 + ], + [ + -0.029300794146613515, + 0.003733266843482852, + 0.9995636764913566, + 7.0536346435546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9994828947810426, + -0.014152943156659607, + 0.02887335290897524, + -2.056697130203247 + ], + [ + 0.014267470261310738, + 0.9998911023139956, + -0.0037643806663897285, + -0.5969193577766418 + ], + [ + -0.02881692231554415, + 0.004174383357167245, + 0.9995759953280438, + 7.070969581604004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9995034143280636, + -0.013670744374394417, + 0.028390723113838116, + -2.054399251937866 + ], + [ + 0.013776444261935273, + 0.9998988509178162, + -0.003530804232850789, + -0.5995913743972778 + ], + [ + -0.02833958163743182, + 0.003920174203813076, + 0.9995906933607805, + 7.091525077819824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9994993951142227, + -0.014774665236473083, + 0.02797563521316345, + -2.0508713722229004 + ], + [ + 0.014880972244325708, + 0.9998828172683716, + -0.0035956011268507854, + -0.6039102673530579 + ], + [ + -0.027919245250180365, + 0.0040101055055856705, + 0.9996021356848359, + 7.105743408203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.999518432801851, + -0.014873743057250977, + 0.027233076831709575, + -2.047548770904541 + ], + [ + 0.014981351847729885, + 0.9998807311058044, + -0.003751620945326367, + -0.6103718280792236 + ], + [ + -0.027174023481141, + 0.004157802555710077, + 0.9996220741059261, + 7.1177778244018555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9995355742143479, + -0.014219994656741619, + 0.026952873848367625, + -2.048269748687744 + ], + [ + 0.014337209030056542, + 0.99988853931427, + -0.0041606325194856195, + -0.6125448346138 + ], + [ + -0.026890718627197906, + 0.004545128904283047, + 0.9996280606692551, + 7.130107402801514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9995519599776801, + -0.014313499443233013, + 0.02628788592163483, + -2.047097682952881 + ], + [ + 0.014430201290187104, + 0.9998868107795715, + -0.0042550125545760265, + -0.616989016532898 + ], + [ + -0.026224017132047237, + 0.004632445052266121, + 0.9996453385629923, + 7.145707130432129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9995540559546662, + -0.015274491161108017, + 0.02565839660934331, + -2.043330192565918 + ], + [ + 0.015411839727699333, + 0.9998679161071777, + -0.005163788068748612, + -0.621772289276123 + ], + [ + -0.025576127177672797, + 0.005556928459554911, + 0.9996574175513335, + 7.147778511047363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9995628127008018, + -0.015401331707835197, + 0.025238869518872505, + -2.0435197353363037 + ], + [ + 0.015552491750030957, + 0.9998621940612793, + -0.005803848521467582, + -0.6230641007423401 + ], + [ + -0.025145998201166905, + 0.006193838082253933, + 0.9996646079649928, + 7.168419361114502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9995963312768299, + -0.014273772947490219, + 0.024564557027451688, + -2.040808916091919 + ], + [ + 0.014437311754169718, + 0.9998747110366824, + -0.006493107959568072, + -0.6271487474441528 + ], + [ + -0.02446879057316677, + 0.006845132913440468, + 0.9996771686261421, + 7.172252178192139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9996090614043793, + -0.014193935319781307, + 0.02408887361508971, + -2.0371477603912354 + ], + [ + 0.014376624598258739, + 0.9998690485954287, + -0.007427829159519618, + -0.6312201023101807 + ], + [ + -0.023980282585383518, + 0.007771241944283249, + 0.9996822501991989, + 7.177598476409912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9996054490241094, + -0.014664414338767532, + 0.023955264358810485, + -2.033977508544922 + ], + [ + 0.014861690185409213, + 0.9998569488525393, + -0.008077979438913037, + -0.6337519884109497 + ], + [ + -0.023833383033391664, + 0.008430807851254942, + 0.9996804121922811, + 7.177220821380615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9995895651185858, + -0.015596779994666576, + 0.02403068275400957, + -2.0351295471191406 + ], + [ + 0.015810320176138377, + 0.9998369812965393, + -0.008721915517156594, + -0.633461058139801 + ], + [ + -0.023890733660688113, + 0.009098268114030361, + 0.9996731504715279, + 7.195109844207764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9996015857936658, + -0.014395702630281448, + 0.024278710642644818, + -2.0351459980010986 + ], + [ + 0.01462650492469083, + 0.999849259853363, + -0.009355719590750397, + -0.633082389831543 + ], + [ + -0.02414035705487209, + 0.009707104414701462, + 0.9996614585375794, + 7.199700355529785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.999615457884834, + -0.012621673755347729, + 0.02469152266094943, + -2.036652088165283 + ], + [ + 0.012864464349000035, + 0.9998701810836792, + -0.00969890451492565, + -0.6343069076538086 + ], + [ + -0.024565920887419646, + 0.010012817569077015, + 0.999648062307126, + 7.208346843719482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9995952062831424, + -0.01305997371673584, + 0.025274814038331747, + -2.034790515899658 + ], + [ + 0.013334636535203209, + 0.9998535513877869, + -0.01072918178508019, + -0.6374236345291138 + ], + [ + -0.025130983747173173, + 0.011061868630349636, + 0.9996229452620387, + 7.202718257904053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.999579342897617, + -0.013334473595023155, + 0.025754289451481855, + -2.0389890670776367 + ], + [ + 0.013628376458139503, + 0.9998435974121094, + -0.011270178888404835, + -0.6369739174842834 + ], + [ + -0.025599983684096016, + 0.011616427451372147, + 0.9996047602673105, + 7.220598220825195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9995693982792092, + -0.013464532792568207, + 0.026072648159505368, + -2.041574239730835 + ], + [ + 0.013777811442188627, + 0.9998345971107483, + -0.0118734812422046, + -0.6381543278694153 + ], + [ + -0.0259084808271266, + 0.012227591127157211, + 0.9995895546441319, + 7.231563568115234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9995562525807077, + -0.01359877921640873, + 0.02650337285208032, + -2.0418834686279297 + ], + [ + 0.013936186179716734, + 0.9998236298561096, + -0.012587877221846325, + -0.6398189067840576 + ], + [ + -0.0263275120403813, + 0.012951646000146866, + 0.9995694613428712, + 7.243948936462402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9995286821825996, + -0.01367995236068964, + 0.02748150723150379, + -2.043865919113159 + ], + [ + 0.014044746903350613, + 0.9998152256011963, + -0.013125338373413802, + -0.6396231055259705 + ], + [ + -0.02729687703603067, + 0.013505122624337673, + 0.9995361418165234, + 7.252993106842041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9994616332914665, + -0.013591569848358631, + 0.02986264327187421, + -2.0447568893432617 + ], + [ + 0.01400297815434035, + 0.9998093247413635, + -0.013611050111853866, + -0.6416573524475098 + ], + [ + -0.029671961621833474, + 0.014021887443959713, + 0.9994613401895579, + 7.2581586837768555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9993846825805259, + -0.013333266600966454, + 0.032442817242169554, + -2.0424323081970215 + ], + [ + 0.013790651285210637, + 0.9998080730438232, + -0.013915519545710941, + -0.641463041305542 + ], + [ + -0.032251050161393416, + 0.014354364015161991, + 0.9993767042730646, + 7.253056049346924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9992953822791721, + -0.012916799634695057, + 0.035240132535347045, + -2.0450589656829834 + ], + [ + 0.013417252030664737, + 0.9998119473457339, + -0.014001863302578072, + -0.641926646232605 + ], + [ + -0.03505264125218566, + 0.014464822597801689, + 0.9992808011241147, + 7.2645769119262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9991827531635201, + -0.012952453456819061, + 0.0382890698751017, + -2.0505876541137695 + ], + [ + 0.013534706475337818, + 0.9997960925102236, + -0.014986860543109265, + -0.6408559083938599 + ], + [ + -0.0380871301796508, + 0.015492843464016918, + 0.999154310013006, + 7.273463249206543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9990758889443145, + -0.012345968745648864, + 0.041169491409809904, + -2.0542831420898438 + ], + [ + 0.012982296842311919, + 0.9997997879981997, + -0.01522492879742191, + -0.6401031017303467 + ], + [ + -0.040973304753416526, + 0.01574533432722092, + 0.9990361526613281, + 7.284390449523926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9989480394546556, + -0.012848119251430035, + 0.04401963372179949, + -2.055448532104492 + ], + [ + 0.01355560008779321, + 0.9997830986976624, + -0.015811306762999924, + -0.640487551689148 + ], + [ + -0.0438069660818852, + 0.016391385346651077, + 0.9989055370615113, + 7.28283166885376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9988323369781447, + -0.012383409775793552, + 0.0466969308446084, + -2.059626340866089 + ], + [ + 0.01315496970311778, + 0.9997813701629639, + -0.016251766155888362, + -0.6375643610954285 + ], + [ + -0.0464854362701117, + 0.01684708520770073, + 0.9987769219033865, + 7.295253753662109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.998723868800408, + -0.012122072279453278, + 0.049027438870378574, + -2.0594353675842285 + ], + [ + 0.012944254360015653, + 0.9997802972793579, + -0.016487245229917912, + -0.6370652914047241 + ], + [ + -0.048816788954428175, + 0.017100827768445015, + 0.9986613240444381, + 7.2902092933654785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9986010040618216, + -0.012113668024539948, + 0.05147130209422984, + -2.062004566192627 + ], + [ + 0.013002569472112946, + 0.9997714757919312, + -0.016970229191384946, + -0.6381618976593018 + ], + [ + -0.051253991547697816, + 0.017615746706724167, + 0.9985302801613664, + 7.288822650909424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9985148452264527, + -0.012055406346917152, + 0.053130062766670025, + -2.064120292663574 + ], + [ + 0.012993741872724167, + 0.9997650384902954, + -0.017351191452503422, + -0.6389503479003906 + ], + [ + -0.052908403858414214, + 0.018015779554843903, + 0.9984368651413911, + 7.283267498016357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9984247157593066, + -0.01290934905409813, + 0.05460309104514095, + -2.0649776458740234 + ], + [ + 0.013897511032854516, + 0.9997457265853882, + -0.017756362261446928, + -0.6395834684371948 + ], + [ + -0.05435997616437526, + 0.01848723739385605, + 0.9983502448884227, + 7.282594680786133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9983797716627074, + -0.012064455077052116, + 0.055608061364832165, + -2.0652658939361572 + ], + [ + 0.013093784508633811, + 0.999748945236206, + -0.018183407948495794, + -0.6412558555603027 + ], + [ + -0.05537473865172248, + 0.018882066011428833, + 0.9982870645507892, + 7.2714524269104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9983116240488383, + -0.012296952307224277, + 0.05676886918329645, + -2.0670180320739746 + ], + [ + 0.013359916126200614, + 0.9997417330741885, + -0.018383025632441076, + -0.6424718499183655 + ], + [ + -0.0565281403142755, + 0.019110415130853656, + 0.9982180791251134, + 7.268990516662598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.998261653338286, + -0.012923983857035637, + 0.05750332245327486, + -2.071063995361328 + ], + [ + 0.014036678480592582, + 0.9997211694717407, + -0.018988433414970536, + -0.6404417157173157 + ], + [ + -0.057241887611682196, + 0.01976258121430874, + 0.9981647310422763, + 7.272632598876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9982526465890158, + -0.012954616919159893, + 0.057653144426598385, + -2.0753889083862305 + ], + [ + 0.014081016843346438, + 0.9997169971466067, + -0.019174323016386635, + -0.639122724533081 + ], + [ + -0.057388439231199705, + 0.019952632486820224, + 0.9981525411646397, + 7.279666900634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9982953005172511, + -0.013073375448584557, + 0.05688250356801745, + -2.076775074005127 + ], + [ + 0.014196126552152443, + 0.9997113943099976, + -0.019378949449211626, + -0.6385514140129089 + ], + [ + -0.0566127712400343, + 0.020153425633907318, + 0.9981927634065535, + 7.281442165374756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9983173149986269, + -0.013504991307854652, + 0.05639335750240117, + -2.0796356201171875 + ], + [ + 0.01461320201062629, + 0.9997072219848633, + -0.019285510734890376, + -0.6373811960220337 + ], + [ + -0.056116422712102106, + 0.020077146589756012, + 0.9982223536887451, + 7.285021781921387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9983654084121425, + -0.013264980167150497, + 0.055592723028437624, + -2.081345319747925 + ], + [ + 0.014352823786502343, + 0.999712347984314, + -0.01921470238388574, + -0.6360839009284973 + ], + [ + -0.05532187541943377, + 0.019981207326054573, + 0.9982686010849926, + 7.288698196411133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.998400827444692, + -0.012729843147099018, + 0.05507901573460753, + -2.0854101181030273 + ], + [ + 0.013794922078020088, + 0.9997243285179138, + -0.01900049242601366, + -0.6365995407104492 + ], + [ + -0.05482194874258812, + 0.019729919731616974, + 0.998301217833667, + 7.293909072875977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9984273780807104, + -0.013397295027971268, + 0.0544360573276103, + -2.0874061584472656 + ], + [ + 0.014450370515074378, + 0.9997150897979736, + -0.018997852533317844, + -0.6360113620758057 + ], + [ + -0.05416603875650426, + 0.019754596054553986, + 0.9983365098006532, + 7.29694938659668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9984427396182336, + -0.014375199563801289, + 0.0539021269018702, + -2.0897507667541504 + ], + [ + 0.015414876863811041, + 0.9997020959854126, + -0.01892233092143418, + -0.6358527541160583 + ], + [ + -0.05361404174471349, + 0.019723758101463318, + 0.9983669211278472, + 7.300273895263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9984884455181577, + -0.014491571113467216, + 0.05301725031614521, + -2.090045213699341 + ], + [ + 0.01551090270584228, + 0.9997016787528992, + -0.01886573790809033, + -0.6363632678985596 + ], + [ + -0.05272804371009998, + 0.01965956762433052, + 0.9984153467163401, + 7.300070762634277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9985090915464354, + -0.014327424578368664, + 0.052671564075508846, + -2.0922000408172607 + ], + [ + 0.015329220111426496, + 0.9997082948684692, + -0.018665139566428072, + -0.6371774077415466 + ], + [ + -0.05238876041058212, + 0.019444726407527924, + 0.9984374285463905, + 7.302431583404541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9985522984301677, + -0.013701468706130985, + 0.052015219845103586, + -2.0951766967773438 + ], + [ + 0.014681332705147666, + 0.9997209906578066, + -0.018502921285870895, + -0.6371187567710876 + ], + [ + -0.051747203630417585, + 0.019239787012338642, + 0.9984748881755294, + 7.306337833404541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9985793008943553, + -0.013915710151195526, + 0.05143636562460709, + -2.0967729091644287 + ], + [ + 0.014887574030650047, + 0.9997168779373169, + -0.018559892585227136, + -0.6383897066116333 + ], + [ + -0.05116349579720473, + 0.019299287348985672, + 0.9985037998456121, + 7.310259819030762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9986030210933978, + -0.014417719095945358, + 0.050834061265153364, + -2.09830641746521 + ], + [ + 0.01538378360515517, + 0.9997074604034424, + -0.01866451493396238, + -0.6384934782981873 + ], + [ + -0.05055009062776365, + 0.019420461729168892, + 0.9985327025540821, + 7.310047149658203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9986392079866225, + -0.014543503522872928, + 0.05008264832721955, + -2.1011149883270264 + ], + [ + 0.015495326443529543, + 0.9997056126594546, + -0.018669503334727926, + -0.6384963393211365 + ], + [ + -0.04979636929203381, + 0.019420143216848377, + 0.9985705905822388, + 7.318010330200195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9986732800508039, + -0.014296917244791985, + 0.04946984234943878, + -2.1025478839874268 + ], + [ + 0.015237219608558984, + 0.9997093677520752, + -0.018682924369196257, + -0.6389557123184204 + ], + [ + -0.04918835144044554, + 0.01941191963851452, + 0.9986008412491504, + 7.316781997680664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9987150996217785, + -0.013566396199166775, + 0.048827824931904795, + -2.1040565967559814 + ], + [ + 0.014484506356828655, + 0.9997239708900452, + -0.01849854388864739, + -0.636210024356842 + ], + [ + -0.04856338448357204, + 0.019182022660970688, + 0.9986358796778807, + 7.325287342071533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9987446738157619, + -0.013637087307870388, + 0.04819867714278087, + -2.1053175926208496 + ], + [ + 0.014547731375723252, + 0.9997212886810303, + -0.01859352443172779, + -0.6378846168518066 + ], + [ + -0.04793167246267518, + 0.01927136443555355, + 0.998664711859438, + 7.324773788452148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9987718692801882, + -0.013845379464328289, + 0.0475717089377164, + -2.107578992843628 + ], + [ + 0.014757929096718378, + 0.9997127056121826, + -0.018885222366944426, + -0.6370671987533569 + ], + [ + -0.047296582085692936, + 0.019564088433980942, + 0.9986893043410826, + 7.330455303192139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9988109361610783, + -0.013570712879300121, + 0.04682517847369483, + -2.1088314056396484 + ], + [ + 0.014476767860430643, + 0.9997134208679201, + -0.01906515683651135, + -0.6366187930107117 + ], + [ + -0.046553022120286905, + 0.019720364362001423, + 0.9987211180083938, + 7.331852436065674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9988476260110819, + -0.01352979987859726, + 0.04604808235223538, + -2.109985589981079 + ], + [ + 0.014423428591766884, + 0.9997129440307617, + -0.01912981898559576, + -0.6365532875061035 + ], + [ + -0.045776017750595976, + 0.019771944731473923, + 0.9987560460746602, + 7.340531349182129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9988806471178443, + -0.013717924244701866, + 0.04526821041650281, + -2.1118881702423096 + ], + [ + 0.014605658737418344, + 0.9997063279151919, + -0.019338425985696735, + -0.6361908316612244 + ], + [ + -0.04498963490393267, + 0.01997795142233372, + 0.9987876887888536, + 7.347796440124512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9989077792258642, + -0.013978390023112297, + 0.04458562441789231, + -2.1134755611419678 + ], + [ + 0.014859464963160167, + 0.999699592590332, + -0.019491570804631556, + -0.6357783079147339 + ], + [ + -0.04429980347676931, + 0.020132798701524734, + 0.9988153947583253, + 7.353850364685059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9989503717407323, + -0.013913769274950027, + 0.04364132843793324, + -2.1148228645324707 + ], + [ + 0.014777198219843194, + 0.9997001886367798, + -0.019524854110924302, + -0.6348604559898376 + ], + [ + -0.04335658941722547, + 0.02014925703406334, + 0.9988564577886491, + 7.361342430114746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9989836193046587, + -0.013559110462665561, + 0.04298714691544265, + -2.1175074577331543 + ], + [ + 0.014401577895674934, + 0.9997090697288515, + -0.01934937834159703, + -0.6358161568641663 + ], + [ + -0.04271226756149442, + 0.01994879357516766, + 0.9988882393353758, + 7.365382194519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9990273096867942, + -0.013580300845205787, + 0.04195211630755186, + -2.1183362007141113 + ], + [ + 0.01440257532850942, + 0.9997088313102724, + -0.01936063562131137, + -0.6357571482658386 + ], + [ + -0.04167698959184658, + 0.019946023821830753, + 0.9989320432947499, + 7.371307849884033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.999072539698709, + -0.013742893934249878, + 0.04080619347005829, + -2.1201021671295166 + ], + [ + 0.014542423412838484, + 0.9997068047523499, + -0.01936154074711618, + -0.6377312541007996 + ], + [ + -0.04052813575838695, + 0.019937004894018173, + 0.9989794712862435, + 7.379338264465332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9991632523533319, + -0.014227872714400291, + 0.03834613311232387, + -2.120774745941162 + ], + [ + 0.014982122447585787, + 0.9996984601020813, + -0.019454455907121065, + -0.6378586292266846 + ], + [ + -0.038057795784616245, + 0.020012682303786278, + 0.9990751130099272, + 7.381950378417969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9993081627998567, + -0.01500596292316914, + 0.034030009305291785, + -2.118312358856201 + ], + [ + 0.015664386371056476, + 0.9996936321258547, + -0.019164937688866075, + -0.6399713158607483 + ], + [ + -0.033732028658125815, + 0.01968473941087723, + 0.9992370348843177, + 7.383938312530518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9994654189348443, + -0.015288633294403553, + 0.02889858527248552, + -2.1184072494506836 + ], + [ + 0.01584273798383835, + 0.9996931552886963, + -0.019043380794541404, + -0.6423859000205994 + ], + [ + -0.02859857603446314, + 0.019491031765937805, + 0.9994009436533345, + 7.3909430503845215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9995945942157022, + -0.015487204305827618, + 0.02389024041384431, + -2.119231939315796 + ], + [ + 0.015947611770834026, + 0.9996883869171143, + -0.01920314415256982, + -0.642760157585144 + ], + [ + -0.023585410216760375, + 0.01957635208964348, + 0.9995301371925273, + 7.404801845550537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.9997124101738218, + -0.015875525772571567, + 0.017973683287347067, + -2.116976261138916 + ], + [ + 0.016219921157519024, + 0.9996844530105593, + -0.019180374266829715, + -0.6427227258682251 + ], + [ + -0.017663507695858543, + 0.019466390833258632, + 0.9996544762742104, + 7.405274391174316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9998111374098405, + -0.015740249305963516, + 0.01140090072178558, + -2.113114356994629 + ], + [ + 0.01595234094490839, + 0.9996967911720276, + -0.018757442881814322, + -0.644688069820404 + ], + [ + -0.011102229331525213, + 0.01893577165901661, + 0.9997590680710383, + 7.403816223144531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.999882613261679, + -0.014678942039608959, + 0.0043956445248354474, + -2.1171765327453613 + ], + [ + 0.014757505821162002, + 0.9997216463088991, + -0.01840878570891273, + -0.6443529725074768 + ], + [ + -0.0041241854032754224, + 0.018471492454409603, + 0.9998208991761848, + 7.422351360321045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.999898608257008, + -0.013969121500849724, + -0.002768204546058546, + -2.115756034851074 + ], + [ + 0.013916857762661617, + 0.9997397661209106, + -0.018076327346378575, + -0.6451994776725769 + ], + [ + 0.003019974802383668, + 0.018035968765616417, + 0.9998327778899306, + 7.427338600158691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.9998551593488395, + -0.013616076670587063, + -0.010212409797220656, + -2.1127989292144775 + ], + [ + 0.013433339025361824, + 0.9997521638870239, + -0.017753679173151144, + -0.6469006538391113 + ], + [ + 0.010451591441253755, + 0.01761392131447792, + 0.9997902172978941, + 7.428204536437988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.999757404190637, + -0.012948937714099884, + -0.01781640249503705, + -2.1163699626922607 + ], + [ + 0.012639756774701576, + 0.9997694492340088, + -0.017358190634547365, + -0.6468768119812012 + ], + [ + 0.018037072112503726, + 0.017128784209489822, + 0.9996905725648649, + 7.447181701660156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.9995877315123144, + -0.012601244263350964, + -0.025799512260096046, + -2.115128517150879 + ], + [ + 0.01215890186710167, + 0.999777615070343, + -0.017231038751590478, + -0.6477629542350769 + ], + [ + 0.02601089810040562, + 0.016910240054130554, + 0.9995186218388936, + 7.452854156494141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.9993554405343984, + -0.012155010364949703, + -0.03377736672219181, + -2.115097761154175 + ], + [ + 0.01159427301213536, + 0.9997925162315369, + -0.01674757216205153, + -0.6487604975700378 + ], + [ + 0.03397392409676468, + 0.016345154494047165, + 0.9992890741309022, + 7.466430187225342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 583.4982503255208, + "fy": 583.385986328125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6e59b070-d815-4158-bfb1-df91c6823f72/orbit_left/transforms.json b/dynpose_eval/camera_controls/6e59b070-d815-4158-bfb1-df91c6823f72/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c87f16910a1d366d261c75426eac8e2b7469b5d1 --- /dev/null +++ b/dynpose_eval/camera_controls/6e59b070-d815-4158-bfb1-df91c6823f72/orbit_left/transforms.json @@ -0,0 +1,4003 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 114, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00019575882470235229, + 0.000161205098265782, + -8.450305176666006e-05 + ], + [ + -0.0001957245694939047, + 0.9999999403953552, + -0.00021248729899525642, + 9.04660701053217e-05 + ], + [ + -0.00016124668763950467, + 0.00021245575044304132, + 0.9999999403953552, + -4.24404424848035e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999960606723305, + -0.0022903934586793184, + 0.0016238274735520047, + -0.0007858477940363615 + ], + [ + 0.0022969524890519865, + 0.9999891519546509, + -0.004049033065491893, + -0.0008010351751388005 + ], + [ + -0.0016145359837842648, + 0.0040527465753257275, + 0.9999904793473279, + 0.011809094580478751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999790922379313, + -0.01853293925523758, + 0.008641865081760016, + -0.003465588916065722 + ], + [ + 0.018610553330678462, + 0.999786376953125, + -0.00898901344711283, + -0.00034971113428326956 + ], + [ + -0.008473426215080961, + 0.009147963486611843, + 0.9999222384395581, + 0.0049881603717697506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999608132594901, + -0.024497708305716515, + 0.01354560543368403, + -0.005750505452771596 + ], + [ + 0.024634975492991557, + 0.9996458888053894, + -0.0100613129366734, + -0.0005555544262396254 + ], + [ + -0.01329432966130536, + 0.01039106585085392, + 0.9998576615900409, + 0.009570683759065448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9996304664285397, + -0.02083924785256386, + 0.017455411264663045, + -0.007640218661473191 + ], + [ + 0.021000354429682767, + 0.9997380971908572, + -0.009097716733462945, + -0.000668285566103951 + ], + [ + -0.01726124938571018, + 0.00946092512458563, + 0.9998062592532723, + 0.009266648850009166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999449598201117, + -0.0230257511138916, + 0.02388164179911526, + -0.010407056336489116 + ], + [ + 0.02330749844073184, + 0.9996612071990967, + -0.011587139436321356, + -0.0004971033440247273 + ], + [ + -0.023606748419234522, + 0.012137383222579956, + 0.9996476433782965, + 0.01838277347368293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9992579821075276, + -0.02864139899611473, + 0.02575243318143765, + -0.012718294755786471 + ], + [ + 0.02894974907955296, + 0.9995126128196716, + -0.011681603204825537, + -0.0006105143420008432 + ], + [ + -0.025405303184977874, + 0.012418461963534355, + 0.99960008348735, + 0.007345159662997331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999168111673327, + -0.027313413098454475, + 0.03028277886654165, + -0.015539371177110323 + ], + [ + 0.02755713056948102, + 0.9995908737182617, + -0.0076600213599653764, + -0.00039098759082005784 + ], + [ + -0.03006116820068076, + 0.008488154970109463, + 0.9995120336664085, + 0.0072319928380087835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9989682370188459, + -0.03289518132805825, + 0.03131085022574986, + -0.016790031674094354 + ], + [ + 0.03299152232452143, + 0.9994523525238039, + -0.002565260166224763, + 1.7570329689050538e-05 + ], + [ + -0.03120931842595446, + 0.003595605958253146, + 0.9995064145700935, + 0.006352559503657475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9989438459388523, + -0.031193042173981667, + 0.033737761901901, + -0.020347132902607708 + ], + [ + 0.031092686532342314, + 0.9995104074478149, + 0.003495263285581884, + -0.0005571388426934423 + ], + [ + -0.03383027011171257, + -0.002442573895677924, + 0.999424580870439, + 0.007173354333278182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9989606995170796, + -0.03020288422703743, + 0.0341360501298409, + -0.022144119345828994 + ], + [ + 0.029994794903711337, + 0.9995283484458923, + 0.006591756423942011, + -0.0007730598969124143 + ], + [ + -0.03431903895424942, + -0.0055610015988349915, + 0.9993954460668564, + 0.00950363993274711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9988735162670037, + -0.030070882290601737, + 0.03670725650674508, + -0.02412627979235525 + ], + [ + 0.02985663518925617, + 0.9995338916778567, + 0.006371061647105759, + -0.0007637310203840891 + ], + [ + -0.03688172993961901, + -0.005267929751425982, + 0.9993057550869389, + 0.012079775665757197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9988004332310328, + -0.027921238914132118, + 0.040225222001032075, + -0.026628630059757928 + ], + [ + 0.027670633863658037, + 0.9995941519737244, + 0.006773475911842111, + -0.0006760128754867736 + ], + [ + -0.04039802147402111, + -0.005652293097227812, + 0.9991677046426156, + 0.011336309423315573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9987826408594475, + -0.026570957154035575, + 0.04156055641851946, + -0.029256451765369892 + ], + [ + 0.026296938839155796, + 0.9996287822723391, + 0.00712619512148675, + -0.0006328423861852859 + ], + [ + -0.04173447712936991, + -0.006024604663252832, + 0.9991105632904772, + 0.011158007403940965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9989087223407357, + -0.019278647378087044, + 0.042540575282314426, + -0.03127132563301872 + ], + [ + 0.01895378436411966, + 0.9997881650924683, + 0.008026736797202222, + -0.000391392521597212 + ], + [ + -0.04268630791722664, + -0.007211672142148018, + 0.9990625063174653, + 0.013611801311552214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9987891530325422, + -0.018056053668260574, + 0.04576281801230453, + -0.03379272556562843 + ], + [ + 0.017697455179249637, + 0.9998095035552979, + 0.008229160219340531, + -0.00026882444723752314 + ], + [ + -0.0459026871683457, + -0.007409310899674892, + 0.9989184221577205, + 0.012980360048624837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9986405437195585, + -0.019894370809197426, + 0.04817968874372842, + -0.036112513015378364 + ], + [ + 0.019508737197285294, + 0.9997738599777222, + 0.008461141818076891, + -0.0003366008720149992 + ], + [ + -0.04833712387553202, + -0.007509714458137751, + 0.998802846093781, + 0.011202526259359913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9986478065763672, + -0.019093845039606094, + 0.048352842038337736, + -0.03871332635301509 + ], + [ + 0.018587015190486125, + 0.9997677206993103, + 0.010909998625481393, + -0.000826034657584144 + ], + [ + -0.048549924280050796, + -0.009996511973440647, + 0.998770735461736, + 0.011010576867828172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9986659145503847, + -0.017304737120866776, + 0.048651540447079186, + -0.04085980524529404 + ], + [ + 0.016768299810396514, + 0.9997942447662354, + 0.011412739622316296, + -0.0006754171453653557 + ], + [ + -0.048839025727498465, + -0.010581709444522858, + 0.9987506186487198, + 0.011537343001984331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.998624383301192, + -0.01668710634112358, + 0.049708086734671496, + -0.04300291194794284 + ], + [ + 0.01614124445416389, + 0.9998051524162292, + 0.011362661799235698, + -0.00031092080357460585 + ], + [ + -0.04988801070511563, + -0.010544680058956146, + 0.998699150183664, + 0.01120337492094327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.998607447410291, + -0.014095393009483814, + 0.05083752213495346, + -0.04546132466850015 + ], + [ + 0.013484612274929234, + 0.9998329877853394, + 0.012337428214204497, + -0.00018766328865962325 + ], + [ + -0.05100293281740409, + -0.011634723283350468, + 0.9986307454714721, + 0.010693498199986152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9985526835991233, + -0.012493506073951721, + 0.052311556126841435, + -0.047565128884172816 + ], + [ + 0.011773613897656725, + 0.999832034111023, + 0.01404725753536662, + -0.0002546712396793428 + ], + [ + -0.05247826800410719, + -0.013411030173301697, + 0.998532034358349, + 0.01128668535980983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9985218297746449, + -0.01073670294135809, + 0.05328107730690504, + -0.05012852750083534 + ], + [ + 0.009971044812317776, + 0.9998434782028198, + 0.014615255627643936, + -0.000297712513211779 + ], + [ + -0.05342965692302461, + -0.014062384143471718, + 0.9984725919949744, + 0.010872065086722064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9984222474560377, + -0.0107291741296649, + 0.055116880111129335, + -0.052308883094797684 + ], + [ + 0.009891501716663578, + 0.9998317360877993, + 0.015448486770126002, + -0.0004940865986019564 + ], + [ + -0.05527335766299738, + -0.014878924004733566, + 0.9983604197248842, + 0.011242311531991388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9983207631228141, + -0.01113845407962799, + 0.05684756140178966, + -0.05456429206431599 + ], + [ + 0.010238529046265947, + 0.9998180270195007, + 0.01609726678740594, + -0.0016004462163483908 + ], + [ + -0.057016513008359596, + -0.015488198958337307, + 0.99825309496493, + 0.011195506557870293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9982336077619888, + -0.010263963602483273, + 0.05851777958026841, + -0.057297450590245255 + ], + [ + 0.00940837712794646, + 0.999845027923584, + 0.014877800016930037, + -0.000814828187921138 + ], + [ + -0.05866141669376247, + -0.01430096197873354, + 0.9981754851799374, + 0.011011271900178112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.998168966952396, + -0.00997665710747242, + 0.05965927070990305, + -0.05954638291558658 + ], + [ + 0.0091311256883717, + 0.9998542070388794, + 0.0144285606028348, + -0.00038216507846559563 + ], + [ + -0.059794521218448395, + -0.013857384212315083, + 0.9981145324622787, + 0.011395686260065437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9980394599275625, + -0.009530819021165373, + 0.06185751256910325, + -0.061993457287058254 + ], + [ + 0.008641930505720923, + 0.9998557567596438, + 0.014621595630997982, + -0.0006133208593370664 + ], + [ + -0.061987947934729996, + -0.014058361761271957, + 0.9979778990587459, + 0.011343121864124445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.997922366060831, + -0.008369809947907926, + 0.0638820159651794, + -0.06396609581172613 + ], + [ + 0.007526387212506337, + 0.999881446361542, + 0.013432079676386148, + -0.0007830935459530843 + ], + [ + -0.06398686648626736, + -0.012923371046781543, + 0.99786705379612, + 0.009799913149882204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9977512687127921, + -0.008179208263754846, + 0.06652478115535602, + -0.06617479689377871 + ], + [ + 0.007330022741262676, + 0.9998886585235598, + 0.012999049543206385, + -0.00026595555610175694 + ], + [ + -0.06662369448426064, + -0.012482189573347572, + 0.9977001070842977, + 0.009757297386514378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9975365731789246, + -0.007556139025837183, + 0.06973988905696256, + -0.0687472555286541 + ], + [ + 0.006722880330223875, + 0.9999032616615295, + 0.012175085095135714, + 0.0003451280020969828 + ], + [ + -0.06982514146364278, + -0.011676240712404251, + 0.997490905191121, + 0.00999760073000637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9973574171175895, + -0.003968851640820503, + 0.07254287658193466, + -0.070934431360828 + ], + [ + 0.0030750569039253097, + 0.9999180436134338, + 0.012428454909181059, + 0.0002512869525709836 + ], + [ + -0.07258625520616098, + -0.012172538787126541, + 0.9972878445713482, + 0.009232499460012568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.997104337452283, + -0.002441598335281015, + 0.07600615736979391, + -0.07344737840568771 + ], + [ + 0.0015127251901514384, + 0.9999235272407534, + 0.01227620058745054, + 0.00038564534709261485 + ], + [ + -0.07603031818567788, + -0.012125677429139618, + 0.9970317766404345, + 0.009419401742634231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9968798781765984, + -0.003443297231569886, + 0.07885867187909983, + -0.07542204878643229 + ], + [ + 0.0024963212796506235, + 0.9999236464500427, + 0.012103954161881056, + -0.00022485541903619812 + ], + [ + -0.07889432742769192, + -0.011869331821799278, + 0.9968123460855856, + 0.009314186357628085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9965545675220676, + -0.004961627535521985, + 0.08279085167910984, + -0.0779145537517167 + ], + [ + 0.004164002829217515, + 0.999943256378174, + 0.00980410295788441, + -0.0002890928749462353 + ], + [ + -0.0828347990491809, + -0.009425582364201547, + 0.9965186923391022, + 0.010865562080565222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9962179221378246, + -0.004668145906180144, + 0.08676414091760051, + -0.0802788391809019 + ], + [ + 0.003970686423808597, + 0.999958395957947, + 0.008209416406063695, + 0.00015384724224220522 + ], + [ + -0.0867988585305755, + -0.00783385429531336, + 0.9961950673760689, + 0.013090994701800052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9958305246872411, + 0.008615850470960142, + 0.09081511901294756, + -0.08389409184622026 + ], + [ + -0.009379672396685072, + 0.9999241232872011, + 0.007987294882543343, + 0.0007727220510720264 + ], + [ + -0.0907394061477243, + -0.008805807679891588, + 0.9958357177724596, + 0.002282109755840431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9954744551710838, + 0.0066727520897984505, + 0.09479512050603231, + -0.08591771162888487 + ], + [ + -0.007562591810494517, + 0.9999306201934814, + 0.009030824777787433, + 0.00026299756924689783 + ], + [ + -0.09472828331859413, + -0.009706851094961166, + 0.9954558501633869, + 0.0010761769364446387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9950165836288088, + 0.0002883237903006375, + 0.0997091038690995, + -0.08644818386237615 + ], + [ + -0.001049999626244982, + 0.9999706745147705, + 0.007586586408604478, + 0.0005328769612950753 + ], + [ + -0.09970399396502017, + -0.007653473410755396, + 0.9949877148352844, + 0.01916130080629555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9938592893425805, + -0.010511888191103937, + 0.11015063121113278, + -0.08769427016955857 + ], + [ + 0.010120306840891881, + 0.9999403357505801, + 0.004113462188321326, + 0.00014816228654705894 + ], + [ + -0.11018730193748992, + -0.002973444527015091, + 0.9939064194185084, + 0.033486000804201374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9925588271027987, + -0.015726132318377495, + 0.12074620172174981, + -0.09078694614195654 + ], + [ + 0.01598240758401463, + 0.9998716115951538, + -0.0011542184120510134, + -0.00041834329204252325 + ], + [ + -0.12071255016531211, + 0.0030754446052014828, + 0.9926827551593959, + 0.028575292463074713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9915942558169738, + -0.028174545615911484, + 0.12628136377894095, + -0.09359939727445639 + ], + [ + 0.0285608224759135, + 0.9995912909507751, + -0.0012489389376657137, + -0.0015527600705842622 + ], + [ + -0.12619456641312124, + 0.004845140036195517, + 0.9919936860398386, + 0.016966849947886144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9914319006344654, + -0.032959986478090286, + 0.12639808136235928, + -0.09581395232083942 + ], + [ + 0.033070159696771295, + 0.9994522929191589, + 0.0012272297722082952, + -0.0025632900887828532 + ], + [ + -0.12636929787958318, + 0.0029632896184921265, + 0.9919788521732411, + 0.014604818572950606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9911046823943884, + -0.041382402181625366, + 0.12648719390062732, + -0.09757739416430904 + ], + [ + 0.04114898084772045, + 0.9991430640220642, + 0.004458920438135458, + -0.0034354168663952274 + ], + [ + -0.12656332434296413, + 0.0007855619769543409, + 0.9919582190253561, + 0.02224035827908523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9912106767077882, + -0.031165366992354393, + 0.1285695978200465, + -0.0995626204114386 + ], + [ + 0.030751591984193066, + 0.9995135068893433, + 0.005202633681551071, + -0.0024704561350359575 + ], + [ + -0.12866918839085384, + -0.001203186227940023, + 0.991686824809407, + 0.023762748112817072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9909225774310665, + -0.02683313935995102, + 0.1317285777269367, + -0.1018703525386598 + ], + [ + 0.02626853068909197, + 0.9996367692947388, + 0.006022333421982356, + -0.002267398942424772 + ], + [ + -0.13184233314713723, + -0.002507349941879511, + 0.9912675580014104, + 0.02385945383757361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9905501079639321, + -0.030172398313879967, + 0.1337914570921595, + -0.10456406823972142 + ], + [ + 0.029398172813136315, + 0.9995376467704773, + 0.0077589908332717375, + -0.0027618897486186055 + ], + [ + -0.13396370326007584, + -0.003752444637939334, + 0.99097910889468, + 0.018301117502825898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9904073793898602, + -0.0266534723341465, + 0.135583315273299, + -0.1071280636168139 + ], + [ + 0.025632856299443396, + 0.999628484249115, + 0.009268100813784791, + -0.0024746217347421675 + ], + [ + -0.1357799687428622, + -0.005703807342797518, + 0.9907226148010493, + 0.020732581765379694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9901153575619512, + -0.02391894906759262, + 0.13820097777664295, + -0.10885872346890484 + ], + [ + 0.02272829883358735, + 0.9996897578239441, + 0.010187280692015384, + -0.0016558456856759097 + ], + [ + -0.1384017683221121, + -0.00694550946354866, + 0.9903517883854178, + 0.025429886508870042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9895368012429414, + -0.019434193149209023, + 0.14296570492506452, + -0.11030534637098605 + ], + [ + 0.018136913816356, + 0.9997817277908325, + 0.010371766802257118, + -0.0015669698332537617 + ], + [ + -0.1431360657277918, + -0.007670288905501366, + 0.9896732938403103, + 0.03359690491258091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9887943454873955, + -0.023202562704682354, + 0.1474701238129318, + -0.11196362432906867 + ], + [ + 0.02153114648020705, + 0.9996846914291384, + 0.012920381483656946, + -0.005996037200944541 + ], + [ + -0.14772340225901606, + -0.009600399993360044, + 0.9889820983104092, + 0.021922329176433317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9879184037488924, + -0.029326461255550385, + 0.15217497183749287, + -0.11443513411138805 + ], + [ + 0.027867001192321033, + 0.9995430111885071, + 0.01171504901762979, + -0.006670827083163154 + ], + [ + -0.15244898118429054, + -0.0073328521102666855, + 0.9882841296649608, + 0.019908980062261727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9874571232903198, + -0.030015407130122185, + 0.15500825232445306, + -0.1169813948889349 + ], + [ + 0.028590625475465346, + 0.9995260238647461, + 0.011413357235517787, + -0.006919552947053261 + ], + [ + -0.15527735545634605, + -0.006838418077677488, + 0.987847225963354, + 0.02001050557653942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9868061080274062, + -0.03453265503048897, + 0.15818083683596929, + -0.11908582373235575 + ], + [ + 0.03369233628023701, + 0.9994003176689148, + 0.007991758165665873, + -0.003951175372310876 + ], + [ + -0.15836195959768307, + -0.002556833904236555, + 0.9873778375398029, + 0.03145361686707547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9860956829626663, + -0.04132319986820221, + 0.16095881946922388, + -0.12197555801960339 + ], + [ + 0.04055056756008855, + 0.9991447925567627, + 0.008083585213772768, + -0.004519442354773874 + ], + [ + -0.16115519907352355, + -0.0014442172832787037, + 0.9869280034903216, + 0.03431593897487879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.985737828214073, + -0.044453687965869904, + 0.16231073777736513, + -0.12411083448460095 + ], + [ + 0.043692862170651575, + 0.9990109205245972, + 0.008255837696735376, + -0.005120435022487928 + ], + [ + -0.16251720160287883, + -0.001046271063387394, + 0.9867051752063, + 0.032011003264389826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9854328566548676, + -0.04613169655203819, + 0.16368861706749152, + -0.12591980843013786 + ], + [ + 0.0452705809229129, + 0.9989343285560608, + 0.008989138076675006, + -0.005522982453200995 + ], + [ + -0.16392886073699173, + -0.0014479134697467089, + 0.9864711056211092, + 0.032477899560470744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9850724159341487, + -0.04531039297580719, + 0.16607011890264053, + -0.128979573154465 + ], + [ + 0.044166082731419296, + 0.9989681839942932, + 0.010578964473275068, + -0.0064174734112255605 + ], + [ + -0.16637810051407204, + -0.0030863794963806868, + 0.9860571728943897, + 0.029322130394147036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9848925391495654, + -0.04184044525027275, + 0.1680359175165112, + -0.13135933838355915 + ], + [ + 0.04044488167226147, + 0.9991130232810974, + 0.011720537777240731, + -0.006412121929493288 + ], + [ + -0.16837726792622482, + -0.004747277125716209, + 0.9857111835768574, + 0.02796794311445484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9847718399583105, + -0.037493132054805756, + 0.1697607154434153, + -0.13355019873100618 + ], + [ + 0.03597038912234569, + 0.9992803335189819, + 0.012037664517391349, + -0.005612829699392451 + ], + [ + -0.17008987785866586, + -0.005747993942350149, + 0.9854117928030712, + 0.026460088966437628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9845299893211568, + -0.030363162979483604, + 0.17256515076375886, + -0.13663388189174122 + ], + [ + 0.02865116406108328, + 0.9995124936103821, + 0.012403617088102885, + -0.0044800625150042276 + ], + [ + -0.17285764357733252, + -0.007267541252076626, + 0.9849199924249936, + 0.026417147820254415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9840929075950864, + -0.031089022755622864, + 0.17491308750454207, + -0.1386838813678218 + ], + [ + 0.029292770246492607, + 0.999488353729248, + 0.012842431606711467, + -0.004396024681981655 + ], + [ + -0.17522286166662593, + -0.007514457684010267, + 0.9845001305996863, + 0.027154904932860647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9835994319656127, + -0.030036114156246185, + 0.17784806224833286, + -0.1408095033058611 + ], + [ + 0.02821450841582675, + 0.9995204210281372, + 0.012763338919146721, + -0.004183155927280141 + ], + [ + -0.17814613292623258, + -0.007536117918789387, + 0.9839751836370809, + 0.029947874727370677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9830357904943894, + -0.03208936005830765, + 0.18058481681251348, + -0.14194812918718225 + ], + [ + 0.030346255955720793, + 0.9994624257087708, + 0.012407752798784732, + -0.004185086318431175 + ], + [ + -0.18088589723480888, + -0.006717192009091377, + 0.9834811434160415, + 0.03604150900339229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9823559344359547, + -0.034116193652153015, + 0.18388296806459645, + -0.14505065436061892 + ], + [ + 0.032394678488322066, + 0.9993987679481506, + 0.012358823926525757, + -0.005156645451163412 + ], + [ + -0.1841940345692453, + -0.006183934397995472, + 0.9828704250353542, + 0.029463711916746294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.981805587786258, + -0.03584153205156326, + 0.18647564598423005, + -0.147285424529544 + ], + [ + 0.034087908174675, + 0.9993393421173096, + 0.012603019749120111, + -0.005684159092777781 + ], + [ + -0.1868041645928419, + -0.0060171508230268955, + 0.9823787432749292, + 0.030559257927123815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9811217313904005, + -0.03879871219396591, + 0.1894592713421749, + -0.1493176163966804 + ], + [ + 0.03716955918194622, + 0.9992351531982422, + 0.012146008473613098, + -0.00566004438057295 + ], + [ + -0.18978561783438913, + -0.004874595440924168, + 0.9818134708654286, + 0.03552600348353005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9804850977729751, + -0.03895088657736779, + 0.19269613140570332, + -0.1520126878348408 + ], + [ + 0.03739964307115106, + 0.9992321133613589, + 0.011682551341799843, + -0.005731003509399077 + ], + [ + -0.19300320421560246, + -0.004247800912708045, + 0.981188938475837, + 0.03509628985057413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9799520173181925, + -0.037025410681962974, + 0.19576311243611044, + -0.15442539225023524 + ], + [ + 0.03557252581705821, + 0.9993072748184206, + 0.01093357969723408, + -0.005247015119737699 + ], + [ + -0.19603232036410875, + -0.003750594798475505, + 0.9805902637352137, + 0.03698139067765399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9794183962054607, + -0.03919356316328049, + 0.19799878119119768, + -0.15612640046016144 + ], + [ + 0.03777126423787411, + 0.9992263317108154, + 0.010956494145861972, + -0.0057147628479324334 + ], + [ + -0.19827501692345095, + -0.0032523279078304768, + 0.9801410352077197, + 0.0376702784766693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9789934060463001, + -0.03892486169934273, + 0.20014183777221506, + -0.1580724207260112 + ], + [ + 0.0375751280468206, + 0.9992382526397705, + 0.010539550658521891, + -0.005821432502008371 + ], + [ + -0.20039962785774276, + -0.002797795459628105, + 0.9797102392817321, + 0.03725689707117022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9785841290217987, + -0.03677504137158394, + 0.2025357223616027, + -0.1607581910066985 + ], + [ + 0.03546458244704575, + 0.9993199110031128, + 0.010096759271640752, + -0.005824058291028953 + ], + [ + -0.20276929285119635, + -0.0026976834051311016, + 0.9792228499416576, + 0.03292354672800972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9780928360180966, + -0.035922229290008545, + 0.20504628545083184, + -0.1633069912995503 + ], + [ + 0.034654235972496075, + 0.9993515610694885, + 0.009772797657935725, + -0.005816924112520115 + ], + [ + -0.2052643885803376, + -0.0024529811926186085, + 0.9787034643046998, + 0.03218404159477037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9775686727169822, + -0.03705347329378128, + 0.2073318910876353, + -0.1655103130023926 + ], + [ + 0.035844567493711885, + 0.9993113875389099, + 0.009585750823151617, + -0.006027625273402243 + ], + [ + -0.20754431131443424, + -0.0019390080124139786, + 0.9782237238596673, + 0.03325670181191913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9771202218009511, + -0.036743611097335815, + 0.2094897296504594, + -0.16794998743121992 + ], + [ + 0.03561757275511997, + 0.9993236064910889, + 0.009146559002694, + -0.005986288284626814 + ], + [ + -0.20968411456805616, + -0.0014757723547518253, + 0.9777680623381863, + 0.03286039195470583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9766115285479987, + -0.03747867420315743, + 0.2117196794097135, + -0.17009788553749267 + ], + [ + 0.0363820745158415, + 0.9992967844009402, + 0.009074082445069707, + -0.006229426991959412 + ], + [ + -0.21191087406204864, + -0.0011590528301894667, + 0.9772883038647062, + 0.0337599780058222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9759693998422444, + -0.03784005716443062, + 0.2145969575014214, + -0.17196650755880916 + ], + [ + 0.036794694960284154, + 0.9992835521697998, + 0.008865222539214937, + -0.006335062637896344 + ], + [ + -0.21477866737588613, + -0.0007561565143987536, + 0.9766624687241442, + 0.036771314225512296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9752556379991015, + -0.035857021808624275, + 0.218152976010933, + -0.17447102856862196 + ], + [ + 0.034888950695677524, + 0.999356806278229, + 0.008289184557735644, + -0.0060765440689398926 + ], + [ + -0.2183098941957222, + -0.0004729454522021116, + 0.9758793956401227, + 0.03790034884140536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9744293771844192, + -0.03885522857308388, + 0.22130894256096031, + -0.17633058099219553 + ], + [ + 0.037921836371563065, + 0.9992448687553406, + 0.008466587718701218, + -0.006589466787494898 + ], + [ + -0.22147079606815928, + 0.00014234957052394748, + 0.9751670129661599, + 0.03966430725104905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9736364646783169, + -0.03829777613282204, + 0.22486734311252254, + -0.17882818750418136 + ], + [ + 0.03734492650448349, + 0.9992663860321045, + 0.008490767928743818, + -0.0066558711505155955 + ], + [ + -0.2250275494243397, + 0.00013073300942778587, + 0.9743524012392255, + 0.039623141572021216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9728609922271687, + -0.03813686966896057, + 0.22822588911066957, + -0.1810978159458367 + ], + [ + 0.03711482701108735, + 0.9992725253105164, + 0.008770063624502484, + -0.006862327947530298 + ], + [ + -0.2283943260687966, + -6.148824468255043e-05, + 0.9735687132794404, + 0.041045847176677815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.972253111338062, + -0.03725977241992951, + 0.23094507635490213, + -0.1829609712934986 + ], + [ + 0.03619785016374103, + 0.9993056058883669, + 0.008835116936991494, + -0.006640416060131972 + ], + [ + -0.23111390278130128, + -0.00023025483824312692, + 0.9729267024790071, + 0.04159720246111964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9715807258161531, + -0.03719495609402657, + 0.23376783848506152, + -0.18511156011062538 + ], + [ + 0.03603150814109761, + 0.9993078708648684, + 0.009247188519549079, + -0.006553610535659435 + ], + [ + -0.23394998611500922, + -0.0005613825633190573, + 0.9722484454633004, + 0.04249502787125913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9709795007883942, + -0.03562583401799202, + 0.23649443584701133, + -0.18771552648114423 + ], + [ + 0.03428548713283476, + 0.9993642568588257, + 0.009778986036129486, + -0.006446901938470549 + ], + [ + -0.23669246934117158, + -0.001386868068948388, + 0.9715836452007437, + 0.04130986963816217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9703423003385611, + -0.036376915872097015, + 0.23898219134765572, + -0.19018989822469812 + ], + [ + 0.03474645635535716, + 0.9993352293968201, + 0.011033376156023447, + -0.007017257449685377 + ], + [ + -0.23922469083696618, + -0.0024023675359785557, + 0.9709612493862058, + 0.03905978998302925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9698883204327418, + -0.035330250859260566, + 0.24097401482885208, + -0.19178450138133135 + ], + [ + 0.033480283528257174, + 0.9993700981140139, + 0.011768333481383973, + -0.006498813408119431 + ], + [ + -0.24123799919766478, + -0.0033460904378443965, + 0.9704602206321042, + 0.04353656185355018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9691597140974578, + -0.03547386825084687, + 0.24386698783225821, + -0.1942642954855731 + ], + [ + 0.03337539857332644, + 0.9993617534637453, + 0.01273291736227194, + -0.006427220587165096 + ], + [ + -0.24416302881716298, + -0.004201072733849288, + 0.9697250995802718, + 0.04531300766638106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9684921785851959, + -0.033744074404239655, + 0.24674727237575814, + -0.19646769427376612 + ], + [ + 0.03140327325453739, + 0.9994167685508728, + 0.013416838617900457, + -0.006096149277818498 + ], + [ + -0.24705610120271634, + -0.005245431326329708, + 0.9689870028805275, + 0.048935220516357195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9677567559353601, + -0.03379160165786744, + 0.24960974635181787, + -0.1984755611712063 + ], + [ + 0.03129530802154278, + 0.9994126558303835, + 0.013963817008908102, + -0.006096759264936371 + ], + [ + -0.2499349898489632, + -0.005701964255422355, + 0.9682458196719064, + 0.05345044909326832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9669729494094618, + -0.03670964390039444, + 0.25222154715078016, + -0.20063215482265298 + ], + [ + 0.03406687284268854, + 0.9993094205856323, + 0.014838326214588351, + -0.006684665895076517 + ], + [ + -0.2525920710994508, + -0.005755861289799213, + 0.9675557273477885, + 0.053419444886959086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9663531462909214, + -0.03628820553421974, + 0.2546464040009862, + -0.20281274615488304 + ], + [ + 0.033509231805016894, + 0.9993221163749695, + 0.015244112893216812, + -0.006701608543431509 + ], + [ + -0.2550269767302862, + -0.006198191083967686, + 0.9669140932805484, + 0.05289975184642681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9657101636149844, + -0.035718925297260284, + 0.2571537919353247, + -0.2050063672556087 + ], + [ + 0.03284592883883325, + 0.999340832233429, + 0.015460525923244992, + -0.00645872918158388 + ], + [ + -0.25753652074949157, + -0.006483931560069323, + 0.9662468202772811, + 0.054707369533531044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.965038368855631, + -0.036359839141368866, + 0.25957446982597515, + -0.20724332444294244 + ], + [ + 0.03339375100750285, + 0.999316930770874, + 0.015828783218471445, + -0.006521532905407022 + ], + [ + -0.2599726970023893, + -0.00660721817985177, + 0.965593372279735, + 0.056610806723277174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9644459313848464, + -0.03756110742688179, + 0.26159740333911774, + -0.20981306955815168 + ], + [ + 0.03451089018492457, + 0.9992722868919373, + 0.016245900305879902, + -0.006920567259659705 + ], + [ + -0.26201724467244547, + -0.006640333216637373, + 0.9650403467626355, + 0.053508507629099346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9639063330584796, + -0.03878410533070564, + 0.26340153374074327, + -0.2122352934487597 + ], + [ + 0.0356884854584936, + 0.9992262721061707, + 0.01652890447897101, + -0.007005192213710381 + ], + [ + -0.26383879616655925, + -0.006531913764774799, + 0.9645446945387549, + 0.053452045657870345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.963364301703673, + -0.040588561445474625, + 0.26510702850230616, + -0.2147808265776346 + ], + [ + 0.03730272186561354, + 0.9991521835327148, + 0.0174195212877599, + -0.007777863368983588 + ], + [ + -0.26558930018183957, + -0.006892131641507149, + 0.9640615995920322, + 0.052933510197780045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9628966822983253, + -0.039490707218647, + 0.266965359379284, + -0.21734431127789913 + ], + [ + 0.0361119291869201, + 0.999193549156189, + 0.017555844883701172, + -0.007823608771040647 + ], + [ + -0.26744334983827084, + -0.007263830862939358, + 0.9635462229864076, + 0.0523957194801155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9624361221027342, + -0.03901705518364906, + 0.26869008701982483, + -0.21972618315542686 + ], + [ + 0.03560724498713563, + 0.9992116689682007, + 0.017554045963859104, + -0.007870630271426402 + ], + [ + -0.26916317576006665, + -0.007327334955334663, + 0.9630666969265061, + 0.050950969588993235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9620902975371989, + -0.03536888584494591, + 0.27042796307731276, + -0.2218082963699341 + ], + [ + 0.0320133297113362, + 0.9993460774421692, + 0.016810560529044467, + -0.007017424644786957 + ], + [ + -0.2708456924037702, + -0.00751597760245204, + 0.9625934233155434, + 0.05187597124348965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9613842063181378, + -0.03409427031874657, + 0.2730897473396573, + -0.22375538343916587 + ], + [ + 0.030747846834417333, + 0.9993905425071716, + 0.016525698626568025, + -0.006733093653175922 + ], + [ + -0.2734867436086578, + -0.007490623742341995, + 0.9618466102641496, + 0.055720888379063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9605754115458844, + -0.03107726015150547, + 0.27627718296059606, + -0.22581762740779945 + ], + [ + 0.027831653564516026, + 0.9994899034500122, + 0.01566183472026867, + -0.005896284793995019 + ], + [ + -0.2766229866281518, + -0.007355123292654753, + 0.9609503813869723, + 0.05689715315961493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9594975267742503, + -0.03327224403619766, + 0.27974529144028054, + -0.22798014331065733 + ], + [ + 0.029975423606742053, + 0.9994216561317444, + 0.016056233163336906, + -0.0066277849770750765 + ], + [ + -0.28011774165686404, + -0.007020432967692614, + 0.9599399982922029, + 0.05650981749608917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9587713158353439, + -0.03190352022647858, + 0.28238218611296056, + -0.23014889542602254 + ], + [ + 0.028558524928738057, + 0.9994648098945618, + 0.015954808240490385, + -0.0064451043703802665 + ], + [ + -0.28274006377132166, + -0.007232594303786755, + 0.9591692876466483, + 0.055977960383187794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9580689209987996, + -0.029737429693341255, + 0.2849906214625844, + -0.23232292352438433 + ], + [ + 0.02636982166917642, + 0.9995297789573669, + 0.015647328909412322, + -0.005829872262618906 + ], + [ + -0.2853219220403043, + -0.00747606810182333, + 0.9584025756443576, + 0.05695416530464196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9574158731476641, + -0.027348635718226433, + 0.28741420867675954, + -0.2343012938140717 + ], + [ + 0.023942111236489993, + 0.9995953440666199, + 0.015361151290122322, + -0.005325032606104967 + ], + [ + -0.2877180086731621, + -0.007825708016753197, + 0.9576832194792332, + 0.05858192471129053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9565485939030961, + -0.02806420810520649, + 0.2902191717875751, + -0.2364760216151915 + ], + [ + 0.0245608972601111, + 0.9995749592781067, + 0.01570739492863776, + -0.005636528695624783 + ], + [ + -0.2905366240954678, + -0.007896844297647476, + 0.9568312845912723, + 0.059941767743786956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9556275026261672, + -0.029138442128896713, + 0.29313317256214905, + -0.2389491821155218 + ], + [ + 0.025558969016809187, + 0.9995446801185608, + 0.016034772773287697, + -0.0059815339754776976 + ], + [ + -0.2934669445675538, + -0.007831089198589325, + 0.955937176531819, + 0.06088046628068217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9548838014518797, + -0.031125195324420936, + 0.2953440694453143, + -0.2411482844108244 + ], + [ + 0.027479912333352657, + 0.9994863867759707, + 0.01648615110807201, + -0.0064679154782473856 + ], + [ + -0.29570552355847146, + -0.007626329548656942, + 0.9552487129932729, + 0.06195083614285164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9542313060286594, + -0.03268437087535858, + 0.29727827509092425, + -0.24335254312220067 + ], + [ + 0.02895166701957178, + 0.9994370341300964, + 0.016951738468189283, + -0.007037433875859027 + ], + [ + -0.29766498054359986, + -0.007569178007543087, + 0.9546403880039381, + 0.06092694431620863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.953605180634489, + -0.033501911908388145, + 0.29919011856502337, + -0.24571053529430206 + ], + [ + 0.029582143212247735, + 0.9994069933891299, + 0.017622110661757274, + -0.00738030639713818 + ], + [ + -0.2996030785692557, + -0.007953851483762266, + 0.954030780831528, + 0.061147411856941156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9531531160599852, + -0.03145909681916237, + 0.30084800320142446, + -0.24822994235324206 + ], + [ + 0.027319368353889876, + 0.9994654059410095, + 0.01795837432080018, + -0.0071294825065828325 + ], + [ + -0.30125213140257384, + -0.00889810360968113, + 0.9535030152269307, + 0.058790773386507046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9526702551172456, + -0.02834266424179077, + 0.30268141561447076, + -0.2504149482204258 + ], + [ + 0.023985480028784492, + 0.9995483756065369, + 0.01810355263754534, + -0.005923346113335971 + ], + [ + -0.30305782521978664, + -0.009986757300794125, + 0.9529198507844976, + 0.06212662072903594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9520760518328505, + -0.02386106364428997, + 0.30492925660773706, + -0.2531891963037087 + ], + [ + 0.019100614852022316, + 0.9996448159217834, + 0.018585791251766147, + -0.004897827359714617 + ], + [ + -0.3052644157685343, + -0.011870751157402992, + 0.9521936079284475, + 0.06388179639683692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9514633581482143, + -0.020273957401514053, + 0.3070934575079293, + -0.25551389979946476 + ], + [ + 0.01533194900347426, + 0.9997113347053528, + 0.018497026483546942, + -0.0038367547840066274 + ], + [ + -0.30737983554071796, + -0.012890901416540146, + 0.9514996093950969, + 0.06384130927996803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/6e59b070-d815-4158-bfb1-df91c6823f72/push_in/transforms.json b/dynpose_eval/camera_controls/6e59b070-d815-4158-bfb1-df91c6823f72/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8f56478c5f1ca18df7eb557f900d9969bf8dbd5b --- /dev/null +++ b/dynpose_eval/camera_controls/6e59b070-d815-4158-bfb1-df91c6823f72/push_in/transforms.json @@ -0,0 +1,4003 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 114, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + 0.00019575882470235229, + 0.000161205098265782, + -8.450305176666006e-05 + ], + [ + -0.0001957245694939047, + 0.9999999403953552, + -0.00021248729899525642, + 9.04660701053217e-05 + ], + [ + -0.00016124668763950467, + 0.00021245575044304132, + 0.9999999403953552, + -4.24404424848035e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999971389770508, + -0.0022903934586793184, + -0.0006929744267836213, + 0.0015041753891814268 + ], + [ + 0.0022875654976814985, + 0.9999891519546509, + -0.004054343793541193, + -0.0007981610198018957 + ], + [ + 0.0007022529607638717, + 0.0040527465753257275, + 0.9999915361404419, + 0.012394112498557146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998202323913574, + -0.01853293925523758, + 0.0040091401897370815, + 0.0011191336273223952 + ], + [ + 0.018568702042102814, + 0.999786376953125, + -0.009075150825083256, + -0.0002752395074781591 + ], + [ + -0.0038400946650654078, + 0.009147963486611843, + 0.9999507665634155, + 0.0061373407416770945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996781349182129, + -0.024497708305716515, + 0.006597631610929966, + 0.0011301324570930638 + ], + [ + 0.024564450606703758, + 0.9996458888053894, + -0.010232292115688324, + -0.0004046736650819997 + ], + [ + -0.0063446275889873505, + 0.01039106585085392, + 0.9999259114265442, + 0.011277201409097267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997493028640747, + -0.020839247852563858, + 0.008190983906388283, + 0.0015383355789282153 + ], + [ + 0.020915143191814423, + 0.9997380971908569, + -0.0092919385060668, + -0.000498350746095164 + ], + [ + -0.007995201274752617, + 0.009460925124585629, + 0.9999232888221741, + 0.011526877475918922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996591806411743, + -0.0230257511138916, + 0.012302630580961704, + 0.0010770983382054004 + ], + [ + 0.023171711713075638, + 0.9996612071990967, + -0.011856351047754288, + -0.0002663227883002729 + ], + [ + -0.012025461532175541, + 0.012137383222579956, + 0.9998540282249451, + 0.021161701991758514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999519407749176, + -0.02864139899611473, + 0.011859854683279991, + 0.00105922007933259 + ], + [ + 0.028784573078155518, + 0.9995126128196716, + -0.012082887813448906, + -0.0002572353320161243 + ], + [ + -0.011508002877235413, + 0.012418461963534355, + 0.9998566508293152, + 0.010686994294545293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995278120040894, + -0.027313413098454475, + 0.01407533697783947, + 0.0005435786860587025 + ], + [ + 0.027429284527897835, + 0.9995908737182617, + -0.008105906657874584, + 1.568345737280901e-05 + ], + [ + -0.013848178088665009, + 0.008488154970109463, + 0.9998680949211121, + 0.0110933265261418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993769526481628, + -0.03289518132805824, + 0.012791185639798641, + 0.0015817246490479572 + ], + [ + 0.032938312739133835, + 0.9994523525238037, + -0.0031762649305164814, + 0.0006062899587420433 + ], + [ + -0.012679697014391422, + 0.0035956059582531452, + 0.9999131560325623, + 0.010787133235006338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9994301199913025, + -0.031193042173981667, + 0.012902680784463882, + 0.00032277437840254596 + ], + [ + 0.031158803030848503, + 0.9995104074478149, + 0.002846228191629052, + 0.00010011057616407217 + ], + [ + -0.012985145673155785, + -0.002442573895677924, + 0.999912679195404, + 0.012155950787287633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9994834065437317, + -0.03020288422703743, + 0.010984950698912144, + 0.0008124764797492035 + ], + [ + 0.03013944998383522, + 0.9995283484458923, + 0.005895127542316914, + -4.834265628957346e-05 + ], + [ + -0.01115781906992197, + -0.0055610015988349915, + 0.9999222755432129, + 0.015081767911767274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994845390319824, + -0.03007088229060173, + 0.011241904459893703, + 0.0011276531643110567 + ], + [ + 0.03000928834080696, + 0.9995338916778564, + 0.005608181934803724, + 2.8337060913764995e-05 + ], + [ + -0.011405306868255138, + -0.0052679297514259815, + 0.9999210834503174, + 0.0182094733931322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9995326399803162, + -0.027921238914132118, + 0.012444899417459965, + 0.000930859183323924 + ], + [ + 0.02784823067486286, + 0.9995941519737244, + 0.006001666653901339, + 0.0001314190506370557 + ], + [ + -0.012607422657310963, + -0.005652293097227812, + 0.9999045729637146, + 0.01799009640626939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9995812177658081, + -0.026570957154035568, + 0.011464406736195087, + 0.00059367158003069 + ], + [ + 0.026499610394239426, + 0.9996287822723389, + 0.006331058219075203, + 0.00020421773176722692 + ], + [ + -0.01162837352603674, + -0.0060246046632528305, + 0.9999142289161682, + 0.018395501686738126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997628927230835, + -0.019278647378087044, + 0.01012395415455103, + 0.0008698380991107727 + ], + [ + 0.019204119220376015, + 0.9997881650924683, + 0.007407850585877895, + 0.0002849140852500182 + ], + [ + -0.0102646229788661, + -0.007211672142148018, + 0.9999213218688965, + 0.021449813986839976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997761249542236, + -0.018056053668260574, + 0.011032121255993843, + 0.0006526377555848288 + ], + [ + 0.017972692847251892, + 0.9998095035552979, + 0.00760929100215435, + 0.00041524510994446424 + ], + [ + -0.011167414486408234, + -0.007409310899674892, + 0.9999101758003235, + 0.02134711646466656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997400641441345, + -0.019894370809197426, + 0.011136521585285664, + 0.0006288608805527828 + ], + [ + 0.01980890892446041, + 0.9997738599777222, + 0.007732326630502939, + 0.00046151352297325117 + ], + [ + -0.01128783356398344, + -0.007509714458137751, + 0.9999080896377563, + 0.020122633971669503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997772574424744, + -0.019093845039606094, + 0.00899302028119564, + 0.00030457227927657357 + ], + [ + 0.019002187997102737, + 0.9997677206993103, + 0.010169663466513157, + 1.4723904623518172e-05 + ], + [ + -0.009185109287500381, + -0.009996511973440647, + 0.9999078512191772, + 0.020570063518475644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998259544372559, + -0.017304737120866776, + 0.006974389310926199, + 0.00043407299486813094 + ], + [ + 0.01722952350974083, + 0.9997942447662354, + 0.010703738778829575, + 0.00014732329377894747 + ], + [ + -0.007158180233091116, + -0.010581709444522858, + 0.9999184012413025, + 0.021742829038407158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998444318771362, + -0.01668710634112358, + 0.0057153175584971905, + 0.0005719180936426485 + ], + [ + 0.016625624150037766, + 0.9998051524162292, + 0.01064135693013668, + 0.000530555301636408 + ], + [ + -0.005891777109354734, + -0.010544680058956146, + 0.9999270439147949, + 0.0220310398501105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998903870582581, + -0.014095393009483814, + 0.004527863580733538, + 0.00039516707194095426 + ], + [ + 0.014041603542864323, + 0.9998329877853394, + 0.011699584312736988, + 0.0005920781597878323 + ], + [ + -0.004692017566412687, + -0.011634723283350468, + 0.9999213218688965, + 0.02214593286584832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999151825904846, + -0.012493506073951721, + 0.0036862518172711134, + 0.0005750689097160918 + ], + [ + 0.012442853301763535, + 0.999832034111023, + 0.013458039611577988, + 0.0005087028808718696 + ], + [ + -0.0038537706714123487, + -0.013411030173301697, + 0.9999026656150818, + 0.02335183212154471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999396204948425, + -0.01073670294135809, + 0.0023394657764583826, + 0.00028800592326097584 + ], + [ + 0.010702709667384624, + 0.9998434782028198, + 0.014088273048400879, + 0.0004224168233556953 + ], + [ + -0.002490360988304019, + -0.014062384143471718, + 0.9998980164527893, + 0.023580384572588764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999406933784485, + -0.010729174129664898, + 0.0018612936837598681, + 0.00039295109191835254 + ], + [ + 0.010700269602239132, + 0.9998317360877991, + 0.014899724163115025, + 0.00026953582898780614 + ], + [ + -0.0020208421628922224, + -0.014878924004733562, + 0.9998872876167297, + 0.024552872181927737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999371767044067, + -0.01113845407962799, + 0.001278265961445868, + 0.00042056938209900617 + ], + [ + 0.011117307469248772, + 0.9998180270195007, + 0.015503385104238987, + -0.0007722456407922823 + ], + [ + -0.001450717099942267, + -0.015488198958337307, + 0.999879002571106, + 0.025116011241566292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999471306800842, + -0.010263963602483273, + 0.0006340640247799456, + -3.0379194143770127e-05 + ], + [ + 0.0102538438513875, + 0.999845027923584, + 0.014308220706880093, + -1.899381909948e-05 + ], + [ + -0.0007808248628862202, + -0.01430096197873354, + 0.9998974204063416, + 0.02555042484247711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999950110912323, + -0.00997665710747242, + -0.0005393096362240613, + -6.249827087214999e-06 + ], + [ + 0.00998317264020443, + 0.9998542070388794, + 0.01385269220918417, + 0.00042247403782907775 + ], + [ + 0.00040102744242176414, + -0.013857384212315083, + 0.9999039173126221, + 0.026586884693283817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999954342842102, + -0.009530819021165371, + -0.0006539609748870134, + -0.00016486337946715508 + ], + [ + 0.009539068676531315, + 0.9998557567596436, + 0.014052764512598515, + 0.00019795333951674567 + ], + [ + 0.0005199323641136289, + -0.014058361761271954, + 0.9999010562896729, + 0.027125905377510112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999645352363586, + -0.008369809947907925, + -0.0009428243502043188, + 0.00014838092114088182 + ], + [ + 0.008381293155252934, + 0.9998814463615417, + 0.012915927916765213, + -3.459370242786156e-05 + ], + [ + 0.0008346087415702641, + -0.01292337104678154, + 0.999916136264801, + 0.026187671414799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9999663829803467, + -0.008179208263754845, + -0.0006112568662501872, + 0.00023521510750236632 + ], + [ + 0.008186200633645058, + 0.9998886585235596, + 0.012477605603635311, + 0.0004889018919145838 + ], + [ + 0.0005091318744234741, + -0.012482189573347569, + 0.999921977519989, + 0.026708812545160807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9999713897705078, + -0.007556139025837183, + 0.0002942714199889451, + -3.105013482416856e-05 + ], + [ + 0.0075521874241530895, + 0.9999032616615295, + 0.011678796261548996, + 0.001068468948422346 + ], + [ + -0.0003824895538855344, + -0.011676240712404251, + 0.9999317526817322, + 0.027472555981454466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9999918341636658, + -0.003968851640820503, + 0.0007861477206461132, + 8.266183444138089e-05 + ], + [ + 0.003958987072110176, + 0.9999180436134338, + 0.012175749987363815, + 0.000752597453435306 + ], + [ + -0.000834406993817538, + -0.012172538787126541, + 0.9999255537986755, + 0.027257753408254346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999951124191284, + -0.0024415983352810144, + 0.0019418707815930247, + -0.00011759446534653713 + ], + [ + 0.0024178677704185247, + 0.9999235272407532, + 0.012130430899560452, + 0.0007893264537318651 + ], + [ + -0.0019713398069143295, + -0.012125677429139614, + 0.9999245405197144, + 0.027942766351223537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999909996986389, + -0.003443297231569886, + 0.0024863961152732372, + 0.00020946361409372494 + ], + [ + 0.003413531696423888, + 0.9999236464500427, + 0.01187792606651783, + 0.0002618359124047921 + ], + [ + -0.0025271056219935417, + -0.011869331821799278, + 0.9999263882637024, + 0.028374434501423084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999791979789734, + -0.004961627535521984, + 0.0041151889599859715, + 4.0212485257255955e-05 + ], + [ + 0.0049225762486457825, + 0.9999432563781738, + 0.00944603607058525, + 0.00028162396917562235 + ], + [ + -0.004161823075264692, + -0.009425582364201546, + 0.9999468922615051, + 0.030376496996248423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999723434448242, + -0.004668145906180143, + 0.00578592112287879, + 2.280324908690432e-06 + ], + [ + 0.004622597713023424, + 0.9999583959579468, + 0.007860817946493626, + 0.0006849326719262068 + ], + [ + -0.005822375882416964, + -0.007833854295313358, + 0.9999523758888245, + 0.03304277408447743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999344944953918, + 0.00861585047096014, + 0.007538332603871822, + -0.0012855411727657228 + ], + [ + -0.00868165772408247, + 0.9999241232872009, + 0.00874093547463417, + 0.00024045568947403162 + ], + [ + -0.007462450303137302, + -0.008805807679891586, + 0.9999333620071411, + 0.022668307269634924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999352693557739, + 0.0066727520897984505, + 0.009217530488967896, + -0.000978165602031271 + ], + [ + -0.006761630997061729, + 0.9999306201934814, + 0.009645150974392891, + -0.0001018205743109956 + ], + [ + -0.009152531623840332, + -0.009706851094961166, + 0.9999110102653503, + 0.021884947491035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999299049377441, + 0.0002883237903006375, + 0.011836059391498566, + 0.0008446107934789518 + ], + [ + -0.0003788821049965918, + 0.9999706745147705, + 0.007649525534361601, + 0.0006694884365527536 + ], + [ + -0.01183350756764412, + -0.007653473410755396, + 0.9999006986618042, + 0.04029889921534114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9997442364692688, + -0.010511888191103935, + 0.020022742450237274, + 0.0020653910193163738 + ], + [ + 0.010450191795825958, + 0.9999403357505798, + 0.0031835001427680254, + 0.0011540804991696393 + ], + [ + -0.02005501091480255, + -0.00297344452701509, + 0.9997944831848145, + 0.054443033435175904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9994735717773438, + -0.015726132318377495, + 0.028376923874020576, + 0.0014444052231955481 + ], + [ + 0.0158070158213377, + 0.9998716115951538, + -0.0026282737962901592, + 0.0009685188739980876 + ], + [ + -0.028331948444247246, + 0.0030754446052014828, + 0.9995938539505005, + 0.04930669173136749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9991014003753662, + -0.028174545615911484, + 0.0316629558801651, + 0.0009813899320109327 + ], + [ + 0.028313610702753067, + 0.9995912909507751, + -0.003952199127525091, + 0.0010115721186754847 + ], + [ + -0.03153866529464722, + 0.004845140036195517, + 0.9994907975196838, + 0.03791293338007104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9990218281745911, + -0.032959986478090286, + 0.029480084776878357, + 0.0010125408757429581 + ], + [ + 0.03303295001387596, + 0.9994522929191589, + -0.0019914237782359123, + 0.0005656245439643023 + ], + [ + -0.029398299753665924, + 0.0029632896184921265, + 0.9995633959770203, + 0.03626946037299355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9987707138061523, + -0.041382402181625366, + 0.027286680415272713, + 0.0014747342710853019 + ], + [ + 0.04138842970132828, + 0.9991430640220642, + 0.00034421379677951336, + 0.000649509475199687 + ], + [ + -0.027277542278170586, + 0.0007855619769543409, + 0.9996275901794434, + 0.04463130588091053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9991486072540283, + -0.031165366992354393, + 0.027033455669879913, + 0.0018246293167863865 + ], + [ + 0.03112138621509075, + 0.9995135068893433, + 0.002046247012913227, + 0.0007184567096832712 + ], + [ + -0.027084074914455414, + -0.001203186227940023, + 0.9996324181556702, + 0.04669403682784301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9992507696151733, + -0.02683313935995102, + 0.027890358120203018, + 0.0018541795068700692 + ], + [ + 0.02675262838602066, + 0.9996367692947388, + 0.003255929797887802, + 0.0005754619582857014 + ], + [ + -0.02796759456396103, + -0.002507349941879511, + 0.9996057152748108, + 0.04722014320107688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9991617798805237, + -0.030172398313879967, + 0.027666008099913597, + 0.0014500565560579925 + ], + [ + 0.03005671687424183, + 0.9995376467704773, + 0.0045878398232162, + 0.0005280090390861166 + ], + [ + -0.027791643515229225, + -0.003752444637939334, + 0.9996066689491272, + 0.042199497086828394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9992760419845581, + -0.0266534723341465, + 0.027147825807332993, + 0.001188807621617818 + ], + [ + 0.026488251984119415, + 0.999628484249115, + 0.006427559535950422, + 0.0005530959125546393 + ], + [ + -0.027309056371450424, + -0.005703807342797518, + 0.9996107816696167, + 0.04520255481181419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9993365406990051, + -0.02391894906759262, + 0.02746652439236641, + 0.0017783381306541572 + ], + [ + 0.023718465119600296, + 0.9996897578239441, + 0.007602017372846603, + 0.0011646681990622814 + ], + [ + -0.027639836072921753, + -0.00694550946354866, + 0.9995937943458557, + 0.05038365537251255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993624091148376, + -0.019434193149209023, + 0.02995077706873417, + 0.002710575346455835 + ], + [ + 0.019195081666111946, + 0.9997817277908325, + 0.008250456303358078, + 0.0008231768213558645 + ], + [ + -0.030104579403996468, + -0.007670288905501366, + 0.9995173215866089, + 0.058791736543046695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9992122650146484, + -0.02320256270468235, + 0.03219541162252426, + 0.0034070276177232774 + ], + [ + 0.022880202159285545, + 0.9996846914291382, + 0.010345186106860638, + -0.003073980998808304 + ], + [ + -0.03242529183626175, + -0.009600399993360043, + 0.9994280338287354, + 0.04736296451996716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9989689588546753, + -0.029326461255550385, + 0.03465564548969269, + 0.0032877118903649064 + ], + [ + 0.0290536992251873, + 0.9995430111885071, + 0.008348334580659866, + -0.0030286049696954744 + ], + [ + -0.034884631633758545, + -0.0073328521102666855, + 0.99936443567276, + 0.04556925507119148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9989291429519653, + -0.030015407130122185, + 0.03520931676030159, + 0.0030617970635339747 + ], + [ + 0.029755083844065666, + 0.9995260238647461, + 0.007894528098404408, + -0.003136145379559129 + ], + [ + -0.035429585725069046, + -0.006838418077677488, + 0.9993487596511841, + 0.04610854222814489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9987505078315735, + -0.03453265503048897, + 0.036123331636190414, + 0.0032724683084401542 + ], + [ + 0.03441750630736351, + 0.9994003176689148, + 0.003804862964898348, + 0.000344519115870085 + ], + [ + -0.03623306378722191, + -0.002556833904236555, + 0.9993401169776917, + 0.05795573498394374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9984732866287231, + -0.04132319986820221, + 0.036654241383075714, + 0.0026738193504248576 + ], + [ + 0.041242316365242004, + 0.9991447925567627, + 0.002960442565381527, + 0.0006748160021791679 + ], + [ + -0.03674522787332535, + -0.0014442172832787037, + 0.9993236064910889, + 0.06125423068889475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9983723759651184, + -0.044453687965869904, + 0.035727307200431824, + 0.00280440931076563 + ], + [ + 0.04438777267932892, + 0.9990109205245972, + 0.0026364175137132406, + 0.0005558613652726058 + ], + [ + -0.035809166729450226, + -0.001046271063387394, + 0.9993581175804138, + 0.059567178863273784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9983283281326294, + -0.04613169655203819, + 0.03481993079185486, + 0.0032676904062550944 + ], + [ + 0.046053092926740646, + 0.9989343285560608, + 0.003056588349863887, + 0.0004838479563812272 + ], + [ + -0.03492382913827896, + -0.0014479134697467089, + 0.9993889331817627, + 0.06064966052803582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9983626008033752, + -0.04531039297580719, + 0.03491513058543205, + 0.0025224855966017113 + ], + [ + 0.04517450928688049, + 0.9989681839942932, + 0.004671302158385515, + -0.00036438473652784537 + ], + [ + -0.03509076312184334, + -0.0030863794963806868, + 0.9993793368339539, + 0.05797484537619538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9985259175300598, + -0.04184044525027275, + 0.034574199467897415, + 0.0024599334297174245 + ], + [ + 0.04165049269795418, + 0.9991130232810974, + 0.006196443922817707, + -0.0006693795121447965 + ], + [ + -0.03480279818177223, + -0.004747277125716209, + 0.9993829131126404, + 0.05716171307340924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.998718798160553, + -0.037493132054805756, + 0.03398587182164192, + 0.0025821158576929794 + ], + [ + 0.03727519512176514, + 0.9992803335189819, + 0.007023822981864214, + -0.0003338533920334833 + ], + [ + -0.03422475978732109, + -0.005747993942350149, + 0.9993976354598999, + 0.05623582012094228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9989439249038696, + -0.030363162979483604, + 0.03448283672332764, + 0.0018540945286269915 + ], + [ + 0.030093451961874962, + 0.9995124936103821, + 0.00831402838230133, + -5.340710358562326e-05 + ], + [ + -0.03471846878528595, + -0.007267541252076626, + 0.9993706941604614, + 0.056628760834331666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9989191293716431, + -0.031089022755622864, + 0.03455447778105736, + 0.0021113132303827893 + ], + [ + 0.03080965206027031, + 0.999488353729248, + 0.008588351309299469, + 0.00021423595381562757 + ], + [ + -0.03480380401015282, + -0.007514457684010267, + 0.9993659257888794, + 0.0578579523955035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9989282488822937, + -0.030036114156246185, + 0.03521547093987465, + 0.0023190135112551528 + ], + [ + 0.029750987887382507, + 0.9995204210281372, + 0.008593021892011166, + 0.0003525140670033386 + ], + [ + -0.03545668348670006, + -0.007536117918789387, + 0.9993427991867065, + 0.061060700911731845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9988475441932678, + -0.03208936005830765, + 0.035690683871507645, + 0.0034947331244768822 + ], + [ + 0.03182817995548248, + 0.9994624257087708, + 0.007862222380936146, + 0.0006966123273451936 + ], + [ + -0.0359237901866436, + -0.006717192009091377, + 0.9993319511413574, + 0.06758835398781615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.998742401599884, + -0.034116193652153015, + 0.03673885017633438, + 0.0027245491736906423 + ], + [ + 0.033865027129650116, + 0.9993987679481506, + 0.0074374498799443245, + 8.525699861265256e-05 + ], + [ + -0.03697049617767334, + -0.006183934397995472, + 0.9992972016334534, + 0.06135656867192778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9986696839332581, + -0.03584153205156326, + 0.037070758640766144, + 0.0028005270951889064 + ], + [ + 0.03559286892414093, + 0.9993393421173096, + 0.007346378173679113, + -0.00010656753598209628 + ], + [ + -0.03730957210063934, + -0.0060171508230268955, + 0.9992856383323669, + 0.06289952104927693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9985314607620239, + -0.03879871219396591, + 0.037809908390045166, + 0.003084916078518516 + ], + [ + 0.038585878908634186, + 0.9992351531982422, + 0.006342838518321514, + 0.0004171638978185211 + ], + [ + -0.0380270853638649, + -0.004874595440924168, + 0.9992648363113403, + 0.06825454261780313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9984878301620483, + -0.03895088657736778, + 0.038792770355939865, + 0.002730697268245132 + ], + [ + 0.03875613585114479, + 0.9992321133613586, + 0.005759968888014555, + 0.0004416275024620108 + ], + [ + -0.038987334817647934, + -0.004247800912708044, + 0.999230682849884, + 0.0681720219272296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9985297322273254, + -0.03702541068196297, + 0.03959199786186218, + 0.0026658289382786417 + ], + [ + 0.03684737905859947, + 0.9993072748184204, + 0.005217127036303282, + 0.0006989210517458882 + ], + [ + -0.03975773602724075, + -0.003750594798475504, + 0.999202311038971, + 0.07042967521181677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.998447835445404, + -0.03919356316328049, + 0.03957059606909752, + 0.003261181240823054 + ], + [ + 0.03903371840715408, + 0.9992263317108154, + 0.004804372321814299, + 0.0006475268322789004 + ], + [ + -0.039728280156850815, + -0.0032523279078304768, + 0.9992052316665649, + 0.07161522232391665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9984634518623352, + -0.03892486169934273, + 0.039440836757421494, + 0.0036223304717578984 + ], + [ + 0.038783859461545944, + 0.9992382526397705, + 0.004334122873842716, + 0.0005737997741393118 + ], + [ + -0.03957949951291084, + -0.002797795459628105, + 0.9992125034332275, + 0.07171794765554698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9985404014587402, + -0.03677504137158394, + 0.039556074887514114, + 0.003263772256771284 + ], + [ + 0.03663923218846321, + 0.9993199110031128, + 0.004153049550950527, + 0.00030627291358799254 + ], + [ + -0.039681900292634964, + -0.0026976834051311016, + 0.9992087483406067, + 0.06786008999163731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9985617399215698, + -0.035922229290008545, + 0.03979983180761337, + 0.0030388986264289547 + ], + [ + 0.03579586744308472, + 0.9993515610694885, + 0.0038832356221973896, + 0.00024933569107188065 + ], + [ + -0.039913520216941833, + -0.0024529811926186085, + 0.9992001056671143, + 0.0675740890740623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9985193014144897, + -0.03705347329378128, + 0.03982747346162796, + 0.0031400179533716457 + ], + [ + 0.03694663196802139, + 0.9993113875389099, + 0.0034155561588704586, + 0.00029537978716528425 + ], + [ + -0.03992660343647003, + -0.0019390080124139786, + 0.9992007613182068, + 0.06913611811577483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.99853515625, + -0.036743611097335815, + 0.039716701954603195, + 0.0030085269992746644 + ], + [ + 0.03665585070848465, + 0.9993236064910889, + 0.0029359222389757633, + 0.00035334107750899 + ], + [ + -0.03979771211743355, + -0.0014757723547518253, + 0.9992066621780396, + 0.0692534079305432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9985089898109436, + -0.037478674203157425, + 0.03968749940395355, + 0.0031651063612044123 + ], + [ + 0.03740301355719566, + 0.9992967844009399, + 0.0026474318001419306, + 0.0003115993676412505 + ], + [ + -0.03975880891084671, + -0.0011590528301894665, + 0.9992086291313171, + 0.07065156045312113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9984700679779053, + -0.03784005716443062, + 0.04031931236386299, + 0.003627896592313572 + ], + [ + 0.03777870163321495, + 0.9992835521697998, + 0.0022828602232038975, + 0.0003424096325581349 + ], + [ + -0.04037680849432945, + -0.0007561565143987536, + 0.999184250831604, + 0.07404612648440936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9984893798828125, + -0.03585702180862427, + 0.04163218289613724, + 0.0034962121446707605 + ], + [ + 0.03580617159605026, + 0.9993568062782288, + 0.0019666054286062717, + 0.0003267004500262736 + ], + [ + -0.04167592525482178, + -0.0004729454522021115, + 0.9991310834884644, + 0.07543411404965857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9983375668525696, + -0.03885522857308388, + 0.042571842670440674, + 0.0039635610653384196 + ], + [ + 0.03882601484656334, + 0.9992448687553406, + 0.0015130606479942799, + 0.0004158042317186276 + ], + [ + -0.04259848594665527, + 0.00014234957052394748, + 0.9990922808647156, + 0.07751893916752486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9983015060424805, + -0.03829777613282204, + 0.04390205442905426, + 0.0038322020255119865 + ], + [ + 0.03826654329895973, + 0.9992663860321045, + 0.0015518825966864824, + 0.00033976714808258964 + ], + [ + -0.04392927885055542, + 0.00013073300942778587, + 0.9990346431732178, + 0.0777196334015611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9982572793960571, + -0.03813686966896057, + 0.04503299668431282, + 0.0039194111951288925 + ], + [ + 0.038095347583293915, + 0.9992725253105164, + 0.0017801383510231972, + 0.00020114715056302257 + ], + [ + -0.045068126171827316, + -6.148824468255043e-05, + 0.9989839196205139, + 0.07941352927941928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9982690215110779, + -0.037259772419929504, + 0.04550496116280556, + 0.004393453064860891 + ], + [ + 0.037210628390312195, + 0.9993056058883667, + 0.0019268582109361887, + 0.00035414828690164517 + ], + [ + -0.04554515704512596, + -0.00023025483824312687, + 0.9989622831344604, + 0.08035495689682728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9982445240020752, + -0.037194956094026566, + 0.0460909903049469, + 0.004579316440813112 + ], + [ + 0.03712945803999901, + 0.9993078708648682, + 0.0022767125628888607, + 0.0005287984256278229 + ], + [ + -0.04614377021789551, + -0.0005613825633190572, + 0.9989346265792847, + 0.08161752112704304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9982795715332031, + -0.03562583401799202, + 0.04656936973333359, + 0.0043184809454724984 + ], + [ + 0.035522427409887314, + 0.9993642568588257, + 0.0030463661532849073, + 0.00045364089928303676 + ], + [ + -0.0466482937335968, + -0.001386868068948388, + 0.9989104270935059, + 0.08081238168926366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9982407093048096, + -0.036376915872097015, + 0.046820443123579025, + 0.004162599292554918 + ], + [ + 0.03622423857450485, + 0.9993352293968201, + 0.004105625208467245, + 0.0001533613469919388 + ], + [ + -0.04693866893649101, + -0.0024023675359785557, + 0.9988948702812195, + 0.07898160636392053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.998291015625, + -0.03533025085926056, + 0.04654973745346069, + 0.004878085970969261 + ], + [ + 0.03513575345277786, + 0.9993700981140137, + 0.004990179091691971, + 0.0005891213369446568 + ], + [ + -0.04669672250747681, + -0.0033460904378443956, + 0.9989035129547119, + 0.08398117034374614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9982545971870422, + -0.03547386825084686, + 0.04721671715378761, + 0.004738260556292613 + ], + [ + 0.03523533046245575, + 0.9993617534637451, + 0.005875023547559977, + 0.000808111903776901 + ], + [ + -0.047394994646310806, + -0.004201072733849287, + 0.998867392539978, + 0.08609407900840835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9982839226722717, + -0.033744074404239655, + 0.04785944148898125, + 0.004887311394219246 + ], + [ + 0.033453568816185, + 0.9994167685508728, + 0.0068582696840167046, + 0.0009181740088491346 + ], + [ + -0.04806295409798622, + -0.005245431326329708, + 0.9988305568695068, + 0.09005551790835056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9982514977455139, + -0.03379160165786743, + 0.048498570919036865, + 0.005220147542680194 + ], + [ + 0.0334743857383728, + 0.9994126558303833, + 0.007338255178183317, + 0.0010270269277538543 + ], + [ + -0.048718057572841644, + -0.005701964255422354, + 0.998796284198761, + 0.09490959253326982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9981287121772766, + -0.03670964390039444, + 0.04890263453125954, + 0.0053742287350835 + ], + [ + 0.03638319671154022, + 0.9993094205856323, + 0.0075492216274142265, + 0.0011239837375016208 + ], + [ + -0.04914599284529686, + -0.005755861289799213, + 0.9987750053405762, + 0.09526137605771028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9981349110603333, + -0.03628820553421974, + 0.0490906685590744, + 0.005519466859956099 + ], + [ + 0.03593902662396431, + 0.9993221163749695, + 0.007977340370416641, + 0.0011256972772885213 + ], + [ + -0.04934687912464142, + -0.006198191083967686, + 0.9987624883651733, + 0.09516974933346553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9981419444084167, + -0.035718925297260284, + 0.04936447739601135, + 0.0056566507887276535 + ], + [ + 0.03535408526659012, + 0.999340832233429, + 0.008244486525654793, + 0.001347810650178421 + ], + [ + -0.049626424908638, + -0.006483931560069323, + 0.9987468123435974, + 0.09738793582119773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9981091022491455, + -0.036359839141368866, + 0.04955985024571419, + 0.005738237790713928 + ], + [ + 0.035986416041851044, + 0.999316930770874, + 0.008406595326960087, + 0.001512738823297277 + ], + [ + -0.04983166232705116, + -0.00660721817985177, + 0.998735785484314, + 0.09971655075133375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.998075008392334, + -0.03756110742688179, + 0.04935011267662048, + 0.00546486746721728 + ], + [ + 0.037186283618211746, + 0.9992722868919373, + 0.008491827175021172, + 0.0014612422097037522 + ], + [ + -0.04963316023349762, + -0.006640333216637373, + 0.9987454414367676, + 0.09712559926463704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9980496168136597, + -0.03878410533070564, + 0.04891573637723923, + 0.005328171666447831 + ], + [ + 0.0384167842566967, + 0.9992262721061707, + 0.008427536115050316, + 0.0017281462263266465 + ], + [ + -0.0492047443985939, + -0.006531913764774799, + 0.9987673759460449, + 0.09763157945950474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9980036616325378, + -0.040588561445474625, + 0.04838600754737854, + 0.005057784155901291 + ], + [ + 0.0402059443295002, + 0.9991521835327148, + 0.008855214342474937, + 0.001461392267508251 + ], + [ + -0.04870440810918808, + -0.006892131641507149, + 0.9987894296646118, + 0.09769313014318458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9980669021606445, + -0.039490707218647, + 0.04798940196633339, + 0.004800082528881267 + ], + [ + 0.0390949621796608, + 0.999193549156189, + 0.009157677181065083, + 0.0012855578538450716 + ], + [ + -0.048312339931726456, + -0.007263830862939358, + 0.9988058805465698, + 0.09771362330138156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9981107711791992, + -0.03901705518364906, + 0.04746093600988388, + 0.004712054704983546 + ], + [ + 0.03862367942929268, + 0.9992116689682007, + 0.009177789092063904, + 0.0012298557842438792 + ], + [ + -0.04778160899877548, + -0.007327334955334663, + 0.9988309144973755, + 0.0968602652158753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9982722997665405, + -0.03536888584494591, + 0.04691949859261513, + 0.004949038399824362 + ], + [ + 0.0349758006632328, + 0.9993460774421692, + 0.009172872640192509, + 0.0013577876444617536 + ], + [ + -0.04721325263381004, + -0.00751597760245204, + 0.9988565444946289, + 0.09838759867326086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9982959032058716, + -0.03409427031874657, + 0.04735917970538139, + 0.005346548947942468 + ], + [ + 0.03369985148310661, + 0.9993905425071716, + 0.00910213217139244, + 0.0014341688916845396 + ], + [ + -0.04764064773917198, + -0.007490623742341995, + 0.9988364577293396, + 0.10260905097115093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9983476400375366, + -0.03107726015150547, + 0.04833417758345604, + 0.005667198671901649 + ], + [ + 0.03068421594798565, + 0.9994899034500122, + 0.008852846920490265, + 0.001648220267616608 + ], + [ + -0.04858464375138283, + -0.007355123292654753, + 0.9987919926643372, + 0.10404012334096222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9982125759124756, + -0.03327224403619766, + 0.0496445894241333, + 0.005865501953429024 + ], + [ + 0.03288143873214722, + 0.9994216561317444, + 0.00866831187158823, + 0.001489583411319923 + ], + [ + -0.049904294312000275, + -0.007020432967692614, + 0.9987293481826782, + 0.10381524623495288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9982362389564514, + -0.03190352022647858, + 0.05006542056798935, + 0.006042624450395856 + ], + [ + 0.03150016814470291, + 0.9994648098945618, + 0.008825228549540043, + 0.0014392735080101188 + ], + [ + -0.050320178270339966, + -0.007232594303786755, + 0.9987069368362427, + 0.10365326545671023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9982836246490479, + -0.029737429693341255, + 0.05045311152935028, + 0.006218675471867015 + ], + [ + 0.02932116948068142, + 0.9995297789573669, + 0.008970809169113636, + 0.0016264937958160861 + ], + [ + -0.05069615691900253, + -0.00747606810182333, + 0.9986861348152161, + 0.10500692640950458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.998341977596283, + -0.027348635718226433, + 0.050649553537368774, + 0.0065820621462555325 + ], + [ + 0.026916006579995155, + 0.9995953440666199, + 0.009204251691699028, + 0.0016449673407282514 + ], + [ + -0.050880782306194305, + -0.007825708016753197, + 0.9986740946769714, + 0.10705650822482014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9982905387878418, + -0.02806420810520649, + 0.05126773193478584, + 0.006749018342687493 + ], + [ + 0.027621226385235786, + 0.9995749592781067, + 0.009328868240118027, + 0.0015777265467573848 + ], + [ + -0.05150774493813515, + -0.007896844297647476, + 0.9986413717269897, + 0.10872966672532855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9982216358184814, + -0.029138442128896713, + 0.05200525373220444, + 0.006621167885625851 + ], + [ + 0.028690483421087265, + 0.9995446801185608, + 0.009339753538370132, + 0.0015617022735882652 + ], + [ + -0.05225372314453125, + -0.007831089198589325, + 0.9986031651496887, + 0.109949536080909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9981609582901001, + -0.03112519532442093, + 0.052018217742443085, + 0.006724705655473919 + ], + [ + 0.030685018748044968, + 0.9994863867759705, + 0.00923950131982565, + 0.0016290387173751946 + ], + [ + -0.05227908492088318, + -0.0076263295486569405, + 0.9986034035682678, + 0.11147662100538744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9981255531311035, + -0.03268437087535858, + 0.05174107104539871, + 0.006810796213031343 + ], + [ + 0.032247550785541534, + 0.9994370341300964, + 0.00925504881888628, + 0.001522691084578864 + ], + [ + -0.052014440298080444, + -0.007569178007543087, + 0.9986176490783691, + 0.11098194888636338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9981141686439514, + -0.03350191190838814, + 0.05143611505627632, + 0.006746896223857405 + ], + [ + 0.03304688259959221, + 0.9994069933891296, + 0.009671893902122974, + 0.0014851460921520418 + ], + [ + -0.05172963812947273, + -0.007953851483762264, + 0.9986294507980347, + 0.11173774213159243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.998211145401001, + -0.03145909681916237, + 0.05084184184670448, + 0.006529907635165856 + ], + [ + 0.030964283272624016, + 0.9994654059410095, + 0.010491151362657547, + 0.001345174534419403 + ], + [ + -0.05114470794796944, + -0.00889810360968113, + 0.9986516237258911, + 0.1099940299311966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9983255863189697, + -0.02834266424179077, + 0.050424974411726, + 0.006662999737422617 + ], + [ + 0.02780117839574814, + 0.9995483756065369, + 0.011407732032239437, + 0.0018835280919900842 + ], + [ + -0.05072552338242531, + -0.009986757300794125, + 0.9986627101898193, + 0.11390265209221208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9984421730041504, + -0.02386106364428997, + 0.05043696239590645, + 0.0062354603475289405 + ], + [ + 0.02322993241250515, + 0.9996448159217834, + 0.013062747195363045, + 0.0019148663451804457 + ], + [ + -0.050730738788843155, + -0.011870751157402992, + 0.9986417889595032, + 0.11612157354840134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9985246658325195, + -0.020273957401514053, + 0.050372663885354996, + 0.006244160211645067 + ], + [ + 0.01959690824151039, + 0.9997113347053528, + 0.013898555189371109, + 0.002151572029106319 + ], + [ + -0.05063990131020546, + -0.012890901416540146, + 0.9986338019371033, + 0.1165704969316721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 3877.5387369791665, + "fy": 3881.234375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/move_left/transforms.json b/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..236d343c477998f22afea97df6937c505cb10f3f --- /dev/null +++ b/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/move_left/transforms.json @@ -0,0 +1,8763 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 250, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999998807907104, + -0.00040152453584596515, + 0.00018490999354980886, + -0.0003777395759243518 + ], + [ + 0.00040152191650122404, + 0.9999999403953552, + 1.4331689271784853e-05, + 0.00016317791596520692 + ], + [ + -0.00018491572700440884, + -1.4257441762310918e-05, + 1.0, + 0.0004629233735613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999306201934814, + 0.00717584416270256, + 0.009342621080577374, + -0.0016915414696484505 + ], + [ + -0.007282198406755924, + 0.9999085068702698, + 0.011399924755096436, + -0.0003021240198375081 + ], + [ + -0.009259962476789951, + -0.011467168107628822, + 0.9998914003372192, + 0.0019394433786942957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999500572681427, + 0.014395794831216335, + 0.028131283819675446, + -0.004339964365975625 + ], + [ + -0.01503621507436037, + 0.9996294975280762, + 0.022688083350658417, + -0.0010462715225967477 + ], + [ + -0.027794249355793, + -0.023099739104509354, + 0.9993467330932617, + 0.007054256705799136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9986408352851868, + 0.011990007944405079, + 0.05072154104709625, + -0.005354365375431546 + ], + [ + -0.013825510628521442, + 0.9992563724517822, + 0.03599313646554947, + -0.0003916637370284333 + ], + [ + -0.050252266228199005, + -0.03664546459913254, + 0.9980640411376953, + 0.009838052643799639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9983170628547668, + 0.005382218398153782, + 0.05774097517132759, + -0.002422426095004212 + ], + [ + -0.008032504469156265, + 0.9989199042320251, + 0.04576615244150162, + 0.0013477135526323055 + ], + [ + -0.05743228271603584, + -0.046152934432029724, + 0.9972820281982422, + 0.006779166559752331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9984399676322937, + 0.011598106473684311, + 0.05461789295077324, + -0.005444478925250202 + ], + [ + -0.014442013576626778, + 0.998544454574585, + 0.05196574702858925, + 0.0009337611074267651 + ], + [ + -0.053935687988996506, + -0.052673470228910446, + 0.997154176235199, + 0.013181103554266283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9984921813011169, + 0.013237311504781246, + 0.05327422171831131, + -0.004839379314602498 + ], + [ + -0.016131963580846786, + 0.9983956217765808, + 0.054277028888463974, + 0.0008906334600725537 + ], + [ + -0.052470266819000244, + -0.05505460873246193, + 0.997103750705719, + 0.013964161164609783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9985190033912659, + 0.014178626239299774, + 0.05252428725361824, + -0.004927896520302418 + ], + [ + -0.017190206795930862, + 0.9982069134712219, + 0.057336241006851196, + 0.0002929144155095709 + ], + [ + -0.051617156714200974, + -0.05815422534942627, + 0.9969723224639893, + 0.014868807081267777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9983142614364624, + 0.014291973784565926, + 0.056252915412187576, + -0.004938021081735391 + ], + [ + -0.017711861059069633, + 0.9979944229125977, + 0.06077361851930618, + -0.00010092656123900719 + ], + [ + -0.05527151748538017, + -0.06166751682758331, + 0.9965651631355286, + 0.016113097020181787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9979194402694702, + 0.013951040804386139, + 0.06294522434473038, + -0.004538257574769163 + ], + [ + -0.017864491790533066, + 0.9979134798049927, + 0.062044285237789154, + -0.00018093080592274395 + ], + [ + -0.06194831058382988, + -0.06303968280553818, + 0.9960865378379822, + 0.01610363000577473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9973843097686768, + 0.0127997025847435, + 0.07113886624574661, + -0.00466020538141562 + ], + [ + -0.017269732430577278, + 0.9978905320167542, + 0.06257984787225723, + -0.0002786667837974537 + ], + [ + -0.07018779963254929, + -0.06364469975233078, + 0.9955013990402222, + 0.017085076276078283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967874884605408, + 0.010398894548416138, + 0.07941364496946335, + -0.004434411212411895 + ], + [ + -0.015334632247686386, + 0.9979708790779114, + 0.06179764121770859, + 0.00013541218401685575 + ], + [ + -0.0786098763346672, + -0.06281689554452896, + 0.9949243664741516, + 0.017286003620389952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9961844682693481, + 0.009005215018987656, + 0.08680656552314758, + -0.004077217719203467 + ], + [ + -0.014247499406337738, + 0.9980990290641785, + 0.05996138975024223, + 0.00037486733670952357 + ], + [ + -0.08610157668590546, + -0.060969386249780655, + 0.9944190382957458, + 0.017958296772586296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9959216117858887, + 0.007049270905554295, + 0.08994723856449127, + -0.004565664555224774 + ], + [ + -0.012396332807838917, + 0.9981793761253357, + 0.05902726203203201, + 0.0009511079910832147 + ], + [ + -0.08936737477779388, + -0.05990154296159744, + 0.994195818901062, + 0.018620707904059723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9959723353385925, + 0.00674189068377018, + 0.0894070640206337, + -0.00475347462343052 + ], + [ + -0.011987542733550072, + 0.9982291460037231, + 0.0582650788128376, + 0.0010597296298507706 + ], + [ + -0.08885592967271805, + -0.05910218134522438, + 0.9942894577980042, + 0.018996011806898805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9960659146308899, + 0.006964619271457195, + 0.08834158629179001, + -0.005116119155385362 + ], + [ + -0.012135175056755543, + 0.9982354044914246, + 0.05812782794237137, + 0.0005698621943480818 + ], + [ + -0.08778085559606552, + -0.058971188962459564, + 0.9943927526473999, + 0.01934430658458227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9959480166435242, + 0.004984692670404911, + 0.08979238569736481, + -0.005868275137197405 + ], + [ + -0.010305571369826794, + 0.998211145401001, + 0.05889183655381203, + 0.0007247051221774853 + ], + [ + -0.08933819830417633, + -0.05957857146859169, + 0.9942178130149841, + 0.019536775533094942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.995861828327179, + 0.005288727581501007, + 0.09072639048099518, + -0.006594111399650741 + ], + [ + -0.010634807869791985, + 0.9982281923294067, + 0.05854351818561554, + 0.0008376675458759608 + ], + [ + -0.09025602042675018, + -0.0592661127448082, + 0.994153618812561, + 0.019967868829886597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9958556890487671, + 0.007536859251558781, + 0.09063460677862167, + -0.007416215674854894 + ], + [ + -0.012714135460555553, + 0.9983113408088684, + 0.056681565940380096, + 0.0010040432500866164 + ], + [ + -0.09005435556173325, + -0.05759900063276291, + 0.994269847869873, + 0.020144118857850512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9958469867706299, + 0.010002169758081436, + 0.0904914066195488, + -0.008077716343357307 + ], + [ + -0.01501481980085373, + 0.9983798861503601, + 0.054883651435375214, + 0.0006291164502774526 + ], + [ + -0.08979583531618118, + -0.05601443350315094, + 0.9943837523460388, + 0.020144835299995528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9957802891731262, + 0.010791752487421036, + 0.09113241732120514, + -0.008731178495421424 + ], + [ + -0.01570533774793148, + 0.9984511137008667, + 0.05337321385741234, + 0.0006375095667224003 + ], + [ + -0.09041526913642883, + -0.05457926169037819, + 0.9944074749946594, + 0.02032534253734901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9956621527671814, + 0.011371211148798466, + 0.09234464168548584, + -0.009170692257095039 + ], + [ + -0.016271540895104408, + 0.9984890222549438, + 0.052487391978502274, + 0.0004854529161225017 + ], + [ + -0.09160827100276947, + -0.053762298077344894, + 0.9943427443504333, + 0.020572705939412118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9955171346664429, + 0.011919675394892693, + 0.09382709115743637, + -0.00907247724162553 + ], + [ + -0.016907012090086937, + 0.9984756708145142, + 0.05254041403532028, + 0.00012243165560994748 + ], + [ + -0.09305780380964279, + -0.053891219198703766, + 0.9942011833190918, + 0.020664209317430914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9954453706741333, + 0.010694295167922974, + 0.0947318896651268, + -0.008825767646313655 + ], + [ + -0.01581178419291973, + 0.9984461069107056, + 0.053435977548360825, + 0.00043855502693745566 + ], + [ + -0.09401322156190872, + -0.05469047650694847, + 0.9940676093101501, + 0.020600548262397447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9955007433891296, + 0.010268564336001873, + 0.09419558197259903, + -0.009134509031035297 + ], + [ + -0.015362209640443325, + 0.9984490871429443, + 0.053510501980781555, + 0.00047932518512874573 + ], + [ + -0.09350002557039261, + -0.054716795682907104, + 0.9941145777702332, + 0.02099660371531205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9954510927200317, + 0.010330970399081707, + 0.09471222758293152, + -0.00962785794785392 + ], + [ + -0.015393570996820927, + 0.9984822869300842, + 0.052878670394420624, + 0.0002965988809533649 + ], + [ + -0.09402219951152802, + -0.05409608781337738, + 0.9940993189811707, + 0.021201484017522938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9952251315116882, + 0.008919496089220047, + 0.09719754755496979, + -0.009568278983714111 + ], + [ + -0.014082984998822212, + 0.9985180497169495, + 0.05256780609488487, + 0.0005844476237476066 + ], + [ + -0.09658463299274445, + -0.05368563160300255, + 0.9938758611679077, + 0.020714120864568943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9949691295623779, + 0.00826253555715084, + 0.09984046220779419, + -0.009591110322220498 + ], + [ + -0.013567151501774788, + 0.998525083065033, + 0.05256936699151993, + 0.000577753145845203 + ], + [ + -0.09925885498523712, + -0.05365944653749466, + 0.9936137795448303, + 0.020621498324066758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9948599338531494, + 0.007483783643692732, + 0.1009833961725235, + -0.00979917825771922 + ], + [ + -0.012835070490837097, + 0.9985412359237671, + 0.05244656652212143, + 0.0007994344579074607 + ], + [ + -0.10044358670711517, + -0.05347311496734619, + 0.9935047626495361, + 0.020965630637414485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9949406385421753, + 0.00820445828139782, + 0.10012896358966827, + -0.009822641863641011 + ], + [ + -0.013497205451130867, + 0.9985403418540955, + 0.052296921610832214, + 0.0007442370435806463 + ], + [ + -0.09955374896526337, + -0.05338379740715027, + 0.9935991168022156, + 0.020812258242543444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9950075149536133, + 0.00846919696778059, + 0.09944020211696625, + -0.010227451178088156 + ], + [ + -0.013685704208910465, + 0.9985588192939758, + 0.05189437419176102, + 0.0009033219721897628 + ], + [ + -0.09885738790035248, + -0.0529962033033371, + 0.9936894178390503, + 0.020747940314103323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9949599504470825, + 0.008682332932949066, + 0.0998966321349144, + -0.010851786816754494 + ], + [ + -0.013843445107340813, + 0.9985982179641724, + 0.051087912172079086, + 0.0008514267400872097 + ], + [ + -0.09931304305791855, + -0.052213337272405624, + 0.9936854243278503, + 0.02091841013974933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9948824048042297, + 0.0092350784689188, + 0.10061673074960709, + -0.011148242674390204 + ], + [ + -0.014397475868463516, + 0.9986100196838379, + 0.05070282891392708, + 0.0006745308893358701 + ], + [ + -0.10000862926244736, + -0.051891978830099106, + 0.9936324954032898, + 0.02098064706417691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9948152899742126, + 0.010068723931908607, + 0.10119885951280594, + -0.011282155785642295 + ], + [ + -0.015238290652632713, + 0.99861079454422, + 0.05044078081846237, + 0.0005918682092823178 + ], + [ + -0.10055040568113327, + -0.05172135680913925, + 0.9935867190361023, + 0.021026110070117985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.994680643081665, + 0.009608736261725426, + 0.10255779325962067, + -0.011506924181091916 + ], + [ + -0.014802765101194382, + 0.9986392855644226, + 0.05000460147857666, + 0.000407479128643242 + ], + [ + -0.10193775594234467, + -0.05125674605369568, + 0.9934694170951843, + 0.02111344223011689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9945629835128784, + 0.008910175412893295, + 0.10375511646270752, + -0.011341938745215477 + ], + [ + -0.014112120494246483, + 0.9986738562583923, + 0.0495111346244812, + 0.0005221898485410839 + ], + [ + -0.10317637026309967, + -0.05070614814758301, + 0.9933697581291199, + 0.020906360670325745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945362210273743, + 0.007938073948025703, + 0.10408955812454224, + -0.011329712665426624 + ], + [ + -0.013144772499799728, + 0.9986910223960876, + 0.04943118244409561, + 0.0008302834806458867 + ], + [ + -0.1035609245300293, + -0.05052933841943741, + 0.9933387637138367, + 0.020781442087637374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9945428967475891, + 0.007461486384272575, + 0.10406147688627243, + -0.01139340421341988 + ], + [ + -0.012634951621294022, + 0.9987117052078247, + 0.049145251512527466, + 0.0009878398175444828 + ], + [ + -0.10356072336435318, + -0.05019187182188034, + 0.993355929851532, + 0.02058453860890913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9945007562637329, + 0.006769930012524128, + 0.10451052337884903, + -0.011697766357232407 + ], + [ + -0.011933674104511738, + 0.998734176158905, + 0.04886290058493614, + 0.00108280652235393 + ], + [ + -0.10404743999242783, + -0.04984138533473015, + 0.9933226704597473, + 0.02038935124724505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9944331645965576, + 0.006823955103754997, + 0.10514800250530243, + -0.011964717624619241 + ], + [ + -0.011988271027803421, + 0.998748242855072, + 0.04856128618121147, + 0.0012093035854870476 + ], + [ + -0.10468500852584839, + -0.049551498144865036, + 0.993270218372345, + 0.020128288402794355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9943739175796509, + 0.006289738230407238, + 0.1057400330901146, + -0.012496982103617618 + ], + [ + -0.011446877382695675, + 0.9987703561782837, + 0.048235971480607986, + 0.0014356814916750573 + ], + [ + -0.10530661791563034, + -0.04917498305439949, + 0.9932231903076172, + 0.019825556872779107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9943286180496216, + 0.006102184299379587, + 0.10617637634277344, + -0.01304699432714487 + ], + [ + -0.01122303493320942, + 0.998798668384552, + 0.047699224203825, + 0.00147871659202763 + ], + [ + -0.10575775802135468, + -0.048620324581861496, + 0.9932025671005249, + 0.01950730409877128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9942935705184937, + 0.006047375500202179, + 0.10650710016489029, + -0.01343513883044382 + ], + [ + -0.011139163747429848, + 0.9988197088241577, + 0.047277241945266724, + 0.0015689599784988776 + ], + [ + -0.10609548538923264, + -0.048193857073783875, + 0.9931873679161072, + 0.019015781581401825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9942848086357117, + 0.006411413662135601, + 0.10656765848398209, + -0.013840509239905867 + ], + [ + -0.011465056799352169, + 0.9988348484039307, + 0.04687715321779251, + 0.0015657447779693278 + ], + [ + -0.10614294558763504, + -0.04783104360103607, + 0.9931998252868652, + 0.01882664924375264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9943992495536804, + 0.005773792043328285, + 0.10553079098463058, + -0.014397763518474428 + ], + [ + -0.01060204952955246, + 0.9989194869995117, + 0.045248571783304214, + 0.0017828311761803775 + ], + [ + -0.10515550523996353, + -0.046113986521959305, + 0.9933860301971436, + 0.018844716608464478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9944817423820496, + 0.006514749489724636, + 0.10470758378505707, + -0.014807761725352472 + ], + [ + -0.011107816360890865, + 0.9989985227584839, + 0.04334257170557976, + 0.0016444891211520657 + ], + [ + -0.10432036221027374, + -0.0442664660513401, + 0.9935581088066101, + 0.0184174289769796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9944759011268616, + 0.006469212472438812, + 0.10476559400558472, + -0.015264124833197001 + ], + [ + -0.010978981852531433, + 0.9990350008010864, + 0.0425269678235054, + 0.0013310505008983266 + ], + [ + -0.10438938438892365, + -0.0434422641992569, + 0.9935872554779053, + 0.018762664977146917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9944634437561035, + 0.006726877763867378, + 0.1048678308725357, + -0.01588806488240759 + ], + [ + -0.011111313477158546, + 0.9990857839584351, + 0.04128117486834526, + 0.0012066592341737755 + ], + [ + -0.10449425876140594, + -0.042217839509248734, + 0.993628978729248, + 0.018799773051616658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.994459867477417, + 0.00667217280715704, + 0.10490525513887405, + -0.016139664338811872 + ], + [ + -0.010985183529555798, + 0.999115526676178, + 0.04058951139450073, + 0.0009382507019025465 + ], + [ + -0.10454165190458298, + -0.04151704162359238, + 0.9936535358428955, + 0.01852148563028818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9944375157356262, + 0.006782917771488428, + 0.10510946810245514, + -0.01646872835970637 + ], + [ + -0.011027678847312927, + 0.9991446137428284, + 0.039855796843767166, + 0.0007976282399192632 + ], + [ + -0.10474921762943268, + -0.04079321399331093, + 0.993661642074585, + 0.01835143586478559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9944157004356384, + 0.006912524811923504, + 0.10530757904052734, + -0.01656645677897735 + ], + [ + -0.011076920665800571, + 0.9991773366928101, + 0.039011675864458084, + 0.001033271377930515 + ], + [ + -0.10495127737522125, + -0.03996030613780022, + 0.9936742186546326, + 0.018180145855888306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9944027066230774, + 0.0070363664999604225, + 0.10542187839746475, + -0.01675984105151371 + ], + [ + -0.011137458495795727, + 0.999201774597168, + 0.03836366534233093, + 0.0012481576813586864 + ], + [ + -0.10506778210401535, + -0.03932306170463562, + 0.9936873316764832, + 0.01797207113220749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.994403064250946, + 0.006948670372366905, + 0.1054244190454483, + -0.017051534971267168 + ], + [ + -0.010965293273329735, + 0.9992339015007019, + 0.03756789490580559, + 0.0015210393045740913 + ], + [ + -0.10508260130882263, + -0.03851364180445671, + 0.9937174320220947, + 0.017762975055859033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9944093823432922, + 0.0071740951389074326, + 0.10534928739070892, + -0.017440353060911698 + ], + [ + -0.011131785809993744, + 0.9992522597312927, + 0.037027508020401, + 0.0015465057299782832 + ], + [ + -0.10500487685203552, + -0.03799322992563248, + 0.9937456846237183, + 0.017599964283975252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.994419515132904, + 0.007195140700787306, + 0.10525250434875488, + -0.018578813671616904 + ], + [ + -0.011083102785050869, + 0.999275803565979, + 0.036401256918907166, + 0.0014377570652167302 + ], + [ + -0.10491436719894409, + -0.037364646792411804, + 0.9937790632247925, + 0.017601926364453443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9944354891777039, + 0.007503846660256386, + 0.10507991909980774, + -0.01943483234319581 + ], + [ + -0.011267049238085747, + 0.9993144869804382, + 0.03526507318019867, + 0.0010705939353813968 + ], + [ + -0.10474325716495514, + -0.03625278174877167, + 0.9938383102416992, + 0.017612393586391425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9944108724594116, + 0.007982742041349411, + 0.10527698695659637, + -0.020041492724245092 + ], + [ + -0.011702649295330048, + 0.9993270039558411, + 0.03476422652602196, + 0.001026460730113523 + ], + [ + -0.1049286276102066, + -0.03580194339156151, + 0.9938350915908813, + 0.01743933611800034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9943842887878418, + 0.008383889682590961, + 0.10549676418304443, + -0.02082276192959398 + ], + [ + -0.01206547487527132, + 0.9993384480476379, + 0.03430792689323425, + 0.0008872668223780949 + ], + [ + -0.1051393449306488, + -0.03538813441991806, + 0.9938276410102844, + 0.017595916445625116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9942154288291931, + 0.008819125592708588, + 0.1070418432354927, + -0.02128508260312778 + ], + [ + -0.012607067823410034, + 0.9993160963058472, + 0.034762538969516754, + 0.0007190979649939287 + ], + [ + -0.10666205734014511, + -0.03591093420982361, + 0.9936466217041016, + 0.016968860397915765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9941539168357849, + 0.008706006221473217, + 0.10762058943510056, + -0.022008386658912294 + ], + [ + -0.012451930902898312, + 0.9993379712104797, + 0.034183911979198456, + 0.0010483661566460768 + ], + [ + -0.10725174099206924, + -0.035324156284332275, + 0.9936041831970215, + 0.017018294777257376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9940426349639893, + 0.009139674715697765, + 0.1086079552769661, + -0.022331825377565458 + ], + [ + -0.012908481992781162, + 0.9993367791175842, + 0.03404877707362175, + 0.00099628778449428 + ], + [ + -0.10822472721338272, + -0.03524790331721306, + 0.9935013651847839, + 0.01673620334456125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9938698410987854, + 0.009182886220514774, + 0.11017463356256485, + -0.022878547502872364 + ], + [ + -0.012974505312740803, + 0.9993461966514587, + 0.03374721109867096, + 0.0010974705718124816 + ], + [ + -0.10979270190000534, + -0.03496979922056198, + 0.9933391809463501, + 0.01672764976235877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9936079978942871, + 0.008483120240271091, + 0.11256610602140427, + -0.023275487393469935 + ], + [ + -0.012332831509411335, + 0.9993610382080078, + 0.033547401428222656, + 0.0012211579052884745 + ], + [ + -0.11220959573984146, + -0.03472122550010681, + 0.9930777549743652, + 0.016909585892406095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9934154748916626, + 0.008761489763855934, + 0.11423209309577942, + -0.023426871066800803 + ], + [ + -0.012660849839448929, + 0.9993600249290466, + 0.03345470875501633, + 0.0011535043703358487 + ], + [ + -0.11386588215827942, + -0.03468070179224014, + 0.9928906559944153, + 0.017080830477447396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9933270812034607, + 0.00880301371216774, + 0.11499503254890442, + -0.023383327751573785 + ], + [ + -0.012711506336927414, + 0.9993645548820496, + 0.033299390226602554, + 0.0009402029528600504 + ], + [ + -0.11462882161140442, + -0.03453894332051277, + 0.9928078055381775, + 0.01744082872288294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9932845234870911, + 0.008895978331565857, + 0.11535488069057465, + -0.023958800111833704 + ], + [ + -0.012786859646439552, + 0.9993724226951599, + 0.03303365781903267, + 0.0009259818524802964 + ], + [ + -0.11498862504959106, + -0.03428684547543526, + 0.9927749037742615, + 0.017527321117918892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9932554364204407, + 0.008602316491305828, + 0.115627221763134, + -0.02449879902807704 + ], + [ + -0.01247922983020544, + 0.999382495880127, + 0.03284744545817375, + 0.0007225251593206257 + ], + [ + -0.11527325958013535, + -0.034068841487169266, + 0.9927493929862976, + 0.01757933870406754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9932296276092529, + 0.008961700834333897, + 0.11582138389348984, + -0.024984945267827872 + ], + [ + -0.012850792147219181, + 0.9993768334388733, + 0.03287537023425102, + 0.0006675305596532217 + ], + [ + -0.11545459181070328, + -0.034141186624765396, + 0.9927258491516113, + 0.0176038728555642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9932101368904114, + 0.009069466963410378, + 0.11598023027181625, + -0.025500879750444915 + ], + [ + -0.012975145131349564, + 0.9993723034858704, + 0.032964859157800674, + 0.0007092869142537944 + ], + [ + -0.11560846120119095, + -0.03424588963389397, + 0.9927043318748474, + 0.017554618406995952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9825129508972168, + 0.0022129914723336697, + 0.18618106842041016, + -0.02420475660060274 + ], + [ + -0.012887492775917053, + 0.9983395338058472, + 0.05614325776696205, + -0.0034314692328986994 + ], + [ + -0.1857476830482483, + -0.057560887187719345, + 0.980910062789917, + -0.015427657674594098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9833413362503052, + 0.007591674104332924, + 0.18160995841026306, + -0.026107199430693857 + ], + [ + -0.018351126462221146, + 0.9981688857078552, + 0.05763808265328407, + -0.004120190936443676 + ], + [ + -0.18083983659744263, + -0.060010652989149094, + 0.9816800355911255, + -0.014379217046271844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9833846092224121, + 0.011311006732285023, + 0.18118144571781158, + -0.027672578618874826 + ], + [ + -0.022400468587875366, + 0.9979901909828186, + 0.05927761271595955, + -0.0033656259022473572 + ], + [ + -0.18014679849147797, + -0.06235124543309212, + 0.9816615581512451, + -0.012912268988997583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9831758141517639, + 0.016181228682398796, + 0.18194355070590973, + -0.028467639857920307 + ], + [ + -0.02765856869518757, + 0.9977713823318481, + 0.06072251498699188, + -0.0026750149822468497 + ], + [ + -0.18055550754070282, + -0.06473320722579956, + 0.9814322590827942, + -0.01326494150043252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9825881719589233, + 0.022949151694774628, + 0.18437404930591583, + -0.030370916881557387 + ], + [ + -0.03486029431223869, + 0.9974905252456665, + 0.061623379588127136, + -0.0026950075674472924 + ], + [ + -0.18249715864658356, + -0.06697773933410645, + 0.9809224009513855, + -0.012119490153578868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9818224310874939, + 0.02722504548728466, + 0.18783918023109436, + -0.031382473047082145 + ], + [ + -0.03964829817414284, + 0.9972445368766785, + 0.06270022690296173, + -0.0033126962019586897 + ], + [ + -0.18561458587646484, + -0.0690079927444458, + 0.980196475982666, + -0.011138128484767603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9816842675209045, + 0.027391236275434494, + 0.1885356605052948, + -0.0324097031009305 + ], + [ + -0.03993668034672737, + 0.997209906578064, + 0.06306709349155426, + -0.0016703608092369445 + ], + [ + -0.18628215789794922, + -0.06944146752357483, + 0.9800391793251038, + -0.01064883825559932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9821932315826416, + 0.029571905732154846, + 0.1855316460132599, + -0.033220026780286405 + ], + [ + -0.04181225597858429, + 0.9971742630004883, + 0.0624118372797966, + -0.0014890013326213781 + ], + [ + -0.18316173553466797, + -0.06905797868967056, + 0.980654239654541, + -0.012012831150109031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9826250672340393, + 0.03041752800345421, + 0.18309223651885986, + -0.034619153523630646 + ], + [ + -0.04244599863886833, + 0.9971644878387451, + 0.06213931366801262, + -0.0012479697597254232 + ], + [ + -0.1806829571723938, + -0.0688311755657196, + 0.9811299443244934, + -0.012129103250233045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9826597571372986, + 0.03182735666632652, + 0.1826658546924591, + -0.037701181624174476 + ], + [ + -0.04344361647963524, + 0.9972557425498962, + 0.05994706600904465, + -0.0017619699077029906 + ], + [ + -0.18025660514831543, + -0.06684323400259018, + 0.9813457727432251, + -0.008338951992701335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9822916984558105, + 0.03197592496871948, + 0.18460918962955475, + -0.038662538098837115 + ], + [ + -0.043399326503276825, + 0.9973627328872681, + 0.058172646909952164, + -0.0018329699624733754 + ], + [ + -0.18226219713687897, + -0.06515442579984665, + 0.9810888767242432, + -0.008591244428841226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9813637137413025, + 0.03225758299231529, + 0.18943247199058533, + -0.04019954775172065 + ], + [ + -0.04371274635195732, + 0.9974391460418701, + 0.05660659819841385, + -0.0018804522790388768 + ], + [ + -0.18712136149406433, + -0.06383227556943893, + 0.9802607297897339, + -0.008934039555220718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9800671339035034, + 0.03205953538417816, + 0.1960626095533371, + -0.041001790948212144 + ], + [ + -0.04365333914756775, + 0.9975261688232422, + 0.05509962886571884, + -0.0017180109026292004 + ], + [ + -0.1938111037015915, + -0.06256012618541718, + 0.979042112827301, + -0.010359867918024582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9786879420280457, + 0.03187116980552673, + 0.20286497473716736, + -0.04208666968222962 + ], + [ + -0.04356212168931961, + 0.9976211190223694, + 0.05342654138803482, + -0.001326102169088451 + ], + [ + -0.20067963004112244, + -0.06112513691186905, + 0.9777481555938721, + -0.01073227977477403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9771384596824646, + 0.03044593520462513, + 0.2104126363992691, + -0.04501881798108419 + ], + [ + -0.042475827038288116, + 0.9976965188980103, + 0.05289112403988838, + -0.0016463056051482757 + ], + [ + -0.2083176225423813, + -0.060619402676820755, + 0.9761808514595032, + -0.008606793234745662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9757533073425293, + 0.029143689200282097, + 0.21692420542240143, + -0.04355210635631558 + ], + [ + -0.04140384867787361, + 0.9977785348892212, + 0.05218871310353279, + -0.0016407496750309883 + ], + [ + -0.21492134034633636, + -0.0599048025906086, + 0.9747924208641052, + -0.011707872964711074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9737920761108398, + 0.027096588164567947, + 0.2258201390504837, + -0.04593920836741307 + ], + [ + -0.039607588201761246, + 0.9979100227355957, + 0.05105656757950783, + -0.002132847116901034 + ], + [ + -0.22396473586559296, + -0.058662671595811844, + 0.9728301763534546, + -0.010209250260129511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9702232480049133, + 0.024632317945361137, + 0.24095652997493744, + -0.04507939180127348 + ], + [ + -0.037580862641334534, + 0.9980772137641907, + 0.04929053410887718, + -0.002492259016604608 + ], + [ + -0.23927907645702362, + -0.05687817558646202, + 0.9692834615707397, + -0.0110294067641219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9671837091445923, + 0.018590405583381653, + 0.2533971965312958, + -0.044861463291278804 + ], + [ + -0.03229551389813423, + 0.9982252717018127, + 0.05003324896097183, + -0.003405970464045384 + ], + [ + -0.2520173490047455, + -0.05657493323087692, + 0.9660675525665283, + -0.011963505688381483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9661611914634705, + 0.012206300161778927, + 0.2576499581336975, + -0.04214038043451237 + ], + [ + -0.02607141062617302, + 0.9983854293823242, + 0.05046612396836281, + -0.0006737828604413205 + ], + [ + -0.2566179633140564, + -0.05547570809721947, + 0.9649195075035095, + -0.018458063964803057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9646153450012207, + 0.014895489439368248, + 0.26324015855789185, + -0.040013961426644436 + ], + [ + -0.02906033582985401, + 0.9983264207839966, + 0.049998022615909576, + -0.0022378141496210814 + ], + [ + -0.2620548605918884, + -0.05587870627641678, + 0.9634338617324829, + -0.018595599454928592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.964448869228363, + 0.013651908375322819, + 0.26391661167144775, + -0.03991131018847227 + ], + [ + -0.02785400301218033, + 0.9983534216880798, + 0.05014588683843613, + -0.0012971054880419768 + ], + [ + -0.262797474861145, + -0.05571427941322327, + 0.9632411003112793, + -0.018621605203812383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9652201533317566, + 0.009141078218817711, + 0.2612784802913666, + -0.037787656801150565 + ], + [ + -0.022973278537392616, + 0.998488187789917, + 0.04993528127670288, + 0.0016652703155243553 + ], + [ + -0.2604270279407501, + -0.05420096218585968, + 0.963970959186554, + -0.022947974027280348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9675044417381287, + 0.009006823413074017, + 0.2526935636997223, + -0.036300654998273556 + ], + [ + -0.02224457636475563, + 0.9985224604606628, + 0.049578674137592316, + 0.0019766196883451866 + ], + [ + -0.251873642206192, + -0.05358865112066269, + 0.9662752747535706, + -0.027756380819412597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9692531228065491, + 0.012701282277703285, + 0.2457377165555954, + -0.03761483567138483 + ], + [ + -0.025487063452601433, + 0.9984774589538574, + 0.048919931054115295, + 0.002214235379585031 + ], + [ + -0.2447422295808792, + -0.053678929805755615, + 0.9681011438369751, + -0.02708036545888487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9699660539627075, + 0.014711076393723488, + 0.24279512465000153, + -0.04245110783336991 + ], + [ + -0.02743668295443058, + 0.9984162449836731, + 0.04911496490240097, + 0.0003585568808269759 + ], + [ + -0.2416880577802658, + -0.054301343858242035, + 0.9688334465026855, + -0.02026543878318076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9715057611465454, + 0.013567505404353142, + 0.23662737011909485, + -0.03910798883256334 + ], + [ + -0.02586463652551174, + 0.9984666705131531, + 0.048941683024168015, + 0.0011636595939866728 + ], + [ + -0.2356005311012268, + -0.05366740748286247, + 0.9703670740127563, + -0.0253998525739913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9737020134925842, + 0.01615607552230358, + 0.22725173830986023, + -0.03945538090452192 + ], + [ + -0.02774694375693798, + 0.9984665513038635, + 0.047902628779411316, + 0.0007565851754604289 + ], + [ + -0.22612935304641724, + -0.05294843018054962, + 0.9726572036743164, + -0.025395550722458277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9756085276603699, + 0.019067155197262764, + 0.21868811547756195, + -0.0409959872593602 + ], + [ + -0.02999228797852993, + 0.9984564185142517, + 0.04674697667360306, + 0.0006319544701668691 + ], + [ + -0.21745921671390533, + -0.05216570198535919, + 0.97467440366745, + -0.024318005757997314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9766091108322144, + 0.021019235253334045, + 0.21399253606796265, + -0.045898668454533595 + ], + [ + -0.031508736312389374, + 0.9984570145606995, + 0.0457255057990551, + -0.00041661032206233013 + ], + [ + -0.2127012312412262, + -0.05139857903122902, + 0.9757645130157471, + -0.015247657773904053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9771643280982971, + 0.02036772482097149, + 0.2115066945552826, + -0.04807972599898117 + ], + [ + -0.030820472165942192, + 0.9984546899795532, + 0.046241629868745804, + -0.0014529284763048931 + ], + [ + -0.2102380096912384, + -0.05170440301299095, + 0.9762820601463318, + -0.012208886206688651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9761202335357666, + 0.024733325466513634, + 0.2158183604478836, + -0.043166684413171674 + ], + [ + -0.036237381398677826, + 0.9981160163879395, + 0.04951068013906479, + -0.005410958345171558 + ], + [ + -0.21418718993663788, + -0.056149065494537354, + 0.9751774668693542, + -0.01719995157935294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9737039804458618, + 0.022259648889303207, + 0.22672680020332336, + -0.04515914954768725 + ], + [ + -0.0356927253305912, + 0.9978304505348206, + 0.05532118305563927, + -0.003471989236233464 + ], + [ + -0.22500348091125488, + -0.061958957463502884, + 0.9723860025405884, + -0.013304519624894404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.973177969455719, + 0.019664814695715904, + 0.22921162843704224, + -0.03905127196255735 + ], + [ + -0.03437210991978645, + 0.9975852966308594, + 0.060349687933921814, + -0.0033988517967153747 + ], + [ + -0.22747138142585754, + -0.0666094720363617, + 0.9715039730072021, + -0.018524428062051176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9744890928268433, + 0.01726793870329857, + 0.2237696349620819, + -0.03769539778951152 + ], + [ + -0.032935865223407745, + 0.9972442984580994, + 0.06647590547800064, + -0.0031820631829131557 + ], + [ + -0.22200509905815125, + -0.0721500888466835, + 0.9723724126815796, + -0.017217258036316158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9777020812034607, + 0.022146398201584816, + 0.20882582664489746, + -0.03842963672665707 + ], + [ + -0.038011595606803894, + 0.996660590171814, + 0.07226870954036713, + -0.003113586124571332 + ], + [ + -0.206527978181839, + -0.07859507203102112, + 0.975278913974762, + -0.015159662658849873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9802557229995728, + 0.026314277201890945, + 0.19597531855106354, + -0.0383469730037747 + ], + [ + -0.042630385607481, + 0.9959222078323364, + 0.07950851321220398, + -0.0035467756945774497 + ], + [ + -0.1930839568376541, + -0.08629317581653595, + 0.9773802161216736, + -0.013787450762577804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.98044353723526, + 0.03142806142568588, + 0.19427481293678284, + -0.04069464068222103 + ], + [ + -0.04947862774133682, + 0.9948225021362305, + 0.08876940608024597, + -0.0051062303554102115 + ], + [ + -0.1904790997505188, + -0.09664584696292877, + 0.976922333240509, + -0.0072472330616659905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9792661070823669, + 0.031216168776154518, + 0.20015849173069, + -0.04164936903335367 + ], + [ + -0.05189281702041626, + 0.9937432408332825, + 0.09890174120664597, + -0.0050076119856063625 + ], + [ + -0.19581879675388336, + -0.10723791271448135, + 0.9747589826583862, + -0.003614562670569343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9781628251075745, + 0.03236572444438934, + 0.20530450344085693, + -0.04012012044472777 + ], + [ + -0.05576539784669876, + 0.9924505352973938, + 0.10923414677381516, + -0.005349085705511901 + ], + [ + -0.20021912455558777, + -0.11829767376184464, + 0.9725831151008606, + -0.0029204571978693993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9793760776519775, + 0.032455772161483765, + 0.19942191243171692, + -0.03963133968267006 + ], + [ + -0.0569954439997673, + 0.9913080334663391, + 0.11857428401708603, + -0.001786052012614098 + ], + [ + -0.1938401162624359, + -0.1274949610233307, + 0.9727132320404053, + -0.004269044610660478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9824569821357727, + 0.04510870575904846, + 0.1809515804052353, + -0.04598246550236091 + ], + [ + -0.06865660101175308, + 0.9896440505981445, + 0.1260591298341751, + -0.004452998611522487 + ], + [ + -0.17339129745960236, + -0.13627119362354279, + 0.9753797054290771, + 0.004325768728946226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9832144975662231, + 0.057679735124111176, + 0.17309613525867462, + -0.04895168938505721 + ], + [ + -0.0810270681977272, + 0.9880655407905579, + 0.13100019097328186, + -0.0037610482559146657 + ], + [ + -0.16347427666187286, + -0.14282676577568054, + 0.9761540293693542, + 0.006632320104301513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9836115837097168, + 0.06597968935966492, + 0.16779446601867676, + -0.0509861303411095 + ], + [ + -0.08941735327243805, + 0.986637532711029, + 0.13620181381702423, + -0.0039779731023862185 + ], + [ + -0.15656575560569763, + -0.14897342026233673, + 0.9763678312301636, + 0.008340194027956918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9840510487556458, + 0.0705413669347763, + 0.1633017659187317, + -0.05429818894654274 + ], + [ + -0.0930413007736206, + 0.9865343570709229, + 0.13451118767261505, + -0.0024148663793911174 + ], + [ + -0.15161418914794922, + -0.14755968749523163, + 0.9773634076118469, + 0.011986497947833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9835970997810364, + 0.07894357293844223, + 0.16218696534633636, + -0.05627344802515693 + ], + [ + -0.10044441372156143, + 0.9865501523017883, + 0.12895643711090088, + -0.0028731362198490696 + ], + [ + -0.1498252898454666, + -0.14313194155693054, + 0.9782972931861877, + 0.01281284821410495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827003479003906, + 0.08728372305631638, + 0.16334478557109833, + -0.05694976141190074 + ], + [ + -0.10876043885946274, + 0.9858547449111938, + 0.12752071022987366, + -0.002964983690515101 + ], + [ + -0.14990375936031342, + -0.14308011531829834, + 0.9782928824424744, + 0.011365148012552515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9816517233848572, + 0.09203436970710754, + 0.16700159013271332, + -0.05971252856604067 + ], + [ + -0.11392766237258911, + 0.9853854775428772, + 0.12663330137729645, + -0.002067408804598463 + ], + [ + -0.15290631353855133, + -0.14333589375019073, + 0.9777905941009521, + 0.014119772599209624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9806680083274841, + 0.09442273527383804, + 0.17139023542404175, + -0.06063321742666773 + ], + [ + -0.1164105013012886, + 0.9855396747589111, + 0.12312661856412888, + -0.0015601280459528232 + ], + [ + -0.1572859287261963, + -0.14069795608520508, + 0.9774790406227112, + 0.016142735078212726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9793248772621155, + 0.09496944397687912, + 0.17861592769622803, + -0.06318184047428718 + ], + [ + -0.11748757213354111, + 0.9857946038246155, + 0.12002366781234741, + -0.001530107273439686 + ], + [ + -0.16468003392219543, + -0.1385273039340973, + 0.9765709042549133, + 0.01812915006899331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9784185290336609, + 0.08969764411449432, + 0.18614915013313293, + -0.0623763111363872 + ], + [ + -0.11299596726894379, + 0.9864957928657532, + 0.11856622993946075, + -0.002499913675598352 + ], + [ + -0.1730002462863922, + -0.13704149425029755, + 0.975341260433197, + 0.01849902705121112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.977306604385376, + 0.08241576701402664, + 0.19513946771621704, + -0.06788498722016811 + ], + [ + -0.10548871010541916, + 0.9882116913795471, + 0.11094933748245239, + -0.0015612687489174942 + ], + [ + -0.18369513750076294, + -0.12901653349399567, + 0.9744797945022583, + 0.029134474402989247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9760817885398865, + 0.07625716179609299, + 0.20359082520008087, + -0.06865717612027403 + ], + [ + -0.09858142584562302, + 0.9899028539657593, + 0.10185308754444122, + -0.001161370003768 + ], + [ + -0.19376809895038605, + -0.1194872111082077, + 0.9737436771392822, + 0.029176810873021562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9745672345161438, + 0.06629840284585953, + 0.21406367421150208, + -0.07191637889987015 + ], + [ + -0.0879591777920723, + 0.9917455911636353, + 0.09329457581043243, + -0.004954955863755152 + ], + [ + -0.20611143112182617, + -0.10975070297718048, + 0.9723542928695679, + 0.03756899194694666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9720040559768677, + 0.05208810046315193, + 0.22911785542964935, + -0.07333455296255738 + ], + [ + -0.07161332666873932, + 0.9943981766700745, + 0.07774224132299423, + -0.005467826148203339 + ], + [ + -0.223784938454628, + -0.0919736698269844, + 0.9702892303466797, + 0.04230079711022147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9689180850982666, + 0.04302602261304855, + 0.2436113953590393, + -0.06718932687188967 + ], + [ + -0.060521408915519714, + 0.9960619211196899, + 0.06479048728942871, + -0.0065120958442609 + ], + [ + -0.23986434936523438, + -0.07752038538455963, + 0.9677063822746277, + 0.035835856435648406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9658980965614319, + 0.03194794803857803, + 0.25694406032562256, + -0.06597229397769672 + ], + [ + -0.04811244457960129, + 0.9972215890884399, + 0.05687049776315689, + -0.007058929872650459 + ], + [ + -0.2544132471084595, + -0.06729330867528915, + 0.9647515416145325, + 0.03502998821975955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9628414511680603, + 0.022210951894521713, + 0.26915243268013, + -0.06411018210452005 + ], + [ + -0.03635433316230774, + 0.9982010126113892, + 0.04767732322216034, + -0.007671132160866835 + ], + [ + -0.26760926842689514, + -0.05569055676460266, + 0.9619167447090149, + 0.037783609285771125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9617299437522888, + 0.012217776849865913, + 0.2737266719341278, + -0.06200231989045219 + ], + [ + -0.023753782734274864, + 0.9989619255065918, + 0.038869552314281464, + -0.008428833110774138 + ], + [ + -0.2729676067829132, + -0.04388405382633209, + 0.9610217809677124, + 0.033240466035274134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.960588276386261, + 0.004676475655287504, + 0.27793586254119873, + -0.05993953058608325 + ], + [ + -0.013929573819041252, + 0.9994121193885803, + 0.03132687136530876, + -0.009196837556858857 + ], + [ + -0.2776259779930115, + -0.033963751047849655, + 0.9600886702537537, + 0.03150119011301592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9593740701675415, + -0.0031084096990525723, + 0.28212013840675354, + -0.05672470197665045 + ], + [ + -0.004523645155131817, + 0.9996412992477417, + 0.026397135108709335, + -0.01107579984601183 + ], + [ + -0.28210100531578064, + -0.02660093829035759, + 0.9590158462524414, + 0.028075039974716776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9585360288619995, + -0.010118670761585236, + 0.28479161858558655, + -0.05379872136266835 + ], + [ + 0.003997370600700378, + 0.9997485280036926, + 0.02206701785326004, + -0.012401026524004927 + ], + [ + -0.2849433124065399, + -0.020013615489006042, + 0.9583353996276855, + 0.024108534712479056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9597811698913574, + -0.0145478006452322, + 0.28037211298942566, + -0.04546298106803174 + ], + [ + 0.007118338253349066, + 0.9995964765548706, + 0.02749875746667385, + -0.013204286949349994 + ], + [ + -0.2806590497493744, + -0.024397006258368492, + 0.9594974517822266, + 0.00976779322929112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9614113569259644, + -0.01768418960273266, + 0.2745460271835327, + -0.0461690741523831 + ], + [ + 0.00749007984995842, + 0.9992445111274719, + 0.03813488781452179, + -0.014694230381893107 + ], + [ + -0.2750130295753479, + -0.0346069410443306, + 0.9608174562454224, + 0.00934421720252518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9655627608299255, + -0.021949244663119316, + 0.2592426836490631, + -0.049354924392104746 + ], + [ + 0.010539354756474495, + 0.9989168643951416, + 0.045320719480514526, + -0.003082608412502401 + ], + [ + -0.25995662808418274, + -0.041027747094631195, + 0.9647483229637146, + 0.006432360500830363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9698579907417297, + -0.014745911583304405, + 0.24322417378425598, + -0.049259423125669895 + ], + [ + 0.0013200114481151104, + 0.9984705448150635, + 0.05527055636048317, + -0.011365710888955608 + ], + [ + -0.24366718530654907, + -0.053283531218767166, + 0.9683941006660461, + 0.00574214215910279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9711340069770813, + -0.008475813083350658, + 0.2383839339017868, + -0.0511644877232499 + ], + [ + -0.005701451562345028, + 0.9982582330703735, + 0.05872008204460144, + -0.015267467558249292 + ], + [ + -0.23846642673015594, + -0.05838420242071152, + 0.9693941473960876, + 0.009302500885047289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9718360900878906, + -0.006023675203323364, + 0.235580712556839, + -0.05416934745120684 + ], + [ + -0.008052576333284378, + 0.9982406497001648, + 0.05874360725283623, + -0.015591427202085893 + ], + [ + -0.23552009463310242, + -0.05898619070649147, + 0.9700778126716614, + 0.011895584656827031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9718353152275085, + -0.002707383129745722, + 0.23564553260803223, + -0.0554088839700064 + ], + [ + -0.011199217289686203, + 0.9982736706733704, + 0.057656530290842056, + -0.015565719262483608 + ], + [ + -0.23539483547210693, + -0.05867169424891472, + 0.970127284526825, + 0.013092670052608729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9709500670433044, + 0.00014104973524808884, + 0.23928222060203552, + -0.05624964173871978 + ], + [ + -0.01411434542387724, + 0.9982923865318298, + 0.056684184819459915, + -0.01505725952201938 + ], + [ + -0.23886561393737793, + -0.058414820581674576, + 0.969294011592865, + 0.014238101981456827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9699224233627319, + 0.001565104816108942, + 0.24340927600860596, + -0.05498714902481236 + ], + [ + -0.016228247433900833, + 0.9981702566146851, + 0.0582471638917923, + -0.017004242184829998 + ], + [ + -0.24287274479866028, + -0.06044533848762512, + 0.9681731462478638, + 0.01245997880948296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9685791730880737, + 0.0005250154063105583, + 0.24870485067367554, + -0.05623455013402824 + ], + [ + -0.015521238557994366, + 0.998176097869873, + 0.058340203016996384, + -0.014644915144516522 + ], + [ + -0.24822059273719788, + -0.06036731228232384, + 0.9668207168579102, + 0.015238651814571317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9661826491355896, + -0.00030231568962335587, + 0.2578585147857666, + -0.06130189207909875 + ], + [ + -0.014891079626977444, + 0.9982650279998779, + 0.056966498494148254, + -0.01646804146984794 + ], + [ + -0.2574283480644226, + -0.05887983739376068, + 0.9645018577575684, + 0.024836519012698927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9618895053863525, + 0.0010425853542983532, + 0.2734365463256836, + -0.06347201082137335 + ], + [ + -0.014799905940890312, + 0.998725414276123, + 0.04825477674603462, + -0.018440779681545665 + ], + [ + -0.27303773164749146, + -0.05046259984374046, + 0.9606788754463196, + 0.032322063677042843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9575817584991455, + -0.0006236545741558075, + 0.28816112875938416, + -0.06048359567127433 + ], + [ + -0.01112467609345913, + 0.9991721510887146, + 0.03913062810897827, + -0.019692868259866315 + ], + [ + -0.2879469692707062, + -0.04067647457122803, + 0.9567821025848389, + 0.02989433511388469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9560619592666626, + -0.0067068543285131454, + 0.29308801889419556, + -0.0561360950545262 + ], + [ + -0.003529369831085205, + 0.9994025230407715, + 0.0343826524913311, + -0.02121424354523061 + ], + [ + -0.29314351081848145, + -0.03390635922551155, + 0.9554670453071594, + 0.025450520087257927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9547224044799805, + -0.006401927676051855, + 0.29742932319641113, + -0.053209160950154544 + ], + [ + -0.0026318286545574665, + 0.99954754114151, + 0.029962407425045967, + -0.022748614937239082 + ], + [ + -0.2974865436553955, + -0.029388563707470894, + 0.9542735815048218, + 0.024857817288772406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9531985521316528, + -0.015226759016513824, + 0.3019613027572632, + -0.047185706656171854 + ], + [ + 0.006510761100798845, + 0.9995331764221191, + 0.0298501905053854, + -0.022641631602178736 + ], + [ + -0.3022748827934265, + -0.026487162336707115, + 0.952852725982666, + 0.021298432177172068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9546930193901062, + -0.02002483792603016, + 0.2969178855419159, + -0.04137724470347165 + ], + [ + 0.010065987706184387, + 0.999335527420044, + 0.03503192588686943, + -0.02460077657218439 + ], + [ + -0.2974220812320709, + -0.03045596554875374, + 0.9542602300643921, + 0.014357419066826797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9553453922271729, + -0.025919191539287567, + 0.2943524122238159, + -0.04117902221390042 + ], + [ + 0.015084035694599152, + 0.9991245269775391, + 0.03902137652039528, + -0.025167144101906014 + ], + [ + -0.29510611295700073, + -0.03283886983990669, + 0.9549000263214111, + 0.015004719813432859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9564372301101685, + -0.025081131607294083, + 0.29085859656333923, + -0.0437013067275166 + ], + [ + 0.013777054846286774, + 0.999070405960083, + 0.0408477783203125, + -0.022748084379786468 + ], + [ + -0.2916127145290375, + -0.03506115823984146, + 0.9558936953544617, + 0.018116352332374415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9579455256462097, + -0.01814650185406208, + 0.28637582063674927, + -0.045775533328393854 + ], + [ + 0.005595475435256958, + 0.9989899396896362, + 0.044584814459085464, + -0.020923899015389293 + ], + [ + -0.28689563274383545, + -0.0411074124276638, + 0.9570794701576233, + 0.018787456451948868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9588711261749268, + -0.01486443355679512, + 0.2834523916244507, + -0.04856699560825006 + ], + [ + 0.0008772294968366623, + 0.998778223991394, + 0.049409087747335434, + -0.01817574941414786 + ], + [ + -0.283840537071228, + -0.04712829366326332, + 0.9577126502990723, + 0.020752194514647725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9597013592720032, + -0.011866424232721329, + 0.28077128529548645, + -0.051115304794925515 + ], + [ + -0.00296363839879632, + 0.9986251592636108, + 0.05233554169535637, + -0.01668188934135868 + ], + [ + -0.2810063064098358, + -0.05105859413743019, + 0.9583467245101929, + 0.025879826418397176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.960839033126831, + -0.010701059363782406, + 0.2769005000591278, + -0.052224846350320854 + ], + [ + -0.0049684131518006325, + 0.9984281659126282, + 0.05582541972398758, + -0.016234110543751214 + ], + [ + -0.27706262469291687, + -0.055014997720718384, + 0.9592756032943726, + 0.028959534218512387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9634720683097839, + -0.019892986863851547, + 0.2670690417289734, + -0.054850108715440014 + ], + [ + 0.0044046370312571526, + 0.9982795715332031, + 0.05846810340881348, + -0.002215613684257919 + ], + [ + -0.2677726745605469, + -0.05515604466199875, + 0.9619020819664001, + 0.029399543331120628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9692486524581909, + -0.018770800903439522, + 0.24536634981632233, + -0.05510560366657963 + ], + [ + 0.0038163885474205017, + 0.998113214969635, + 0.061281245201826096, + -0.0066262636629183845 + ], + [ + -0.24605371057987213, + -0.05846035107970238, + 0.9674915671348572, + 0.03110357392654122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9734979271888733, + -0.011952895671129227, + 0.22838322818279266, + -0.05494810082579412 + ], + [ + -0.0016883979551494122, + 0.9982303977012634, + 0.059441301971673965, + -0.010317197538553232 + ], + [ + -0.22868956625461578, + -0.05825158581137657, + 0.9717550277709961, + 0.03370979424251849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9760735630989075, + -0.010769499465823174, + 0.21717379987239838, + -0.05356122369552592 + ], + [ + -0.003038010559976101, + 0.9979997873306274, + 0.0631442666053772, + -0.013396872427075143 + ], + [ + -0.21741943061351776, + -0.06229322776198387, + 0.9740884900093079, + 0.031202796327481307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9788020849227905, + -0.0077127255499362946, + 0.2046632021665573, + -0.05461355109239019 + ], + [ + -0.006887014955282211, + 0.9974860548973083, + 0.07052739709615707, + -0.01430402500966347 + ], + [ + -0.20469264686107635, + -0.07044187933206558, + 0.9762883186340332, + 0.034132824510515455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9806572198867798, + -0.006481757387518883, + 0.19562552869319916, + -0.055808762549590996 + ], + [ + -0.008180341683328152, + 0.997221052646637, + 0.07404890656471252, + -0.01565580360075257 + ], + [ + -0.19556187093257904, + -0.07421688735485077, + 0.9778790473937988, + 0.03604042572698679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9802482724189758, + -0.0011254907585680485, + 0.19776763021945953, + -0.06147119164771689 + ], + [ + -0.012799058109521866, + 0.9975265264511108, + 0.06911628693342209, + -0.01445093761800403 + ], + [ + -0.1973562389612198, + -0.07028236240148544, + 0.9778092503547668, + 0.044901751176300776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9773973822593689, + 0.002118461299687624, + 0.2113998979330063, + -0.06643311467309704 + ], + [ + -0.015423556789755821, + 0.9979996681213379, + 0.06130901724100113, + -0.014101274921951524 + ], + [ + -0.2108471542596817, + -0.06318380683660507, + 0.9754748940467834, + 0.053953146512608935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9731460213661194, + 0.001590935979038477, + 0.23018306493759155, + -0.0712870417162776 + ], + [ + -0.012751750648021698, + 0.9988131523132324, + 0.04700722172856331, + -0.012088969774005642 + ], + [ + -0.22983509302139282, + -0.048680130392313004, + 0.9720113277435303, + 0.06357058636754392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9682291150093079, + -0.001449307892471552, + 0.2500605583190918, + -0.06274899364192875 + ], + [ + -0.007980788126587868, + 0.9992946982383728, + 0.036693181842565536, + -0.012692049516731477 + ], + [ + -0.24993737041950226, + -0.03752308711409569, + 0.9675346612930298, + 0.05004117142064983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9639815092086792, + -0.008124260231852531, + 0.26584509015083313, + -0.05726909771389571 + ], + [ + -0.002541444031521678, + 0.9992063641548157, + 0.039751410484313965, + -0.02140875365697296 + ], + [ + -0.2659570872783661, + -0.03899525851011276, + 0.96319580078125, + 0.05143337042695547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9624162316322327, + -0.025110643357038498, + 0.2704153060913086, + -0.05313734677676335 + ], + [ + 0.015036952681839466, + 0.9991158843040466, + 0.03926047682762146, + -0.0157614590050316 + ], + [ + -0.27116209268569946, + -0.03371869772672653, + 0.9619429111480713, + 0.05099070417773292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9635436534881592, + -0.026831749826669693, + 0.26620233058929443, + -0.04936343089987834 + ], + [ + 0.017255697399377823, + 0.9991192817687988, + 0.0382472388446331, + -0.02134238270421823 + ], + [ + -0.2669941186904907, + -0.03225937858223915, + 0.9631580710411072, + 0.04511441985766093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9635185599327087, + -0.03217479586601257, + 0.2657006084918976, + -0.0469926959808811 + ], + [ + 0.021460656076669693, + 0.9988389611244202, + 0.04313012212514877, + -0.02170123709253518 + ], + [ + -0.2667798101902008, + -0.03585456311702728, + 0.9630903005599976, + 0.041448186978278866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9617776870727539, + -0.038600873202085495, + 0.27109700441360474, + -0.0522160168647407 + ], + [ + 0.026889856904745102, + 0.9985430836677551, + 0.04678240790963173, + -0.02266693106706602 + ], + [ + -0.272507905960083, + -0.03770451620221138, + 0.9614144563674927, + 0.048762604903923465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9596256017684937, + -0.041174132376909256, + 0.27825063467025757, + -0.056055379263218866 + ], + [ + 0.03259722515940666, + 0.9988420605659485, + 0.0353829450905323, + -0.020463254443373546 + ], + [ + -0.2793853282928467, + -0.02488418109714985, + 0.9598565697669983, + 0.05781413221574691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9574416279792786, + -0.040729958564043045, + 0.28573858737945557, + -0.05331322870939133 + ], + [ + 0.034383226186037064, + 0.9990386366844177, + 0.027195720002055168, + -0.020221319386219405 + ], + [ + -0.28657156229019165, + -0.01621369831264019, + 0.9579216241836548, + 0.04903891764162295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9558951258659363, + -0.03823938965797424, + 0.29120826721191406, + -0.049182533849793736 + ], + [ + 0.03180494159460068, + 0.9991347789764404, + 0.026799093931913376, + -0.01965622351650732 + ], + [ + -0.2919811010360718, + -0.01635526493191719, + 0.95628422498703, + 0.042865129322352175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9557084441184998, + -0.036935847252607346, + 0.29198816418647766, + -0.05028115402772483 + ], + [ + 0.030286122113466263, + 0.9991694092750549, + 0.027262980118393898, + -0.01911130663920119 + ], + [ + -0.29275259375572205, + -0.0172122735530138, + 0.9560332894325256, + 0.04718130865399856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9578218460083008, + -0.03713029623031616, + 0.2849537134170532, + -0.0513086773365377 + ], + [ + 0.030532682314515114, + 0.9991536736488342, + 0.027562368661165237, + -0.016416070984309937 + ], + [ + -0.28573596477508545, + -0.017699439078569412, + 0.9581449031829834, + 0.03981748012653795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9602563381195068, + -0.035844821482896805, + 0.2768085300922394, + -0.05285332766642052 + ], + [ + 0.029012586921453476, + 0.9991657733917236, + 0.028739722445607185, + -0.015683355465172286 + ], + [ + -0.2776077687740326, + -0.019566571339964867, + 0.9604952335357666, + 0.04031824124864785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9620059728622437, + -0.0353177934885025, + 0.2707345187664032, + -0.05605798009708224 + ], + [ + 0.029402686282992363, + 0.9992327094078064, + 0.025874558836221695, + -0.012338346738113936 + ], + [ + -0.2714405953884125, + -0.016931157559156418, + 0.9623062610626221, + 0.04235345696708763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9631664156913757, + -0.030705243349075317, + 0.2671472728252411, + -0.061227995793458556 + ], + [ + 0.02575845643877983, + 0.999426007270813, + 0.022002611309289932, + -0.015357669596990428 + ], + [ + -0.26766952872276306, + -0.014310874044895172, + 0.9634044766426086, + 0.04474083154226642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9641764163970947, + -0.025521526113152504, + 0.26403117179870605, + -0.06149114352056241 + ], + [ + 0.021164963021874428, + 0.9995890855789185, + 0.01933211274445057, + -0.013861311368464706 + ], + [ + -0.26441603899002075, + -0.013051358982920647, + 0.9643204212188721, + 0.04225238446280899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9646515846252441, + -0.021180059760808945, + 0.2626761496067047, + -0.06262767316444391 + ], + [ + 0.016420569270849228, + 0.9996590614318848, + 0.020301472395658493, + -0.014850073481300269 + ], + [ + -0.26301655173301697, + -0.015270557254552841, + 0.9646704792976379, + 0.041967096927774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9652916789054871, + -0.021457210183143616, + 0.26029136776924133, + -0.06361399000271198 + ], + [ + 0.01646982878446579, + 0.9996368885040283, + 0.021326981484889984, + -0.01434603162768136 + ], + [ + -0.260654479265213, + -0.01629980280995369, + 0.9652945399284363, + 0.04268995150474899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9661323428153992, + -0.020455101504921913, + 0.25723519921302795, + -0.06521373105807655 + ], + [ + 0.01559560839086771, + 0.999659538269043, + 0.020917503163218498, + -0.014667702300182307 + ], + [ + -0.25757548213005066, + -0.016197336837649345, + 0.9661223888397217, + 0.04159583227641611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9666746258735657, + -0.016743727028369904, + 0.2554599940776825, + -0.06776947363496694 + ], + [ + 0.012333974242210388, + 0.9997461438179016, + 0.01885436475276947, + -0.014366419437569547 + ], + [ + -0.2557108700275421, + -0.0150751993060112, + 0.9666357636451721, + 0.04249942478346058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9655164480209351, + -0.012193840928375721, + 0.26005640625953674, + -0.07099257209385 + ], + [ + 0.008056883700191975, + 0.9998235702514648, + 0.016967996954917908, + -0.016918572633112052 + ], + [ + -0.26021745800971985, + -0.014287635684013367, + 0.9654443264007568, + 0.045590964597032727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9645397663116455, + -0.012943530455231667, + 0.2636201083660126, + -0.06901397030991333 + ], + [ + 0.009553711861371994, + 0.9998544454574585, + 0.014136677607893944, + -0.012580538516392908 + ], + [ + -0.26376470923423767, + -0.011116836220026016, + 0.9645230174064636, + 0.04169906404273337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9650574922561646, + -0.013781887479126453, + 0.2616755962371826, + -0.06628240771464494 + ], + [ + 0.010686979629099369, + 0.9998551607131958, + 0.013246714137494564, + -0.011076756770980646 + ], + [ + -0.2618202567100525, + -0.009987319819629192, + 0.9650650024414062, + 0.03802322035273874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9674431085586548, + -0.012298784218728542, + 0.25278952717781067, + -0.06920192896736314 + ], + [ + 0.009124689735472202, + 0.9998641610145569, + 0.013724842108786106, + -0.010384899786632344 + ], + [ + -0.25292399525642395, + -0.010971377603709698, + 0.9674239158630371, + 0.038867071630006814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9685744643211365, + -0.009044374339282513, + 0.24855917692184448, + -0.07369986895067865 + ], + [ + 0.005586831830441952, + 0.9998776316642761, + 0.014612234197556973, + -0.011940081839460924 + ], + [ + -0.24866092205047607, + -0.01276437845081091, + 0.9685065150260925, + 0.03966875507170896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9683398008346558, + -0.004619559273123741, + 0.24959297478199005, + -0.07605062547461484 + ], + [ + 0.0008054559584707022, + 0.999881386756897, + 0.015381267294287682, + -0.014879580320562255 + ], + [ + -0.24963442981243134, + -0.014693258330225945, + 0.9682286977767944, + 0.0414725351525119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9666694402694702, + -0.002053490374237299, + 0.2560195326805115, + -0.07950528529266936 + ], + [ + -0.0018891538493335247, + 0.9998834133148193, + 0.015152901411056519, + -0.014518251579748578 + ], + [ + -0.25602078437805176, + -0.015131507068872452, + 0.9665528535842896, + 0.04567764785185636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.965214729309082, + -0.0002304636873304844, + 0.2614583671092987, + -0.07884894877178482 + ], + [ + -0.00377529114484787, + 0.9998830556869507, + 0.014818434603512287, + -0.013268392001200153 + ], + [ + -0.26143118739128113, + -0.015290052630007267, + 0.9651010036468506, + 0.0450704798596092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9633148908615112, + 0.0022328393533825874, + 0.26836448907852173, + -0.08120072424696033 + ], + [ + -0.00572300236672163, + 0.9999089241027832, + 0.012223738245666027, + -0.0127832687994742 + ], + [ + -0.2683127522468567, + -0.013311159797012806, + 0.9632399082183838, + 0.04646275484986813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9608141779899597, + -0.00039296061731874943, + 0.27719295024871826, + -0.0807379870032181 + ], + [ + -0.003027453552931547, + 0.9999244809150696, + 0.011911383830010891, + -0.0150131032317802 + ], + [ + -0.2771766781806946, + -0.012283816002309322, + 0.9607404470443726, + 0.046881917718962496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9599419236183167, + -0.003777596401050687, + 0.2801735997200012, + -0.07733044341677822 + ], + [ + -0.00077603361569345, + 0.9998694658279419, + 0.016140174120664597, + -0.016451681634209243 + ], + [ + -0.28019797801971436, + -0.01571105420589447, + 0.95981365442276, + 0.04358329957418413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9614207744598389, + -0.005057603120803833, + 0.27503541111946106, + -0.07856594126252645 + ], + [ + 0.0011058945674449205, + 0.9998939633369446, + 0.01452117133885622, + -0.006958599136225939 + ], + [ + -0.2750796973705292, + -0.0136567959561944, + 0.9613244533538818, + 0.04126224866862517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9632037878036499, + -0.00154313282109797, + 0.26876771450042725, + -0.08092571658205734 + ], + [ + -0.002501110779121518, + 0.9998887777328491, + 0.014704299159348011, + -0.008967963598451641 + ], + [ + -0.2687605023384094, + -0.01483545359224081, + 0.9630928039550781, + 0.040616809950774935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9639274477958679, + 0.0024283728562295437, + 0.26615405082702637, + -0.08337647430823152 + ], + [ + -0.00620677275583148, + 0.9998915195465088, + 0.013356059789657593, + -0.006427636423361409 + ], + [ + -0.26609277725219727, + -0.014526229351758957, + 0.9638379812240601, + 0.04097297480217664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9631738066673279, + 0.0087767094373703, + 0.2687363028526306, + -0.08807918581228898 + ], + [ + -0.011858366429805756, + 0.9998812079429626, + 0.009846087545156479, + -0.008607561279641816 + ], + [ + -0.26861798763275146, + -0.01267026737332344, + 0.9631634950637817, + 0.04525986594637953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9613986015319824, + 0.010117272846400738, + 0.2749733030796051, + -0.08911430663522707 + ], + [ + -0.012549844570457935, + 0.9998961091041565, + 0.0070886206813156605, + -0.011442845167001208 + ], + [ + -0.2748730480670929, + -0.010265862569212914, + 0.9614257216453552, + 0.04324727915227414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9605039358139038, + 0.009990174323320389, + 0.27808690071105957, + -0.08727628809276475 + ], + [ + -0.012896526604890823, + 0.9998796582221985, + 0.008623899891972542, + -0.014509680041347641 + ], + [ + -0.27796727418899536, + -0.011869644746184349, + 0.9605172276496887, + 0.04205299582646554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610734581947327, + 0.008938297629356384, + 0.27614834904670715, + -0.08585403329696521 + ], + [ + -0.012084510177373886, + 0.9998800158500671, + 0.00969361886382103, + -0.01275836462192387 + ], + [ + -0.2760285437107086, + -0.012653397396206856, + 0.9610661268234253, + 0.036430063159261124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9635798931121826, + 0.0069786543026566505, + 0.26732954382896423, + -0.08545133354419086 + ], + [ + -0.010980731807649136, + 0.9998488426208496, + 0.013478545472025871, + -0.007133291304919375 + ], + [ + -0.26719507575035095, + -0.01592312939465046, + 0.9635108709335327, + 0.029990003885604053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9645959734916687, + 0.005508648231625557, + 0.2636744976043701, + -0.09004260929503353 + ], + [ + -0.012519843876361847, + 0.9996111392974854, + 0.02491741254925728, + -0.0109373561207609 + ], + [ + -0.2634347081184387, + -0.027336400002241135, + 0.9642898440361023, + 0.02944071949740131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.964898943901062, + 0.000571537297219038, + 0.26262080669403076, + -0.0928703071078263 + ], + [ + -0.009520273655653, + 0.9994164705276489, + 0.032803572714328766, + -0.011264934899457487 + ], + [ + -0.262448787689209, + -0.034152351319789886, + 0.9643413424491882, + 0.03227901202907045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9654712677001953, + -0.00389095488935709, + 0.2604805827140808, + -0.09556597313398577 + ], + [ + -0.0048050349578261375, + 0.9994523525238037, + 0.03273928537964821, + -0.005201449997004975 + ], + [ + -0.2604653239250183, + -0.03286045417189598, + 0.9649238586425781, + 0.030549332886994122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9676330089569092, + -0.0013898045290261507, + 0.2523578107357025, + -0.09288390824144864 + ], + [ + -0.0073900604620575905, + 0.9993999600410461, + 0.03384019806981087, + -0.007762621363333191 + ], + [ + -0.25225338339805603, + -0.034609828144311905, + 0.967042088508606, + 0.01400363657242024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9697433114051819, + -0.0001397966407239437, + 0.24412690103054047, + -0.0988442906848039 + ], + [ + -0.00907377153635025, + 0.9992882013320923, + 0.036615896970033646, + -0.00812952656553213 + ], + [ + -0.2439582496881485, + -0.03772317245602608, + 0.9690517783164978, + 0.01673845061097279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9717084765434265, + 0.011178816668689251, + 0.23591868579387665, + -0.10654428984715518 + ], + [ + -0.018696777522563934, + 0.9993853569030762, + 0.029653742909431458, + -0.008581859384285637 + ], + [ + -0.2354421764612198, + -0.03322571516036987, + 0.9713202714920044, + 0.018675993149726088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9718785285949707, + 0.02428106591105461, + 0.23422761261463165, + -0.11116496953350234 + ], + [ + -0.0291186161339283, + 0.9994276762008667, + 0.01721654087305069, + -0.007468605993023838 + ], + [ + -0.2336755245923996, + -0.02355276793241501, + 0.9720293283462524, + 0.013899573154119122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9707050919532776, + 0.03900500759482384, + 0.23708705604076385, + -0.11223402790964608 + ], + [ + -0.04379274323582649, + 0.9989286065101624, + 0.014959149062633514, + -0.0076487217824083254 + ], + [ + -0.23624958097934723, + -0.024903614073991776, + 0.9713732004165649, + 0.004947975864372102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9688781499862671, + 0.050510670989751816, + 0.24233004450798035, + -0.12080070668435001 + ], + [ + -0.05591677501797676, + 0.9983154535293579, + 0.015478702262043953, + -0.0046776504102480935 + ], + [ + -0.2411399781703949, + -0.028547288849949837, + 0.9700703620910645, + 0.008072435070412706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9664458632469177, + 0.05634251981973648, + 0.25061503052711487, + -0.12907676479543548 + ], + [ + -0.061134375631809235, + 0.9980647563934326, + 0.01137034222483635, + -0.003197358461119325 + ], + [ + -0.24948939681053162, + -0.026310011744499207, + 0.9680200815200806, + 0.01354686160156705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9631813168525696, + 0.05162840336561203, + 0.26384902000427246, + -0.1313341403821386 + ], + [ + -0.05792715400457382, + 0.9981902837753296, + 0.01614324375987053, + -0.003918223042624543 + ], + [ + -0.2625380754470825, + -0.030832890421152115, + 0.9644289016723633, + 0.009111284892482446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9615482091903687, + 0.04057814180850983, + 0.27162179350852966, + -0.1363065270804258 + ], + [ + -0.049284182488918304, + 0.9984641671180725, + 0.025304649025201797, + -0.004408712664910828 + ], + [ + -0.27017781138420105, + -0.03771829977631569, + 0.9620713591575623, + 0.005516544579861154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.959987223148346, + 0.03214161843061447, + 0.2781931459903717, + -0.1409442187253251 + ], + [ + -0.042704105377197266, + 0.9985754489898682, + 0.03199059143662453, + -0.004519553110003472 + ], + [ + -0.27676859498023987, + -0.04259054735302925, + 0.9599922895431519, + 0.004228677573692365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9574296474456787, + 0.02191685326397419, + 0.2878335118293762, + -0.1436322638817341 + ], + [ + -0.03401909023523331, + 0.9987319111824036, + 0.03711111843585968, + -0.002510287656811586 + ], + [ + -0.2866551876068115, + -0.045323118567466736, + 0.9569611549377441, + -0.0015590270644569963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9548274278640747, + 0.016365453600883484, + 0.296709805727005, + -0.14567525191120356 + ], + [ + -0.030318137258291245, + 0.9986370205879211, + 0.04248407110571861, + -0.0037384310075227753 + ], + [ + -0.29561010003089905, + -0.04956064745783806, + 0.954022228717804, + -0.003085647720888436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9540723562240601, + 0.012903065420687199, + 0.2992982268333435, + -0.15059426299419748 + ], + [ + -0.026670139282941818, + 0.9987633228302002, + 0.04195860028266907, + -0.00789514932646809 + ], + [ + -0.29838669300079346, + -0.04801386594772339, + 0.9532366394996643, + -0.005556312329079733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9572725296020508, + 0.0121771190315485, + 0.2889307737350464, + -0.15106169112834586 + ], + [ + -0.022500166669487953, + 0.999220609664917, + 0.032433945685625076, + -0.0057444804007688675 + ], + [ + -0.2883106470108032, + -0.03754911944270134, + 0.9568004012107849, + -0.014822260532752575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9614507555961609, + 0.017583806067705154, + 0.27441439032554626, + -0.15977730601427545 + ], + [ + -0.025384165346622467, + 0.9993675947189331, + 0.024900080636143684, + 0.0016609545215968058 + ], + [ + -0.2738030254840851, + -0.030905982479453087, + 0.96128910779953, + -0.02454474501042481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9650986194610596, + 0.025747034698724747, + 0.2606181204319, + -0.16788460091654075 + ], + [ + -0.03177090734243393, + 0.9993159770965576, + 0.01892668381333351, + 0.0037017407149626275 + ], + [ + -0.25995251536369324, + -0.026546187698841095, + 0.9652564525604248, + -0.024666623690401217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9679024815559387, + 0.02509692870080471, + 0.25006982684135437, + -0.17252439251506185 + ], + [ + -0.029935652390122414, + 0.9994306564331055, + 0.015564264729619026, + 0.003570702707724099 + ], + [ + -0.24953684210777283, + -0.022550692781805992, + 0.9681026935577393, + -0.029927192562555216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9699565172195435, + 0.01994207873940468, + 0.24245953559875488, + -0.17835584462407122 + ], + [ + -0.025534797459840775, + 0.9994749426841736, + 0.01994575373828411, + 0.0029252503783980676 + ], + [ + -0.24193447828292847, + -0.02553766779601574, + 0.9699564576148987, + -0.0422493459170602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9724346995353699, + 0.011245756410062313, + 0.23290398716926575, + -0.18010025798197252 + ], + [ + -0.018395347520709038, + 0.9994231462478638, + 0.028548268601298332, + 0.002511643729991762 + ], + [ + -0.23244857788085938, + -0.03204567730426788, + 0.972080647945404, + -0.05030875931303186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9753249883651733, + 0.005687890574336052, + 0.22070083022117615, + -0.18210401715763122 + ], + [ + -0.01408962532877922, + 0.9992338418960571, + 0.036512915045022964, + 0.002800190564147739 + ], + [ + -0.2203240692615509, + -0.03872155025601387, + 0.9746578931808472, + -0.056354552722838985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9785820841789246, + 0.005397324915975332, + 0.20578636229038239, + -0.1852168883245633 + ], + [ + -0.014391591772437096, + 0.999004065990448, + 0.04223509132862091, + 0.004133415420962325 + ], + [ + -0.20535345375537872, + -0.04429209232330322, + 0.9776850938796997, + -0.061931537468749354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9810295104980469, + 0.011225325055420399, + 0.1935332864522934, + -0.18928945665977087 + ], + [ + -0.020201463252305984, + 0.9988064765930176, + 0.04446936771273613, + 0.004660298318478717 + ], + [ + -0.19280312955379486, + -0.04753541573882103, + 0.9800853729248047, + -0.06268457197640316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9817039966583252, + 0.01777421124279499, + 0.18958190083503723, + -0.19342577864367322 + ], + [ + -0.025719432160258293, + 0.998887300491333, + 0.039531394839286804, + 0.005636142261969636 + ], + [ + -0.18866831064224243, + -0.04368406534194946, + 0.9810687899589539, + -0.06151322744577285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9811619520187378, + 0.023195073008537292, + 0.1917894184589386, + -0.19557317072847283 + ], + [ + -0.029981490224599838, + 0.9990200400352478, + 0.03255839645862579, + 0.005657129532968005 + ], + [ + -0.1908462941646576, + -0.03769519180059433, + 0.9808958768844604, + -0.06416850000859264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.979434072971344, + 0.025792334228754044, + 0.20010919868946075, + -0.19663148818604917 + ], + [ + -0.032236356288194656, + 0.9990591406822205, + 0.029010750353336334, + 0.0056689231314258764 + ], + [ + -0.19917266070842743, + -0.03486490994691849, + 0.9793440103530884, + -0.06681168553340866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9781356453895569, + 0.026055801659822464, + 0.206329345703125, + -0.19807106491671986 + ], + [ + -0.03141482174396515, + 0.9992477297782898, + 0.022739149630069733, + 0.006134716138228713 + ], + [ + -0.2055816352367401, + -0.02872377261519432, + 0.9782183170318604, + -0.06758516365624814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9777563214302063, + 0.026673514395952225, + 0.2080409824848175, + -0.1985356938467926 + ], + [ + -0.03054172918200493, + 0.9994148015975952, + 0.015403052791953087, + 0.006247852582028173 + ], + [ + -0.207508385181427, + -0.021414363756775856, + 0.9779987931251526, + -0.07069880210132484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9780583381652832, + 0.030265066772699356, + 0.20612119138240814, + -0.19918083422873392 + ], + [ + -0.03339004144072533, + 0.9993739128112793, + 0.01169840432703495, + 0.006753323145816663 + ], + [ + -0.2056380957365036, + -0.018324116244912148, + 0.9784565567970276, + -0.0734973272824862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9785674214363098, + 0.032727088779211044, + 0.20330937206745148, + -0.2007185319221642 + ], + [ + -0.035309191793203354, + 0.9993351101875305, + 0.00908516626805067, + 0.007594636292477329 + ], + [ + -0.20287688076496124, + -0.016069136559963226, + 0.9790723919868469, + -0.07417695227875767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.978854775428772, + 0.03212020918726921, + 0.2020188570022583, + -0.20244359019171282 + ], + [ + -0.034000787883996964, + 0.9994047284126282, + 0.005844731815159321, + 0.007462370493280959 + ], + [ + -0.20171085000038147, + -0.01258994359523058, + 0.9793642163276672, + -0.074381239395065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9785821437835693, + 0.03048308752477169, + 0.20358727872371674, + -0.199969290753445 + ], + [ + -0.033103249967098236, + 0.9994069933891296, + 0.00947622675448656, + 0.007019771585038987 + ], + [ + -0.20317767560482025, + -0.01601266674697399, + 0.9790109395980835, + -0.08411615927176302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9793181419372559, + 0.023892881348729134, + 0.20091062784194946, + -0.2004339552248817 + ], + [ + -0.02872234396636486, + 0.9993634819984436, + 0.02115686610341072, + 0.007643056066564647 + ], + [ + -0.20027723908424377, + -0.026489928364753723, + 0.9793810844421387, + -0.08571451291980514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9823880195617676, + 0.01943364366889, + 0.1858389526605606, + -0.204147674197174 + ], + [ + -0.025463610887527466, + 0.9992220401763916, + 0.03011544793844223, + 0.006685464575243404 + ], + [ + -0.18510912358760834, + -0.03431718796491623, + 0.9821186065673828, + -0.0845286910612899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9854126572608948, + 0.02172132208943367, + 0.1687900722026825, + -0.20473170237368848 + ], + [ + -0.02893463522195816, + 0.9987648129463196, + 0.04039374366402626, + 0.0069612994958388515 + ], + [ + -0.16770416498184204, + -0.0446883849799633, + 0.984824001789093, + -0.09129795649324556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9883013963699341, + 0.0159118864685297, + 0.15168119966983795, + -0.20794632679008573 + ], + [ + -0.025234801694750786, + 0.9978950619697571, + 0.059738438576459885, + 0.00729849421265853 + ], + [ + -0.15041135251522064, + -0.06286722421646118, + 0.9866225719451904, + -0.09358620167855757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9911592602729797, + 0.011101525276899338, + 0.13221228122711182, + -0.21170741898946493 + ], + [ + -0.020797722041606903, + 0.9971744418144226, + 0.07218464463949203, + 0.007765117685224516 + ], + [ + -0.13103735446929932, + -0.07429619878530502, + 0.9885895252227783, + -0.09598346855266984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9935541152954102, + 0.013648148626089096, + 0.1125342845916748, + -0.21501739574484077 + ], + [ + -0.022323429584503174, + 0.9968430399894714, + 0.07619432359933853, + 0.008331650301410132 + ], + [ + -0.11113910377025604, + -0.0782153382897377, + 0.9907221794128418, + -0.09964847923761391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.995291531085968, + 0.01233550813049078, + 0.09613853693008423, + -0.2186240894906971 + ], + [ + -0.020165909081697464, + 0.996517539024353, + 0.08090835809707642, + 0.00906339957636882 + ], + [ + -0.09480568766593933, + -0.08246612548828125, + 0.992074191570282, + -0.10151662574594758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9966076612472534, + 0.00986536592245102, + 0.08170568197965622, + -0.22104016452668662 + ], + [ + -0.016322126612067223, + 0.9967617392539978, + 0.07873794436454773, + 0.009743538520571936 + ], + [ + -0.08066431432962418, + -0.0798044502735138, + 0.993541419506073, + -0.10368329339836496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.9976639747619629, + 0.010488277301192284, + 0.06750264763832092, + -0.22041096163083274 + ], + [ + -0.01563120260834694, + 0.9969763159751892, + 0.07611735165119171, + 0.010047910292913397 + ], + [ + -0.06650020182132721, + -0.07699468731880188, + 0.9948112964630127, + -0.11159673067460577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.9988448619842529, + 0.016498234122991562, + 0.04513062909245491, + -0.22205624442742053 + ], + [ + -0.019894033670425415, + 0.9969199299812317, + 0.07586058229207993, + 0.01085480015096535 + ], + [ + -0.043740060180425644, + -0.07667078822851181, + 0.9960965514183044, + -0.11409585466346588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.9991698265075684, + 0.0283910371363163, + 0.029215628281235695, + -0.2242778583343728 + ], + [ + -0.030535951256752014, + 0.9966554045677185, + 0.07579915225505829, + 0.01200921996590124 + ], + [ + -0.026965899392962456, + -0.07662835717201233, + 0.9966949820518494, + -0.11441509399084322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.9989871978759766, + 0.033014312386512756, + 0.030572133138775826, + -0.22398693019367127 + ], + [ + -0.035179510712623596, + 0.9966946840286255, + 0.07322663813829422, + 0.012991581767438407 + ], + [ + -0.02805355377495289, + -0.07422798126935959, + 0.996846616268158, + -0.11405124561524535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.9986118674278259, + 0.03721678629517555, + 0.03727322444319725, + -0.22235285374653865 + ], + [ + -0.03974153473973274, + 0.9967929124832153, + 0.06945830583572388, + 0.014602544701033567 + ], + [ + -0.0345686711370945, + -0.0708431750535965, + 0.996888279914856, + -0.11402601629166478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.9979629516601562, + 0.04329762980341911, + 0.04685321822762489, + -0.21826386526526217 + ], + [ + -0.04627251252532005, + 0.9968513250350952, + 0.0643915981054306, + 0.015860927749769275 + ], + [ + -0.043917689472436905, + -0.06642845273017883, + 0.9968242049217224, + -0.1109039934883156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.9948164224624634, + 0.04955071210861206, + 0.08879750967025757, + -0.21755877137184143 + ], + [ + -0.05449792742729187, + 0.9970427751541138, + 0.05418230593204498, + 0.01746637038886547 + ], + [ + -0.08585013449192047, + -0.058740727603435516, + 0.9945749044418335, + -0.10825688391923904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/move_right/transforms.json b/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..bfbb39806fb7eeef36fddaab97beb10bbe804516 --- /dev/null +++ b/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/move_right/transforms.json @@ -0,0 +1,8763 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 250, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999998807907104, + -0.00040152453584596515, + 0.00018490999354980886, + -0.0003777395759243518 + ], + [ + 0.00040152191650122404, + 0.9999999403953552, + 1.4331689271784853e-05, + 0.00016317791596520692 + ], + [ + -0.00018491572700440884, + -1.4257441762310918e-05, + 1.0, + 0.0004629233735613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999306201934814, + 0.00717584416270256, + 0.009342621080577374, + -0.0008883843449950517 + ], + [ + -0.007282198406755924, + 0.9999085068702698, + 0.011399924755096436, + -0.0003079731751843 + ], + [ + -0.009259962476789951, + -0.011467168107628822, + 0.9998914003372192, + 0.001932005657829404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999500572681427, + 0.014395794831216335, + 0.028131283819675446, + -0.002734340956045621 + ], + [ + -0.01503621507436037, + 0.9996294975280762, + 0.022688083350658417, + -0.0010704260849651983 + ], + [ + -0.027794249355793, + -0.023099739104509354, + 0.9993467330932617, + 0.007009607309243646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9986408352851868, + 0.011990007944405079, + 0.05072154104709625, + -0.0029480019169130242 + ], + [ + -0.013825510628521442, + 0.9992563724517822, + 0.03599313646554947, + -0.00042497822047065357 + ], + [ + -0.050252266228199005, + -0.03664546459913254, + 0.9980640411376953, + 0.0097169628456594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9983170628547668, + 0.005382218398153782, + 0.05774097517132759, + 0.000785018283645641 + ], + [ + -0.008032504469156265, + 0.9989199042320251, + 0.04576615244150162, + 0.0013219063093579079 + ], + [ + -0.05743228271603584, + -0.046152934432029724, + 0.9972820281982422, + 0.0065946451695000075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9984399676322937, + 0.011598106473684311, + 0.05461789295077324, + -0.001434679858453841 + ], + [ + -0.014442013576626778, + 0.998544454574585, + 0.05196574702858925, + 0.0008757610529021595 + ], + [ + -0.053935687988996506, + -0.052673470228910446, + 0.997154176235199, + 0.012964494365555456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9984921813011169, + 0.013237311504781246, + 0.05327422171831131, + -2.736880230795949e-05 + ], + [ + -0.016131963580846786, + 0.9983956217765808, + 0.054277028888463974, + 0.000812889057273292 + ], + [ + -0.052470266819000244, + -0.05505460873246193, + 0.997103750705719, + 0.013711292408855564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9985190033912659, + 0.014178626239299774, + 0.05252428725361824, + 0.0006862665509737758 + ], + [ + -0.017190206795930862, + 0.9982069134712219, + 0.057336241006851196, + 0.00019626265039188735 + ], + [ + -0.051617156714200974, + -0.05815422534942627, + 0.9969723224639893, + 0.014578590135886726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9983142614364624, + 0.014291973784565926, + 0.056252915412187576, + 0.0014768496744828408 + ], + [ + -0.017711861059069633, + 0.9979944229125977, + 0.06077361851930618, + -0.00021473771663865142 + ], + [ + -0.05527151748538017, + -0.06166751682758331, + 0.9965651631355286, + 0.015757938674894202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9979194402694702, + 0.013951040804386139, + 0.06294522434473038, + 0.0026756178970583325 + ], + [ + -0.017864491790533066, + 0.9979134798049927, + 0.062044285237789154, + -0.00031007171043262156 + ], + [ + -0.06194831058382988, + -0.06303968280553818, + 0.9960865378379822, + 0.015655810893120535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9973843097686768, + 0.0127997025847435, + 0.07113886624574661, + 0.0033509135725496558 + ], + [ + -0.017269732430577278, + 0.9978905320167542, + 0.06257984787225723, + -0.00041737949408321494 + ], + [ + -0.07018779963254929, + -0.06364469975233078, + 0.9955013990402222, + 0.016521318849310816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967874884605408, + 0.010398894548416138, + 0.07941364496946335, + 0.004372546516958344 + ], + [ + -0.015334632247686386, + 0.9979708790779114, + 0.06179764121770859, + -7.452660527296456e-08 + ], + [ + -0.0786098763346672, + -0.06281689554452896, + 0.9949243664741516, + 0.01659145852827643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9961844682693481, + 0.009005215018987656, + 0.08680656552314758, + 0.0055245602882119365 + ], + [ + -0.014247499406337738, + 0.9980990290641785, + 0.05996138975024223, + 0.00023754204122675024 + ], + [ + -0.08610157668590546, + -0.060969386249780655, + 0.9944190382957458, + 0.01712840205754142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9959216117858887, + 0.007049270905554295, + 0.08994723856449127, + 0.005833516933302579 + ], + [ + -0.012396332807838917, + 0.9981793761253357, + 0.05902726203203201, + 0.0008216683714029689 + ], + [ + -0.08936737477779388, + -0.05990154296159744, + 0.994195818901062, + 0.017687554593126938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9959723353385925, + 0.00674189068377018, + 0.0894070640206337, + 0.006446214288007467 + ], + [ + -0.011987542733550072, + 0.9982291460037231, + 0.0582650788128376, + 0.0009249299525257096 + ], + [ + -0.08885592967271805, + -0.05910218134522438, + 0.9942894577980042, + 0.01799682866198471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9960659146308899, + 0.006964619271457195, + 0.08834158629179001, + 0.006884674996794032 + ], + [ + -0.012135175056755543, + 0.9982354044914246, + 0.05812782794237137, + 0.0004236552659534367 + ], + [ + -0.08778085559606552, + -0.058971188962459564, + 0.9943927526473999, + 0.018286705914750158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9959480166435242, + 0.004984692670404911, + 0.08979238569736481, + 0.006931056803602904 + ], + [ + -0.010305571369826794, + 0.998211145401001, + 0.05889183655381203, + 0.0005922640443323218 + ], + [ + -0.08933819830417633, + -0.05957857146859169, + 0.9942178130149841, + 0.018388654109105528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.995861828327179, + 0.005288727581501007, + 0.09072639048099518, + 0.007004001918872986 + ], + [ + -0.010634807869791985, + 0.9982281923294067, + 0.05854351818561554, + 0.000692453301870769 + ], + [ + -0.09025602042675018, + -0.0592661127448082, + 0.994153618812561, + 0.018735457305987198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9958556890487671, + 0.007536859251558781, + 0.09063460677862167, + 0.006981697901753787 + ], + [ + -0.012714135460555553, + 0.9983113408088684, + 0.056681565940380096, + 0.0008202244241508733 + ], + [ + -0.09005435556173325, + -0.05759900063276291, + 0.994269847869873, + 0.01884212817503027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9958469867706299, + 0.010002169758081436, + 0.0904914066195488, + 0.007119948514989655 + ], + [ + -0.01501481980085373, + 0.9983798861503601, + 0.054883651435375214, + 0.0003999746219913315 + ], + [ + -0.08979583531618118, + -0.05601443350315094, + 0.9943837523460388, + 0.018774457090351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9957802891731262, + 0.010791752487421036, + 0.09113241732120514, + 0.00726529201338382 + ], + [ + -0.01570533774793148, + 0.9984511137008667, + 0.05337321385741234, + 0.0003852149844263123 + ], + [ + -0.09041526913642883, + -0.05457926169037819, + 0.9944074749946594, + 0.01887288841467545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9956621527671814, + 0.011371211148798466, + 0.09234464168548584, + 0.007623609114881516 + ], + [ + -0.016271540895104408, + 0.9984890222549438, + 0.052487391978502274, + 0.00021099319018098156 + ], + [ + -0.09160827100276947, + -0.053762298077344894, + 0.9943427443504333, + 0.019027506187558173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9955171346664429, + 0.011919675394892693, + 0.09382709115743637, + 0.008518990198263418 + ], + [ + -0.016907012090086937, + 0.9984756708145142, + 0.05254041403532028, + -0.00017632679096186985 + ], + [ + -0.09305780380964279, + -0.053891219198703766, + 0.9942011833190918, + 0.019019814390674173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9954453706741333, + 0.010694295167922974, + 0.0947318896651268, + 0.009563986189433384 + ], + [ + -0.01581178419291973, + 0.9984461069107056, + 0.053435977548360825, + 0.0001464497767871313 + ], + [ + -0.09401322156190872, + -0.05469047650694847, + 0.9940676093101501, + 0.018863757823904356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9955007433891296, + 0.010268564336001873, + 0.09419558197259903, + 0.010055866745140694 + ], + [ + -0.015362209640443325, + 0.9984490871429443, + 0.053510501980781555, + 0.00018318620410815153 + ], + [ + -0.09350002557039261, + -0.054716795682907104, + 0.9941145777702332, + 0.019194193583834604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9954510927200317, + 0.010330970399081707, + 0.09471222758293152, + 0.010361119817608563 + ], + [ + -0.015393570996820927, + 0.9984822869300842, + 0.052878670394420624, + -1.2508970388420764e-05 + ], + [ + -0.09402219951152802, + -0.05409608781337738, + 0.9940993189811707, + 0.01931348804339587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9952251315116882, + 0.008919496089220047, + 0.09719754755496979, + 0.011215539023758896 + ], + [ + -0.014082984998822212, + 0.9985180497169495, + 0.05256780609488487, + 0.00029034512578023514 + ], + [ + -0.09658463299274445, + -0.05368563160300255, + 0.9938758611679077, + 0.01869709238439918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9949691295623779, + 0.00826253555715084, + 0.09984046220779419, + 0.011986533451421434 + ], + [ + -0.013567151501774788, + 0.998525083065033, + 0.05256936699151993, + 0.00028352576387900277 + ], + [ + -0.09925885498523712, + -0.05365944653749466, + 0.9936137795448303, + 0.018468896649688125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9948599338531494, + 0.007483783643692732, + 0.1009833961725235, + 0.012575181700423897 + ], + [ + -0.012835070490837097, + 0.9985412359237671, + 0.05244656652212143, + 0.0005107742380332127 + ], + [ + -0.10044358670711517, + -0.05347311496734619, + 0.9935047626495361, + 0.018706658406250447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9949406385421753, + 0.00820445828139782, + 0.10012896358966827, + 0.01335268224697994 + ], + [ + -0.013497205451130867, + 0.9985403418540955, + 0.052296921610832214, + 0.0004298443061647465 + ], + [ + -0.09955374896526337, + -0.05338379740715027, + 0.9935991168022156, + 0.01849333557588269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9950075149536133, + 0.00846919696778059, + 0.09944020211696625, + 0.013748633519589272 + ], + [ + -0.013685704208910465, + 0.9985588192939758, + 0.05189437419176102, + 0.0005735459671557758 + ], + [ + -0.09885738790035248, + -0.0529962033033371, + 0.9936894178390503, + 0.018365834581564707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9949599504470825, + 0.008682332932949066, + 0.0998966321349144, + 0.013922316367068444 + ], + [ + -0.013843445107340813, + 0.9985982179641724, + 0.051087912172079086, + 0.0005067305165309324 + ], + [ + -0.09931304305791855, + -0.052213337272405624, + 0.9936854243278503, + 0.018445555252363403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9948824048042297, + 0.0092350784689188, + 0.10061673074960709, + 0.014423031987244614 + ], + [ + -0.014397475868463516, + 0.9986100196838379, + 0.05070282891392708, + 0.00030447528468459904 + ], + [ + -0.10000862926244736, + -0.051891978830099106, + 0.9936324954032898, + 0.018410144143375048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9948152899742126, + 0.010068723931908607, + 0.10119885951280594, + 0.015086442261866955 + ], + [ + -0.015238290652632713, + 0.99861079454422, + 0.05044078081846237, + 0.00018796171005590852 + ], + [ + -0.10055040568113327, + -0.05172135680913925, + 0.9935867190361023, + 0.018360918594232525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.994680643081665, + 0.009608736261725426, + 0.10255779325962067, + 0.015657045188206563 + ], + [ + -0.014802765101194382, + 0.9986392855644226, + 0.05000460147857666, + 3.2269090122307754e-06 + ], + [ + -0.10193775594234467, + -0.05125674605369568, + 0.9934694170951843, + 0.018329599899161293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9945629835128784, + 0.008910175412893295, + 0.10375511646270752, + 0.0166176632009297 + ], + [ + -0.014112120494246483, + 0.9986738562583923, + 0.0495111346244812, + 0.00012546356958636345 + ], + [ + -0.10317637026309967, + -0.05070614814758301, + 0.9933697581291199, + 0.018005820140841018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945362210273743, + 0.007938073948025703, + 0.10408955812454224, + 0.017427961195605884 + ], + [ + -0.013144772499799728, + 0.9986910223960876, + 0.04943118244409561, + 0.0004501936734227621 + ], + [ + -0.1035609245300293, + -0.05052933841943741, + 0.9933387637138367, + 0.01778690933014255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9945428967475891, + 0.007461486384272575, + 0.10406147688627243, + 0.018163292316428152 + ], + [ + -0.012634951621294022, + 0.9987117052078247, + 0.049145251512527466, + 0.0006123432633373513 + ], + [ + -0.10356072336435318, + -0.05019187182188034, + 0.993355929851532, + 0.017506830364346027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9945007562637329, + 0.006769930012524128, + 0.10451052337884903, + 0.018656473592985945 + ], + [ + -0.011933674104511738, + 0.998734176158905, + 0.04886290058493614, + 0.0007185658669551782 + ], + [ + -0.10404743999242783, + -0.04984138533473015, + 0.9933226704597473, + 0.01721360609084966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9944331645965576, + 0.006823955103754997, + 0.10514800250530243, + 0.019186200784429546 + ], + [ + -0.011988271027803421, + 0.998748242855072, + 0.04856128618121147, + 0.000833767384616097 + ], + [ + -0.10468500852584839, + -0.049551498144865036, + 0.993270218372345, + 0.01684899897909308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9943739175796509, + 0.006289738230407238, + 0.1057400330901146, + 0.01945077428448362 + ], + [ + -0.011446877382695675, + 0.9987703561782837, + 0.048235971480607986, + 0.0010679103307852365 + ], + [ + -0.10530661791563034, + -0.04917498305439949, + 0.9932231903076172, + 0.016442211718863273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9943286180496216, + 0.006102184299379587, + 0.10617637634277344, + 0.019697964178906926 + ], + [ + -0.01122303493320942, + 0.998798668384552, + 0.047699224203825, + 0.00110912267053238 + ], + [ + -0.10575775802135468, + -0.048620324581861496, + 0.9932025671005249, + 0.016024518493248756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9942935705184937, + 0.006047375500202179, + 0.10650710016489029, + 0.020107294873794517 + ], + [ + -0.011139163747429848, + 0.9988197088241577, + 0.047277241945266724, + 0.0011931809605132922 + ], + [ + -0.10609548538923264, + -0.048193857073783875, + 0.9931873679161072, + 0.015436656773090363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9942848086357117, + 0.006411413662135601, + 0.10656765848398209, + 0.020500251218998226 + ], + [ + -0.011465056799352169, + 0.9988348484039307, + 0.04687715321779251, + 0.0011697628965459195 + ], + [ + -0.10614294558763504, + -0.04783104360103607, + 0.9931998252868652, + 0.015160667990525085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9943992495536804, + 0.005773792043328285, + 0.10553079098463058, + 0.020745663774988977 + ], + [ + -0.01060204952955246, + 0.9989194869995117, + 0.045248571783304214, + 0.001408140269111857 + ], + [ + -0.10515550523996353, + -0.046113986521959305, + 0.9933860301971436, + 0.01512837746745372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9944817423820496, + 0.006514749489724636, + 0.10470758378505707, + 0.021137361493275827 + ], + [ + -0.011107816360890865, + 0.9989985227584839, + 0.04334257170557976, + 0.0012430017828066126 + ], + [ + -0.10432036221027374, + -0.0442664660513401, + 0.9935581088066101, + 0.01464681347540344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9944759011268616, + 0.006469212472438812, + 0.10476559400558472, + 0.02147956307992399 + ], + [ + -0.010978981852531433, + 0.9990350008010864, + 0.0425269678235054, + 0.0009254013722104182 + ], + [ + -0.10438938438892365, + -0.0434422641992569, + 0.9935872554779053, + 0.014905707802937691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9944634437561035, + 0.006726877763867378, + 0.1048678308725357, + 0.021653928576658172 + ], + [ + -0.011111313477158546, + 0.9990857839584351, + 0.04128117486834526, + 0.0007871959944738143 + ], + [ + -0.10449425876140594, + -0.042217839509248734, + 0.993628978729248, + 0.014855009869459163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.994459867477417, + 0.00667217280715704, + 0.10490525513887405, + 0.022200957057907818 + ], + [ + -0.010985183529555798, + 0.999115526676178, + 0.04058951139450073, + 0.000514725553775094 + ], + [ + -0.10454165190458298, + -0.04151704162359238, + 0.9936535358428955, + 0.014490964111075344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9944375157356262, + 0.006782917771488428, + 0.10510946810245514, + 0.02266977627567169 + ], + [ + -0.011027678847312927, + 0.9991446137428284, + 0.039855796843767166, + 0.0003636071447238147 + ], + [ + -0.10474921762943268, + -0.04079321399331093, + 0.993661642074585, + 0.014228775893827997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9944157004356384, + 0.006912524811923504, + 0.10530757904052734, + 0.023369916732494073 + ], + [ + -0.011076920665800571, + 0.9991773366928101, + 0.039011675864458084, + 0.0005884151262919377 + ], + [ + -0.10495127737522125, + -0.03996030613780022, + 0.9936742186546326, + 0.013965235117927612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9944027066230774, + 0.0070363664999604225, + 0.10542187839746475, + 0.023974727653528014 + ], + [ + -0.011137458495795727, + 0.999201774597168, + 0.03836366534233093, + 0.0007919244417718735 + ], + [ + -0.10506778210401535, + -0.03932306170463562, + 0.9936873316764832, + 0.013668089696621321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.994403064250946, + 0.006948670372366905, + 0.1054244190454483, + 0.02448176570427436 + ], + [ + -0.010965293273329735, + 0.9992339015007019, + 0.03756789490580559, + 0.0010630511517924477 + ], + [ + -0.10508260130882263, + -0.03851364180445671, + 0.9937174320220947, + 0.013373982872679291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9944093823432922, + 0.0071740951389074326, + 0.10534928739070892, + 0.024891933898280663 + ], + [ + -0.011131785809993744, + 0.9992522597312927, + 0.037027508020401, + 0.001072622478629152 + ], + [ + -0.10500487685203552, + -0.03799322992563248, + 0.9937456846237183, + 0.01312987715694081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.994419515132904, + 0.007195140700787306, + 0.10525250434875488, + 0.0245526351775211 + ], + [ + -0.011083102785050869, + 0.999275803565979, + 0.036401256918907166, + 0.0009570441733350057 + ], + [ + -0.10491436719894409, + -0.037364646792411804, + 0.9937790632247925, + 0.013051423690764301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9944354891777039, + 0.007503846660256386, + 0.10507991909980774, + 0.02449605272087945 + ], + [ + -0.011267049238085747, + 0.9993144869804382, + 0.03526507318019867, + 0.0005728528043816248 + ], + [ + -0.10474325716495514, + -0.03625278174877167, + 0.9938383102416992, + 0.012985181422477746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9944108724594116, + 0.007982742041349411, + 0.10527698695659637, + 0.024687028446620008 + ], + [ + -0.011702649295330048, + 0.9993270039558411, + 0.03476422652602196, + 0.0005000765047814084 + ], + [ + -0.1049286276102066, + -0.03580194339156151, + 0.9938350915908813, + 0.012719654876095464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9943842887878418, + 0.008383889682590961, + 0.10549676418304443, + 0.02470326574984938 + ], + [ + -0.01206547487527132, + 0.9993384480476379, + 0.03430792689323425, + 0.0003348715871247093 + ], + [ + -0.1051393449306488, + -0.03538813441991806, + 0.9938276410102844, + 0.01278230788253517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9942154288291931, + 0.008819125592708588, + 0.1070418432354927, + 0.025031780747951093 + ], + [ + -0.012607067823410034, + 0.9993160963058472, + 0.034762538969516754, + 0.00013178074912422426 + ], + [ + -0.10666205734014511, + -0.03591093420982361, + 0.9936466217041016, + 0.011999864955563622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9941539168357849, + 0.008706006221473217, + 0.10762058943510056, + 0.025104128275474303 + ], + [ + -0.012451930902898312, + 0.9993379712104797, + 0.034183911979198456, + 0.000458274652010735 + ], + [ + -0.10725174099206924, + -0.035324156284332275, + 0.9936041831970215, + 0.011935682151930398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9940426349639893, + 0.009139674715697765, + 0.1086079552769661, + 0.025573843777325585 + ], + [ + -0.012908481992781162, + 0.9993367791175842, + 0.03404877707362175, + 0.00037419226676988675 + ], + [ + -0.10822472721338272, + -0.03524790331721306, + 0.9935013651847839, + 0.011520553840301841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9938698410987854, + 0.009182886220514774, + 0.11017463356256485, + 0.025817083265823142 + ], + [ + -0.012974505312740803, + 0.9993461966514587, + 0.03374721109867096, + 0.00046177191793522147 + ], + [ + -0.10979270190000534, + -0.03496979922056198, + 0.9933391809463501, + 0.011348248303804293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9936079978942871, + 0.008483120240271091, + 0.11256610602140427, + 0.026205392822952395 + ], + [ + -0.012332831509411335, + 0.9993610382080078, + 0.033547401428222656, + 0.0006069928020085527 + ], + [ + -0.11220959573984146, + -0.03472122550010681, + 0.9930777549743652, + 0.011321638152751338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9934154748916626, + 0.008761489763855934, + 0.11423209309577942, + 0.026842345734945983 + ], + [ + -0.012660849839448929, + 0.9993600249290466, + 0.03345470875501633, + 0.0005128348603878304 + ], + [ + -0.11386588215827942, + -0.03468070179224014, + 0.9928906559944153, + 0.011318942464618797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9933270812034607, + 0.00880301371216774, + 0.11499503254890442, + 0.02767926919382499 + ], + [ + -0.012711506336927414, + 0.9993645548820496, + 0.033299390226602554, + 0.0002867600568252276 + ], + [ + -0.11462882161140442, + -0.03453894332051277, + 0.9928078055381775, + 0.011548262792658135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9932845234870911, + 0.008895978331565857, + 0.11535488069057465, + 0.027899428022030485 + ], + [ + -0.012786859646439552, + 0.9993724226951599, + 0.03303365781903267, + 0.00025839480266618325 + ], + [ + -0.11498862504959106, + -0.03428684547543526, + 0.9927749037742615, + 0.011523898926574782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9932554364204407, + 0.008602316491305828, + 0.115627221763134, + 0.028155706035175237 + ], + [ + -0.01247922983020544, + 0.999382495880127, + 0.03284744545817375, + 6.0975626153108426e-05 + ], + [ + -0.11527325958013535, + -0.034068841487169266, + 0.9927493929862976, + 0.011468467111867595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9932296276092529, + 0.008961700834333897, + 0.11582138389348984, + 0.02846596641877449 + ], + [ + -0.012850792147219181, + 0.9993768334388733, + 0.03287537023425102, + -2.403817437383448e-05 + ], + [ + -0.11545459181070328, + -0.034141186624765396, + 0.9927258491516113, + 0.011390653858522335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9932101368904114, + 0.009069466963410378, + 0.11598023027181625, + 0.028746742184131768 + ], + [ + -0.012975145131349564, + 0.9993723034858704, + 0.032964859157800674, + 6.04288605786157e-07 + ], + [ + -0.11560846120119095, + -0.03424588963389397, + 0.9927043318748474, + 0.01124026068677026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9825129508972168, + 0.0022129914723336697, + 0.18618106842041016, + 0.030247768388881557 + ], + [ + -0.012887492775917053, + 0.9983395338058472, + 0.05614325776696205, + -0.004145715820479645 + ], + [ + -0.1857476830482483, + -0.057560887187719345, + 0.980910062789917, + -0.025722107578472916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9833413362503052, + 0.007591674104332924, + 0.18160995841026306, + 0.029181068470929734 + ], + [ + -0.018351126462221146, + 0.9981688857078552, + 0.05763808265328407, + -0.005151981179299484 + ], + [ + -0.18083983659744263, + -0.060010652989149094, + 0.9816800355911255, + -0.024546918702352958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9833846092224121, + 0.011311006732285023, + 0.18118144571781158, + 0.028407989457262733 + ], + [ + -0.022400468587875366, + 0.9979901909828186, + 0.05927761271595955, + -0.004643082343804908 + ], + [ + -0.18014679849147797, + -0.06235124543309212, + 0.9816615581512451, + -0.023185700870840903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9831758141517639, + 0.016181228682398796, + 0.18194355070590973, + 0.02839072047856725 + ], + [ + -0.02765856869518757, + 0.9977713823318481, + 0.06072251498699188, + -0.0042745466658239625 + ], + [ + -0.18055550754070282, + -0.06473320722579956, + 0.9814322590827942, + -0.023706705791943044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9825881719589233, + 0.022949151694774628, + 0.18437404930591583, + 0.02724268677547185 + ], + [ + -0.03486029431223869, + 0.9974905252456665, + 0.061623379588127136, + -0.004739024824309481 + ], + [ + -0.18249715864658356, + -0.06697773933410645, + 0.9809224009513855, + -0.022820126764984974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9818224310874939, + 0.02722504548728466, + 0.18783918023109436, + 0.02697484414205404 + ], + [ + -0.03964829817414284, + 0.9972445368766785, + 0.06270022690296173, + -0.005669301876566377 + ], + [ + -0.18561458587646484, + -0.0690079927444458, + 0.980196475982666, + -0.022170642022806476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9816842675209045, + 0.027391236275434494, + 0.1885356605052948, + 0.026727903376232428 + ], + [ + -0.03993668034672737, + 0.997209906578064, + 0.06306709349155426, + -0.004076184926509678 + ], + [ + -0.18628215789794922, + -0.06944146752357483, + 0.9800391793251038, + -0.021870654996439635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9821932315826416, + 0.029571905732154846, + 0.1855316460132599, + 0.02673715040869412 + ], + [ + -0.04181225597858429, + 0.9971742630004883, + 0.0624118372797966, + -0.004041396075089174 + ], + [ + -0.18316173553466797, + -0.06905797868967056, + 0.980654239654541, + -0.023193788500016473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9826250672340393, + 0.03041752800345421, + 0.18309223651885986, + 0.02615364179927781 + ], + [ + -0.04244599863886833, + 0.9971644878387451, + 0.06213931366801262, + -0.003873143972731738 + ], + [ + -0.1806829571723938, + -0.0688311755657196, + 0.9811299443244934, + -0.0233038724890076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9826597571372986, + 0.03182735666632652, + 0.1826658546924591, + 0.023863044124186394 + ], + [ + -0.04344361647963524, + 0.9972557425498962, + 0.05994706600904465, + -0.004483738651005439 + ], + [ + -0.18025660514831543, + -0.06684323400259018, + 0.9813457727432251, + -0.01963213689355965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9822916984558105, + 0.03197592496871948, + 0.18460918962955475, + 0.023667617867435195 + ], + [ + -0.043399326503276825, + 0.9973627328872681, + 0.058172646909952164, + -0.004586822808866041 + ], + [ + -0.18226219713687897, + -0.06515442579984665, + 0.9810888767242432, + -0.02015647621503676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9813637137413025, + 0.03225758299231529, + 0.18943247199058533, + 0.022859967990692363 + ], + [ + -0.04371274635195732, + 0.9974391460418701, + 0.05660659819841385, + -0.004689303450248986 + ], + [ + -0.18712136149406433, + -0.06383227556943893, + 0.9802607297897339, + -0.020957902141184693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9800671339035034, + 0.03205953538417816, + 0.1960626095533371, + 0.02276161294430494 + ], + [ + -0.04365333914756775, + 0.9975261688232422, + 0.05509962886571884, + -0.004558107666446861 + ], + [ + -0.1938111037015915, + -0.06256012618541718, + 0.979042112827301, + -0.022969265026320893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9786879420280457, + 0.03187116980552673, + 0.20286497473716736, + 0.022373098387087446 + ], + [ + -0.04356212168931961, + 0.9976211190223694, + 0.05342654138803482, + -0.0041952539590677344 + ], + [ + -0.20067963004112244, + -0.06112513691186905, + 0.9777481555938721, + -0.02394973331965117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9771384596824646, + 0.03044593520462513, + 0.2104126363992691, + 0.020123745997746786 + ], + [ + -0.042475827038288116, + 0.9976965188980103, + 0.05289112403988838, + -0.0044780274077008166 + ], + [ + -0.2083176225423813, + -0.060619402676820755, + 0.9761808514595032, + -0.02249463473757108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9757533073425293, + 0.029143689200282097, + 0.21692420542240143, + 0.022281851729445426 + ], + [ + -0.04140384867787361, + 0.9977785348892212, + 0.05218871310353279, + -0.004434262356911618 + ], + [ + -0.21492134034633636, + -0.0599048025906086, + 0.9747924208641052, + -0.026208589903740996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9737920761108398, + 0.027096588164567947, + 0.2258201390504837, + 0.020544587993567967 + ], + [ + -0.039607588201761246, + 0.9979100227355957, + 0.05105656757950783, + -0.0048369796447321235 + ], + [ + -0.22396473586559296, + -0.058662671595811844, + 0.9728301763534546, + -0.02550001535938686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9702232480049133, + 0.024632317945361137, + 0.24095652997493744, + 0.02194004541031088 + ], + [ + -0.037580862641334534, + 0.9980772137641907, + 0.04929053410887718, + -0.005088206154881531 + ], + [ + -0.23927907645702362, + -0.05687817558646202, + 0.9692834615707397, + -0.027557921282438388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9671837091445923, + 0.018590405583381653, + 0.2533971965312958, + 0.02272486819111439 + ], + [ + -0.03229551389813423, + 0.9982252717018127, + 0.05003324896097183, + -0.00566276541114392 + ], + [ + -0.2520173490047455, + -0.05657493323087692, + 0.9660675525665283, + -0.029574356582688997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9661611914634705, + 0.012206300161778927, + 0.2576499581336975, + 0.026150531090616456 + ], + [ + -0.02607141062617302, + 0.9983854293823242, + 0.05046612396836281, + -0.0025165813625322646 + ], + [ + -0.2566179633140564, + -0.05547570809721947, + 0.9649195075035095, + -0.036596522415917085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9646153450012207, + 0.014895489439368248, + 0.26324015855789185, + 0.028942476890711895 + ], + [ + -0.02906033582985401, + 0.9983264207839966, + 0.049998022615909576, + -0.00431521968283956 + ], + [ + -0.2620548605918884, + -0.05587870627641678, + 0.9634338617324829, + -0.037328838485192105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.964448869228363, + 0.013651908375322819, + 0.26391661167144775, + 0.02980788517743349 + ], + [ + -0.02785400301218033, + 0.9983534216880798, + 0.05014588683843613, + -0.003310647874464651 + ], + [ + -0.262797474861145, + -0.05571427941322327, + 0.9632411003112793, + -0.03761901302509997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9652201533317566, + 0.009141078218817711, + 0.2612784802913666, + 0.03276257127370072 + ], + [ + -0.022973278537392616, + 0.998488187789917, + 0.04993528127670288, + -1.3901047449723486e-05 + ], + [ + -0.2604270279407501, + -0.05420096218585968, + 0.963970959186554, + -0.041983202575560076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9675044417381287, + 0.009006823413074017, + 0.2526935636997223, + 0.035193649130166475 + ], + [ + -0.02224457636475563, + 0.9985224604606628, + 0.049578674137592316, + 0.0003328437642026019 + ], + [ + -0.251873642206192, + -0.05358865112066269, + 0.9662752747535706, + -0.046368730283645264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9692531228065491, + 0.012701282277703285, + 0.2457377165555954, + 0.03478720482741763 + ], + [ + -0.025487063452601433, + 0.9984774589538574, + 0.048919931054115295, + 0.0003103824469810688 + ], + [ + -0.2447422295808792, + -0.053678929805755615, + 0.9681011438369751, + -0.04536231513842043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9699660539627075, + 0.014711076393723488, + 0.24279512465000153, + 0.030783276963814436 + ], + [ + -0.02743668295443058, + 0.9984162449836731, + 0.04911496490240097, + -0.0017129677759734055 + ], + [ + -0.2416880577802658, + -0.054301343858242035, + 0.9688334465026855, + -0.03851337246297593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9715057611465454, + 0.013567505404353142, + 0.23662737011909485, + 0.03502297286134976 + ], + [ + -0.02586463652551174, + 0.9984666705131531, + 0.048941683024168015, + -0.0008099472091648257 + ], + [ + -0.2356005311012268, + -0.05366740748286247, + 0.9703670740127563, + -0.04337740313994837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9737020134925842, + 0.01615607552230358, + 0.22725173830986023, + 0.035625256280448415 + ], + [ + -0.02774694375693798, + 0.9984665513038635, + 0.047902628779411316, + -0.0013829381985685238 + ], + [ + -0.22612935304641724, + -0.05294843018054962, + 0.9726572036743164, + -0.04283203095736274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9756085276603699, + 0.019067155197262764, + 0.21868811547756195, + 0.03501527955433929 + ], + [ + -0.02999228797852993, + 0.9984564185142517, + 0.04674697667360306, + -0.0017047940711322498 + ], + [ + -0.21745921671390533, + -0.05216570198535919, + 0.97467440366745, + -0.041260611397554596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9766091108322144, + 0.021019235253334045, + 0.21399253606796265, + 0.03097498043025114 + ], + [ + -0.031508736312389374, + 0.9984570145606995, + 0.0457255057990551, + -0.0028968160719532203 + ], + [ + -0.2127012312412262, + -0.05139857903122902, + 0.9757645130157471, + -0.03199040529329375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9771643280982971, + 0.02036772482097149, + 0.2115066945552826, + 0.029622497681124384 + ], + [ + -0.030820472165942192, + 0.9984546899795532, + 0.046241629868745804, + -0.003903713009982224 + ], + [ + -0.2102380096912384, + -0.05170440301299095, + 0.9762820601463318, + -0.028926607459244958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9761202335357666, + 0.024733325466513634, + 0.2158183604478836, + 0.035236547196126844 + ], + [ + -0.036237381398677826, + 0.9981160163879395, + 0.04951068013906479, + -0.008321591389242065 + ], + [ + -0.21418718993663788, + -0.056149065494537354, + 0.9751774668693542, + -0.034403741935709393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9737039804458618, + 0.022259648889303207, + 0.22672680020332336, + 0.03383209705876418 + ], + [ + -0.0356927253305912, + 0.9978304505348206, + 0.05532118305563927, + -0.006367543660642871 + ], + [ + -0.22500348091125488, + -0.061958957463502884, + 0.9723860025405884, + -0.03155781406026528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.973177969455719, + 0.019664814695715904, + 0.22921162843704224, + 0.040678971318152166 + ], + [ + -0.03437210991978645, + 0.9975852966308594, + 0.060349687933921814, + -0.0062148800793002884 + ], + [ + -0.22747138142585754, + -0.0666094720363617, + 0.9715039730072021, + -0.03716063762465155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9744890928268433, + 0.01726793870329857, + 0.2237696349620819, + 0.04292498499054058 + ], + [ + -0.032935865223407745, + 0.9972442984580994, + 0.06647590547800064, + -0.0059068777355324315 + ], + [ + -0.22200509905815125, + -0.0721500888466835, + 0.9723724126815796, + -0.03558394494634795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9777020812034607, + 0.022146398201584816, + 0.20882582664489746, + 0.043241862426081815 + ], + [ + -0.038011595606803894, + 0.996660590171814, + 0.07226870954036713, + -0.006288851942328444 + ], + [ + -0.206527978181839, + -0.07859507203102112, + 0.975278913974762, + -0.03241179898889907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9802557229995728, + 0.026314277201890945, + 0.19597531855106354, + 0.04432519640582782 + ], + [ + -0.042630385607481, + 0.9959222078323364, + 0.07950851321220398, + -0.007142109420509583 + ], + [ + -0.1930839568376541, + -0.08629317581653595, + 0.9773802161216736, + -0.030071639893464293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.98044353723526, + 0.03142806142568588, + 0.19427481293678284, + 0.04278087333138344 + ], + [ + -0.04947862774133682, + 0.9948225021362305, + 0.08876940608024597, + -0.0093188685406164 + ], + [ + -0.1904790997505188, + -0.09664584696292877, + 0.976922333240509, + -0.023464730711107752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9792661070823669, + 0.031216168776154518, + 0.20015849173069, + 0.04251245703717907 + ], + [ + -0.05189281702041626, + 0.9937432408332825, + 0.09890174120664597, + -0.00946747658093531 + ], + [ + -0.19581879675388336, + -0.10723791271448135, + 0.9747589826583862, + -0.020443969299216345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9781628251075745, + 0.03236572444438934, + 0.20530450344085693, + 0.044732558359784715 + ], + [ + -0.05576539784669876, + 0.9924505352973938, + 0.10923414677381516, + -0.010186566000647214 + ], + [ + -0.20021912455558777, + -0.11829767376184464, + 0.9725831151008606, + -0.02028886318341436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9793760776519775, + 0.032455772161483765, + 0.19942191243171692, + 0.04611323257762355 + ], + [ + -0.0569954439997673, + 0.9913080334663391, + 0.11857428401708603, + -0.006776014579661998 + ], + [ + -0.1938401162624359, + -0.1274949610233307, + 0.9727132320404053, + -0.021239785713154866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9824569821357727, + 0.04510870575904846, + 0.1809515804052353, + 0.04082096263814911 + ], + [ + -0.06865660101175308, + 0.9896440505981445, + 0.1260591298341751, + -0.010519043680834004 + ], + [ + -0.17339129745960236, + -0.13627119362354279, + 0.9753797054290771, + -0.010993944299613017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9832144975662231, + 0.057679735124111176, + 0.17309613525867462, + 0.038708398349762675 + ], + [ + -0.0810270681977272, + 0.9880655407905579, + 0.13100019097328186, + -0.010985148312097572 + ], + [ + -0.16347427666187286, + -0.14282676577568054, + 0.9761540293693542, + -0.007942494923383534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9836115837097168, + 0.06597968935966492, + 0.16779446601867676, + 0.03749940971952365 + ], + [ + -0.08941735327243805, + 0.986637532711029, + 0.13620181381702423, + -0.012021943838541287 + ], + [ + -0.15656575560569763, + -0.14897342026233673, + 0.9763678312301636, + -0.00574443619520624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9840510487556458, + 0.0705413669347763, + 0.1633017659187317, + 0.035017287767825124 + ], + [ + -0.0930413007736206, + 0.9865343570709229, + 0.13451118767261505, + -0.010859578819085197 + ], + [ + -0.15161418914794922, + -0.14755968749523163, + 0.9773634076118469, + -0.0017744686174015686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9835970997810364, + 0.07894357293844223, + 0.16218696534633636, + 0.033790864725877716 + ], + [ + -0.10044441372156143, + 0.9865501523017883, + 0.12895643711090088, + -0.012070456030498068 + ], + [ + -0.1498252898454666, + -0.14313194155693054, + 0.9782972931861877, + -0.0009060939886124733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827003479003906, + 0.08728372305631638, + 0.16334478557109833, + 0.033821756667251804 + ], + [ + -0.10876043885946274, + 0.9858547449111938, + 0.12752071022987366, + -0.013011128645405233 + ], + [ + -0.14990375936031342, + -0.14308011531829834, + 0.9782928824424744, + -0.00248138397655274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9816517233848572, + 0.09203436970710754, + 0.16700159013271332, + 0.0317506038939139 + ], + [ + -0.11392766237258911, + 0.9853854775428772, + 0.12663330137729645, + -0.012682355660197125 + ], + [ + -0.15290631353855133, + -0.14333589375019073, + 0.9777905941009521, + -0.000126920067836123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9806680083274841, + 0.09442273527383804, + 0.17139023542404175, + 0.03152594480169825 + ], + [ + -0.1164105013012886, + 0.9855396747589111, + 0.12312661856412888, + -0.012499910095953439 + ], + [ + -0.1572859287261963, + -0.14069795608520508, + 0.9774790406227112, + 0.0013616478003292201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9793248772621155, + 0.09496944397687912, + 0.17861592769622803, + 0.029637706125656284 + ], + [ + -0.11748757213354111, + 0.9857946038246155, + 0.12002366781234741, + -0.012665475555976111 + ], + [ + -0.16468003392219543, + -0.1385273039340973, + 0.9765709042549133, + 0.002520921954279204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9784185290336609, + 0.08969764411449432, + 0.18614915013313293, + 0.03114321091582617 + ], + [ + -0.11299596726894379, + 0.9864957928657532, + 0.11856622993946075, + -0.013300331430621894 + ], + [ + -0.1730002462863922, + -0.13704149425029755, + 0.975341260433197, + 0.0019632605386965263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.977306604385376, + 0.08241576701402664, + 0.19513946771621704, + 0.026313239708542817 + ], + [ + -0.10548871010541916, + 0.9882116913795471, + 0.11094933748245239, + -0.011728855265102471 + ], + [ + -0.18369513750076294, + -0.12901653349399567, + 0.9744797945022583, + 0.011428918981228968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9760817885398865, + 0.07625716179609299, + 0.20359082520008087, + 0.026206997705690828 + ], + [ + -0.09858142584562302, + 0.9899028539657593, + 0.10185308754444122, + -0.01074237604980847 + ], + [ + -0.19376809895038605, + -0.1194872111082077, + 0.9737436771392822, + 0.01034473057342581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9745672345161438, + 0.06629840284585953, + 0.21406367421150208, + 0.02358338223343872 + ], + [ + -0.0879591777920723, + 0.9917455911636353, + 0.09329457581043243, + -0.01357424878795822 + ], + [ + -0.20611143112182617, + -0.10975070297718048, + 0.9723542928695679, + 0.01737172721051069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9720040559768677, + 0.05208810046315193, + 0.22911785542964935, + 0.022694763411060873 + ], + [ + -0.07161332666873932, + 0.9943981766700745, + 0.07774224132299423, + -0.01254287769860891 + ], + [ + -0.223784938454628, + -0.0919736698269844, + 0.9702892303466797, + 0.020191923672535333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9689180850982666, + 0.04302602261304855, + 0.2436113953590393, + 0.029313357908981867 + ], + [ + -0.060521408915519714, + 0.9960619211196899, + 0.06479048728942871, + -0.01253993094909981 + ], + [ + -0.23986434936523438, + -0.07752038538455963, + 0.9677063822746277, + 0.011945752563127073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9658980965614319, + 0.03194794803857803, + 0.25694406032562256, + 0.031005426560599632 + ], + [ + -0.04811244457960129, + 0.9972215890884399, + 0.05687049776315689, + -0.011889496597510025 + ], + [ + -0.2544132471084595, + -0.06729330867528915, + 0.9647515416145325, + 0.00948648951409093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9628414511680603, + 0.022210951894521713, + 0.26915243268013, + 0.03333401295345232 + ], + [ + -0.03635433316230774, + 0.9982010126113892, + 0.04767732322216034, + -0.01135036587849798 + ], + [ + -0.26760926842689514, + -0.05569055676460266, + 0.9619167447090149, + 0.010700261637748006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9617299437522888, + 0.012217776849865913, + 0.2737266719341278, + 0.03610185911078529 + ], + [ + -0.023753782734274864, + 0.9989619255065918, + 0.038869552314281464, + -0.01085190974310579 + ], + [ + -0.2729676067829132, + -0.04388405382633209, + 0.9610217809677124, + 0.005395577632519138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.960588276386261, + 0.004676475655287504, + 0.27793586254119873, + 0.03881974602230342 + ], + [ + -0.013929573819041252, + 0.9994121193885803, + 0.03132687136530876, + -0.010628954383234183 + ], + [ + -0.2776259779930115, + -0.033963751047849655, + 0.9600886702537537, + 0.0029581176767866316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9593740701675415, + -0.0031084096990525723, + 0.28212013840675354, + 0.0426803221611912 + ], + [ + -0.004523645155131817, + 0.9996412992477417, + 0.026397135108709335, + -0.011544514886182116 + ], + [ + -0.28210100531578064, + -0.02660093829035759, + 0.9590158462524414, + -0.0011547027447496565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9585360288619995, + -0.010118670761585236, + 0.28479161858558655, + 0.04628937803657658 + ], + [ + 0.003997370600700378, + 0.9997485280036926, + 0.02206701785326004, + -0.011983630397024164 + ], + [ + -0.2849433124065399, + -0.020013615489006042, + 0.9583353996276855, + -0.0056445822456335434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9597811698913574, + -0.0145478006452322, + 0.28037211298942566, + 0.05552604162736411 + ], + [ + 0.007118338253349066, + 0.9995964765548706, + 0.02749875746667385, + -0.012455289109037763 + ], + [ + -0.2806590497493744, + -0.024397006258368492, + 0.9594974517822266, + -0.01976339995718924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9614113569259644, + -0.01768418960273266, + 0.2745460271835327, + 0.055763696220490225 + ], + [ + 0.00749007984995842, + 0.9992445111274719, + 0.03813488781452179, + -0.013900101433945707 + ], + [ + -0.2750130295753479, + -0.0346069410443306, + 0.9608174562454224, + -0.01981379075245146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9655627608299255, + -0.021949244663119316, + 0.2592426836490631, + 0.053793547246754767 + ], + [ + 0.010539354756474495, + 0.9989168643951416, + 0.045320719480514526, + -0.0019567175027746034 + ], + [ + -0.25995662808418274, + -0.041027747094631195, + 0.9647483229637146, + -0.02133810659571285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9698579907417297, + -0.014745911583304405, + 0.24322417378425598, + 0.0551268987694239 + ], + [ + 0.0013200114481151104, + 0.9984705448150635, + 0.05527055636048317, + -0.011223637367632374 + ], + [ + -0.24366718530654907, + -0.053283531218767166, + 0.9683941006660461, + -0.020483884211240644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9711340069770813, + -0.008475813083350658, + 0.2383839339017868, + 0.05413919978028904 + ], + [ + -0.005701451562345028, + 0.9982582330703735, + 0.05872008204460144, + -0.015885697245732487 + ], + [ + -0.23846642673015594, + -0.05838420242071152, + 0.9693941473960876, + -0.016555304423041914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9718360900878906, + -0.006023675203323364, + 0.235580712556839, + 0.051991060783293644 + ], + [ + -0.008052576333284378, + 0.9982406497001648, + 0.05874360725283623, + -0.016471066062589246 + ], + [ + -0.23552009463310242, + -0.05898619070649147, + 0.9700778126716614, + -0.013831911624379335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9718353152275085, + -0.002707383129745722, + 0.23564553260803223, + 0.051532030235751564 + ], + [ + -0.011199217289686203, + 0.9982736706733704, + 0.057656530290842056, + -0.016798082932111727 + ], + [ + -0.23539483547210693, + -0.05867169424891472, + 0.970127284526825, + -0.012810215457173318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9709500670433044, + 0.00014104973524808884, + 0.23928222060203552, + 0.05137373918656214 + ], + [ + -0.01411434542387724, + 0.9982923865318298, + 0.056684184819459915, + -0.016621741183461197 + ], + [ + -0.23886561393737793, + -0.058414820581674576, + 0.969294011592865, + -0.012238568479071807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9699224233627319, + 0.001565104816108942, + 0.24340927600860596, + 0.05330137856347658 + ], + [ + -0.016228247433900833, + 0.9981702566146851, + 0.0582471638917923, + -0.018816070613193226 + ], + [ + -0.24287274479866028, + -0.06044533848762512, + 0.9681731462478638, + -0.014655934063620476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9685791730880737, + 0.0005250154063105583, + 0.24870485067367554, + 0.0526819833859158 + ], + [ + -0.015521238557994366, + 0.998176097869873, + 0.058340203016996384, + -0.016390275303648418 + ], + [ + -0.24822059273719788, + -0.06036731228232384, + 0.9668207168579102, + -0.012673703995234068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9661826491355896, + -0.00030231568962335587, + 0.2578585147857666, + 0.04812120312420898 + ], + [ + -0.014891079626977444, + 0.9982650279998779, + 0.056966498494148254, + -0.018154501090252614 + ], + [ + -0.2574283480644226, + -0.05887983739376068, + 0.9645018577575684, + -0.00431801679218749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9618895053863525, + 0.0010425853542983532, + 0.2734365463256836, + 0.04623747493353594 + ], + [ + -0.014799905940890312, + 0.998725414276123, + 0.04825477674603462, + -0.02012880108203275 + ], + [ + -0.27303773164749146, + -0.05046259984374046, + 0.9606788754463196, + 0.0011804107501803638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9575817584991455, + -0.0006236545741558075, + 0.28816112875938416, + 0.04950370671055522 + ], + [ + -0.01112467609345913, + 0.9991721510887146, + 0.03913062810897827, + -0.020970642301123065 + ], + [ + -0.2879469692707062, + -0.04067647457122803, + 0.9567821025848389, + -0.003179091878654245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9560619592666626, + -0.0067068543285131454, + 0.29308801889419556, + 0.054444565294389 + ], + [ + -0.003529369831085205, + 0.9994025230407715, + 0.0343826524913311, + -0.021622459814850108 + ], + [ + -0.29314351081848145, + -0.03390635922551155, + 0.9554670453071594, + -0.008455235380903786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9547224044799805, + -0.006401927676051855, + 0.29742932319641113, + 0.05798340824630904 + ], + [ + -0.0026318286545574665, + 0.99954754114151, + 0.029962407425045967, + -0.023055133133954613 + ], + [ + -0.2974865436553955, + -0.029388563707470894, + 0.9542735815048218, + -0.009789209883944335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9531985521316528, + -0.015226759016513824, + 0.3019613027572632, + 0.06459500708778101 + ], + [ + 0.006510761100798845, + 0.9995331764221191, + 0.0298501905053854, + -0.02187812066184409 + ], + [ + -0.3022748827934265, + -0.026487162336707115, + 0.952852725982666, + -0.014149064118281963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9546930193901062, + -0.02002483792603016, + 0.2969178855419159, + 0.07134554553776978 + ], + [ + 0.010065987706184387, + 0.999335527420044, + 0.03503192588686943, + -0.02341226236109274 + ], + [ + -0.2974220812320709, + -0.03045596554875374, + 0.9542602300643921, + -0.02075988690997193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9553453922271729, + -0.025919191539287567, + 0.2943524122238159, + 0.0723881408781651 + ], + [ + 0.015084035694599152, + 0.9991245269775391, + 0.03902137652039528, + -0.023374021786403465 + ], + [ + -0.29510611295700073, + -0.03283886983990669, + 0.9549000263214111, + -0.02007616750996964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9564372301101685, + -0.025081131607294083, + 0.29085859656333923, + 0.07076387181578869 + ], + [ + 0.013777054846286774, + 0.999070405960083, + 0.0408477783203125, + -0.02109926416123488 + ], + [ + -0.2916127145290375, + -0.03506115823984146, + 0.9558936953544617, + -0.016783482579132876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9579455256462097, + -0.01814650185406208, + 0.28637582063674927, + 0.06963959024343863 + ], + [ + 0.005595475435256958, + 0.9989899396896362, + 0.044584814459085464, + -0.020249745348490864 + ], + [ + -0.28689563274383545, + -0.0411074124276638, + 0.9570794701576233, + -0.015778282432850586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9588711261749268, + -0.01486443355679512, + 0.2834523916244507, + 0.06772982371095793 + ], + [ + 0.0008772294968366623, + 0.998778223991394, + 0.049409087747335434, + -0.018069354511318678 + ], + [ + -0.283840537071228, + -0.04712829366326332, + 0.9577126502990723, + -0.013673444921300414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9597013592720032, + -0.011866424232721329, + 0.28077128529548645, + 0.06605305392743951 + ], + [ + -0.00296363839879632, + 0.9986251592636108, + 0.05233554169535637, + -0.0170437150735812 + ], + [ + -0.2810063064098358, + -0.05105859413743019, + 0.9583467245101929, + -0.008427770830032575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.960839033126831, + -0.010701059363782406, + 0.2769005000591278, + 0.06585416735924152 + ], + [ + -0.0049684131518006325, + 0.9984281659126282, + 0.05582541972398758, + -0.01684468661782792 + ], + [ + -0.27706262469291687, + -0.055014997720718384, + 0.9592756032943726, + -0.005089125683508725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9634720683097839, + -0.019892986863851547, + 0.2670690417289734, + 0.06432635595902322 + ], + [ + 0.0044046370312571526, + 0.9982795715332031, + 0.05846810340881348, + -0.0016707830795883595 + ], + [ + -0.2677726745605469, + -0.05515604466199875, + 0.9619020819664001, + -0.0037225385020715172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9692486524581909, + -0.018770800903439522, + 0.24536634981632233, + 0.06556390728203049 + ], + [ + 0.0038163885474205017, + 0.998113214969635, + 0.061281245201826096, + -0.006151130952195351 + ], + [ + -0.24605371057987213, + -0.05846035107970238, + 0.9674915671348572, + 0.00047038104310332535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9734979271888733, + -0.011952895671129227, + 0.22838322818279266, + 0.06703236234004059 + ], + [ + -0.0016883979551494122, + 0.9982303977012634, + 0.059441301971673965, + -0.010528755836547858 + ], + [ + -0.22868956625461578, + -0.05825158581137657, + 0.9717550277709961, + 0.00505471606121724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9760735630989075, + -0.010769499465823174, + 0.21717379987239838, + 0.0695259645828102 + ], + [ + -0.003038010559976101, + 0.9979997873306274, + 0.0631442666053772, + -0.013779978979618315 + ], + [ + -0.21741943061351776, + -0.06229322776198387, + 0.9740884900093079, + 0.003785245639672242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9788020849227905, + -0.0077127255499362946, + 0.2046632021665573, + 0.06960390225524105 + ], + [ + -0.006887014955282211, + 0.9974860548973083, + 0.07052739709615707, + -0.01517803975900852 + ], + [ + -0.20469264686107635, + -0.07044187933206558, + 0.9762883186340332, + 0.00815576571208167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9806572198867798, + -0.006481757387518883, + 0.19562552869319916, + 0.06943179806245559 + ], + [ + -0.008180341683328152, + 0.997221052646637, + 0.07404890656471252, + -0.016700521936213755 + ], + [ + -0.19556187093257904, + -0.07421688735485077, + 0.9778790473937988, + 0.011065054258488747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9802482724189758, + -0.0011254907585680485, + 0.19776763021945953, + 0.06450448994829608 + ], + [ + -0.012799058109521866, + 0.9975265264511108, + 0.06911628693342209, + -0.016095796491516882 + ], + [ + -0.1973562389612198, + -0.07028236240148544, + 0.9778092503547668, + 0.019538700386103856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9773973822593689, + 0.002118461299687624, + 0.2113998979330063, + 0.059961245603014135 + ], + [ + -0.015423556789755821, + 0.9979996681213379, + 0.06130901724100113, + -0.016095807165446053 + ], + [ + -0.2108471542596817, + -0.06318380683660507, + 0.9754748940467834, + 0.026686968331236436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9731460213661194, + 0.001590935979038477, + 0.23018306493759155, + 0.05533918756991625 + ], + [ + -0.012751750648021698, + 0.9988131523132324, + 0.04700722172856331, + -0.013748233713748226 + ], + [ + -0.22983509302139282, + -0.048680130392313004, + 0.9720113277435303, + 0.03366433329970003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9682291150093079, + -0.001449307892471552, + 0.2500605583190918, + 0.0640151394878039 + ], + [ + -0.007980788126587868, + 0.9992946982383728, + 0.036693181842565536, + -0.013736923785513663 + ], + [ + -0.24993737041950226, + -0.03752308711409569, + 0.9675346612930298, + 0.017318447421951946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9639815092086792, + -0.008124260231852531, + 0.26584509015083313, + 0.06971320550716725 + ], + [ + -0.002541444031521678, + 0.9992063641548157, + 0.039751410484313965, + -0.021743530220161362 + ], + [ + -0.2659570872783661, + -0.03899525851011276, + 0.96319580078125, + 0.016399665757355443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9624162316322327, + -0.025110643357038498, + 0.2704153060913086, + 0.07441179235521928 + ], + [ + 0.015036952681839466, + 0.9991158843040466, + 0.03926047682762146, + -0.01376860985442637 + ], + [ + -0.27116209268569946, + -0.03371869772672653, + 0.9619429111480713, + 0.015053559363965532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9635436534881592, + -0.026831749826669693, + 0.26620233058929443, + 0.07910905623187621 + ], + [ + 0.017255697399377823, + 0.9991192817687988, + 0.0382472388446331, + -0.019041623050967852 + ], + [ + -0.2669941186904907, + -0.03225937858223915, + 0.9631580710411072, + 0.009515204032262168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9635185599327087, + -0.03217479586601257, + 0.2657006084918976, + 0.08225035583338583 + ], + [ + 0.021460656076669693, + 0.9988389611244202, + 0.04313012212514877, + -0.018822578807552177 + ], + [ + -0.2667798101902008, + -0.03585456311702728, + 0.9630903005599976, + 0.005663264647545109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9617776870727539, + -0.038600873202085495, + 0.27109700441360474, + 0.07756603247519717 + ], + [ + 0.026889856904745102, + 0.9985430836677551, + 0.04678240790963173, + -0.019038420255823307 + ], + [ + -0.272507905960083, + -0.03770451620221138, + 0.9614144563674927, + 0.01199045373822551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9596256017684937, + -0.041174132376909256, + 0.27825063467025757, + 0.07420705182021521 + ], + [ + 0.03259722515940666, + 0.9988420605659485, + 0.0353829450905323, + -0.016038410224948063 + ], + [ + -0.2793853282928467, + -0.02488418109714985, + 0.9598565697669983, + 0.019889537451497043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9574416279792786, + -0.040729958564043045, + 0.28573858737945557, + 0.07742177270143387 + ], + [ + 0.034383226186037064, + 0.9990386366844177, + 0.027195720002055168, + -0.015526421031499484 + ], + [ + -0.28657156229019165, + -0.01621369831264019, + 0.9579216241836548, + 0.009908664156215257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9558951258659363, + -0.03823938965797424, + 0.29120826721191406, + 0.08210908584745533 + ], + [ + 0.03180494159460068, + 0.9991347789764404, + 0.026799093931913376, + -0.01528783394809229 + ], + [ + -0.2919811010360718, + -0.01635526493191719, + 0.95628422498703, + 0.0027617009872772623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9557084441184998, + -0.036935847252607346, + 0.29198816418647766, + 0.08175246234848556 + ], + [ + 0.030286122113466263, + 0.9991694092750549, + 0.027262980118393898, + -0.0149271998090677 + ], + [ + -0.29275259375572205, + -0.0172122735530138, + 0.9560332894325256, + 0.006736773613047413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9578218460083008, + -0.03713029623031616, + 0.2849537134170532, + 0.08178624584373222 + ], + [ + 0.030532682314515114, + 0.9991536736488342, + 0.027562368661165237, + -0.012173376975947595 + ], + [ + -0.28573596477508545, + -0.017699439078569412, + 0.9581449031829834, + 0.000112803896746963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9602563381195068, + -0.035844821482896805, + 0.2768085300922394, + 0.08135117260088402 + ], + [ + 0.029012586921453476, + 0.9991657733917236, + 0.028739722445607185, + -0.011628584280969148 + ], + [ + -0.2776077687740326, + -0.019566571339964867, + 0.9604952335357666, + 0.0015200470585420914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9620059728622437, + -0.0353177934885025, + 0.2707345187664032, + 0.0791637429960042 + ], + [ + 0.029402686282992363, + 0.9992327094078064, + 0.025874558836221695, + -0.008205439027653161 + ], + [ + -0.2714405953884125, + -0.016931157559156418, + 0.9623062610626221, + 0.004199156410483473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9631664156913757, + -0.030705243349075317, + 0.2671472728252411, + 0.07493046939664755 + ], + [ + 0.02575845643877983, + 0.999426007270813, + 0.022002611309289932, + -0.011716313506046452 + ], + [ + -0.26766952872276306, + -0.014310874044895172, + 0.9634044766426086, + 0.0069016049918999185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9641764163970947, + -0.025521526113152504, + 0.26403117179870605, + 0.07558453977444625 + ], + [ + 0.021164963021874428, + 0.9995890855789185, + 0.01933211274445057, + -0.01085231662559581 + ], + [ + -0.26441603899002075, + -0.013051358982920647, + 0.9643204212188721, + 0.0046607066304927836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9646515846252441, + -0.021180059760808945, + 0.2626761496067047, + 0.0752903847177195 + ], + [ + 0.016420569270849228, + 0.9996590614318848, + 0.020301472395658493, + -0.012502393697998132 + ], + [ + -0.26301655173301697, + -0.015270557254552841, + 0.9646704792976379, + 0.004363124069559528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9652916789054871, + -0.021457210183143616, + 0.26029136776924133, + 0.07517091804875967 + ], + [ + 0.01646982878446579, + 0.9996368885040283, + 0.021326981484889984, + -0.011978080340597524 + ], + [ + -0.260654479265213, + -0.01629980280995369, + 0.9652945399284363, + 0.005214327578264545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9661323428153992, + -0.020455101504921913, + 0.25723519921302795, + 0.07446805344535463 + ], + [ + 0.01559560839086771, + 0.999659538269043, + 0.020917503163218498, + -0.012412915544876134 + ], + [ + -0.25757548213005066, + -0.016197336837649345, + 0.9661223888397217, + 0.004356003534722042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9666746258735657, + -0.016743727028369904, + 0.2554599940776825, + 0.07276715872094902 + ], + [ + 0.012333974242210388, + 0.9997461438179016, + 0.01885436475276947, + -0.012573287439304423 + ], + [ + -0.2557108700275421, + -0.0150751993060112, + 0.9666357636451721, + 0.005323788257368119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9655164480209351, + -0.012193840928375721, + 0.26005640625953674, + 0.0701511978176441 + ], + [ + 0.008056883700191975, + 0.9998235702514648, + 0.016967996954917908, + -0.01574077919260206 + ], + [ + -0.26021745800971985, + -0.014287635684013367, + 0.9654443264007568, + 0.0075511434261339265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9645397663116455, + -0.012943530455231667, + 0.2636201083660126, + 0.07276175437685864 + ], + [ + 0.009553711861371994, + 0.9998544454574585, + 0.014136677607893944, + -0.011176257977733412 + ], + [ + -0.26376470923423767, + -0.011116836220026016, + 0.9645230174064636, + 0.0029288296733635047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9650574922561646, + -0.013781887479126453, + 0.2616755962371826, + 0.07634456302843479 + ], + [ + 0.010686979629099369, + 0.9998551607131958, + 0.013246714137494564, + -0.009497315604912947 + ], + [ + -0.2618202567100525, + -0.009987319819629192, + 0.9650650024414062, + -0.0006715003176625961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9674431085586548, + -0.012298784218728542, + 0.25278952717781067, + 0.07455467752528837 + ], + [ + 0.009124689735472202, + 0.9998641610145569, + 0.013724842108786106, + -0.009029022195417598 + ], + [ + -0.25292399525642395, + -0.010971377603709698, + 0.9674239158630371, + 0.0012839879975261488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9685744643211365, + -0.009044374339282513, + 0.24855917692184448, + 0.0710028221045273 + ], + [ + 0.005586831830441952, + 0.9998776316642761, + 0.014612234197556973, + -0.011105422626238272 + ], + [ + -0.24866092205047607, + -0.01276437845081091, + 0.9685065150260925, + 0.0025194125003125296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9683398008346558, + -0.004619559273123741, + 0.24959297478199005, + 0.069394790393723 + ], + [ + 0.0008054559584707022, + 0.999881386756897, + 0.015381267294287682, + -0.014758600188647377 + ], + [ + -0.24963442981243134, + -0.014693258330225945, + 0.9682286977767944, + 0.003977243285102541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9666694402694702, + -0.002053490374237299, + 0.2560195326805115, + 0.06646568239460808 + ], + [ + -0.0018891538493335247, + 0.9998834133148193, + 0.015152901411056519, + -0.014803521397961192 + ], + [ + -0.25602078437805176, + -0.015131507068872452, + 0.9665528535842896, + 0.007017481214849346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.965214729309082, + -0.0002304636873304844, + 0.2614583671092987, + 0.06767762459320835 + ], + [ + -0.00377529114484787, + 0.9998830556869507, + 0.014818434603512287, + -0.013841508488249348 + ], + [ + -0.26143118739128113, + -0.015290052630007267, + 0.9651010036468506, + 0.00538333574960749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9633148908615112, + 0.0022328393533825874, + 0.26836448907852173, + 0.06581118680821006 + ], + [ + -0.00572300236672163, + 0.9999089241027832, + 0.012223738245666027, + -0.013656658718893567 + ], + [ + -0.2683127522468567, + -0.013311159797012806, + 0.9632399082183838, + 0.005515427197737385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9608141779899597, + -0.00039296061731874943, + 0.27719295024871826, + 0.06666402745146649 + ], + [ + -0.003027453552931547, + 0.9999244809150696, + 0.011911383830010891, + -0.015477555945523113 + ], + [ + -0.2771766781806946, + -0.012283816002309322, + 0.9607404470443726, + 0.004359230544253526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9599419236183167, + -0.003777596401050687, + 0.2801735997200012, + 0.07070879299664892 + ], + [ + -0.00077603361569345, + 0.9998694658279419, + 0.016140174120664597, + -0.01657135910747281 + ], + [ + -0.28019797801971436, + -0.01571105420589447, + 0.95981365442276, + 0.0003720451325896282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9614207744598389, + -0.005057603120803833, + 0.27503541111946106, + 0.07047358441678994 + ], + [ + 0.0011058945674449205, + 0.9998939633369446, + 0.01452117133885622, + -0.006787163271553755 + ], + [ + -0.2750796973705292, + -0.0136567959561944, + 0.9613244533538818, + -0.0013806281125090698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9632037878036499, + -0.00154313282109797, + 0.26876771450042725, + 0.06916386962991701 + ], + [ + -0.002501110779121518, + 0.9998887777328491, + 0.014704299159348011, + -0.00935769491664407 + ], + [ + -0.2687605023384094, + -0.01483545359224081, + 0.9630928039550781, + -0.0012623365983426803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9639274477958679, + 0.0024283728562295437, + 0.26615405082702637, + 0.06760011390075986 + ], + [ + -0.00620677275583148, + 0.9998915195465088, + 0.013356059789657593, + -0.007399781553792846 + ], + [ + -0.26609277725219727, + -0.014526229351758957, + 0.9638379812240601, + -0.0007042071770831763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9631738066673279, + 0.0087767094373703, + 0.2687363028526306, + 0.06355299579959557 + ], + [ + -0.011858366429805756, + 0.9998812079429626, + 0.009846087545156479, + -0.010474420573008826 + ], + [ + -0.26861798763275146, + -0.01267026737332344, + 0.9631634950637817, + 0.0029714116684523943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9613986015319824, + 0.010117272846400738, + 0.2749733030796051, + 0.06301061264332758 + ], + [ + -0.012549844570457935, + 0.9998961091041565, + 0.0070886206813156605, + -0.013428643866101781 + ], + [ + -0.2748730480670929, + -0.010265862569212914, + 0.9614257216453552, + -0.0002466890960931799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9605039358139038, + 0.009990174323320389, + 0.27808690071105957, + 0.06547855471137418 + ], + [ + -0.012896526604890823, + 0.9998796582221985, + 0.008623899891972542, + -0.016560693911041122 + ], + [ + -0.27796727418899536, + -0.011869644746184349, + 0.9605172276496887, + -0.00215384777949517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610734581947327, + 0.008938297629356384, + 0.27614834904670715, + 0.06776333070363864 + ], + [ + -0.012084510177373886, + 0.9998800158500671, + 0.00969361886382103, + -0.01468994496352821 + ], + [ + -0.2760285437107086, + -0.012653397396206856, + 0.9610661268234253, + -0.007690161899719612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9635798931121826, + 0.0069786543026566505, + 0.26732954382896423, + 0.06934061715656135 + ], + [ + -0.010980731807649136, + 0.9998488426208496, + 0.013478545472025871, + -0.008897264286067831 + ], + [ + -0.26719507575035095, + -0.01592312939465046, + 0.9635108709335327, + -0.012932899849392086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9645959734916687, + 0.005508648231625557, + 0.2636744976043701, + 0.06568734305181416 + ], + [ + -0.012519843876361847, + 0.9996111392974854, + 0.02491741254925728, + -0.01295863212007715 + ], + [ + -0.2634347081184387, + -0.027336400002241135, + 0.9642898440361023, + -0.013089703259069517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.964898943901062, + 0.000571537297219038, + 0.26262080669403076, + 0.06368357776608093 + ], + [ + -0.009520273655653, + 0.9994164705276489, + 0.032803572714328766, + -0.0128095897415795 + ], + [ + -0.262448787689209, + -0.034152351319789886, + 0.9643413424491882, + -0.010303040270704819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9654712677001953, + -0.00389095488935709, + 0.2604805827140808, + 0.06185624963158823 + ], + [ + -0.0048050349578261375, + 0.9994523525238037, + 0.03273928537964821, + -0.005984921560409557 + ], + [ + -0.2604653239250183, + -0.03286045417189598, + 0.9649238586425781, + -0.011920113503992795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9676330089569092, + -0.0013898045290261507, + 0.2523578107357025, + 0.06566800647920155 + ], + [ + -0.0073900604620575905, + 0.9993999600410461, + 0.03384019806981087, + -0.008973522836634194 + ], + [ + -0.25225338339805603, + -0.034609828144311905, + 0.967042088508606, + -0.027329447936176896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9697433114051819, + -0.0001397966407239437, + 0.24412690103054047, + 0.06083231882367986 + ], + [ + -0.00907377153635025, + 0.9992882013320923, + 0.036615896970033646, + -0.009623601396818716 + ], + [ + -0.2439582496881485, + -0.03772317245602608, + 0.9690517783164978, + -0.023431381666995436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9717084765434265, + 0.011178816668689251, + 0.23591868579387665, + 0.0542363898058134 + ], + [ + -0.018696777522563934, + 0.9993853569030762, + 0.029653742909431458, + -0.011675462733400635 + ], + [ + -0.2354421764612198, + -0.03322571516036987, + 0.9713202714920044, + -0.020280704320965702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9718785285949707, + 0.02428106591105461, + 0.23422761261463165, + 0.050424472570239784 + ], + [ + -0.0291186161339283, + 0.9994276762008667, + 0.01721654087305069, + -0.012310014458664928 + ], + [ + -0.2336755245923996, + -0.02355276793241501, + 0.9720293283462524, + -0.024952502019075024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9707050919532776, + 0.03900500759482384, + 0.23708705604076385, + 0.04993999548495774 + ], + [ + -0.04379274323582649, + 0.9989286065101624, + 0.014959149062633514, + -0.014965099768795401 + ], + [ + -0.23624958097934723, + -0.024903614073991776, + 0.9713732004165649, + -0.03452183364864334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9688781499862671, + 0.050510670989751816, + 0.24233004450798035, + 0.041846308052300454 + ], + [ + -0.05591677501797676, + 0.9983154535293579, + 0.015478702262043953, + -0.014064482521699614 + ], + [ + -0.2411399781703949, + -0.028547288849949837, + 0.9700703620910645, + -0.03240809138550098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9664458632469177, + 0.05634251981973648, + 0.25061503052711487, + 0.033938200089586784 + ], + [ + -0.061134375631809235, + 0.9980647563934326, + 0.01137034222483635, + -0.013509180856846183 + ], + [ + -0.24948939681053162, + -0.026310011744499207, + 0.9680200815200806, + -0.028535687258040687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9631813168525696, + 0.05162840336561203, + 0.26384902000427246, + 0.03190381773504386 + ], + [ + -0.05792715400457382, + 0.9981902837753296, + 0.01614324375987053, + -0.013735596130949905 + ], + [ + -0.2625380754470825, + -0.030832890421152115, + 0.9644289016723633, + -0.035383119862003015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9615482091903687, + 0.04057814180850983, + 0.27162179350852966, + 0.02742698323954061 + ], + [ + -0.049284182488918304, + 0.9984641671180725, + 0.025304649025201797, + -0.01280087867908808 + ], + [ + -0.27017781138420105, + -0.03771829977631569, + 0.9620713591575623, + -0.04048963695704698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.959987223148346, + 0.03214161843061447, + 0.2781931459903717, + 0.023294559210897917 + ], + [ + -0.042704105377197266, + 0.9985754489898682, + 0.03199059143662453, + -0.011825556680560111 + ], + [ + -0.27676859498023987, + -0.04259054735302925, + 0.9599922895431519, + -0.043122094097625775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9574296474456787, + 0.02191685326397419, + 0.2878335118293762, + 0.020937972707322325 + ], + [ + -0.03401909023523331, + 0.9987319111824036, + 0.03711111843585968, + -0.008357745737405905 + ], + [ + -0.2866551876068115, + -0.045323118567466736, + 0.9569611549377441, + -0.05083148501454347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9548274278640747, + 0.016365453600883484, + 0.296709805727005, + 0.019214625189821408 + ], + [ + -0.030318137258291245, + 0.9986370205879211, + 0.04248407110571861, + -0.008974093264978694 + ], + [ + -0.29561010003089905, + -0.04956064745783806, + 0.954022228717804, + -0.054134781461164176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9540723562240601, + 0.012903065420687199, + 0.2992982268333435, + 0.01493154338684427 + ], + [ + -0.026670139282941818, + 0.9987633228302002, + 0.04195860028266907, + -0.012522257828568837 + ], + [ + -0.29838669300079346, + -0.04801386594772339, + 0.9532366394996643, + -0.0573246060545186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9572725296020508, + 0.0121771190315485, + 0.2889307737350464, + 0.015788219653698338 + ], + [ + -0.022500166669487953, + 0.999220609664917, + 0.032433945685625076, + -0.009666196197780022 + ], + [ + -0.2883106470108032, + -0.03754911944270134, + 0.9568004012107849, + -0.06507399579487652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9614507555961609, + 0.017583806067705154, + 0.27441439032554626, + 0.008573107415413755 + ], + [ + -0.025384165346622467, + 0.9993675947189331, + 0.024900080636143684, + -0.0027838230250407025 + ], + [ + -0.2738030254840851, + -0.030905982479453087, + 0.96128910779953, + -0.07248776473374252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9650986194610596, + 0.025747034698724747, + 0.2606181204319, + 0.001879734554922713 + ], + [ + -0.03177090734243393, + 0.9993159770965576, + 0.01892668381333351, + -0.0018868767211763521 + ], + [ + -0.25995251536369324, + -0.026546187698841095, + 0.9652564525604248, + -0.07039321073027978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9679024815559387, + 0.02509692870080471, + 0.25006982684135437, + -0.0014894158545746966 + ], + [ + -0.029935652390122414, + 0.9994306564331055, + 0.015564264729619026, + -0.0017191314495666075 + ], + [ + -0.24953684210777283, + -0.022550692781805992, + 0.9681026935577393, + -0.07402205622818575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9699565172195435, + 0.01994207873940468, + 0.24245953559875488, + -0.006178824298353078 + ], + [ + -0.025534797459840775, + 0.9994749426841736, + 0.01994575373828411, + -0.001607432544192142 + ], + [ + -0.24193447828292847, + -0.02553766779601574, + 0.9699564576148987, + -0.08519514487330693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9724346995353699, + 0.011245756410062313, + 0.23290398716926575, + -0.006702263366027056 + ], + [ + -0.018395347520709038, + 0.9994231462478638, + 0.028548268601298332, + -0.000768490526712982 + ], + [ + -0.23244857788085938, + -0.03204567730426788, + 0.972080647945404, + -0.09175742139299231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9753249883651733, + 0.005687890574336052, + 0.22070083022117615, + -0.007407252173347173 + ], + [ + -0.01408962532877922, + 0.9992338418960571, + 0.036512915045022964, + 0.0002765066699166015 + ], + [ + -0.2203240692615509, + -0.03872155025601387, + 0.9746578931808472, + -0.0958182213536228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9785820841789246, + 0.005397324915975332, + 0.20578636229038239, + -0.009150714142973651 + ], + [ + -0.014391591772437096, + 0.999004065990448, + 0.04223509132862091, + 0.001544084853070029 + ], + [ + -0.20535345375537872, + -0.04429209232330322, + 0.9776850938796997, + -0.09887866489140384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9810295104980469, + 0.011225325055420399, + 0.1935332864522934, + -0.01199496681072626 + ], + [ + -0.020201463252305984, + 0.9988064765930176, + 0.04446936771273613, + 0.0010094314656523336 + ], + [ + -0.19280312955379486, + -0.04753541573882103, + 0.9800853729248047, + -0.09752851105239017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9817039966583252, + 0.01777421124279499, + 0.18958190083503723, + -0.015220876439029432 + ], + [ + -0.025719432160258293, + 0.998887300491333, + 0.039531394839286804, + 0.0009673939340833918 + ], + [ + -0.18866831064224243, + -0.04368406534194946, + 0.9810687899589539, + -0.09576145090372208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9811619520187378, + 0.023195073008537292, + 0.1917894184589386, + -0.016678581886502147 + ], + [ + -0.029981490224599838, + 0.9990200400352478, + 0.03255839645862579, + 0.00019062488960723068 + ], + [ + -0.1908462941646576, + -0.03769519180059433, + 0.9808958768844604, + -0.09896537452696796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.979434072971344, + 0.025792334228754044, + 0.20010919868946075, + -0.01726524831659823 + ], + [ + -0.032236356288194656, + 0.9990591406822205, + 0.029010750353336334, + -0.0002346023574965185 + ], + [ + -0.19917266070842743, + -0.03486490994691849, + 0.9793440103530884, + -0.10328667881977127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9781356453895569, + 0.026055801659822464, + 0.206329345703125, + -0.018156958254705008 + ], + [ + -0.03141482174396515, + 0.9992477297782898, + 0.022739149630069733, + 0.00035640756042307686 + ], + [ + -0.2055816352367401, + -0.02872377261519432, + 0.9782183170318604, + -0.10539897447489352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9777563214302063, + 0.026673514395952225, + 0.2080409824848175, + -0.01790601197615206 + ], + [ + -0.03054172918200493, + 0.9994148015975952, + 0.015403052791953087, + 0.0006056054239067807 + ], + [ + -0.207508385181427, + -0.021414363756775856, + 0.9779987931251526, + -0.10903368450431938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9780583381652832, + 0.030265066772699356, + 0.20612119138240814, + -0.01770976907517538 + ], + [ + -0.03339004144072533, + 0.9993739128112793, + 0.01169840432703495, + 0.0005580624447664227 + ], + [ + -0.2056380957365036, + -0.018324116244912148, + 0.9784565567970276, + -0.11165186552757239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9785674214363098, + 0.032727088779211044, + 0.20330937206745148, + -0.01836701242559885 + ], + [ + -0.035309191793203354, + 0.9993351101875305, + 0.00908516626805067, + 0.0010149314763944553 + ], + [ + -0.20287688076496124, + -0.016069136559963226, + 0.9790723919868469, + -0.11198212202773036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.978854775428772, + 0.03212020918726921, + 0.2020188570022583, + -0.019252294870504894 + ], + [ + -0.034000787883996964, + 0.9994047284126282, + 0.005844731815159321, + 0.0010991708330630539 + ], + [ + -0.20171085000038147, + -0.01258994359523058, + 0.9793642163276672, + -0.11213114144332917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9785821437835693, + 0.03048308752477169, + 0.20358727872371674, + -0.01604300830737654 + ], + [ + -0.033103249967098236, + 0.9994069933891296, + 0.00947622675448656, + 0.0007979559285723301 + ], + [ + -0.20317767560482025, + -0.01601266674697399, + 0.9790109395980835, + -0.12230377059025938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9793181419372559, + 0.023892881348729134, + 0.20091062784194946, + -0.015582739678492025 + ], + [ + -0.02872234396636486, + 0.9993634819984436, + 0.02115686610341072, + 0.002221569454439553 + ], + [ + -0.20027723908424377, + -0.026489928364753723, + 0.9793810844421387, + -0.12351784720478287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9823880195617676, + 0.01943364366889, + 0.1858389526605606, + -0.017927937155746546 + ], + [ + -0.025463610887527466, + 0.9992220401763916, + 0.03011544793844223, + 0.0018586274913426144 + ], + [ + -0.18510912358760834, + -0.03431718796491623, + 0.9821186065673828, + -0.1196176494280976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9854126572608948, + 0.02172132208943367, + 0.1687900722026825, + -0.01714712424450611 + ], + [ + -0.02893463522195816, + 0.9987648129463196, + 0.04039374366402626, + 0.0014532605017793469 + ], + [ + -0.16770416498184204, + -0.0446883849799633, + 0.984824001789093, + -0.12322236380304198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9883013963699341, + 0.0159118864685297, + 0.15168119966983795, + -0.019018027724989936 + ], + [ + -0.025234801694750786, + 0.9978950619697571, + 0.059738438576459885, + 0.002474491960971231 + ], + [ + -0.15041135251522064, + -0.06286722421646118, + 0.9866225719451904, + -0.12233953653688891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9911592602729797, + 0.011101525276899338, + 0.13221228122711182, + -0.021436685491278473 + ], + [ + -0.020797722041606903, + 0.9971744418144226, + 0.07218464463949203, + 0.003772623253140943 + ], + [ + -0.13103735446929932, + -0.07429619878530502, + 0.9885895252227783, + -0.12113843057529036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9935541152954102, + 0.013648148626089096, + 0.1125342845916748, + -0.023488891591508715 + ], + [ + -0.022323429584503174, + 0.9968430399894714, + 0.07619432359933853, + 0.00402833857427699 + ], + [ + -0.11113910377025604, + -0.0782153382897377, + 0.9907221794128418, + -0.12107288478368736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.995291531085968, + 0.01233550813049078, + 0.09613853693008423, + -0.025961230862810908 + ], + [ + -0.020165909081697464, + 0.996517539024353, + 0.08090835809707642, + 0.005159797898706901 + ], + [ + -0.09480568766593933, + -0.08246612548828125, + 0.992074191570282, + -0.11986857010537841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9966076612472534, + 0.00986536592245102, + 0.08170568197965622, + -0.027322048846497596 + ], + [ + -0.016322126612067223, + 0.9967617392539978, + 0.07873794436454773, + 0.006570884191158067 + ], + [ + -0.08066431432962418, + -0.0798044502735138, + 0.993541419506073, + -0.11936262196685415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.9976639747619629, + 0.010488277301192284, + 0.06750264763832092, + -0.025686185833919475 + ], + [ + -0.01563120260834694, + 0.9969763159751892, + 0.07611735165119171, + 0.006997000868151705 + ], + [ + -0.06650020182132721, + -0.07699468731880188, + 0.9948112964630127, + -0.12457628813852747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.9988448619842529, + 0.016498234122991562, + 0.04513062909245491, + -0.026298697179101077 + ], + [ + -0.019894033670425415, + 0.9969199299812317, + 0.07586058229207993, + 0.006955889134432178 + ], + [ + -0.043740060180425644, + -0.07667078822851181, + 0.9960965514183044, + -0.12266820380726014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.9991698265075684, + 0.0283910371363163, + 0.029215628281235695, + -0.027654077214409545 + ], + [ + -0.030535951256752014, + 0.9966554045677185, + 0.07579915225505829, + 0.0060001371884681135 + ], + [ + -0.026965899392962456, + -0.07662835717201233, + 0.9966949820518494, + -0.11972163644166715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.9989871978759766, + 0.033014312386512756, + 0.030572133138775826, + -0.026596688685646977 + ], + [ + -0.035179510712623596, + 0.9966946840286255, + 0.07322663813829422, + 0.00604044953024531 + ], + [ + -0.02805355377495289, + -0.07422798126935959, + 0.996846616268158, + -0.119594357445477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.9986118674278259, + 0.03721678629517555, + 0.03727322444319725, + -0.024234676031941876 + ], + [ + -0.03974153473973274, + 0.9967929124832153, + 0.06945830583572388, + 0.006718079575962092 + ], + [ + -0.0345686711370945, + -0.0708431750535965, + 0.996888279914856, + -0.12088421851725703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.9979629516601562, + 0.04329762980341911, + 0.04685321822762489, + -0.01947285160123105 + ], + [ + -0.04627251252532005, + 0.9968513250350952, + 0.0643915981054306, + 0.00664359192143243 + ], + [ + -0.043917689472436905, + -0.06642845273017883, + 0.9968242049217224, + -0.11965225613021467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.9948164224624634, + 0.04955071210861206, + 0.08879750967025757, + -0.018595486879348755 + ], + [ + -0.05449792742729187, + 0.9970427751541138, + 0.05418230593204498, + 0.0065667849034070965 + ], + [ + -0.08585013449192047, + -0.058740727603435516, + 0.9945749044418335, + -0.12542691081762314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/orbit_right/transforms.json b/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1323ef20c5bf5baa76ee85644f95ed7fbd8f73b4 --- /dev/null +++ b/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/orbit_right/transforms.json @@ -0,0 +1,8763 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 250, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999998807907104, + -0.00040152453584596515, + 0.00018490999354980886, + -0.0003777395759243518 + ], + [ + 0.00040152191650122404, + 0.9999999403953552, + 1.4331689271784853e-05, + 0.00016317791596520692 + ], + [ + -0.00018491572700440884, + -1.4257441762310918e-05, + 1.0, + 0.0004629233735613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999398903671269, + 0.007175844162702562, + 0.008291285892678746, + -0.0002493226246676819 + ], + [ + -0.007270208466961352, + 0.99990850687027, + 0.011407574979115527, + -0.000311057949404426 + ], + [ + -0.008208668570452103, + -0.011467168107628824, + 0.999900583625041, + 0.0020629286091101598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9995575174872253, + 0.014395794831216335, + 0.026029467044464637, + -0.0014516238734410434 + ], + [ + -0.014988473220772812, + 0.9996294975280762, + 0.02271965141455788, + -0.0010833976482327293 + ], + [ + -0.02569275682035152, + -0.023099739104509354, + 0.9994029695215024, + 0.007247660787467288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9987958536326498, + 0.011990007944405082, + 0.04757137155384952, + -0.0010162973571431213 + ], + [ + -0.013711912148898093, + 0.9992563724517824, + 0.036036565901705, + -0.0004366567507326792 + ], + [ + -0.04710391839592466, + -0.036645464599132545, + 0.9982175821657958, + 0.010030543455005907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9985510696221496, + 0.005382218398153783, + 0.05354194203767569, + 0.003363640591282166 + ], + [ + -0.007839959290584833, + 0.9989199042320254, + 0.045799529207926945, + 0.0013264642071699492 + ], + [ + -0.05323760525434745, + -0.04615293443202973, + 0.9975147458819629, + 0.006994006145702391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9987132969178415, + 0.011598106473684311, + 0.049368347708357345, + 0.0017868531098931932 + ], + [ + -0.014168630519895998, + 0.998544454574585, + 0.05204095050609161, + 0.0008652595084377615 + ], + [ + -0.048692911567921195, + -0.052673470228910446, + 0.9974239369421526, + 0.013474759228090782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9988083871771761, + 0.013237311504781246, + 0.04697429641498193, + 0.0038375673389383254 + ], + [ + -0.015789242618546608, + 0.9983956217765808, + 0.05437771539395151, + 0.0007957175358111246 + ], + [ + -0.04617911625660315, + -0.05505460873246193, + 0.9974149125580732, + 0.014329176956732675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9988785260555871, + 0.014178626239299774, + 0.04517400878829773, + 0.005194760102229636 + ], + [ + -0.016767760500429656, + 0.9982069134712219, + 0.057461203870810294, + 0.0001744348176725413 + ], + [ + -0.04427828601080804, + -0.05815422534942627, + 0.9973252107584788, + 0.015303138505053823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.998752097287715, + 0.014291973784565926, + 0.04785397834235806, + 0.006632450937938855 + ], + [ + -0.0172000599463125, + 0.9979944229125977, + 0.060920445401763106, + -0.00023858253674857033 + ], + [ + -0.04688732701808923, + -0.06166751682758331, + 0.996994806197895, + 0.016566901401144727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9984703814654604, + 0.013951040804386139, + 0.05349960627667559, + 0.008481645093495747 + ], + [ + -0.017276598732684622, + 0.9979134798049927, + 0.06221055002032987, + -0.0003362083528826671 + ], + [ + -0.052520080963843266, + -0.06303968280553818, + 0.9966281278098668, + 0.016526976707172597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.998077124931484, + 0.0127997025847435, + 0.06064859727951586, + 0.009809854205632157 + ], + [ + -0.016610823521222028, + 0.9978905320167542, + 0.06275796013164711, + -0.0004418937835047951 + ], + [ + -0.059717379851828734, + -0.06364469975233078, + 0.9961843189148939, + 0.017435926410952728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.997639257272332, + 0.010398894548416138, + 0.06788031016368773, + 0.011485649752430865 + ], + [ + -0.014618906027196465, + 0.9979708790779114, + 0.06197085599547918, + -1.4640827716824059e-05 + ], + [ + -0.0670981426195458, + -0.06281689554452896, + 0.9957669641629766, + 0.01753756809522895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9972003760226492, + 0.009005215018987657, + 0.07423129191450034, + 0.013291833926254602 + ], + [ + -0.013489862362402336, + 0.9980990290641787, + 0.06013637097096474, + 0.0002269570079489354 + ], + [ + -0.07354863274116924, + -0.06096938624978067, + 0.99542619206787, + 0.01810235082193997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9970579660561273, + 0.007049270905554295, + 0.07632676379618299, + 0.014251471004636003 + ], + [ + -0.011588401149563334, + 0.9981793761253357, + 0.05919117914755264, + 0.0008238888883949348 + ], + [ + -0.07577054199278023, + -0.05990154296159744, + 0.995324408904528, + 0.018715189447886173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9971804323118637, + 0.0067418906837701815, + 0.07473754927026009, + 0.015511121352601716 + ], + [ + -0.011128633834314323, + 0.9982291460037234, + 0.058435212832988144, + 0.0009295114006122291 + ], + [ + -0.07421124509210596, + -0.059102181345224394, + 0.9954896248721691, + 0.01910825873918532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9973352250788257, + 0.006964619271457195, + 0.07262224848480865, + 0.016595783670170693 + ], + [ + -0.011216967190768342, + 0.9982354044914246, + 0.058311975631059346, + 0.0004268697715005251 + ], + [ + -0.07208797394495602, + -0.058971188962459564, + 0.9956534282265902, + 0.019488021560927847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997317552619963, + 0.004984692670404912, + 0.07302618449242354, + 0.01729154607738571 + ], + [ + -0.00931345490672653, + 0.9982111454010012, + 0.05905686049596504, + 0.0006160371954776146 + ], + [ + -0.07260116625637035, + -0.059578571468591704, + 0.9955799536203758, + 0.019653781377945767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9973243001524664, + 0.005288727581501007, + 0.07291295751959942, + 0.01801326004783925 + ], + [ + -0.009586766570521295, + 0.9982281923294067, + 0.058724241729452946, + 0.0007133320312635501 + ], + [ + -0.07247319326041807, + -0.0592661127448082, + 0.9956079566174746, + 0.020069553683920084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.997392534701764, + 0.007536859251558781, + 0.07177267640195886, + 0.018638262884662322 + ], + [ + -0.01163920948104472, + 0.9983113408088684, + 0.05691201947409151, + 0.0008138724244576644 + ], + [ + -0.07122253975516267, + -0.05759900063276291, + 0.9957959967632144, + 0.020257302398227067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9974558844114187, + 0.010002169758081436, + 0.0705809775021714, + 0.019423622655138514 + ], + [ + -0.013915504811673743, + 0.9983798861503601, + 0.05517262667635245, + 0.0003607137338992938 + ], + [ + -0.06991477357659524, + -0.05601443350315094, + 0.9959790476740223, + 0.020271681194687103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9974763375110909, + 0.010791752487421036, + 0.07017448181484161, + 0.020217431489439056 + ], + [ + -0.014579612979258324, + 0.9984511137008667, + 0.05369164252116633, + 0.00033094521867122183 + ], + [ + -0.06948635767433067, + -0.05457926169037819, + 0.996088747710475, + 0.020441076875356734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9974582233216674, + 0.011371211148798467, + 0.07034023051555811, + 0.02122525680120539 + ], + [ + -0.01510877539364457, + 0.9984890222549441, + 0.05283383637320312, + 0.00014388038864140398 + ], + [ + -0.06963316878389074, + -0.05376229807734491, + 0.9961228791487438, + 0.020657938536056235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9974209359099088, + 0.011919675394892693, + 0.07077686810075913, + 0.022770763487033947 + ], + [ + -0.01568729225547196, + 0.9984756708145142, + 0.05291739814568207, + -0.00025539287554826855 + ], + [ + -0.07003822292718975, + -0.053891219198703766, + 0.9960875438896712, + 0.020707120054289253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.997444934562189, + 0.010694295167922974, + 0.07063440685897263, + 0.02446536235004348 + ], + [ + -0.014515083746856124, + 0.9984461069107056, + 0.053802681715079424, + 8.267551668159688e-05 + ], + [ + -0.06994926303168461, + -0.05469047650694847, + 0.9960501986894887, + 0.02061332277757955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9975604719839163, + 0.010268564336001873, + 0.06904811718426747, + 0.025604215090860957 + ], + [ + -0.014007195669464418, + 0.9984490871429443, + 0.05388107067189268, + 0.0001237659317315113 + ], + [ + -0.06838775655620259, + -0.054716795682907104, + 0.9961571980717513, + 0.02102783676777305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9975964629924383, + 0.010330970399081709, + 0.06851701304204107, + 0.02655829179424173 + ], + [ + -0.013998493563637821, + 0.9984822869300845, + 0.053264979007456054, + -7.70667259918714e-05 + ], + [ + -0.06786275071727385, + -0.054096087813377394, + 0.9962270208466032, + 0.021215154402434398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9975100052465238, + 0.008919496089220049, + 0.06995866691295748, + 0.02806569328230476 + ], + [ + -0.012640883408250257, + 0.9985180497169497, + 0.0529330971204736, + 0.00024383314383691758 + ], + [ + -0.06938286105801926, + -0.05368563160300256, + 0.9961444861735657, + 0.02063153619356927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9974021265266584, + 0.00826253555715084, + 0.07155895943962534, + 0.029490126883301923 + ], + [ + -0.012069552438083277, + 0.998525083065033, + 0.052933277337659464, + 0.00024411397192993046 + ], + [ + -0.07101605690532115, + -0.05365944653749466, + 0.9960308142100641, + 0.020430720115128472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9974013064494367, + 0.007483783643692732, + 0.07165590123490519, + 0.03072948553044664 + ], + [ + -0.011285742401327232, + 0.9985412359237671, + 0.05280164195283088, + 0.00048250658266403795 + ], + [ + -0.07115621518511434, + -0.05347311496734619, + 0.9960308331364198, + 0.020719565962292758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9975307133620247, + 0.008204458281397821, + 0.06975069513419155, + 0.03215345606837955 + ], + [ + -0.011896609626720069, + 0.9985403418540957, + 0.052684089100495976, + 0.0003877257206072632 + ], + [ + -0.0692166454606983, + -0.05338379740715028, + 0.9961722791938902, + 0.02059496645612095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9976486198594889, + 0.008469196967780592, + 0.06801132187867875, + 0.03319616196724574 + ], + [ + -0.012042310923500553, + 0.998558819293976, + 0.05230016558358149, + 0.0005247155390612512 + ], + [ + -0.0674703662107483, + -0.05299620330333711, + 0.9963127982472068, + 0.020553630953913975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9976869105137567, + 0.008682332932949068, + 0.06742009118263692, + 0.03401909153853243 + ], + [ + -0.012171253601455915, + 0.9985982179641726, + 0.05151190472416131, + 0.0004497323056518145 + ], + [ + -0.06687834597195587, + -0.05221333727240564, + 0.996394043480339, + 0.020697251718365013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977039660713289, + 0.0092350784689188, + 0.06709338254497771, + 0.03516966080422073 + ], + [ + -0.012683757963479177, + 0.9986100196838379, + 0.05115844461261335, + 0.00023264410469845802 + ], + [ + -0.06652767034946143, + -0.051891978830099106, + 0.9964343083847504, + 0.02072004695484163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9977270760258714, + 0.010068723931908607, + 0.06662846312225937, + 0.03648261938452082 + ], + [ + -0.01347936182303519, + 0.99861079454422, + 0.05093902900953233, + 9.500470680353214e-05 + ], + [ + -0.0660230178858274, + -0.05172135680913925, + 0.9964767500733845, + 0.020731395672666065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9977105854731618, + 0.009608736261725427, + 0.06694229092613169, + 0.037704994052826644 + ], + [ + -0.01300613871472516, + 0.9986392855644228, + 0.050501706697949705, + -8.513151828952437e-05 + ], + [ + -0.06636593907017366, + -0.05125674605369569, + 0.9964779731240128, + 0.020741277581177518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9977068879114065, + 0.008910175412893297, + 0.0670940994452162, + 0.039317189152396445 + ], + [ + -0.012281011891700595, + 0.9986738562583926, + 0.04999681133395951, + 4.7560808619771116e-05 + ], + [ + -0.06655964478655864, + -0.05070614814758302, + 0.9964931778151127, + 0.020460301419303616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.997762791839402, + 0.007938073948025703, + 0.06638028522697817, + 0.04077707810574567 + ], + [ + -0.011264808680221172, + 0.9986910223960876, + 0.04989319520025723, + 0.00039188328510885416 + ], + [ + -0.06589734381678188, + -0.05052933841943741, + 0.996546187923039, + 0.020302535900474202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9978376113117355, + 0.007461486384272575, + 0.06530287814888311, + 0.042161011170060596 + ], + [ + -0.010714029900172912, + 0.9987117052078247, + 0.049599468868126245, + 0.0005629969853080684 + ], + [ + -0.06484866713113836, + -0.05019187182188034, + 0.9966320670971132, + 0.02009242711406737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9978815486937632, + 0.006769930012524128, + 0.06470408397152436, + 0.04330409314032465 + ], + [ + -0.00997243492756348, + 0.998734176158905, + 0.04930056970078093, + 0.0006834148348061779 + ], + [ + -0.06428842605656347, + -0.04984138533473015, + 0.9966859062379839, + 0.0198571141151594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9979076246859607, + 0.006823955103754997, + 0.06429458666173606, + 0.044484162712007155 + ], + [ + -0.00998750983027318, + 0.998748242855072, + 0.049011904729359256, + 0.0007947235204074929 + ], + [ + -0.06387965479003291, + -0.049551498144865036, + 0.9967266763859636, + 0.019545933380745707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9979403691826961, + 0.006289738230407238, + 0.06383934614409208, + 0.04539913096248603 + ], + [ + -0.009408735561802843, + 0.9987703561782837, + 0.048674589280450674, + 0.0010398972763306846 + ], + [ + -0.06345469507450073, + -0.04917498305439949, + 0.9967724370259603, + 0.019192181681904414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9979804848823113, + 0.006102184299379587, + 0.06322796343248485, + 0.04629629329962294 + ], + [ + -0.009157049934403175, + 0.998798668384552, + 0.04813855979625534, + 0.0010832514993126352 + ], + [ + -0.06285826024393312, + -0.048620324581861496, + 0.9968374400050803, + 0.01883132426463853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9980259976427655, + 0.006047375500202179, + 0.06251059741444882, + 0.04735532566840955 + ], + [ + -0.009041270654791704, + 0.9988197088241577, + 0.04772288758960573, + 0.0011665002673823376 + ], + [ + -0.062148216752414026, + -0.048193857073783875, + 0.9969027028565007, + 0.018302786569685318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9980851538369663, + 0.006411413662135601, + 0.061522127797663126, + 0.04839716068610072 + ], + [ + -0.009334731706309394, + 0.9988348484039307, + 0.047347416034964236, + 0.0011311545761547677 + ], + [ + -0.061146884631733414, + -0.04783104360103607, + 0.9969820842661682, + 0.018093810604571145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9982156550123571, + 0.005773792043328285, + 0.0594316535780014, + 0.049288307171857275 + ], + [ + -0.008498175519293064, + 0.9989194869995117, + 0.04569045540919029, + 0.0013830479548906506 + ], + [ + -0.059103625917456167, + -0.046113986521959305, + 0.9971861645031592, + 0.018158565796451757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9983210564157569, + 0.006514749489724636, + 0.057555906302214487, + 0.05032599976359246 + ], + [ + -0.009045477802646256, + 0.9989985227584839, + 0.043819418500048946, + 0.0011910854327638885 + ], + [ + -0.057212801755502724, + -0.0442664660513401, + 0.9973801426047824, + 0.0177708998513787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9983779891898239, + 0.006469212472438812, + 0.0565644615523774, + 0.051317031537761584 + ], + [ + -0.008910148013342684, + 0.9990350008010864, + 0.043008025962138784, + 0.0008709772527325765 + ], + [ + -0.0562316540407811, + -0.0434422641992569, + 0.9974721945523357, + 0.018097376678685183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9984295173170316, + 0.00672687776386738, + 0.055617460111364626, + 0.052140321761355996 + ], + [ + -0.00905863139580629, + 0.9990857839584353, + 0.04177963478698083, + 0.0007196091879572599 + ], + [ + -0.05528556312746057, + -0.04221783950924874, + 0.9975776180299476, + 0.018113187288824346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9984857580002069, + 0.00667217280715704, + 0.05460523463649071, + 0.0533361332376349 + ], + [ + -0.008923621406931778, + 0.999115526676178, + 0.041091990380219816, + 0.0004450190870103844 + ], + [ + -0.05428277049468927, + -0.04151704162359238, + 0.9976621106885077, + 0.017817174782856802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9985308122774806, + 0.00678291777148843, + 0.05376048660214957, + 0.05445427270926223 + ], + [ + -0.008960634510013606, + 0.9991446137428286, + 0.04037079726719634, + 0.00028620051066725384 + ], + [ + -0.05344066847381642, + -0.040793213993310935, + 0.9977374165968774, + 0.017617849811326084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9985754090652151, + 0.006912524811923504, + 0.05290958218051321, + 0.055803736154069764 + ], + [ + -0.009011712509073358, + 0.9991773366928101, + 0.03953982881657168, + 0.0005020827281676971 + ], + [ + -0.052592734606070286, + -0.03996030613780022, + 0.9978162294271629, + 0.01741711589774485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9986236372569104, + 0.0070363664999604225, + 0.05197447927522372, + 0.057057598485837434 + ], + [ + -0.009065316741138208, + 0.999201774597168, + 0.03890544733873105, + 0.0006973736520869794 + ], + [ + -0.05165923306325497, + -0.03932306170463562, + 0.9978903124140961, + 0.017185309802580997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9986782273443551, + 0.006948670372366905, + 0.05092701199832996, + 0.05821335021882373 + ], + [ + -0.008895983910770277, + 0.9992339015007019, + 0.038110967640340755, + 0.000966694017823879 + ], + [ + -0.050623171878240836, + -0.03851364180445671, + 0.9979749407031229, + 0.016959890760552286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9987333439502007, + 0.007174095138907434, + 0.049801603670450494, + 0.05927187140258596 + ], + [ + -0.009052240251530815, + 0.999252259731293, + 0.03759002463352484, + 0.0009648647831684145 + ], + [ + -0.04949469272428344, + -0.037993229925632484, + 0.9980514942943088, + 0.016787577184688963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9987897779624616, + 0.007195140700787308, + 0.04865430285741801, + 0.059580884562405095 + ], + [ + -0.008999645192928899, + 0.9992758035659792, + 0.03697151686124984, + 0.000844302355361658 + ], + [ + -0.048353053170202824, + -0.03736464679241181, + 0.9981311703367552, + 0.016781500975844618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9988463539735112, + 0.007503846660256386, + 0.0474309254384176, + 0.06017223481859398 + ], + [ + -0.009210072920887264, + 0.9993144869804382, + 0.035857305277030446, + 0.0004430188387572152 + ], + [ + -0.047129340169539964, + -0.03625278174877167, + 0.9982307158772383, + 0.016790782758597703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9988826932135341, + 0.007982742041349411, + 0.046578884128156285, + 0.061012499316153684 + ], + [ + -0.009636684686902377, + 0.9993270039558411, + 0.03539262288567038, + 0.0003484848887569561 + ], + [ + -0.04626501000797857, + -0.03580194339156151, + 0.9982874110287971, + 0.016587803173907983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9989177416990573, + 0.008383889682590961, + 0.04574960502616911, + 0.061678153548644817 + ], + [ + -0.009988971325560158, + 0.9993384480476379, + 0.03496898602382469, + 0.00016382284233237534 + ], + [ + -0.04542616736034378, + -0.03538813441991806, + 0.9983406859421602, + 0.016711811267649316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9988909074318871, + 0.00881912559270859, + 0.04625181266901315, + 0.06266136720910863 + ], + [ + -0.010465079855822753, + 0.9993160963058474, + 0.03546624279963251, + -5.869630124938336e-05 + ], + [ + -0.045907397866353075, + -0.035910934209823615, + 0.9983000120811113, + 0.015940539039852947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9989134691525418, + 0.008706006221473219, + 0.045782996580886026, + 0.06338485858289761 + ], + [ + -0.010308817059647932, + 0.99933797121048, + 0.03489009475829571, + 0.0002656798808213141 + ], + [ + -0.0454489372299328, + -0.03532415628433228, + 0.9983419268552833, + 0.01592176538263322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9989122387609677, + 0.009139674715697765, + 0.04572512798392171, + 0.06450724821363181 + ], + [ + -0.010736289977662745, + 0.9993367791175842, + 0.03479483014878337, + 0.00015975158263369104 + ], + [ + -0.04537678513986676, + -0.03524790331721306, + 0.998347886047149, + 0.015536117760023256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9988877345390781, + 0.009182886220514774, + 0.04624937527965649, + 0.06540573263146644 + ], + [ + -0.010784916088694948, + 0.9993461966514587, + 0.034509384665745754, + 0.00023867110314044104 + ], + [ + -0.04590223973759883, + -0.03496979922056198, + 0.9983336867905144, + 0.015368378518895916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9988303046119815, + 0.008483120240271091, + 0.04760256603432246, + 0.06645297181855378 + ], + [ + -0.010121331688116377, + 0.9993610382080078, + 0.03427952042378913, + 0.00040391453102461285 + ], + [ + -0.04728135342072548, + -0.03472122550010681, + 0.9982779645067443, + 0.0153098773144078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9987979728455293, + 0.008761489763855934, + 0.0482274432966523, + 0.06774570582185284 + ], + [ + -0.010418718828445181, + 0.9993600249290466, + 0.03421936519741186, + 0.00029250120970670764 + ], + [ + -0.04789677319393192, + -0.03468070179224014, + 0.9982500653635404, + 0.015303340275435558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9988112329302257, + 0.00880301371216774, + 0.047944433832431486, + 0.06923496248890568 + ], + [ + -0.010443720051826623, + 0.9993645548820496, + 0.034078739623060794, + 5.950091691940356e-05 + ], + [ + -0.04761396726247448, + -0.03453894332051277, + 0.9982685087706006, + 0.015564035486743611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9988432047285218, + 0.008895978331565857, + 0.04725616854729683, + 0.0701058654340591 + ], + [ + -0.01050120753961518, + 0.9993724226951599, + 0.033829734978752225, + 2.2097028108637815e-05 + ], + [ + -0.04692556879678681, + -0.03428684547543526, + 0.9983097637746952, + 0.015587208398209073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9988822041509466, + 0.008602316491305828, + 0.04647965815244069, + 0.07101270849174786 + ], + [ + -0.010171655001864238, + 0.999382495880127, + 0.033633662970390825, + -0.00016768914083979485 + ], + [ + -0.04616163534918284, + -0.034068841487169266, + 0.9983528359607042, + 0.015582076480839039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9989184423438663, + 0.008961700834333897, + 0.045624901897122684, + 0.07197299465801262 + ], + [ + -0.010504962125290807, + 0.9993768334388733, + 0.03369834710481085, + -0.0002717900374974105 + ], + [ + -0.04529447834716093, + -0.034141186624765396, + 0.998390096392799, + 0.015558625647620915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9989577665640678, + 0.009069466963410378, + 0.04473444374420038, + 0.07290376182568535 + ], + [ + -0.0105871684767606, + 0.9993723034858704, + 0.03380751682862712, + -0.0002554061046951044 + ], + [ + -0.04439975637448468, + -0.03424588963389397, + 0.9984266965873263, + 0.015463567118587136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9934235811839481, + 0.0022129914723336697, + 0.11447566233301228, + 0.07524622500064292 + ], + [ + -0.00878415102706655, + 0.9983395338058472, + 0.05692970712616168, + -0.004182777460329248 + ], + [ + -0.11415959938070824, + -0.057560887187719345, + 0.991793496101657, + -0.024634891974626538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9940334130250835, + 0.007591674104332924, + 0.1088114624569361, + 0.07482487526311112 + ], + [ + -0.014063215886885657, + 0.9981688857078552, + 0.05883144034696148, + -0.005419200793120675 + ], + [ + -0.10816558388307068, + -0.060010652989149094, + 0.9923199812772178, + -0.02321744555879122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9941584621404284, + 0.011311006732285023, + 0.10733572603048457, + 0.07470164688234782 + ], + [ + -0.017917140648669495, + 0.9979901909828186, + 0.06078315912516786, + -0.005081567325438214 + ], + [ + -0.10643246597285576, + -0.06235124543309212, + 0.9923630454352865, + -0.02180603002762861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9941202056995451, + 0.016181228682398796, + 0.10706611880680109, + 0.07533432147822412 + ], + [ + -0.022986988151398595, + 0.9977713823318481, + 0.06264039131693962, + -0.004946441975291167 + ], + [ + -0.10581391381761589, + -0.06473320722579956, + 0.9922766681295272, + -0.022328631579157356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9938326772734948, + 0.022949151694774628, + 0.10848924054686943, + 0.07483520053686592 + ], + [ + -0.030032563048371767, + 0.9974905252456665, + 0.06411494512314488, + -0.00574657519666414 + ], + [ + -0.10674560197847359, + -0.06697773933410645, + 0.9920278958076533, + -0.021518411927131446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9934520980618413, + 0.02722504548728466, + 0.11095842767889257, + 0.07521825727804753 + ], + [ + -0.03465495669051075, + 0.9972445368766785, + 0.06559222498564482, + -0.00690573977224339 + ], + [ + -0.1088669410964866, + -0.0690079927444458, + 0.9916581543834664, + -0.021005586704118694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9934853409658839, + 0.027391236275434494, + 0.11061904748335245, + 0.07562379337822045 + ], + [ + -0.034844560331167194, + 0.997209906578064, + 0.06601706850441616, + -0.00533936153438831 + ], + [ + -0.10850213697461303, + -0.06944146752357483, + 0.9916678484428553, + -0.020723404754616374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.993868651736467, + 0.029571905732154853, + 0.10653937739014524, + 0.07627841538770867 + ], + [ + -0.036697025125745415, + 0.9971742630004885, + 0.06555021380269387, + -0.005419148121309315 + ], + [ + -0.10429987375852746, + -0.06905797868967058, + 0.9921454003574542, + -0.02187358274045234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.99421326531402, + 0.03041752800345421, + 0.10302801999365234, + 0.07634227010811967 + ], + [ + -0.037281790993161264, + 0.9971644878387451, + 0.06536838045970476, + -0.005303020738641554 + ], + [ + -0.1007475418373764, + -0.0688311755657196, + 0.9925282018544715, + -0.021839543564410202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.994320684913639, + 0.03182735666632652, + 0.10155485375171841, + 0.07470064751189424 + ], + [ + -0.03838689039376485, + 0.9972557425498962, + 0.06330438517053519, + -0.0060052169709514155 + ], + [ + -0.09926133981517839, + -0.06684323400259018, + 0.9928137568540683, + -0.01812527574748191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9942213501421752, + 0.03197592496871949, + 0.10247653717974971, + 0.07515944829875884 + ], + [ + -0.038423388820722514, + 0.9973627328872683, + 0.061572734071012075, + -0.0061447582412651365 + ], + [ + -0.10023742866346268, + -0.06515442579984666, + 0.9928279561092835, + -0.01873413207206464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9938090597242949, + 0.03225758299231529, + 0.10631534650509235, + 0.07500904521856563 + ], + [ + -0.03880251024632384, + 0.9974391460418701, + 0.06007891769840033, + -0.006300096566467104 + ], + [ + -0.10410507170360579, + -0.06383227556943893, + 0.9925158116326818, + -0.019774564490392988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9931923744168486, + 0.03205953538417816, + 0.11198679039473602, + 0.07556905799845624 + ], + [ + -0.03880831368515047, + 0.9975261688232422, + 0.05861312061976816, + -0.006202670286525418 + ], + [ + -0.10983063358304515, + -0.06256012618541718, + 0.9919795534859182, + -0.022130262276063642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9925212394924499, + 0.03187116980552673, + 0.11783834266729029, + 0.07583668370923555 + ], + [ + -0.03879985427482953, + 0.9976211190223694, + 0.056979163551376215, + -0.005874123051514338 + ], + [ + -0.11574203822023062, + -0.06112513691186905, + 0.9913967673284431, + -0.02347412894480612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9917588224460774, + 0.030445935204625137, + 0.12444872457153029, + 0.07424302393886704 + ], + [ + -0.03770442849214965, + 0.9976965188980105, + 0.05639186959899274, + -0.0061259437216538695 + ], + [ + -0.1224451439308034, + -0.06061940267682077, + 0.9906222657227505, + -0.02243538473233509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9910837068625372, + 0.029143689200282104, + 0.13001428259863382, + 0.07705380599923095 + ], + [ + -0.036639271555250666, + 0.9977785348892214, + 0.05563725586910009, + -0.0060526732986873185 + ], + [ + -0.12810397682875685, + -0.05990480259060861, + 0.9899499065260959, + -0.026518396667950684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9900604172888745, + 0.027096588164567947, + 0.1380076549138455, + 0.07596573576726036 + ], + [ + -0.03489270651237443, + 0.9979100227355957, + 0.054387803489407895, + -0.006390441346175934 + ], + [ + -0.13624550612019942, + -0.058662671595811844, + 0.9889367608686053, + -0.02632662536201002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9880175012829817, + 0.024632317945361137, + 0.15236343874204034, + 0.07799557915386832 + ], + [ + -0.032976526101404946, + 0.9980772137641907, + 0.05248263251675354, + -0.006569555290493549 + ], + [ + -0.15077769827334697, + -0.05687817558646202, + 0.9869300841539249, + -0.029276035979808573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9862867062743043, + 0.018590405583381653, + 0.16399085179117617, + 0.07941165497796178 + ], + [ + -0.02759023198237599, + 0.9982252717018127, + 0.052774097042903985, + -0.00685920795087132 + ], + [ + -0.16271872777094884, + -0.05657493323087692, + 0.985049174383627, + -0.0320575955266784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9858333566076902, + 0.012206300161778927, + 0.16728281984717824, + 0.08348271036796404 + ], + [ + -0.02129725464685317, + 0.9983854293823242, + 0.05265904542370457, + -0.0033722117471298597 + ], + [ + -0.16636996019696978, + -0.05547570809721947, + 0.9845016360577206, + -0.039380356462935875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9849919491572874, + 0.014895489439368248, + 0.1719564043143966, + 0.0869064894202329 + ], + [ + -0.024261464479525926, + 0.9983264207839966, + 0.05249463520545319, + -0.005355945464503884 + ], + [ + -0.1708866878336177, + -0.05587870627641678, + 0.9837048824794228, + -0.04047103529820828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9850703839585607, + 0.013651908375322822, + 0.17160984214123579, + 0.08842195346623392 + ], + [ + -0.022991351069942333, + 0.9983534216880801, + 0.052553336969163575, + -0.004291997212412465 + ], + [ + -0.17060982824913312, + -0.05571427941322328, + 0.9837622764810001, + -0.04084151884508259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9857660017436338, + 0.009141078218817713, + 0.16787429364710968, + 0.09203982194242095 + ], + [ + -0.01809780125276621, + 0.9984881877899172, + 0.051901574472798334, + -0.0007254884159666921 + ], + [ + -0.16714607325441222, + -0.054200962185859694, + 0.9844411801792569, + -0.04509483902638234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9873864538370725, + 0.009006823413074017, + 0.15807236538156985, + 0.09514825936232746 + ], + [ + -0.017352366525924517, + 0.9985224604606628, + 0.05149525689652383, + -0.0003482924688397702 + ], + [ + -0.15737498758573165, + -0.05358865112066269, + 0.98608384609053, + -0.048983636225403485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.988613371100321, + 0.012701282277703285, + 0.14994080128458903, + 0.09540870021426677 + ], + [ + -0.02058952298501238, + 0.9984774589538574, + 0.05117442330916854, + -0.0005788786420754186 + ], + [ + -0.1490625311221048, + -0.053678929805755615, + 0.9873697106221918, + -0.047559386225851465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9891895762716832, + 0.014711076393723488, + 0.14590270932797533, + 0.09206150916548762 + ], + [ + -0.022456568020932315, + 0.9984162449836731, + 0.05158249607790671, + -0.002726172990917098 + ], + [ + -0.144912800434924, + -0.054301343858242035, + 0.9879532603347069, + -0.04054153284549659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9902594332276344, + 0.013567505404353145, + 0.13857204311870444, + 0.0969662156085531 + ], + [ + -0.020855389770750833, + 0.9984666705131533, + 0.05127690003642024, + -0.0017409279290615976 + ], + [ + -0.137663868868629, + -0.053667407482862486, + 0.9890240279140742, + -0.04503833702559945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9916449346761922, + 0.01615607552230358, + 0.1279815892049187, + 0.09823184488944131 + ], + [ + -0.02277889127484253, + 0.9984665513038635, + 0.0504547009119831, + -0.0024526251837252667 + ], + [ + -0.12697019501254728, + -0.05294843018054962, + 0.9904923471421714, + -0.043900428991596976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9928036972378513, + 0.019067155197262767, + 0.11822567337771911, + 0.09827830230310597 + ], + [ + -0.025077163953440892, + 0.9984564185142519, + 0.049557572724677555, + -0.00293988141070901 + ], + [ + -0.11709826267264142, + -0.052165701985359206, + 0.9917493135754487, + -0.041776947541702664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9934397625588046, + 0.02101923525333405, + 0.11240818039801535, + 0.09488977174039746 + ], + [ + -0.026638514386252466, + 0.9984570145606997, + 0.04872383293498704, + -0.004253123708172301 + ], + [ + -0.1112105955757118, + -0.05139857903122903, + 0.9924668266819237, + -0.03220003749489726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9938513304254818, + 0.02036772482097149, + 0.10883353785023252, + 0.09419086279543694 + ], + [ + -0.025849106431729923, + 0.9984546899795532, + 0.049193633064968885, + -0.005223407911137931 + ], + [ + -0.10766338813968288, + -0.05170440301299095, + 0.9928420199290434, + -0.028975827331041492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9933793752483716, + 0.024733325466513634, + 0.11218596995831046, + 0.10044952538862066 + ], + [ + -0.030841289967176777, + 0.9981160163879395, + 0.053040268585543074, + -0.009955386889301901 + ], + [ + -0.11066274728178656, + -0.056149065494537354, + 0.9922706287030426, + -0.034720464254519176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9922503466934965, + 0.022259648889303207, + 0.12224456205978673, + 0.0996923169019798 + ], + [ + -0.029628049948304213, + 0.9978304505348206, + 0.05879270866749862, + -0.007902281637472884 + ], + [ + -0.1206706457454896, + -0.061958957463502884, + 0.9907571345261226, + -0.03261307683239641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9921213077391577, + 0.019664814695715908, + 0.12372809533271234, + 0.10719173457961827 + ], + [ + -0.02771495085721015, + 0.9975852966308596, + 0.06368208753677959, + -0.007608708000613366 + ], + [ + -0.1221770267833835, + -0.06660947203636171, + 0.9902706564686945, + -0.03839921766404121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9929661032569355, + 0.01726793870329857, + 0.11713308393568538, + 0.11009926546301688 + ], + [ + -0.02555800918375018, + 0.9972442984580994, + 0.06964628772373942, + -0.007133666107807456 + ], + [ + -0.11560766198969698, + -0.0721500888466835, + 0.9906711065945608, + -0.036463313170863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9946517176020482, + 0.022146398201584816, + 0.10088382494135825, + 0.11106877389630843 + ], + [ + -0.029898027235918133, + 0.996660590171814, + 0.0759852337405462, + -0.007781802747359179 + ], + [ + -0.09886413572596099, + -0.07859507203102112, + 0.9919922623099577, + -0.03223167982280487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9958795517431105, + 0.026314277201890945, + 0.08678436710921558, + 0.11279066776203632 + ], + [ + -0.03361115976570557, + 0.9959222078323364, + 0.08372122424727169, + -0.00885471855947903 + ], + [ + -0.08422741070664563, + -0.08629317581653595, + 0.9927029991592593, + -0.02895922451314519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9959677685635819, + 0.03142806142568588, + 0.08402640436487947, + 0.1118864282267115 + ], + [ + -0.039298892681861465, + 0.9948225021362305, + 0.09372160419553718, + -0.011376462316817094 + ], + [ + -0.08064586157048051, + -0.09664584696292877, + 0.9920462578112995, + -0.022172249063077937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9955460959476446, + 0.031216168776154518, + 0.08895786157255298, + 0.11227574509829806 + ], + [ + -0.04046177367637905, + 0.9937432408332825, + 0.10410217933829366, + -0.011560883253321101 + ], + [ + -0.08515158307676896, + -0.10723791271448135, + 0.9905802760679575, + -0.019535392082765054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9951259820993691, + 0.03236572444438934, + 0.093148973726469, + 0.1151478935101579 + ], + [ + -0.04302919829701509, + 0.9924505352973938, + 0.11484932090491498, + -0.012413597108644626 + ], + [ + -0.08872856892839723, + -0.11829767376184464, + 0.9890059932442363, + -0.019707070289353538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9957559756088974, + 0.032455772161483765, + 0.08611990289165837, + 0.11717716601740072 + ], + [ + -0.04306233329536934, + 0.9913080334663391, + 0.12431402542775984, + -0.008969865564235801 + ], + [ + -0.08133663318231599, + -0.1274949610233307, + 0.9884985455536549, + -0.02020717597636999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9967748792411796, + 0.04510870575904846, + 0.06637044758184255, + 0.11247498708602607 + ], + [ + -0.05365113343342905, + 0.9896440505981445, + 0.13313973470885715, + -0.013438512209885446 + ], + [ + -0.059677365505856686, + -0.13627119362354279, + 0.9888724507457561, + -0.008477012995269548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9966817769728781, + 0.05767973512411119, + 0.057432183626225354, + 0.11094813245083421 + ], + [ + -0.06522209658472947, + 0.9880655407905581, + 0.13954394982530657, + -0.014731919136236704 + ], + [ + -0.04869790467726264, + -0.14282676577568057, + 0.9885489579500821, + -0.004688807001185296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9965130790018751, + 0.06597968935966492, + 0.05107263271687376, + 0.11033706252696855 + ], + [ + -0.07279640923979556, + 0.986637532711029, + 0.145763781355615, + -0.01632212059613465 + ], + [ + -0.04077271887457665, + -0.14897342026233673, + 0.9880002849620293, + -0.0019646371267818346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9964700768214199, + 0.0705413669347763, + 0.04551174912894324, + 0.10846747865828152 + ], + [ + -0.07644190188236633, + 0.9865343570709229, + 0.14459107474305416, + -0.015485487033997224 + ], + [ + -0.034699244290473295, + -0.14755968749523163, + 0.9884442601053948, + 0.002411355341345607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9959333849257779, + 0.07894357293844223, + 0.04341151018108123, + 0.10784065847744798 + ], + [ + -0.08430403380405825, + 0.9865501523017883, + 0.1400416823826754, + -0.017362254460467793 + ], + [ + -0.03177223956969771, + -0.14313194155693054, + 0.9891934775995167, + 0.0034614165276864546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9952279253994837, + 0.08728372305631638, + 0.04362188948058629, + 0.10847355381377645 + ], + [ + -0.09258523084316707, + 0.9858547449111938, + 0.1397080514077546, + -0.01898192227767366 + ], + [ + -0.030810609677056264, + -0.14308011531829834, + 0.9892314224888369, + 0.0019186128717502298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9946772935573187, + 0.09203436970710754, + 0.04633269701628044, + 0.10703200927831408 + ], + [ + -0.09767509304514027, + 0.9853854775428772, + 0.1395531492658587, + -0.019101468363196136 + ], + [ + -0.03281187098088833, + -0.14333589375019073, + 0.9891300054871333, + 0.004081211396407665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9942876817027582, + 0.09442273527383804, + 0.049763052256243605, + 0.10745318280983039 + ], + [ + -0.10042267385061185, + 0.9855396747589111, + 0.13648023882213658, + -0.019215788503424803 + ], + [ + -0.03615662724612074, + -0.14069795608520508, + 0.9893921550821712, + 0.0052742356943533625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.993900807420927, + 0.09496944397687912, + 0.05605399057400963, + 0.1062294835392033 + ], + [ + -0.10173189732682415, + 0.9857946038246155, + 0.13363993230785196, + -0.019569924117910927 + ], + [ + -0.04256600918780504, + -0.1385273039340973, + 0.9894434695684733, + 0.005895779247141337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.994000006853312, + 0.08969764411449432, + 0.06259640906071251, + 0.10843795236712175 + ], + [ + -0.09731671217550215, + 0.9864957928657532, + 0.13174026352050372, + -0.01994610641664175 + ], + [ + -0.04993430398961367, + -0.13704149425029755, + 0.9893059308442674, + 0.0047151778901437435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9940934720058314, + 0.08241576701402664, + 0.07061005417951119, + 0.10432004346839513 + ], + [ + -0.09068902525569393, + 0.9882116913795471, + 0.12334149401427073, + -0.017980956088981717 + ], + [ + -0.059612399797828536, + -0.12901653349399567, + 0.9898490466858729, + 0.013371235833188267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9940245266397021, + 0.07625716179609299, + 0.07810328074792905, + 0.10490926909422038 + ], + [ + -0.08486193454935101, + 0.9899028539657593, + 0.11353766348059724, + -0.016664110276632553 + ], + [ + -0.06865658943190937, + -0.1194872111082077, + 0.9904590338157129, + 0.011513642451876575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9939436679477804, + 0.06629840284585953, + 0.08763866815444564, + 0.10299307463548549 + ], + [ + -0.07530233502173422, + 0.9917455911636353, + 0.103779830284022, + -0.01886123737905647 + ], + [ + -0.08003483540187634, + -0.10975070297718048, + 0.990731657929209, + 0.01756660795675847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9934349110699314, + 0.05208810046315193, + 0.10185260909589346, + 0.10280765572552569 + ], + [ + -0.06098949084618563, + 0.9943981766700745, + 0.08632848109870393, + -0.01685259888448499 + ], + [ + -0.09678537280122862, + -0.0919736698269844, + 0.9910466592535494, + 0.01896710723386704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9923659010351267, + 0.04302602261304856, + 0.11557978215073546, + 0.11007943925677582 + ], + [ + -0.051584699067068376, + 0.9960619211196902, + 0.07210871654995095, + -0.016227197963697235 + ], + [ + -0.11202206344337823, + -0.07752038538455965, + 0.9906773469164131, + 0.009395420385855566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9912401397686981, + 0.03194794803857803, + 0.1281497888759338, + 0.11241013032955363 + ], + [ + -0.04024479835002748, + 0.9972215890884399, + 0.06268506237549792, + -0.014752627765116082 + ], + [ + -0.1257910541421502, + -0.06729330867528915, + 0.9897718161524371, + 0.005705085221754353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9899570661055472, + 0.022210951894521717, + 0.1396126762609536, + 0.11535480424780134 + ], + [ + -0.02973810777627076, + 0.9982010126113894, + 0.05206159462783794, + -0.01344995857192647 + ], + [ + -0.13820517770492907, + -0.055690556764602675, + 0.9888366261193583, + 0.005779212612037902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9896106714694106, + 0.012217776849865913, + 0.14325325319788104, + 0.11876306902331077 + ], + [ + -0.018367562948728884, + 0.9989619255065918, + 0.041685931951010516, + -0.012100541719625983 + ], + [ + -0.14259522393788904, + -0.04388405382633209, + 0.9888077568249797, + -1.4128418322160302e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.989194159974259, + 0.004676475655287504, + 0.14653700655489138, + 0.12211235204476442 + ], + [ + -0.009600377018046233, + 0.9994121193885803, + 0.032912591168580016, + -0.011217468750927632 + ], + [ + -0.1462969580549967, + -0.033963751047849655, + 0.988657493002532, + -0.0028908472542358704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9887104066338037, + -0.0031084096990525723, + 0.14980691178480132, + 0.12659761163001906 + ], + [ + -0.000912797763650058, + 0.9996412992477417, + 0.026766376439101316, + -0.011450733666669948 + ], + [ + -0.1498363918522399, + -0.02660093829035759, + 0.988352885481781, + -0.007436505265819262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9884011507457846, + -0.010118670761585237, + 0.15152804970545625, + 0.13083522568650668 + ], + [ + 0.006966879674568336, + 0.9997485280036928, + 0.021316539030891667, + -0.011259611852550333 + ], + [ + -0.15170566593526555, + -0.020013615489006046, + 0.988223062060335, + -0.012222863079311905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9891864780519574, + -0.0145478006452322, + 0.14594015026490187, + 0.1407470536187332 + ], + [ + 0.010826470231075415, + 0.9995964765548706, + 0.026260996630662767, + -0.011367555008251855 + ], + [ + -0.14626332378336038, + -0.024397006258368492, + 0.9889448429000738, + -0.026013478052647837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.990147904259138, + -0.017684189602732662, + 0.13890444902781995, + 0.1416672619783495 + ], + [ + 0.012693645852201146, + 0.9992445111274721, + 0.036732033972594176, + -0.012580641032265694 + ], + [ + -0.13944912137739413, + -0.034606941044330604, + 0.9896243192288721, + -0.025612378908228147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9922712822666964, + -0.021949244663119316, + 0.12213073534488467, + 0.14042154071811483 + ], + [ + 0.01675334006312997, + 0.9989168643951416, + 0.043409344727183274, + -0.0002378039628085052 + ], + [ + -0.12295122824702055, + -0.041027747094631195, + 0.9915643048328973, + -0.02583183020624264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9944024563465169, + -0.014745911583304409, + 0.10462445092153705, + 0.1424796059375566 + ], + [ + 0.009068156262071445, + 0.9984705448150637, + 0.05453755928373727, + -0.010097315437928394 + ], + [ + -0.10526863589801487, + -0.05328353121876718, + 0.9930152796891839, + -0.02355230171640858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9950903768332614, + -0.008475813083350658, + 0.0986068019139213, + 0.1421642480366231 + ], + [ + 0.002662621827470148, + 0.9982582330703735, + 0.05893610973118578, + -0.01529183865249743 + ], + [ + -0.0989345914358621, + -0.05838420242071152, + 0.9933796838574139, + -0.01918032553665812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9954889497047057, + -0.006023675203323364, + 0.09468584446435908, + 0.14067687813561683 + ], + [ + 0.0004008086893841931, + 0.9982406497001648, + 0.05929160759393659, + -0.016076317927674142 + ], + [ + -0.09487640685397786, + -0.05898619070649147, + 0.9937399785840857, + -0.016208075566863725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9955964901875385, + -0.0027073831297457223, + 0.09370339208229882, + 0.1408710966999583 + ], + [ + -0.0028069500851566377, + 0.9982736706733706, + 0.05866701785756486, + -0.016695773294757143 + ], + [ + -0.09370046987108875, + -0.05867169424891473, + 0.9938701618905103, + -0.015191978271059668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9953443244322446, + 0.00014104973524808884, + 0.09638303589406831, + 0.1413556728766315 + ], + [ + -0.005770349559067107, + 0.9982923865318298, + 0.05812929228330058, + -0.01679363714375346 + ], + [ + -0.09621024769221713, + -0.058414820581674576, + 0.9936454350876232, + -0.014958950943258654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9950294268127864, + 0.0015651048161089425, + 0.09956918582315684, + 0.14392274846196257 + ], + [ + -0.0075729870795679015, + 0.9981702566146853, + 0.05998948226902713, + -0.01914689663123536 + ], + [ + -0.0992931132458342, + -0.060445338487625136, + 0.9932206647787152, + -0.01777261408191405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.994581517567449, + 0.0005250154063105584, + 0.10395827144495294, + 0.14393681243206055 + ], + [ + -0.0067969007587915, + 0.9981760978698733, + 0.05998575059556783, + -0.016658565948033843 + ], + [ + -0.10373715501540447, + -0.06036731228232385, + 0.9927710531002399, + -0.016316256864175174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9936720782837399, + -0.0003023156896233559, + 0.11231974883100788, + 0.13998894424627628 + ], + [ + -0.006313484446934437, + 0.9982650279998782, + 0.058541148923463196, + -0.018394541235203506 + ], + [ + -0.1121425624415676, + -0.058879837393760695, + 0.9919461848779991, + -0.008859417600376309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9918613951027117, + 0.0010425853542983532, + 0.12731825612936257, + 0.1386706339325646 + ], + [ + -0.00745759810395189, + 0.998725414276123, + 0.049919384262917116, + -0.020531570842336387 + ], + [ + -0.12710395345274703, + -0.05046259984374046, + 0.9906049109754578, + -0.0048812515660695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9899410793260952, + -0.0006236545741558075, + 0.1414790436809765, + 0.14248303770502616 + ], + [ + -0.005137999551595147, + 0.9991721510887146, + 0.04035548828840198, + -0.021219580959327 + ], + [ + -0.14138707653945146, + -0.04067647457122803, + 0.9891183667926086, + -0.010719558336419552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9893299647709168, + -0.0067068543285131454, + 0.14553789053889213, + 0.1480315992209259 + ], + [ + 0.0016967434895608358, + 0.9994025230407715, + 0.03452164980522866, + -0.02126909345692493 + ], + [ + -0.14568247514787333, + -0.03390635922551155, + 0.9887502258092121, + -0.01655163387111577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9888177050586622, + -0.006401927676051857, + 0.1489920067508037, + 0.15218260527927208 + ], + [ + 0.0019488954465252954, + 0.9995475411415102, + 0.030014566252236807, + -0.022704011987636434 + ], + [ + -0.14911672340410725, + -0.0293885637074709, + 0.9883827774780864, + -0.018367179869833494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9881608273831834, + -0.015226759016513824, + 0.15266396881427297, + 0.1593924938191487 + ], + [ + 0.010998377792795494, + 0.9995331764221191, + 0.028503676416322492, + -0.020675436316961986 + ], + [ + -0.1530267392965344, + -0.026487162336707115, + 0.9878670149573008, + -0.023260483736347794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9890210536049965, + -0.02002483792603016, + 0.14641156905430225, + 0.16683099855530498 + ], + [ + 0.015338873637654989, + 0.999335527420044, + 0.03306476818869627, + -0.02176376393101115 + ], + [ + -0.14697637901131924, + -0.03045596554875374, + 0.9886710398811549, + -0.029450398263739058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9894213368541619, + -0.025919191539287567, + 0.14273604733700856, + 0.168532779464984 + ], + [ + 0.020949334031962988, + 0.9991245269775391, + 0.03621217146208764, + -0.021159815001339122 + ], + [ + -0.14354966451884457, + -0.03283886983990669, + 0.9890981609475111, + -0.02859421638613098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9901042285026352, + -0.025081131607294083, + 0.13807430983643645, + 0.16759066248145482 + ], + [ + 0.019981373925838607, + 0.999070405960083, + 0.038198074951217145, + -0.018957067231951997 + ], + [ + -0.1389039946922283, + -0.03506115823984146, + 0.9896850066318797, + -0.02500682551265874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.991034376138706, + -0.01814650185406208, + 0.1323692036023884, + 0.1671685137990715 + ], + [ + 0.012528412456837069, + 0.9989899396896362, + 0.0431526813420558, + -0.018799228012183238 + ], + [ + -0.1330185850775728, + -0.0411074124276638, + 0.9902607092622848, + -0.023581172984141013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.99162477993809, + -0.01486443355679512, + 0.12829415708569064, + 0.16593767834002274 + ], + [ + 0.008677565372920389, + 0.998778223991394, + 0.04864902201291107, + -0.016963904378533394 + ], + [ + -0.12886057127416428, + -0.04712829366326332, + 0.9905422374632251, + -0.021221028828876113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9921521193240274, + -0.011866424232721332, + 0.12447242970172634, + 0.16493601480185055 + ], + [ + 0.00540248447447641, + 0.9986251592636111, + 0.0521402458625604, + -0.016242444254281976 + ], + [ + -0.12492002421690067, + -0.051058594137430205, + 0.9908521464735106, + -0.015737371768992946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9927854365560763, + -0.010701059363782406, + 0.11942617583787826, + 0.16541765371324935 + ], + [ + 0.004037390481071577, + 0.9984281659126282, + 0.05590046596147227, + -0.01616071737382106 + ], + [ + -0.11983662465512654, + -0.055014997720718384, + 0.9912681597170249, + -0.012042513576819697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9939241237315644, + -0.01989298686385155, + 0.10825495705789777, + 0.16459202705163253 + ], + [ + 0.013772640547475387, + 0.9982795715332033, + 0.05699328307748963, + -5.979649259340008e-06 + ], + [ + -0.10920248327055894, + -0.05515604466199876, + 0.9924881048053661, + -0.009753513618703306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.996216240722049, + -0.018770800903439522, + 0.08485751372644162, + 0.16659141397640756 + ], + [ + 0.013708525620297651, + 0.998113214969635, + 0.059850080704614415, + -0.004474004198155331 + ], + [ + -0.08582084904891135, + -0.05846035107970238, + 0.9945939587770022, + -0.003333991019350332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9977240748447509, + -0.011952895671129227, + 0.06636100987336037, + 0.16877191669846908 + ], + [ + 0.008040103513621897, + 0.9982303977012634, + 0.05891923118331508, + -0.009427819669128121 + ], + [ + -0.06694782499990679, + -0.05825158581137657, + 0.9960545870782963, + 0.0030445658965204507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9984919683256287, + -0.010769499465823174, + 0.05383167395525679, + 0.1719347877823656 + ], + [ + 0.007379257206832119, + 0.9979997873306274, + 0.0627851453479953, + -0.012727577857677617 + ], + [ + -0.05440015632042982, + -0.06229322776198387, + 0.9965742411728453, + 0.0029409223773224913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9991702387432788, + -0.007712725549936296, + 0.03999227150300927, + 0.17266948631947854 + ], + [ + 0.004870113373694105, + 0.9974860548973086, + 0.07069530898072851, + -0.014347192227625873 + ], + [ + -0.04043698395441302, + -0.0704418793320656, + 0.9966959471719204, + 0.008636191709843607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9995371786942708, + -0.0064817573875188845, + 0.029721352601443495, + 0.1731411900933193 + ], + [ + 0.004255106799286495, + 0.9972210526466372, + 0.07437776966010873, + -0.015918956318340283 + ], + [ + -0.030120857772971067, + -0.07421688735485078, + 0.9967871440891857, + 0.01250912605665394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9995233574805437, + -0.0011254907585680487, + 0.03085075353745912, + 0.16887130965944436 + ], + [ + -0.0010460905777103493, + 0.9975265264511111, + 0.07028358771759789, + -0.01588866641597755 + ], + [ + -0.030853540434924817, + -0.07028236240148546, + 0.9970498855016734, + 0.020807206626038566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9990417089398966, + 0.0021184612996876244, + 0.043717542154191075, + 0.16498794407974263 + ], + [ + -0.004874460580006318, + 0.9979996681213381, + 0.06303111400854472, + -0.016328901839039064 + ], + [ + -0.04349657783746344, + -0.06318380683660509, + 0.9970535788469038, + 0.026526587300777386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9980811200978928, + 0.001590935979038477, + 0.06189911137412817, + 0.16099534007990243 + ], + [ + -0.004599268353614049, + 0.9988131523132324, + 0.04848848079532994, + -0.0140237564319732 + ], + [ + -0.06174851100959946, + -0.048680130392313004, + 0.9969038632857185, + 0.03146418646348639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.996690701009522, + -0.001449307892471552, + 0.0812745255274447, + 0.17025567905949326 + ], + [ + -0.001606181186421106, + 0.9992946982383728, + 0.03751669967960207, + -0.01374819061869894 + ], + [ + -0.08127157511103598, + -0.03752308711409569, + 0.9959854120490946, + 0.012914913796289625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9952992471072329, + -0.008124260231852531, + 0.09650580687877255, + 0.17651545542542088 + ], + [ + 0.004316668928423169, + 0.9992063641548157, + 0.03959797902191688, + -0.021117256536225603 + ], + [ + -0.09675095261399932, + -0.03899525851011276, + 0.9945444062908955, + 0.010196020233502561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9946472581461907, + -0.025110643357038498, + 0.10023109567349284, + 0.1818037354360219 + ], + [ + 0.021588099777199436, + 0.9991158843040466, + 0.0360756002680172, + -0.011299624883981849 + ], + [ + -0.10104837394293603, + -0.03371869772672653, + 0.9943099471197111, + 0.008236014634282498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9951308099183684, + -0.026831749826669693, + 0.09484051950350104, + 0.18717552784276825 + ], + [ + 0.023635107908702244, + 0.9991192817687988, + 0.034669756937730424, + -0.016345772088366014 + ], + [ + -0.09568723425357292, + -0.03225937858223915, + 0.9948885778959573, + 0.003125246995813999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9951176251787026, + -0.03217479586601258, + 0.09330455908724368, + 0.19095369155530934 + ], + [ + 0.028664811828642032, + 0.9988389611244204, + 0.03871815797012937, + -0.015550999057087667 + ], + [ + -0.09444197751601172, + -0.03585456311702729, + 0.9948844691926453, + -0.0007439073226406627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9944496376392372, + -0.038600873202085495, + 0.09787657202944944, + 0.1868578051960605 + ], + [ + 0.03469200389078302, + 0.9985430836677551, + 0.04132944422833117, + -0.015081518758764564 + ], + [ + -0.09932934696097116, + -0.03770451620221138, + 0.9943399803666038, + 0.004892593931863389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9936982245869488, + -0.041174132376909256, + 0.10425233674450961, + 0.18408283089678254 + ], + [ + 0.03833804903627914, + 0.9988420605659485, + 0.029064168446121683, + -0.011706373640415817 + ], + [ + -0.10532834034116229, + -0.02488418109714985, + 0.9941261172060347, + 0.011972062859037399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9929893769628699, + -0.040729958564043045, + 0.11096444720769441, + 0.18788509049697794 + ], + [ + 0.03867054055747427, + 0.9990386366844177, + 0.020649521117524872, + -0.01116555724655078 + ], + [ + -0.1116988140529697, + -0.01621369831264019, + 0.9936098194619718, + 0.001120118819116469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9925620260205416, + -0.03823938965797424, + 0.11557841947706894, + 0.19318150554504018 + ], + [ + 0.03608457838690223, + 0.9991347789764404, + 0.020679674756798883, + -0.011191808841766163 + ], + [ + -0.11626921637266394, + -0.01635526493191719, + 0.9930830537499711, + -0.00670686764829008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9926396295590241, + -0.036935847252607346, + 0.11533552797519364, + 0.1934723047666656 + ], + [ + 0.034695682747293316, + 0.9991694092750549, + 0.021371216069912918, + -0.010962926875459864 + ], + [ + -0.11602906598825499, + -0.0172122735530138, + 0.9930966657379188, + -0.0028777107179171514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9935664104899246, + -0.03713029623031616, + 0.10699109975640073, + 0.1942222900184395 + ], + [ + 0.03501478286397842, + 0.9991536736488342, + 0.02158457404077114, + -0.00815176173500322 + ], + [ + -0.10770200810003235, + -0.017699439078569412, + 0.9940256407722581, + -0.008733344202010301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9945904026662052, + -0.035844821482896805, + 0.0974942467778831, + 0.1945133769809227 + ], + [ + 0.03375691956979331, + 0.9991657733917236, + 0.022981997895830032, + -0.007724392094723211 + ], + [ + -0.09823668689721568, + -0.019566571339964867, + 0.9949707132755627, + -0.006419188124534896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9953011646359686, + -0.0353177934885025, + 0.09015688076121792, + 0.19302614009482594 + ], + [ + 0.03364037108591498, + 0.9992327094078064, + 0.020058319691018518, + -0.004303880252577779 + ], + [ + -0.0907960987072716, + -0.016931157559156418, + 0.995725567294864, + -0.0030539578679880976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9958760099935119, + -0.030705243349075317, + 0.08537085224559077, + 0.18948738010837626 + ], + [ + 0.029367017693844418, + 0.999426007270813, + 0.016887606529808787, + -0.008294806884201878 + ], + [ + -0.08584039051325418, + -0.014310874044895172, + 0.9962060979426982, + 5.6825419106572295e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9963812205304122, + -0.02552152611315251, + 0.08107456439641225, + 0.1908308901931943 + ], + [ + 0.024376464960778402, + 0.9995890855789187, + 0.01508224780652417, + -0.007994637419662547 + ], + [ + -0.08142614168193364, + -0.01305135898292065, + 0.9965939493623815, + -0.0018334740359884638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9966806686130085, + -0.021180059760808945, + 0.07860715047198225, + 0.1912087859126004 + ], + [ + 0.019911117575558433, + 0.9996590614318848, + 0.016891781241264343, + -0.01014360415945697 + ], + [ + -0.07893809315216559, + -0.015270557254552841, + 0.9967625682996736, + -0.0020003316856453297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9969453833393892, + -0.02145721018314362, + 0.07509676516092406, + 0.19175521105530846 + ], + [ + 0.02016912102449444, + 0.9996368885040285, + 0.017869022260486294, + -0.009575295225420685 + ], + [ + -0.07545292969426451, + -0.016299802809953693, + 0.997016129145975, + -0.0008999110468440076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9972745019328509, + -0.020455101504921913, + 0.07088878150118116, + 0.19172489175221274 + ], + [ + 0.019252253073584576, + 0.999659538269043, + 0.017610101966065172, + -0.010107161615613768 + ], + [ + -0.0712248612977581, + -0.016197336837649345, + 0.997328741361149, + -0.0014185049065100555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9975451833264813, + -0.016743727028369904, + 0.0679944711289405, + 0.19069405907799947 + ], + [ + 0.01567774871598116, + 0.9997461438179016, + 0.016180920432303476, + -0.01068237032710187 + ], + [ + -0.06824816903817997, + -0.0150751993060112, + 0.9975544777259353, + -0.0002548216650336589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9973532737815923, + -0.012193840928375721, + 0.07167840060107565, + 0.18870965789391836 + ], + [ + 0.011136962640263847, + 0.9998235702514648, + 0.01512594984686548, + -0.01438290054449215 + ], + [ + -0.07185022952111773, + -0.014287635684013367, + 0.9973130989564983, + 0.001388893492135921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9971508841258513, + -0.012943530455231667, + 0.0743144442115075, + 0.19194687778560698 + ], + [ + 0.012080656901112374, + 0.9998544454574585, + 0.012048933270512208, + -0.009707108252258869 + ], + [ + -0.07445957949419962, + -0.011116836220026016, + 0.9971620951308962, + -0.0037043944103783664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9973626956354563, + -0.013781887479126453, + 0.07125822324909653, + 0.19619277024317724 + ], + [ + 0.013034346678211331, + 0.9998551607131958, + 0.01094498861148263, + -0.007909545806297524 + ], + [ + -0.07139874125692293, + -0.009987319819629192, + 0.9973978772324894, + -0.007099123268478284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9980601478675003, + -0.012298784218728546, + 0.06102994828047941, + 0.19511077076395203 + ], + [ + 0.011605433086385031, + 0.9998641610145571, + 0.011702357734968614, + -0.007604866068949102 + ], + [ + -0.06116559030541134, + -0.0109713776037097, + 0.9980673078118706, + -0.004069107251666128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9984115256824729, + -0.009044374339282513, + 0.05561099487905238, + 0.19223711423193782 + ], + [ + 0.008319743671680039, + 0.9998776316642761, + 0.01324809206578188, + -0.010070698573535682 + ], + [ + -0.055724004318614254, + -0.01276437845081091, + 0.9983646423755596, + -0.0023293094225121692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.998441251413163, + -0.004619559273123741, + 0.05562095304416285, + 0.191279345321976 + ], + [ + 0.003794639596627849, + 0.999881386756897, + 0.014927586985546724, + -0.014268926254443101 + ], + [ + -0.055683313173589655, + -0.014693258330225945, + 0.9983403870325676, + -0.0010207702468452984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9981233862264582, + -0.002053490374237299, + 0.06120060238810483, + 0.18896706486491555 + ], + [ + 0.0011233456490486763, + 0.9998834133148193, + 0.015228835083236462, + -0.014640218871509837 + ], + [ + -0.061224724907248916, + -0.015131507068872452, + 0.9980093155204103, + 0.0011838286305576422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9978347774747136, + -0.0002304636873304844, + 0.06577011683625346, + 0.19079591308898375 + ], + [ + -0.000775690450433842, + 0.9998830556869507, + 0.015272103052691954, + -0.013913360534607042 + ], + [ + -0.06576592256758382, + -0.015290052630007267, + 0.9977179242700855, + -0.0011711176788573308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9974117754763011, + 0.0022328393533825874, + 0.07186673844772871, + 0.18953022042463785 + ], + [ + -0.003183502868302758, + 0.9999089241027832, + 0.013116319692488738, + -0.01403239172378617 + ], + [ + -0.07183091010967003, + -0.013311159797012806, + 0.9973280173321414, + -0.0019560527906986765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9967973488460078, + -0.00039296061731874943, + 0.07996787872440148, + 0.19096031581468698 + ], + [ + -0.0005906378497732266, + 0.9999244809150696, + 0.01227589861034287, + -0.015535045197073405 + ], + [ + -0.07996664084683905, + -0.012283816002309322, + 0.9967218538117731, + -0.004296750209565554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9966239580199188, + -0.003777596401050687, + 0.08201480964319044, + 0.19562734225468403 + ], + [ + 0.0024758480237286966, + 0.9998694658279419, + 0.015968018830821065, + -0.016242326487597866 + ], + [ + -0.08206441102245443, + -0.01571105420589447, + 0.9965031814029733, + -0.00872360257271955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9971226411003801, + -0.005057603120803833, + 0.0756361126553312, + 0.19608909448626732 + ], + [ + 0.0040096711291925, + 0.9998939633369446, + 0.01400035561271369, + -0.0062675095826489075 + ], + [ + -0.07569890194190096, + -0.0136567959561944, + 0.9970372213545451, + -0.00985368345521961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9976780753650828, + -0.00154313282109797, + 0.06808875922577705, + 0.19548447147858192 + ], + [ + 0.0005292524331266425, + 0.9998887777328491, + 0.014906101460780079, + -0.00927681264060318 + ], + [ + -0.06810417754983837, + -0.01483545359224081, + 0.9975679313447825, + -0.008950420129039852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9979254999079801, + 0.0024283728562295437, + 0.06433350619466659, + 0.19459211451487868 + ], + [ + -0.00335761522064552, + 0.9998915195465088, + 0.014339971449676248, + -0.007815356329183237 + ], + [ + -0.06429173044737642, + -0.014526229351758957, + 0.9978254324038555, + -0.008080233314182093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9977832727502766, + 0.008776709437370302, + 0.06596607416452367, + 0.19117128132114497 + ], + [ + -0.009592760107133358, + 0.9998812079429629, + 0.012064213520052621, + -0.011692798398520006 + ], + [ + -0.06585237226345636, + -0.012670267373323444, + 0.9977489697166437, + -0.004776218057937692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9973974467928213, + 0.010117272846400738, + 0.07138572382010994, + 0.19122509257418158 + ], + [ + -0.010823838063290516, + 0.9998961091041565, + 0.009517965722038087, + -0.014814460096481817 + ], + [ + -0.07128203445487709, + -0.010265862569212914, + 0.9974033699356344, + -0.00886665588275927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9972401118550624, + 0.009990174323320389, + 0.07356829730519288, + 0.1943152456929749 + ], + [ + -0.010835714199746025, + 0.9998796582221985, + 0.01110312323622697, + -0.017955728577521302 + ], + [ + -0.07344850650027585, + -0.011869644746184349, + 0.9972283926086256, + -0.011232955833533002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9974713636066163, + 0.008938297629356386, + 0.07050518784006113, + 0.1972702096118097 + ], + [ + -0.009807539900323351, + 0.9998800158500674, + 0.011992238907211841, + -0.015959827350901356 + ], + [ + -0.07038951807263852, + -0.01265339739620686, + 0.9974393078357885, + -0.016554097885422378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.998155378098569, + 0.0069786543026566505, + 0.060308677541377864, + 0.19957665877789313 + ], + [ + -0.007925416819522777, + 0.9998488426208496, + 0.015473701150979104, + -0.009929135001275229 + ], + [ + -0.060191578775331295, + -0.01592312939465046, + 0.9980598082063337, + -0.020647622739517504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9984450185311913, + 0.005508648231625557, + 0.05547231501844986, + 0.19660429531243118 + ], + [ + -0.007014568613282628, + 0.9996111392974854, + 0.02698925278713565, + -0.013878347905357729 + ], + [ + -0.05530207475592204, + -0.027336400002241135, + 0.9980954008912714, + -0.02033948195990697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9985768455668268, + 0.0005715372972190381, + 0.05332863722067607, + 0.1952617665508012 + ], + [ + -0.0023916877022727573, + 0.9994164705276491, + 0.034073300738812685, + -0.013129419940341957 + ], + [ + -0.05327802028513097, + -0.03415235131978989, + 0.9979955127508017, + -0.017460436852364532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9987383627248768, + -0.00389095488935709, + 0.050065812160811636, + 0.1941004654671676 + ], + [ + 0.0022387669530663265, + 0.9994523525238037, + 0.033014195289993616, + -0.005697596637506427 + ], + [ + -0.050166850723745215, + -0.03286045417189598, + 0.9982001427737367, + -0.01883994395671863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9991737616330878, + -0.0013898045290261507, + 0.04061894541102734, + 0.19861819367597636 + ], + [ + -1.7990680701366034e-05, + 0.9993999600410461, + 0.03463772041246805, + -0.008990404498930278 + ], + [ + -0.04064268567756729, + -0.034609828144311905, + 0.998574154724509, + -0.033155721826012716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9995170229458162, + -0.0001397966407239437, + 0.03107659349728705, + 0.19447925245723993 + ], + [ + -0.0010326789457317923, + 0.9992882013320923, + 0.037709293483291904, + -0.00978285206297667 + ], + [ + -0.031059744512329956, + -0.03772317245602608, + 0.9988054209504975, + -0.028145210640399626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9997044534369527, + 0.011178816668689251, + 0.021586928252547995, + 0.1885620789972743 + ], + [ + -0.011887370432977887, + 0.9993853569030762, + 0.03297884750042172, + -0.013296142968355799 + ], + [ + -0.021204977136578308, + -0.03322571516036987, + 0.9992229166771219, + -0.023834631198188266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9995274906529685, + 0.02428106591105461, + 0.018847925192311273, + 0.18537677767479938 + ], + [ + -0.024714193207374016, + 0.9994276762008667, + 0.02309787304703795, + -0.015666865626417323 + ], + [ + -0.01827629947814835, + -0.02355276793241501, + 0.9995555226380297, + -0.028270344152146683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9990216314489427, + 0.03900500759482384, + 0.020842926454556855, + 0.18546995642055078 + ], + [ + -0.03950426196085364, + 0.9989286065101624, + 0.024103812721753545, + -0.020349209857295145 + ], + [ + -0.01988045028104832, + -0.024903614073991776, + 0.9994921343847883, + -0.03821587496220783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9984028449983223, + 0.050510670989751816, + 0.025307688383320846, + 0.177934264736609 + ], + [ + -0.05119813617199984, + 0.9983154535293579, + 0.0272951791465342, + -0.02107582383972778 + ], + [ + -0.02388636176105685, + -0.028547288849949837, + 0.9993069789615838, + -0.03680907324583682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9978701157677176, + 0.056342519819736495, + 0.032874491188596186, + 0.170589593415172 + ], + [ + -0.05716009798868851, + 0.9980647563934328, + 0.024483050547768264, + -0.021370997364391554 + ], + [ + -0.03143142189381781, + -0.026310011744499213, + 0.9991595983949508, + -0.034134998518145415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9976314722576568, + 0.05162840336561203, + 0.04545327328240822, + 0.16914870362510742 + ], + [ + -0.05295551740050065, + 0.9981902837753296, + 0.02849337935390405, + -0.021065403608831273 + ], + [ + -0.043899949033880656, + -0.030832890421152115, + 0.9985600342068782, + -0.04286889864644421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9978042251144327, + 0.04057814180850983, + 0.05234582743430121, + 0.1653269864315871 + ], + [ + -0.04247119002676889, + 0.9984641671180725, + 0.03557321919084263, + -0.018730945910146443 + ], + [ + -0.05082192231066463, + -0.03771829977631569, + 0.9979952314957645, + -0.04911232862093588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9977960814594594, + 0.03214161843061447, + 0.058050623667971764, + 0.16182450322008124 + ], + [ + -0.03453317996298613, + 0.9985754489898682, + 0.040675521363294366, + -0.01669476428350975 + ], + [ + -0.056660521276550066, + -0.04259054735302925, + 0.9974846547583118, + -0.05274146488460955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9975142845418953, + 0.02191685326397419, + 0.0669694891339264, + 0.16005151009126783 + ], + [ + -0.024881869934406414, + 0.9987319111824036, + 0.04376558191730841, + -0.011914398862981491 + ], + [ + -0.06592538948405373, + -0.045323118567466736, + 0.9967947088859638, + -0.06193425410637937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.997037585045472, + 0.016365453600883484, + 0.07515437327777608, + 0.15888252954936607 + ], + [ + -0.020024796680982743, + 0.9986370205879211, + 0.04819847780183152, + -0.011881763617656225 + ], + [ + -0.07426311568981608, + -0.04956064745783806, + 0.9960063924373203, + -0.0666039134000866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9969631664090723, + 0.012903065420687199, + 0.07679800987076191, + 0.1552215485068822 + ], + [ + -0.016538095083164436, + 0.9987633228302002, + 0.046886158704595594, + -0.014956396890806863 + ], + [ + -0.0760980483141625, + -0.04801386594772339, + 0.9959436713425805, + -0.07025748791531265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9978156905728908, + 0.0121771190315485, + 0.06492715601646708, + 0.15686278373033702 + ], + [ + -0.014581168443495515, + 0.999220609664917, + 0.03668252798970137, + -0.011817280670032963 + ], + [ + -0.06442988568773629, + -0.03754911944270134, + 0.9972155367658349, + -0.07656631455178921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9986541729898195, + 0.017583806067705154, + 0.04879196475024977, + 0.15044569908493696 + ], + [ + -0.019062892274632173, + 0.9993675947189331, + 0.030016262328226274, + -0.005570580260854816 + ], + [ + -0.04823331592259483, + -0.030905982479453087, + 0.9983578480551782, + -0.08188190391341613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.999107813848237, + 0.025747034698724747, + 0.033477250342528686, + 0.14449920858465418 + ], + [ + -0.0266128003824297, + 0.9993159770965576, + 0.025678176908347148, + -0.005757560166382605 + ], + [ + -0.03279319018123719, + -0.026546187698841095, + 0.9991095716342548, + -0.07777684781702737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9994534343417467, + 0.02509692870080471, + 0.021516614071381022, + 0.1418571686048648 + ], + [ + -0.025570250397204664, + 0.9994306564331055, + 0.022012539953857185, + -0.0054511904806865226 + ], + [ + -0.020951925295335107, + -0.022550692781805992, + 0.9995261265566239, + -0.07989217188622788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9997218807433917, + 0.019942078739404682, + 0.012587011651950744, + 0.1378787176209645 + ], + [ + -0.020255560806908046, + 0.9994749426841738, + 0.025289745548364388, + -0.004603604162121291 + ], + [ + -0.012076078643925386, + -0.025537667796015746, + 0.9996009152534133, + -0.08996425208483677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9999353657408951, + 0.011245756410062313, + 0.0016662654077249646, + 0.13806773588450102 + ], + [ + -0.011293367290330161, + 0.9994231462478638, + 0.032028929201352224, + -0.0025059506706103076 + ], + [ + -0.001305096833506244, + -0.03204567730426788, + 0.9994855797814423, + -0.0951403949753528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9999127283698362, + 0.005687890574336052, + -0.011925813759744776, + 0.13805357163744333 + ], + [ + -0.005221419692552221, + 0.9992338418960571, + 0.038787205150470294, + -0.0006133022257903287 + ], + [ + 0.012137286293864635, + -0.03872155025601387, + 0.999176356063892, + -0.0974132498391285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9995866301925412, + 0.005397324915975332, + -0.028239885286522163, + 0.13697057831495815 + ], + [ + -0.004139035811739803, + 0.999004065990448, + 0.04442734783700872, + 0.0007825451044143734 + ], + [ + 0.028451536625883244, + -0.04429209232330322, + 0.9986133855639256, + -0.09824915086389145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9990639514941697, + 0.011225325055420399, + -0.04177624035163928, + 0.13475261472190875 + ], + [ + -0.0092167437868471, + 0.9988064765930176, + 0.04796535641765234, + -0.0005204963745396828 + ], + [ + 0.04226478818887783, + -0.04753541573882103, + 0.9979749859922542, + -0.09502117040172292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.998744903568964, + 0.01777421124279499, + -0.04682575972876287, + 0.13215393952630292 + ], + [ + -0.015691567209344698, + 0.998887300491333, + 0.044474656683333016, + -0.001517458858587015 + ], + [ + 0.04756415989799657, + -0.04368406534194946, + 0.9979124975494201, + -0.09261652254985467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9986903164131448, + 0.023195073008537292, + -0.045602730451702427, + 0.13133842755736824 + ], + [ + -0.02143452210872832, + 0.9990200400352478, + 0.038723380508618684, + -0.003138919208705162 + ], + [ + 0.04645621799505952, + -0.03769519180059433, + 0.9982088203852505, + -0.09612724521668024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9989387181932473, + 0.025792334228754044, + -0.038160607854249344, + 0.13141212307338482 + ], + [ + -0.024426503075664307, + 0.9990591406822205, + 0.03583507011710167, + -0.004017415347799243 + ], + [ + 0.039048981456419316, + -0.03486490994691849, + 0.9986288682164964, + -0.10169532475719173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9991202753781019, + 0.026055801659822464, + -0.03286053877085002, + 0.13117777786193263 + ], + [ + -0.02508644994576364, + 0.9992477297782898, + 0.02957414377834972, + -0.0035195363144044983 + ], + [ + 0.03360639423502661, + -0.02872377261519432, + 0.9990222694163415, + -0.10477202778175489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9991267769736737, + 0.02667351439595223, + -0.03215832744680864, + 0.13207906623427454 + ], + [ + -0.02596444849598932, + 0.9994148015975954, + 0.022268782432763215, + -0.003390078321593039 + ], + [ + 0.03273349317187656, + -0.02141436375677586, + 0.9992346509702441, + -0.10869356421688176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9989238690726431, + 0.030265066772699356, + -0.035144874284594695, + 0.1329112302790782 + ], + [ + -0.029596680663440088, + 0.9993739128112793, + 0.019385149597526883, + -0.003991766468492018 + ], + [ + 0.0357095603978888, + -0.018324116244912148, + 0.9991942189851881, + -0.11102023111050743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9987012854092372, + 0.032727088779211044, + -0.039046659126064844, + 0.13289208883555093 + ], + [ + -0.03206975424934081, + 0.9993351101875305, + 0.017343878850886618, + -0.003921546439091933 + ], + [ + 0.03958830491364754, + -0.016069136559963226, + 0.9990868548899191, + -0.11091960834977452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9986254603532999, + 0.03212020918726921, + -0.04141835219284401, + 0.13266034240052468 + ], + [ + -0.03156807770007546, + 0.9994047284126282, + 0.013916570592128247, + -0.0037674582992756854 + ], + [ + 0.0418407197184557, + -0.01258994359523058, + 0.9990449886789002, + -0.11088145497367832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9986989341314884, + 0.03048308752477169, + -0.0408806941575584, + 0.1365311470491397 + ], + [ + -0.02979845313507517, + 0.9994069933891296, + 0.01725329599361714, + -0.0038393150634111273 + ], + [ + 0.0413823979159758, + -0.01601266674697399, + 0.9990150573738235, + -0.12127895923104609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9987144087993182, + 0.023892881348729134, + -0.04470607524614511, + 0.1376676836551006 + ], + [ + -0.022675661133994895, + 0.9993634819984436, + 0.027539070760939977, + -0.001403237132301627 + ], + [ + 0.04533562254111562, + -0.026489928364753723, + 0.9986205297244177, + -0.12204200819539326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9979412149451892, + 0.01943364366889, + -0.061120117949702915, + 0.13594997321514543 + ], + [ + -0.0172876028264494, + 0.9992220401763916, + 0.03544678366903505, + -0.001001756353369891 + ], + [ + 0.06176142872976352, + -0.03431718796491623, + 0.9975008124921445, + -0.1157639061403701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9966031654842776, + 0.02172132208943367, + -0.079437548494916, + 0.13728710082083356 + ], + [ + -0.018079394457570452, + 0.9987648129463196, + 0.04628177976990961, + -0.0016105952588708243 + ], + [ + 0.08034474734429801, + -0.0446883849799633, + 0.9957648934494133, + -0.11663352702241003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9950811807637729, + 0.0159118864685297, + -0.09777668479662417, + 0.13594912067141174 + ], + [ + -0.00965578421330487, + 0.9978950619697571, + 0.06412676579520411, + 0.0005893893758042966 + ], + [ + 0.09859125359077693, + -0.06286722421646118, + 0.9931401910871394, + -0.11303922150540026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9929050067396377, + 0.01110152527689934, + -0.11839093767479748, + 0.1339804951035009 + ], + [ + -0.002195890180057729, + 0.9971744418144228, + 0.07508892215344962, + 0.0029630542009915144 + ], + [ + 0.11889000179412261, + -0.07429619878530504, + 0.9901238332248674, + -0.10878132075721793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9901860410814903, + 0.0136481486260891, + -0.13908755974698295, + 0.1322988950210301 + ], + [ + -0.0025932450499915466, + 0.9968430399894717, + 0.07935480790277098, + 0.003113517223035205 + ], + [ + 0.13973151543867326, + -0.07821533828973772, + 0.9870954567622114, + -0.1055480334041751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.9876110204124315, + 0.01233550813049078, + -0.15643632089263487, + 0.13020201860458713 + ], + [ + 0.0007605576153549752, + 0.996517539024353, + 0.08338014062814818, + 0.0047282772597561865 + ], + [ + 0.15692007050372164, + -0.08246612548828125, + 0.9841622891915477, + -0.10172372893226335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9850869599136022, + 0.00986536592245102, + -0.17177406769549924, + 0.12921436894428884 + ], + [ + 0.004021953562682663, + 0.9967617392539978, + 0.08031126688973715, + 0.006659001183874101 + ], + [ + 0.17201012558382486, + -0.0798044502735138, + 0.9818573219042814, + -0.0989111207738374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.9823384390178183, + 0.010488277301192285, + -0.18681864254955496, + 0.1311885018343089 + ], + [ + 0.004112609570826238, + 0.9969763159751894, + 0.0775968566366726, + 0.007105426873355127 + ], + [ + 0.18706761810562542, + -0.0769946873188019, + 0.9793250219763537, + -0.10180272399149048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.9776070924111736, + 0.016498234122991565, + -0.2097908598151822, + 0.13065834604913928 + ], + [ + 5.719053474144709e-06, + 0.9969199299812319, + 0.07842576418923745, + 0.006392763815742417 + ], + [ + 0.21043856996148844, + -0.07667078822851182, + 0.9745958859366225, + -0.09621584794455132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.9736458024904238, + 0.0283910371363163, + -0.22629128668998805, + 0.129463435046259 + ], + [ + -0.010218269191108884, + 0.9966554045677185, + 0.08107738757803114, + 0.003769656067948062 + ], + [ + 0.22783630985501901, + -0.07662835717201233, + 0.9706794851489629, + -0.090519545706666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.9735777417202395, + 0.033014312386512756, + -0.22595676062395031, + 0.1311791289884539 + ], + [ + -0.015280095669028165, + 0.9966946840286255, + 0.07978882868774068, + 0.002985663903141666 + ], + [ + 0.22784406670000176, + -0.07422798126935959, + 0.9708641818062326, + -0.09043862896625235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.9746976424205468, + 0.03721678629517556, + -0.2204074882754914, + 0.13434987606336724 + ], + [ + -0.020572906911046063, + 0.9967929124832156, + 0.07733434770053843, + 0.0028047879284472128 + ], + [ + 0.2225787569115335, + -0.07084317505359651, + 0.9723373553594974, + -0.0926349762413562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.9763081401049435, + 0.04329762980341911, + -0.21200870856963155, + 0.13997621633586332 + ], + [ + -0.028108013932709026, + 0.9968513250350952, + 0.07414420324432539, + 0.0015094284391416225 + ], + [ + 0.21455143617082026, + -0.06642845273017883, + 0.9744510968763184, + -0.09276965809031354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.9839013615333275, + 0.04955071210861206, + -0.1717056286133856, + 0.14242600915804804 + ], + [ + -0.038617542898464044, + 0.9970427751541138, + 0.0664411901644558, + -0.00024230658627452661 + ], + [ + 0.17449006495443023, + -0.058740727603435516, + 0.9829052362104709, + -0.10517222913706861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/push_in/transforms.json b/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..09df22e16a18d436760d36057259fd29bec4e4fc --- /dev/null +++ b/dynpose_eval/camera_controls/77b5bb8b-c7f8-4394-8892-07d1ec9afd22/push_in/transforms.json @@ -0,0 +1,8763 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 250, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999998807907104, + -0.00040152453584596515, + 0.00018490999354980886, + -0.0003777395759243518 + ], + [ + 0.00040152191650122404, + 0.9999999403953552, + 1.4331689271784853e-05, + 0.00016317791596520692 + ], + [ + -0.00018491572700440884, + -1.4257441762310918e-05, + 1.0, + 0.0004629233735613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999306201934814, + 0.00717584416270256, + 0.009342621080577374, + -0.0012862108506628846 + ], + [ + -0.007282198406755924, + 0.9999085068702698, + 0.011399924755096436, + -0.0003004703144767288 + ], + [ + -0.009259962476789951, + -0.011467168107628822, + 0.9998914003372192, + 0.002337287329642259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999500572681427, + 0.014395794831216335, + 0.028131283819675446, + -0.0035145572523201207 + ], + [ + -0.01503621507436037, + 0.9996294975280762, + 0.022688083350658417, + -0.001040125443659962 + ], + [ + -0.027794249355793, + -0.023099739104509354, + 0.9993467330932617, + 0.007834620146552123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9986408352851868, + 0.011990007944405079, + 0.05072154104709625, + -0.004090073355754097 + ], + [ + -0.013825510628521442, + 0.9992563724517822, + 0.03599313646554947, + -0.0003649557540922549 + ], + [ + -0.050252266228199005, + -0.03664546459913254, + 0.9980640411376953, + 0.01097999454128096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9983170628547668, + 0.005382218398153782, + 0.05774097517132759, + -0.000725947319058679 + ], + [ + -0.008032504469156265, + 0.9989199042320251, + 0.04576615244150162, + 0.0014083298545959125 + ], + [ + -0.05743228271603584, + -0.046152934432029724, + 0.9972820281982422, + 0.008288965347675554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9984399676322937, + 0.011598106473684311, + 0.05461789295077324, + -0.0033299049080151273 + ], + [ + -0.014442013576626778, + 0.998544454574585, + 0.05196574702858925, + 0.0010091099697801034 + ], + [ + -0.053935687988996506, + -0.052673470228910446, + 0.997154176235199, + 0.015075116582873117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9984921813011169, + 0.013237311504781246, + 0.05327422171831131, + -0.0023050024398568883 + ], + [ + -0.016131963580846786, + 0.9983956217765808, + 0.054277028888463974, + 0.0009825492800909082 + ], + [ + -0.052470266819000244, + -0.05505460873246193, + 0.997103750705719, + 0.016240386426987417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9985190033912659, + 0.014178626239299774, + 0.05252428725361824, + -0.0019731563457987275 + ], + [ + -0.017190206795930862, + 0.9982069134712219, + 0.057336241006851196, + 0.00040577475264870434 + ], + [ + -0.051617156714200974, + -0.05815422534942627, + 0.9969723224639893, + 0.017526432045223004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9983142614364624, + 0.014291973784565926, + 0.056252915412187576, + -0.0015498534452738652 + ], + [ + -0.017711861059069633, + 0.9979944229125977, + 0.06077361851930618, + 3.7424466745688526e-05 + ], + [ + -0.05527151748538017, + -0.06166751682758331, + 0.9965651631355286, + 0.019137333632712382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9979194402694702, + 0.013951040804386139, + 0.06294522434473038, + -0.0007038069797780769 + ], + [ + -0.017864491790533066, + 0.9979134798049927, + 0.062044285237789154, + -2.1244805510974967e-05 + ], + [ + -0.06194831058382988, + -0.06303968280553818, + 0.9960865378379822, + 0.019480033236813833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9973843097686768, + 0.0127997025847435, + 0.07113886624574661, + -0.0003689476464179355 + ], + [ + -0.017269732430577278, + 0.9978905320167542, + 0.06257984787225723, + -9.669844869030522e-05 + ], + [ + -0.07018779963254929, + -0.06364469975233078, + 0.9955013990402222, + 0.020801195149201465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967874884605408, + 0.010398894548416138, + 0.07941364496946335, + 0.00031989098346362497 + ], + [ + -0.015334632247686386, + 0.9979708790779114, + 0.06179764121770859, + 0.00034067045657518673 + ], + [ + -0.0786098763346672, + -0.06281689554452896, + 0.9949243664741516, + 0.02133397927964069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9961844682693481, + 0.009005215018987656, + 0.08680656552314758, + 0.001142016178591693 + ], + [ + -0.014247499406337738, + 0.9980990290641785, + 0.05996138975024223, + 0.0005951752419813525 + ], + [ + -0.08610157668590546, + -0.060969386249780655, + 0.9944190382957458, + 0.022335730322513236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9959216117858887, + 0.007049270905554295, + 0.08994723856449127, + 0.0011035302458013067 + ], + [ + -0.012396332807838917, + 0.9981793761253357, + 0.05902726203203201, + 0.001194562641651291 + ], + [ + -0.08936737477779388, + -0.05990154296159744, + 0.994195818901062, + 0.023344711829201285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9959723353385925, + 0.00674189068377018, + 0.0894070640206337, + 0.0013490601520832015 + ], + [ + -0.011987542733550072, + 0.9982291460037231, + 0.0582650788128376, + 0.0013199246118226684 + ], + [ + -0.08885592967271805, + -0.05910218134522438, + 0.9942894577980042, + 0.024086802728085152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9960659146308899, + 0.006964619271457195, + 0.08834158629179001, + 0.0014164561513777688 + ], + [ + -0.012135175056755543, + 0.9982354044914246, + 0.05812782794237137, + 0.0008469263683578156 + ], + [ + -0.08778085559606552, + -0.058971188962459564, + 0.9943927526473999, + 0.024805824036698742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9959480166435242, + 0.004984692670404911, + 0.08979238569736481, + 0.0011083700184067 + ], + [ + -0.010305571369826794, + 0.998211145401001, + 0.05889183655381203, + 0.0010369060229581133 + ], + [ + -0.08933819830417633, + -0.05957857146859169, + 0.9942178130149841, + 0.025351263017180454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.995861828327179, + 0.005288727581501007, + 0.09072639048099518, + 0.0008243623833769528 + ], + [ + -0.010634807869791985, + 0.9982281923294067, + 0.05854351818561554, + 0.0011647551263454388 + ], + [ + -0.09025602042675018, + -0.0592661127448082, + 0.994153618812561, + 0.026139057252600968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9958556890487671, + 0.007536859251558781, + 0.09063460677862167, + 0.0004379310419696036 + ], + [ + -0.012714135460555553, + 0.9983113408088684, + 0.056681565940380096, + 0.0013218800969287214 + ], + [ + -0.09005435556173325, + -0.05759900063276291, + 0.994269847869873, + 0.026680616392608148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9958469867706299, + 0.010002169758081436, + 0.0904914066195488, + 0.00021161276283281213 + ], + [ + -0.01501481980085373, + 0.9983798861503601, + 0.054883651435375214, + 0.000933336450701512 + ], + [ + -0.08979583531618118, + -0.05601443350315094, + 0.9943837523460388, + 0.027047313381749462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9957802891731262, + 0.010791752487421036, + 0.09113241732120514, + -9.559532982786074e-07 + ], + [ + -0.01570533774793148, + 0.9984511137008667, + 0.05337321385741234, + 0.0009400627884852988 + ], + [ + -0.09041526913642883, + -0.05457926169037819, + 0.9944074749946594, + 0.027586324110507487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9956621527671814, + 0.011371211148798466, + 0.09234464168548584, + 5.268659975649005e-06 + ], + [ + -0.016271540895104408, + 0.9984890222549438, + 0.052487391978502274, + 0.0007908878047776644 + ], + [ + -0.09160827100276947, + -0.053762298077344894, + 0.9943427443504333, + 0.02818612920860928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9955171346664429, + 0.011919675394892693, + 0.09382709115743637, + 0.0005522508580232015 + ], + [ + -0.016907012090086937, + 0.9984756708145142, + 0.05254041403532028, + 0.0004372649258087963 + ], + [ + -0.09305780380964279, + -0.053891219198703766, + 0.9942011833190918, + 0.02862611869462283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9954453706741333, + 0.010694295167922974, + 0.0947318896651268, + 0.0012441427905550114 + ], + [ + -0.01581178419291973, + 0.9984461069107056, + 0.053435977548360825, + 0.0007860877366463493 + ], + [ + -0.09401322156190872, + -0.05469047650694847, + 0.9940676093101501, + 0.028914303651236626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9955007433891296, + 0.010268564336001873, + 0.09419558197259903, + 0.0013685880808849784 + ], + [ + -0.015362209640443325, + 0.9984490871429443, + 0.053510501980781555, + 0.0008470195691320057 + ], + [ + -0.09350002557039261, + -0.054716795682907104, + 0.9941145777702332, + 0.02967722590519003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9954510927200317, + 0.010330970399081707, + 0.09471222758293152, + 0.0013175569146256297 + ], + [ + -0.015393570996820927, + 0.9984822869300842, + 0.052878670394420624, + 0.0006729553006079804 + ], + [ + -0.09402219951152802, + -0.05409608781337738, + 0.9940993189811707, + 0.03023840288770007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9952251315116882, + 0.008919496089220047, + 0.09719754755496979, + 0.0018385441711987838 + ], + [ + -0.014082984998822212, + 0.9985180497169495, + 0.05256780609488487, + 0.0009862971612968553 + ], + [ + -0.09658463299274445, + -0.05368563160300255, + 0.9938758611679077, + 0.03008342686157868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9949691295623779, + 0.00826253555715084, + 0.09984046220779419, + 0.0022803189861307664 + ], + [ + -0.013567151501774788, + 0.998525083065033, + 0.05256936699151993, + 0.0010006687354930418 + ], + [ + -0.09925885498523712, + -0.05365944653749466, + 0.9936137795448303, + 0.030319322807243074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9948599338531494, + 0.007483783643692732, + 0.1009833961725235, + 0.002523557983533326 + ], + [ + -0.012835070490837097, + 0.9985412359237671, + 0.05244656652212143, + 0.0012448649353676861 + ], + [ + -0.10044358670711517, + -0.05347311496734619, + 0.9935047626495361, + 0.031008085627931666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9949406385421753, + 0.00820445828139782, + 0.10012896358966827, + 0.002931180811790099 + ], + [ + -0.013497205451130867, + 0.9985403418540955, + 0.052296921610832214, + 0.001196121288010903 + ], + [ + -0.09955374896526337, + -0.05338379740715027, + 0.9935991168022156, + 0.031224834815744895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9950075149536133, + 0.00846919696778059, + 0.09944020211696625, + 0.0029586658950513565 + ], + [ + -0.013685704208910465, + 0.9985588192939758, + 0.05189437419176102, + 0.00136366739366989 + ], + [ + -0.09885738790035248, + -0.0529962033033371, + 0.9936894178390503, + 0.03152904910854546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9949599504470825, + 0.008682332932949066, + 0.0998966321349144, + 0.002778957785671973 + ], + [ + -0.013843445107340813, + 0.9985982179641724, + 0.051087912172079086, + 0.0013151128762345537 + ], + [ + -0.09931304305791855, + -0.052213337272405624, + 0.9936854243278503, + 0.03205316669371233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9948824048042297, + 0.0092350784689188, + 0.10061673074960709, + 0.0029304610756992634 + ], + [ + -0.014397475868463516, + 0.9986100196838379, + 0.05070282891392708, + 0.0011411057075908235 + ], + [ + -0.10000862926244736, + -0.051891978830099106, + 0.9936324954032898, + 0.03246496984189055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9948152899742126, + 0.010068723931908607, + 0.10119885951280594, + 0.003243332942498915 + ], + [ + -0.015238290652632713, + 0.99861079454422, + 0.05044078081846237, + 0.0010584072355764459 + ], + [ + -0.10055040568113327, + -0.05172135680913925, + 0.9935867190361023, + 0.03286153109048504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.994680643081665, + 0.009608736261725426, + 0.10255779325962067, + 0.0034754480420421045 + ], + [ + -0.014802765101194382, + 0.9986392855644226, + 0.05000460147857666, + 0.0008881467739568956 + ], + [ + -0.10193775594234467, + -0.05125674605369568, + 0.9934694170951843, + 0.03328696692055727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9945629835128784, + 0.008910175412893295, + 0.10375511646270752, + 0.004096267479340954 + ], + [ + -0.014112120494246483, + 0.9986738562583923, + 0.0495111346244812, + 0.0010197663523797244 + ], + [ + -0.10317637026309967, + -0.05070614814758301, + 0.9933697581291199, + 0.03341911913430595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945362210273743, + 0.007938073948025703, + 0.10408955812454224, + 0.004554033539179398 + ], + [ + -0.013144772499799728, + 0.9986910223960876, + 0.04943118244409561, + 0.001354906275021249 + ], + [ + -0.1035609245300293, + -0.05052933841943741, + 0.9933387637138367, + 0.03364570000354784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9945428967475891, + 0.007461486384272575, + 0.10406147688627243, + 0.004931239089573243 + ], + [ + -0.012634951621294022, + 0.9987117052078247, + 0.049145251512527466, + 0.0015303623460487547 + ], + [ + -0.10356072336435318, + -0.05019187182188034, + 0.993355929851532, + 0.03380639509084713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9945007562637329, + 0.006769930012524128, + 0.10451052337884903, + 0.005074293332092135 + ], + [ + -0.011933674104511738, + 0.998734176158905, + 0.04886290058493614, + 0.0016463850790832983 + ], + [ + -0.10404743999242783, + -0.04984138533473015, + 0.9933226704597473, + 0.03396061982465796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9944331645965576, + 0.006823955103754997, + 0.10514800250530243, + 0.0052576380046869976 + ], + [ + -0.011988271027803421, + 0.998748242855072, + 0.04856128618121147, + 0.001782133943311511 + ], + [ + -0.10468500852584839, + -0.049551498144865036, + 0.993270218372345, + 0.034045888075088876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9943739175796509, + 0.006289738230407238, + 0.1057400330901146, + 0.005175531160153718 + ], + [ + -0.011446877382695675, + 0.9987703561782837, + 0.048235971480607986, + 0.0020266709550953357 + ], + [ + -0.10530661791563034, + -0.04917498305439949, + 0.9932231903076172, + 0.0340892769112046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9943286180496216, + 0.006102184299379587, + 0.10617637634277344, + 0.005073770640762036 + ], + [ + -0.01122303493320942, + 0.998798668384552, + 0.047699224203825, + 0.0020793285438731072 + ], + [ + -0.10575775802135468, + -0.048620324581861496, + 0.9932025671005249, + 0.034119849147866047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9942935705184937, + 0.006047375500202179, + 0.10650710016489029, + 0.00513258332566145 + ], + [ + -0.011139163747429848, + 0.9988197088241577, + 0.047277241945266724, + 0.00217851792400456 + ], + [ + -0.10609548538923264, + -0.048193857073783875, + 0.9931873679161072, + 0.03397877719028887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9942848086357117, + 0.006411413662135601, + 0.10656765848398209, + 0.0051701960155747856 + ], + [ + -0.011465056799352169, + 0.9988348484039307, + 0.04687715321779251, + 0.0021772789731472134 + ], + [ + -0.10614294558763504, + -0.04783104360103607, + 0.9931998252868652, + 0.034145302186349785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9943992495536804, + 0.005773792043328285, + 0.10553079098463058, + 0.005038751254090104 + ], + [ + -0.01060204952955246, + 0.9989194869995117, + 0.045248571783304214, + 0.002395058878656312 + ], + [ + -0.10515550523996353, + -0.046113986521959305, + 0.9933860301971436, + 0.0345403564069046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9944817423820496, + 0.006514749489724636, + 0.10470758378505707, + 0.0050571056150169255 + ], + [ + -0.011107816360890865, + 0.9989985227584839, + 0.04334257170557976, + 0.002227044940634395 + ], + [ + -0.10432036221027374, + -0.0442664660513401, + 0.9935581088066101, + 0.03448799066245556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9944759011268616, + 0.006469212472438812, + 0.10476559400558472, + 0.005043147767643373 + ], + [ + -0.010978981852531433, + 0.9990350008010864, + 0.0425269678235054, + 0.00191386469955889 + ], + [ + -0.10438938438892365, + -0.0434422641992569, + 0.9935872554779053, + 0.03518961359967429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9944634437561035, + 0.006726877763867378, + 0.1048678308725357, + 0.004862364799337813 + ], + [ + -0.011111313477158546, + 0.9990857839584351, + 0.04128117486834526, + 0.0017761305134451713 + ], + [ + -0.10449425876140594, + -0.042217839509248734, + 0.993628978729248, + 0.035582637243780746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.994459867477417, + 0.00667217280715704, + 0.10490525513887405, + 0.005052916338128677 + ], + [ + -0.010985183529555798, + 0.999115526676178, + 0.04058951139450073, + 0.0015089365402629305 + ], + [ + -0.10454165190458298, + -0.04151704162359238, + 0.9936535358428955, + 0.03566099182668939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9944375157356262, + 0.006782917771488428, + 0.10510946810245514, + 0.005168943209798041 + ], + [ + -0.011027678847312927, + 0.9991446137428284, + 0.039855796843767166, + 0.0013649285539057122 + ], + [ + -0.10474921762943268, + -0.04079321399331093, + 0.993661642074585, + 0.035844090000453244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9944157004356384, + 0.006912524811923504, + 0.10530757904052734, + 0.005516339997652484 + ], + [ + -0.011076920665800571, + 0.9991773366928101, + 0.039011675864458084, + 0.0015942102373413085 + ], + [ + -0.10495127737522125, + -0.03996030613780022, + 0.9936742186546326, + 0.03602598805025399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9944027066230774, + 0.0070363664999604225, + 0.10542187839746475, + 0.005766686593485346 + ], + [ + -0.011137458495795727, + 0.999201774597168, + 0.03836366534233093, + 0.0018058028818298895 + ], + [ + -0.10506778210401535, + -0.03932306170463562, + 0.9936873316764832, + 0.036172712508992975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.994403064250946, + 0.006948670372366905, + 0.1054244190454483, + 0.005916749820464766 + ], + [ + -0.010965293273329735, + 0.9992339015007019, + 0.03756789490580559, + 0.00207659564388684 + ], + [ + -0.10508260130882263, + -0.03851364180445671, + 0.9937174320220947, + 0.03632081087798359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9944093823432922, + 0.0071740951389074326, + 0.10534928739070892, + 0.005968164808928488 + ], + [ + -0.011131785809993744, + 0.9992522597312927, + 0.037027508020401, + 0.0020976998171877547 + ], + [ + -0.10500487685203552, + -0.03799322992563248, + 0.9937456846237183, + 0.03651693730080223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.994419515132904, + 0.007195140700787306, + 0.10525250434875488, + 0.005269495184611843 + ], + [ + -0.011083102785050869, + 0.999275803565979, + 0.036401256918907166, + 0.001986825468119638 + ], + [ + -0.10491436719894409, + -0.037364646792411804, + 0.9937790632247925, + 0.03687851013368871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9944354891777039, + 0.007503846660256386, + 0.10507991909980774, + 0.004851652578596609 + ], + [ + -0.011267049238085747, + 0.9993144869804382, + 0.03526507318019867, + 0.0016006707694441319 + ], + [ + -0.10474325716495514, + -0.03625278174877167, + 0.9938383102416992, + 0.037251039337082556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9944108724594116, + 0.007982742041349411, + 0.10527698695659637, + 0.004690443069849866 + ], + [ + -0.011702649295330048, + 0.9993270039558411, + 0.03476422652602196, + 0.0015451146758640238 + ], + [ + -0.1049286276102066, + -0.03580194339156151, + 0.9938350915908813, + 0.03743080679387094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9943842887878418, + 0.008383889682590961, + 0.10549676418304443, + 0.004355238078173295 + ], + [ + -0.01206547487527132, + 0.9993384480476379, + 0.03430792689323425, + 0.0013964313866447163 + ], + [ + -0.1051393449306488, + -0.03538813441991806, + 0.9938276410102844, + 0.037939383464315565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9942154288291931, + 0.008819125592708588, + 0.1070418432354927, + 0.004366693212033574 + ], + [ + -0.012607067823410034, + 0.9993160963058472, + 0.034762538969516754, + 0.0012351691804454103 + ], + [ + -0.10666205734014511, + -0.03591093420982361, + 0.9936466217041016, + 0.037629545029686635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9941539168357849, + 0.008706006221473217, + 0.10762058943510056, + 0.004097916903329572 + ], + [ + -0.012451930902898312, + 0.9993379712104797, + 0.034183911979198456, + 0.0015633006480122247 + ], + [ + -0.10725174099206924, + -0.035324156284332275, + 0.9936041831970215, + 0.038020220114643795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9940426349639893, + 0.009139674715697765, + 0.1086079552769661, + 0.004238068363180451 + ], + [ + -0.012908481992781162, + 0.9993367791175842, + 0.03404877707362175, + 0.0015056924852374267 + ], + [ + -0.10822472721338272, + -0.03524790331721306, + 0.9935013651847839, + 0.03806817052459501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9938698410987854, + 0.009182886220514774, + 0.11017463356256485, + 0.004168325169554287 + ], + [ + -0.012974505312740803, + 0.9993461966514587, + 0.03374721109867096, + 0.001606360151307156 + ], + [ + -0.10979270190000534, + -0.03496979922056198, + 0.9933391809463501, + 0.03837276430927726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9936079978942871, + 0.008483120240271091, + 0.11256610602140427, + 0.004267803547402702 + ], + [ + -0.012332831509411335, + 0.9993610382080078, + 0.033547401428222656, + 0.0017493921763592785 + ], + [ + -0.11220959573984146, + -0.03472122550010681, + 0.9930777549743652, + 0.03884284929503279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9934154748916626, + 0.008761489763855934, + 0.11423209309577942, + 0.004597946918423636 + ], + [ + -0.012660849839448929, + 0.9993600249290466, + 0.03345470875501633, + 0.0016796140537417709 + ], + [ + -0.11386588215827942, + -0.03468070179224014, + 0.9928906559944153, + 0.039321216321494205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9933270812034607, + 0.00880301371216774, + 0.11499503254890442, + 0.005103666336840415 + ], + [ + -0.012711506336927414, + 0.9993645548820496, + 0.033299390226602554, + 0.0014693694464099334 + ], + [ + -0.11462882161140442, + -0.03453894332051277, + 0.9928078055381775, + 0.04001249738606104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9932845234870911, + 0.008895978331565857, + 0.11535488069057465, + 0.0049815859409969255 + ], + [ + -0.012786859646439552, + 0.9993724226951599, + 0.03303365781903267, + 0.001454512728471683 + ], + [ + -0.11498862504959106, + -0.03428684547543526, + 0.9927749037742615, + 0.04044142076334202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9932554364204407, + 0.008602316491305828, + 0.115627221763134, + 0.004893271429800844 + ], + [ + -0.01247922983020544, + 0.999382495880127, + 0.03284744545817375, + 0.0012624055735559305 + ], + [ + -0.11527325958013535, + -0.034068841487169266, + 0.9927493929862976, + 0.04083774224013449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9932296276092529, + 0.008961700834333897, + 0.11582138389348984, + 0.004856989579836287 + ], + [ + -0.012850792147219181, + 0.9993768334388733, + 0.03287537023425102, + 0.0012063445081797813 + ], + [ + -0.11545459181070328, + -0.034141186624765396, + 0.9927258491516113, + 0.04120916371574124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9932101368904114, + 0.009069466963410378, + 0.11598023027181625, + 0.004790262806595838 + ], + [ + -0.012975145131349564, + 0.9993723034858704, + 0.032964859157800674, + 0.0012551907511207322 + ], + [ + -0.11560846120119095, + -0.03424588963389397, + 0.9927043318748474, + 0.04150743736515203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9825129508972168, + 0.0022129914723336697, + 0.18618106842041016, + 0.00818074032024716 + ], + [ + -0.012887492775917053, + 0.9983395338058472, + 0.05614325776696205, + -0.0022328155042311876 + ], + [ + -0.1857476830482483, + -0.057560887187719345, + 0.980910062789917, + 0.0066069624869220175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9833413362503052, + 0.007591674104332924, + 0.18160995841026306, + 0.006642435358960676 + ], + [ + -0.018351126462221146, + 0.9981688857078552, + 0.05763808265328407, + -0.0030157383527591765 + ], + [ + -0.18083983659744263, + -0.060010652989149094, + 0.9816800355911255, + 0.008134362845116833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9833846092224121, + 0.011311006732285023, + 0.18118144571781158, + 0.005533923349300227 + ], + [ + -0.022400468587875366, + 0.9979901909828186, + 0.05927761271595955, + -0.0023141089411654386 + ], + [ + -0.18014679849147797, + -0.06235124543309212, + 0.9816615581512451, + 0.009942167933027907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9831758141517639, + 0.016181228682398796, + 0.18194355070590973, + 0.005222558643988331 + ], + [ + -0.02765856869518757, + 0.9977713823318481, + 0.06072251498699188, + -0.0017189490653753998 + ], + [ + -0.18055550754070282, + -0.06473320722579956, + 0.9814322590827942, + 0.009892940471868918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9825881719589233, + 0.022949151694774628, + 0.18437404930591583, + 0.00384122856114673 + ], + [ + -0.03486029431223869, + 0.9974905252456665, + 0.061623379588127136, + -0.0019103869951019685 + ], + [ + -0.18249715864658356, + -0.06697773933410645, + 0.9809224009513855, + 0.0112881575123852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9818224310874939, + 0.02722504548728466, + 0.18783918023109436, + 0.0033785547591730887 + ], + [ + -0.03964829817414284, + 0.9972445368766785, + 0.06270022690296173, + -0.002627618801985759 + ], + [ + -0.18561458587646484, + -0.0690079927444458, + 0.980196475982666, + 0.012475951783448815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9816842675209045, + 0.027391236275434494, + 0.1885356605052948, + 0.002837885092629726 + ], + [ + -0.03993668034672737, + 0.997209906578064, + 0.06306709349155426, + -0.0009736616181277007 + ], + [ + -0.18628215789794922, + -0.06944146752357483, + 0.9800391793251038, + 0.013259505763290876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9821932315826416, + 0.029571905732154846, + 0.1855316460132599, + 0.0024213751061748423 + ], + [ + -0.04181225597858429, + 0.9971742630004883, + 0.0624118372797966, + -0.0008602590921024482 + ], + [ + -0.18316173553466797, + -0.06905797868967056, + 0.980654239654541, + 0.012328305521822836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9826250672340393, + 0.03041752800345421, + 0.18309223651885986, + 0.0014291325763586054 + ], + [ + -0.04244599863886833, + 0.9971644878387451, + 0.06213931366801262, + -0.0006389796965751784 + ], + [ + -0.1806829571723938, + -0.0688311755657196, + 0.9811299443244934, + 0.01262367506732184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9826597571372986, + 0.03182735666632652, + 0.1826658546924591, + -0.0011970058319170085 + ], + [ + -0.04344361647963524, + 0.9972557425498962, + 0.05994706600904465, + -0.001244994380275708 + ], + [ + -0.18025660514831543, + -0.06684323400259018, + 0.9813457727432251, + 0.016755407474127158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9822916984558105, + 0.03197592496871948, + 0.18460918962955475, + -0.0016403814085785414 + ], + [ + -0.043399326503276825, + 0.9973627328872681, + 0.058172646909952164, + -0.00136425819053468 + ], + [ + -0.18226219713687897, + -0.06515442579984665, + 0.9810888767242432, + 0.01675305584722374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9813637137413025, + 0.03225758299231529, + 0.18943247199058533, + -0.002583606041459194 + ], + [ + -0.04371274635195732, + 0.9974391460418701, + 0.05660659819841385, + -0.0014661919787511168 + ], + [ + -0.18712136149406433, + -0.06383227556943893, + 0.9802607297897339, + 0.016548349787612042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9800671339035034, + 0.03205953538417816, + 0.1960626095533371, + -0.002742148691182396 + ], + [ + -0.04365333914756775, + 0.9975261688232422, + 0.05509962886571884, + -0.001345661719026695 + ], + [ + -0.1938111037015915, + -0.06256012618541718, + 0.979042112827301, + 0.015183791414980427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9786879420280457, + 0.03187116980552673, + 0.20286497473716736, + -0.003176091700403327 + ], + [ + -0.04356212168931961, + 0.9976211190223694, + 0.05342654138803482, + -0.0010012497934681105 + ], + [ + -0.20067963004112244, + -0.06112513691186905, + 0.9777481555938721, + 0.014857928697244227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9771384596824646, + 0.03044593520462513, + 0.2104126363992691, + -0.005433781445026398 + ], + [ + -0.042475827038288116, + 0.9976965188980103, + 0.05289112403988838, + -0.0012991290384282669 + ], + [ + -0.2083176225423813, + -0.060619402676820755, + 0.9761808514595032, + 0.016988647729158403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9757533073425293, + 0.029143689200282097, + 0.21692420542240143, + -0.003317202311233584 + ], + [ + -0.04140384867787361, + 0.9977785348892212, + 0.05218871310353279, + -0.001276922923322004 + ], + [ + -0.21492134034633636, + -0.0599048025906086, + 0.9747924208641052, + 0.013926332161189561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9737920761108398, + 0.027096588164567947, + 0.2258201390504837, + -0.00498859058078154 + ], + [ + -0.039607588201761246, + 0.9979100227355957, + 0.05105656757950783, + -0.0017420185036044642 + ], + [ + -0.22396473586559296, + -0.058662671595811844, + 0.9728301763534546, + 0.015354429435239264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9702232480049133, + 0.024632317945361137, + 0.24095652997493744, + -0.003247479790724426 + ], + [ + -0.037580862641334534, + 0.9980772137641907, + 0.04929053410887718, + -0.0020878285964404846 + ], + [ + -0.23927907645702362, + -0.05687817558646202, + 0.9692834615707397, + 0.014183596095227326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9671837091445923, + 0.018590405583381653, + 0.2533971965312958, + -0.002214660562844162 + ], + [ + -0.03229551389813423, + 0.9982252717018127, + 0.05003324896097183, + -0.0027862182751028654 + ], + [ + -0.2520173490047455, + -0.05657493323087692, + 0.9660675525665283, + 0.012985236363777193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9661611914634705, + 0.012206300161778927, + 0.2576499581336975, + 0.001110776659684726 + ], + [ + -0.02607141062617302, + 0.9983854293823242, + 0.05046612396836281, + 0.00018835961912201334 + ], + [ + -0.2566179633140564, + -0.05547570809721947, + 0.9649195075035095, + 0.006574279765587249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9646153450012207, + 0.014895489439368248, + 0.26324015855789185, + 0.0038732433190427143 + ], + [ + -0.02906033582985401, + 0.9983264207839966, + 0.049998022615909576, + -0.0014894389994367658 + ], + [ + -0.2620548605918884, + -0.05587870627641678, + 0.9634338617324829, + 0.006473770465357714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.964448869228363, + 0.013651908375322819, + 0.26391661167144775, + 0.004487442133207637 + ], + [ + -0.02785400301218033, + 0.9983534216880798, + 0.05014588683843613, + -0.000491374747333936 + ], + [ + -0.262797474861145, + -0.05571427941322327, + 0.9632411003112793, + 0.00669563427028886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9652201533317566, + 0.009141078218817711, + 0.2612784802913666, + 0.007036188845316987 + ], + [ + -0.022973278537392616, + 0.998488187789917, + 0.04993528127670288, + 0.002650628648567421 + ], + [ + -0.2604270279407501, + -0.05420096218585968, + 0.963970959186554, + 0.00276387245600003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9675044417381287, + 0.009006823413074017, + 0.2526935636997223, + 0.008782966086177162 + ], + [ + -0.02224457636475563, + 0.9985224604606628, + 0.049578674137592316, + 0.0029865542245303173 + ], + [ + -0.251873642206192, + -0.05358865112066269, + 0.9662752747535706, + -0.0013608184923608602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9692531228065491, + 0.012701282277703285, + 0.2457377165555954, + 0.007764340256598879 + ], + [ + -0.025487063452601433, + 0.9984774589538574, + 0.048919931054115295, + 0.003089438868316272 + ], + [ + -0.2447422295808792, + -0.053678929805755615, + 0.9681011438369751, + -6.334576980177031e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9699660539627075, + 0.014711076393723488, + 0.24279512465000153, + 0.003331844290965294 + ], + [ + -0.02743668295443058, + 0.9984162449836731, + 0.04911496490240097, + 0.0011769337897061794 + ], + [ + -0.2416880577802658, + -0.054301343858242035, + 0.9688334465026855, + 0.0071850297067419105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9715057611465454, + 0.013567505404353142, + 0.23662737011909485, + 0.006985443886406871 + ], + [ + -0.02586463652551174, + 0.9984666705131531, + 0.048941683024168015, + 0.0020441091591964504 + ], + [ + -0.2356005311012268, + -0.05366740748286247, + 0.9703670740127563, + 0.0026334091033562157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9737020134925842, + 0.01615607552230358, + 0.22725173830986023, + 0.006846450490271111 + ], + [ + -0.02774694375693798, + 0.9984665513038635, + 0.047902628779411316, + 0.0015336718269292802 + ], + [ + -0.22612935304641724, + -0.05294843018054962, + 0.9726572036743164, + 0.0033862459282559057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9756085276603699, + 0.019067155197262764, + 0.21868811547756195, + 0.0055288217303503945 + ], + [ + -0.02999228797852993, + 0.9984564185142517, + 0.04674697667360306, + 0.001284647162304256 + ], + [ + -0.21745921671390533, + -0.05216570198535919, + 0.97467440366745, + 0.00517993525987169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9766091108322144, + 0.021019235253334045, + 0.21399253606796265, + 0.0009603521865175421 + ], + [ + -0.031508736312389374, + 0.9984570145606995, + 0.0457255057990551, + 0.00014292518383856993 + ], + [ + -0.2127012312412262, + -0.05139857903122902, + 0.9757645130157471, + 0.014784551709591143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9771643280982971, + 0.02036772482097149, + 0.2115066945552826, + -0.0008193118452846284 + ], + [ + -0.030820472165942192, + 0.9984546899795532, + 0.046241629868745804, + -0.0008397981098078821 + ], + [ + -0.2102380096912384, + -0.05170440301299095, + 0.9762820601463318, + 0.01824828688369458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9761202335357666, + 0.024733325466513634, + 0.2158183604478836, + 0.004702335425529135 + ], + [ + -0.036237381398677826, + 0.9981160163879395, + 0.04951068013906479, + -0.004877894138730314 + ], + [ + -0.21418718993663788, + -0.056149065494537354, + 0.9751774668693542, + 0.013361906932001136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9737039804458618, + 0.022259648889303207, + 0.22672680020332336, + 0.003533022679448366 + ], + [ + -0.0356927253305912, + 0.9978304505348206, + 0.05532118305563927, + -0.0026758148465829204 + ], + [ + -0.22500348091125488, + -0.061958957463502884, + 0.9723860025405884, + 0.017010996312680965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.973177969455719, + 0.019664814695715904, + 0.22921162843704224, + 0.010203241686061787 + ], + [ + -0.03437210991978645, + 0.9975852966308594, + 0.060349687933921814, + -0.002334710046738745 + ], + [ + -0.22747138142585754, + -0.0666094720363617, + 0.9715039730072021, + 0.011954015448509929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9744890928268433, + 0.01726793870329857, + 0.2237696349620819, + 0.01187112789814282 + ], + [ + -0.032935865223407745, + 0.9972442984580994, + 0.06647590547800064, + -0.0017946639274018833 + ], + [ + -0.22200509905815125, + -0.0721500888466835, + 0.9723724126815796, + 0.013822032446901965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9777020812034607, + 0.022146398201584816, + 0.20882582664489746, + 0.011128155408374757 + ], + [ + -0.038011595606803894, + 0.996660590171814, + 0.07226870954036713, + -0.0016827669080690922 + ], + [ + -0.206527978181839, + -0.07859507203102112, + 0.975278913974762, + 0.01694881016141679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9802557229995728, + 0.026314277201890945, + 0.19597531855106354, + 0.011253131157999117 + ], + [ + -0.042630385607481, + 0.9959222078323364, + 0.07950851321220398, + -0.001991673928113228 + ], + [ + -0.1930839568376541, + -0.08629317581653595, + 0.9773802161216736, + 0.019285283062651933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.98044353723526, + 0.03142806142568588, + 0.19427481293678284, + 0.00931344972670931 + ], + [ + -0.04947862774133682, + 0.9948225021362305, + 0.08876940608024597, + -0.0034336108759225135 + ], + [ + -0.1904790997505188, + -0.09664584696292877, + 0.976922333240509, + 0.026231876476462107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9792661070823669, + 0.031216168776154518, + 0.20015849173069, + 0.009032732200781705 + ], + [ + -0.05189281702041626, + 0.9937432408332825, + 0.09890174120664597, + -0.0029875497816197845 + ], + [ + -0.19581879675388336, + -0.10723791271448135, + 0.9747589826583862, + 0.029857967406451462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9781628251075745, + 0.03236572444438934, + 0.20530450344085693, + 0.011210992600746364 + ], + [ + -0.05576539784669876, + 0.9924505352973938, + 0.10923414677381516, + -0.0030299592460225145 + ], + [ + -0.20021912455558777, + -0.11829767376184464, + 0.9725831151008606, + 0.03057966769325087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9793760776519775, + 0.032455772161483765, + 0.19942191243171692, + 0.011970660686455517 + ], + [ + -0.0569954439997673, + 0.9913080334663391, + 0.11857428401708603, + 0.0009095678917584891 + ], + [ + -0.1938401162624359, + -0.1274949610233307, + 0.9727132320404053, + 0.02982620423263216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9824569821357727, + 0.04510870575904846, + 0.1809515804052353, + 0.0054130934853944546 + ], + [ + -0.06865660101175308, + 0.9896440505981445, + 0.1260591298341751, + -0.0019171439245881808 + ], + [ + -0.17339129745960236, + -0.13627119362354279, + 0.9753797054290771, + 0.03975497550671418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9832144975662231, + 0.057679735124111176, + 0.17309613525867462, + 0.002594688222799674 + ], + [ + -0.0810270681977272, + 0.9880655407905579, + 0.13100019097328186, + -0.0015333307345947594 + ], + [ + -0.16347427666187286, + -0.14282676577568054, + 0.9761540293693542, + 0.04286021269487598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9836115837097168, + 0.06597968935966492, + 0.16779446601867676, + 0.0008040212932600068 + ], + [ + -0.08941735327243805, + 0.986637532711029, + 0.13620181381702423, + -0.0018736118248787277 + ], + [ + -0.15656575560569763, + -0.14897342026233673, + 0.9763678312301636, + 0.04521482554198912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9840510487556458, + 0.0705413669347763, + 0.1633017659187317, + -0.00222956723642038 + ], + [ + -0.0930413007736206, + 0.9865343570709229, + 0.13451118767261505, + -0.0005328996245371528 + ], + [ + -0.15161418914794922, + -0.14755968749523163, + 0.9773634076118469, + 0.04946025766125585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9835970997810364, + 0.07894357293844223, + 0.16218696534633636, + -0.0038158643205302312 + ], + [ + -0.10044441372156143, + 0.9865501523017883, + 0.12895643711090088, + -0.0015677664743130471 + ], + [ + -0.1498252898454666, + -0.14313194155693054, + 0.9782972931861877, + 0.0507428917405476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9827003479003906, + 0.08728372305631638, + 0.16334478557109833, + -0.004019966090928359 + ], + [ + -0.10876043885946274, + 0.9858547449111938, + 0.12752071022987366, + -0.002098545454532267 + ], + [ + -0.14990375936031342, + -0.14308011531829834, + 0.9782928824424744, + 0.049624083415945486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9816517233848572, + 0.09203436970710754, + 0.16700159013271332, + -0.00620096857887674 + ], + [ + -0.11392766237258911, + 0.9853854775428772, + 0.12663330137729645, + -0.0014754995176321775 + ], + [ + -0.15290631353855133, + -0.14333589375019073, + 0.9777905941009521, + 0.052548116593281305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9806680083274841, + 0.09442273527383804, + 0.17139023542404175, + -0.00650036019015025 + ], + [ + -0.1164105013012886, + 0.9855396747589111, + 0.12312661856412888, + -0.001244551451674786 + ], + [ + -0.1572859287261963, + -0.14069795608520508, + 0.9774790406227112, + 0.05468192949262728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9793248772621155, + 0.09496944397687912, + 0.17861592769622803, + -0.00830753726742593 + ], + [ + -0.11748757213354111, + 0.9857946038246155, + 0.12002366781234741, + -0.0014099228195846077 + ], + [ + -0.16468003392219543, + -0.1385273039340973, + 0.9765709042549133, + 0.05660429974741127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9784185290336609, + 0.08969764411449432, + 0.18614915013313293, + -0.006720265425203077 + ], + [ + -0.11299596726894379, + 0.9864957928657532, + 0.11856622993946075, + -0.00223370433511983 + ], + [ + -0.1730002462863922, + -0.13704149425029755, + 0.975341260433197, + 0.05684383857067689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.977306604385376, + 0.08241576701402664, + 0.19513946771621704, + -0.01138156205864556 + ], + [ + -0.10548871010541916, + 0.9882116913795471, + 0.11094933748245239, + -0.0012981059837592658 + ], + [ + -0.18369513750076294, + -0.12901653349399567, + 0.9744797945022583, + 0.06724457835486854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9760817885398865, + 0.07625716179609299, + 0.20359082520008087, + -0.011331719789938277 + ], + [ + -0.09858142584562302, + 0.9899028539657593, + 0.10185308754444122, + -0.001002385640090489 + ], + [ + -0.19376809895038605, + -0.1194872111082077, + 0.9737436771392822, + 0.06707923856814463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9745672345161438, + 0.06629840284585953, + 0.21406367421150208, + -0.013678237990322842 + ], + [ + -0.0879591777920723, + 0.9917455911636353, + 0.09329457581043243, + -0.004693542788156783 + ], + [ + -0.20611143112182617, + -0.10975070297718048, + 0.9723542928695679, + 0.07511181489201674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9720040559768677, + 0.05208810046315193, + 0.22911785542964935, + -0.014002024808741478 + ], + [ + -0.07161332666873932, + 0.9943981766700745, + 0.07774224132299423, + -0.005165072532752193 + ], + [ + -0.223784938454628, + -0.0919736698269844, + 0.9702892303466797, + 0.0791763103241662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9689180850982666, + 0.04302602261304855, + 0.2436113953590393, + -0.006806332664377239 + ], + [ + -0.060521408915519714, + 0.9960619211196899, + 0.06479048728942871, + -0.006299499170218845 + ], + [ + -0.23986434936523438, + -0.07752038538455963, + 0.9677063822746277, + 0.07208180506246156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9658980965614319, + 0.03194794803857803, + 0.25694406032562256, + -0.00458463549943095 + ], + [ + -0.04811244457960129, + 0.9972215890884399, + 0.05687049776315689, + -0.006619268568255097 + ], + [ + -0.2544132471084595, + -0.06729330867528915, + 0.9647515416145325, + 0.07068954115681139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9628414511680603, + 0.022210951894521713, + 0.26915243268013, + -0.0017683229218405407 + ], + [ + -0.03635433316230774, + 0.9982010126113892, + 0.04767732322216034, + -0.007098161579524896 + ], + [ + -0.26760926842689514, + -0.05569055676460266, + 0.9619167447090149, + 0.07291724061570973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9617299437522888, + 0.012217776849865913, + 0.2737266719341278, + 0.001010929182710417 + ], + [ + -0.023753782734274864, + 0.9989619255065918, + 0.038869552314281464, + -0.0076578681562918735 + ], + [ + -0.2729676067829132, + -0.04388405382633209, + 0.9610217809677124, + 0.06833399218847473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.960588276386261, + 0.004676475655287504, + 0.27793586254119873, + 0.0037275737443243154 + ], + [ + -0.013929573819041252, + 0.9994121193885803, + 0.03132687136530876, + -0.008302518646849926 + ], + [ + -0.2776259779930115, + -0.033963751047849655, + 0.9600886702537537, + 0.06658360963485327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9593740701675415, + -0.0031084096990525723, + 0.28212013840675354, + 0.007593672684427486 + ], + [ + -0.004523645155131817, + 0.9996412992477417, + 0.026397135108709335, + -0.009942594944802393 + ], + [ + -0.28210100531578064, + -0.02660093829035759, + 0.9590158462524414, + 0.06314412209553173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9585360288619995, + -0.010118670761585236, + 0.28479161858558655, + 0.01111396705828996 + ], + [ + 0.003997370600700378, + 0.9997485280036926, + 0.02206701785326004, + -0.01104023515893872 + ], + [ + -0.2849433124065399, + -0.020013615489006042, + 0.9583353996276855, + 0.05926555131438625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9597811698913574, + -0.0145478006452322, + 0.28037211298942566, + 0.019782031003206253 + ], + [ + 0.007118338253349066, + 0.9995964765548706, + 0.02749875746667385, + -0.0113830662508267 + ], + [ + -0.2806590497493744, + -0.024397006258368492, + 0.9594974517822266, + 0.045481781448690174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9614113569259644, + -0.01768418960273266, + 0.2745460271835327, + 0.01935155825824084 + ], + [ + 0.00749007984995842, + 0.9992445111274719, + 0.03813488781452179, + -0.01227555739727006 + ], + [ + -0.2750130295753479, + -0.0346069410443306, + 0.9608174562454224, + 0.04570011451997491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9655627608299255, + -0.021949244663119316, + 0.2592426836490631, + 0.01606641059412236 + ], + [ + 0.010539354756474495, + 0.9989168643951416, + 0.045320719480514526, + -9.891770024555773e-05 + ], + [ + -0.25995662808418274, + -0.041027747094631195, + 0.9647483229637146, + 0.04407786066909451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9698579907417297, + -0.014745911583304405, + 0.24322417378425598, + 0.016022910226330938 + ], + [ + 0.0013200114481151104, + 0.9984705448150635, + 0.05527055636048317, + -0.00832027470969771 + ], + [ + -0.24366718530654907, + -0.053283531218767166, + 0.9683941006660461, + 0.04474351029491508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9711340069770813, + -0.008475813083350658, + 0.2383839339017868, + 0.014411786179821265 + ], + [ + -0.005701451562345028, + 0.9982582330703735, + 0.05872008204460144, + -0.012392963495958281 + ], + [ + -0.23846642673015594, + -0.05838420242071152, + 0.9693941473960876, + 0.048931112246453225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9718360900878906, + -0.006023675203323364, + 0.235580712556839, + 0.011777915665131795 + ], + [ + -0.008052576333284378, + 0.9982406497001648, + 0.05874360725283623, + -0.012822760453066195 + ], + [ + -0.23552009463310242, + -0.05898619070649147, + 0.9700778126716614, + 0.05201600620431458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9718353152275085, + -0.002707383129745722, + 0.23564553260803223, + 0.011026809264318531 + ], + [ + -0.011199217289686203, + 0.9982736706733704, + 0.057656530290842056, + -0.01300963416964893 + ], + [ + -0.23539483547210693, + -0.05867169424891472, + 0.970127284526825, + 0.05351770841425385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9709500670433044, + 0.00014104973524808884, + 0.23928222060203552, + 0.010823472998250858 + ], + [ + -0.01411434542387724, + 0.9982923865318298, + 0.056684184819459915, + -0.012697967218167811 + ], + [ + -0.23886561393737793, + -0.058414820581674576, + 0.969294011592865, + 0.05471967582742357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9699224233627319, + 0.001565104816108942, + 0.24340927600860596, + 0.012745022144912925 + ], + [ + -0.016228247433900833, + 0.9981702566146851, + 0.0582471638917923, + -0.014658607892602322 + ], + [ + -0.24287274479866028, + -0.06044533848762512, + 0.9681731462478638, + 0.05294863575785215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9685791730880737, + 0.0005250154063105583, + 0.24870485067367554, + 0.012207121884704655 + ], + [ + -0.015521238557994366, + 0.998176097869873, + 0.058340203016996384, + -0.01223742316690195 + ], + [ + -0.24822059273719788, + -0.06036731228232384, + 0.9668207168579102, + 0.05564187164465153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9661826491355896, + -0.00030231568962335587, + 0.2578585147857666, + 0.008011282263435872 + ], + [ + -0.014891079626977444, + 0.9982650279998779, + 0.056966498494148254, + -0.014085457509899714 + ], + [ + -0.2574283480644226, + -0.05887983739376068, + 0.9645018577575684, + 0.06487562136881682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9618895053863525, + 0.0010425853542983532, + 0.2734365463256836, + 0.006976302167827107 + ], + [ + -0.014799905940890312, + 0.998725414276123, + 0.04825477674603462, + -0.016532911547276388 + ], + [ + -0.27303773164749146, + -0.05046259984374046, + 0.9606788754463196, + 0.07153694015071095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9575817584991455, + -0.0006236545741558075, + 0.28816112875938416, + 0.011059068135139214 + ], + [ + -0.01112467609345913, + 0.9991721510887146, + 0.03913062810897827, + -0.018084494308774252 + ], + [ + -0.2879469692707062, + -0.04067647457122803, + 0.9567821025848389, + 0.06830534879417424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9560619592666626, + -0.0067068543285131454, + 0.29308801889419556, + 0.016103903682487288 + ], + [ + -0.003529369831085205, + 0.9994025230407715, + 0.0343826524913311, + -0.01942995731909591 + ], + [ + -0.29314351081848145, + -0.03390635922551155, + 0.9554670453071594, + 0.06375356786491641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9547224044799805, + -0.006401927676051855, + 0.29742932319641113, + 0.0197073051193542 + ], + [ + -0.0026318286545574665, + 0.99954754114151, + 0.029962407425045967, + -0.021157075209640355 + ], + [ + -0.2974865436553955, + -0.029388563707470894, + 0.9542735815048218, + 0.06310445202297593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9531985521316528, + -0.015226759016513824, + 0.3019613027572632, + 0.026410011742937275 + ], + [ + 0.006510761100798845, + 0.9995331764221191, + 0.0298501905053854, + -0.020509623997960705 + ], + [ + -0.3022748827934265, + -0.026487162336707115, + 0.952852725982666, + 0.059444763544894544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9546930193901062, + -0.02002483792603016, + 0.2969178855419159, + 0.03251303763588868 + ], + [ + 0.010065987706184387, + 0.999335527420044, + 0.03503192588686943, + -0.021938369625124587 + ], + [ + -0.2974220812320709, + -0.03045596554875374, + 0.9542602300643921, + 0.05313461098584334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9553453922271729, + -0.025919191539287567, + 0.2943524122238159, + 0.033100204717323 + ], + [ + 0.015084035694599152, + 0.9991245269775391, + 0.03902137652039528, + -0.021951240082701527 + ], + [ + -0.29510611295700073, + -0.03283886983990669, + 0.9549000263214111, + 0.054221386149952026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9564372301101685, + -0.025081131607294083, + 0.29085859656333923, + 0.030936074065396103 + ], + [ + 0.013777054846286774, + 0.999070405960083, + 0.0408477783203125, + -0.01947936946339157 + ], + [ + -0.2916127145290375, + -0.03506115823984146, + 0.9558936953544617, + 0.0578664993777512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9579455256462097, + -0.01814650185406208, + 0.28637582063674927, + 0.029183583917567528 + ], + [ + 0.005595475435256958, + 0.9989899396896362, + 0.044584814459085464, + -0.017900989985609628 + ], + [ + -0.28689563274383545, + -0.0411074124276638, + 0.9570794701576233, + 0.059159976778080665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9588711261749268, + -0.01486443355679512, + 0.2834523916244507, + 0.026770695631792508 + ], + [ + 0.0008772294968366623, + 0.998778223991394, + 0.049409087747335434, + -0.015126257886489233 + ], + [ + -0.283840537071228, + -0.04712829366326332, + 0.9577126502990723, + 0.06161753150155715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9597013592720032, + -0.011866424232721329, + 0.28077128529548645, + 0.024608326520037697 + ], + [ + -0.00296363839879632, + 0.9986251592636108, + 0.05233554169535637, + -0.013668022152171078 + ], + [ + -0.2810063064098358, + -0.05105859413743019, + 0.9583467245101929, + 0.06722751459159165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.960839033126831, + -0.010701059363782406, + 0.2769005000591278, + 0.023829028580382647 + ], + [ + -0.0049684131518006325, + 0.9984281659126282, + 0.05582541972398758, + -0.013109161947146956 + ], + [ + -0.27706262469291687, + -0.055014997720718384, + 0.9592756032943726, + 0.07087864495185484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9634720683097839, + -0.019892986863851547, + 0.2670690417289734, + 0.021255646684547384 + ], + [ + 0.0044046370312571526, + 0.9982795715332031, + 0.05846810340881348, + 0.0016729011863327948 + ], + [ + -0.2677726745605469, + -0.05515604466199875, + 0.9619020819664001, + 0.07232963519477581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9692486524581909, + -0.018770800903439522, + 0.24536634981632233, + 0.02050296073203465 + ], + [ + 0.0038163885474205017, + 0.998113214969635, + 0.061281245201826096, + -0.0025740013210978135 + ], + [ + -0.24605371057987213, + -0.05846035107970238, + 0.9674915671348572, + 0.0760123561618917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9734979271888733, + -0.011952895671129227, + 0.22838322818279266, + 0.02035047758303313 + ], + [ + -0.0016883979551494122, + 0.9982303977012634, + 0.059441301971673965, + -0.0066989433110119356 + ], + [ + -0.22868956625461578, + -0.05825158581137657, + 0.9717550277709961, + 0.0802632930363158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9760735630989075, + -0.010769499465823174, + 0.21717379987239838, + 0.021675658226761235 + ], + [ + -0.003038010559976101, + 0.9979997873306274, + 0.0631442666053772, + -0.009607040218590015 + ], + [ + -0.21741943061351776, + -0.06229322776198387, + 0.9740884900093079, + 0.07891245187974599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9788020849227905, + -0.0077127255499362946, + 0.2046632021665573, + 0.02048183660243589 + ], + [ + -0.006887014955282211, + 0.9974860548973083, + 0.07052739709615707, + -0.010265799958154142 + ], + [ + -0.20469264686107635, + -0.07044187933206558, + 0.9762883186340332, + 0.08309351372341793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9806572198867798, + -0.006481757387518883, + 0.19562552869319916, + 0.01930326838382935 + ], + [ + -0.008180341683328152, + 0.997221052646637, + 0.07404890656471252, + -0.011449738614350917 + ], + [ + -0.19556187093257904, + -0.07421688735485077, + 0.9778790473937988, + 0.08599561892270324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9802482724189758, + -0.0011254907585680485, + 0.19776763021945953, + 0.014224609325033985 + ], + [ + -0.012799058109521866, + 0.9975265264511108, + 0.06911628693342209, + -0.010832159862251407 + ], + [ + -0.1973562389612198, + -0.07028236240148544, + 0.9778092503547668, + 0.09505134226986205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9773973822593689, + 0.002118461299687624, + 0.2113998979330063, + 0.010432894206811566 + ], + [ + -0.015423556789755821, + 0.9979996681213379, + 0.06130901724100113, + -0.011134383704019597 + ], + [ + -0.2108471542596817, + -0.06318380683660507, + 0.9754748940467834, + 0.1033929320972368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9731460213661194, + 0.001590935979038477, + 0.23018306493759155, + 0.0070018385974578105 + ], + [ + -0.012751750648021698, + 0.9988131523132324, + 0.04700722172856331, + -0.009860300571175224 + ], + [ + -0.22983509302139282, + -0.048680130392313004, + 0.9720113277435303, + 0.1118567510362131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9682291150093079, + -0.001449307892471552, + 0.2500605583190918, + 0.017002499029769684 + ], + [ + -0.007980788126587868, + 0.9992946982383728, + 0.036693181842565536, + -0.010812483181107236 + ], + [ + -0.24993737041950226, + -0.03752308711409569, + 0.9675346612930298, + 0.09701641576297311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9639815092086792, + -0.008124260231852531, + 0.26584509015083313, + 0.023731529713799077 + ], + [ + -0.002541444031521678, + 0.9992063641548157, + 0.039751410484313965, + -0.018957976750042065 + ], + [ + -0.2659570872783661, + -0.03899525851011276, + 0.96319580078125, + 0.0973559202319647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9624162316322327, + -0.025110643357038498, + 0.2704153060913086, + 0.028556309337447204 + ], + [ + 0.015036952681839466, + 0.9991158843040466, + 0.03926047682762146, + -0.012163436567657684 + ], + [ + -0.27116209268569946, + -0.03371869772672653, + 0.9619429111480713, + 0.0967653367264443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9635436534881592, + -0.026831749826669693, + 0.26620233058929443, + 0.03261963470528523 + ], + [ + 0.017255697399377823, + 0.9991192817687988, + 0.0382472388446331, + -0.0176421869546175 + ], + [ + -0.2669941186904907, + -0.03225937858223915, + 0.9631580710411072, + 0.09152535001436869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9635185599327087, + -0.03217479586601257, + 0.2657006084918976, + 0.0354489108973957 + ], + [ + 0.021460656076669693, + 0.9988389611244202, + 0.04313012212514877, + -0.017369245140846954 + ], + [ + -0.2667798101902008, + -0.03585456311702728, + 0.9630903005599976, + 0.0881485291034821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9617776870727539, + -0.038600873202085495, + 0.27109700441360474, + 0.030965890030724457 + ], + [ + 0.026889856904745102, + 0.9985430836677551, + 0.04678240790963173, + -0.0176962722362165 + ], + [ + -0.272507905960083, + -0.03770451620221138, + 0.9614144563674927, + 0.09524304685912219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9596256017684937, + -0.041174132376909256, + 0.27825063467025757, + 0.027961120318367057 + ], + [ + 0.03259722515940666, + 0.9988420605659485, + 0.0353829450905323, + -0.015849339273799376 + ], + [ + -0.2793853282928467, + -0.02488418109714985, + 0.9598565697669983, + 0.10399872651660298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9574416279792786, + -0.040729958564043045, + 0.28573858737945557, + 0.031562528965702975 + ], + [ + 0.034383226186037064, + 0.9990386366844177, + 0.027195720002055168, + -0.016017134305104673 + ], + [ + -0.28657156229019165, + -0.01621369831264019, + 0.9579216241836548, + 0.09487406242953007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9558951258659363, + -0.03823938965797424, + 0.29120826721191406, + 0.036461916036275493 + ], + [ + 0.03180494159460068, + 0.9991347789764404, + 0.026799093931913376, + -0.0156316090285419 + ], + [ + -0.2919811010360718, + -0.01635526493191719, + 0.95628422498703, + 0.08848594626838184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9557084441184998, + -0.036935847252607346, + 0.29198816418647766, + 0.035905117710610945 + ], + [ + 0.030286122113466263, + 0.9991694092750549, + 0.027262980118393898, + -0.01513602728824539 + ], + [ + -0.29275259375572205, + -0.0172122735530138, + 0.9560332894325256, + 0.09299828843568941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9578218460083008, + -0.03713029623031616, + 0.2849537134170532, + 0.03503677317775397 + ], + [ + 0.030532682314515114, + 0.9991536736488342, + 0.027562368661165237, + -0.012379748165517686 + ], + [ + -0.28573596477508545, + -0.017699439078569412, + 0.9581449031829834, + 0.0865350489396168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9602563381195068, + -0.035844821482896805, + 0.2768085300922394, + 0.03359216914837619 + ], + [ + 0.029012586921453476, + 0.9991657733917236, + 0.028739722445607185, + -0.011647651919040335 + ], + [ + -0.2776077687740326, + -0.019566571339964867, + 0.9604952335357666, + 0.08803808818380517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9620059728622437, + -0.0353177934885025, + 0.2707345187664032, + 0.03058040786878651 + ], + [ + 0.029402686282992363, + 0.9992327094078064, + 0.025874558836221695, + -0.008453399791984433 + ], + [ + -0.2714405953884125, + -0.016931157559156418, + 0.9623062610626221, + 0.09090827282772486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9631664156913757, + -0.030705243349075317, + 0.2671472728252411, + 0.025733935603699888 + ], + [ + 0.02575845643877983, + 0.999426007270813, + 0.022002611309289932, + -0.011981786896725256 + ], + [ + -0.26766952872276306, + -0.014310874044895172, + 0.9634044766426086, + 0.09391727766029566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9641764163970947, + -0.025521526113152504, + 0.26403117179870605, + 0.025815179013837893 + ], + [ + 0.021164963021874428, + 0.9995890855789185, + 0.01933211274445057, + -0.010982603573027145 + ], + [ + -0.26441603899002075, + -0.013051358982920647, + 0.9643204212188721, + 0.09200462368148637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9646515846252441, + -0.021180059760808945, + 0.2626761496067047, + 0.025109008238482545 + ], + [ + 0.016420569270849228, + 0.9996590614318848, + 0.020301472395658493, + -0.012224963675421405 + ], + [ + -0.26301655173301697, + -0.015270557254552841, + 0.9646704792976379, + 0.09212549014323686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9652916789054871, + -0.021457210183143616, + 0.26029136776924133, + 0.024490172790370912 + ], + [ + 0.01646982878446579, + 0.9996368885040283, + 0.021326981484889984, + -0.011628911532012813 + ], + [ + -0.260654479265213, + -0.01629980280995369, + 0.9652945399284363, + 0.09334479923917348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9661323428153992, + -0.020455101504921913, + 0.25723519921302795, + 0.023222476799400097 + ], + [ + 0.01559560839086771, + 0.999659538269043, + 0.020917503163218498, + -0.012028200260127884 + ], + [ + -0.25757548213005066, + -0.016197336837649345, + 0.9661223888397217, + 0.09281609059277787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9666746258735657, + -0.016743727028369904, + 0.2554599940776825, + 0.02106842444181053 + ], + [ + 0.012333974242210388, + 0.9997461438179016, + 0.01885436475276947, + -0.012099315277693501 + ], + [ + -0.2557108700275421, + -0.0150751993060112, + 0.9666357636451721, + 0.0941770977733365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9655164480209351, + -0.012193840928375721, + 0.26005640625953674, + 0.018587451793317007 + ], + [ + 0.008056883700191975, + 0.9998235702514648, + 0.016967996954917908, + -0.015089444810128116 + ], + [ + -0.26021745800971985, + -0.014287635684013367, + 0.9654443264007568, + 0.09713766742722098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9645397663116455, + -0.012943530455231667, + 0.2636201083660126, + 0.021248381925432616 + ], + [ + 0.009553711861371994, + 0.9998544454574585, + 0.014136677607893944, + -0.010839437603591436 + ], + [ + -0.26376470923423767, + -0.011116836220026016, + 0.9645230174064636, + 0.09320057825780058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9650574922561646, + -0.013781887479126453, + 0.2616755962371826, + 0.024367748222212833 + ], + [ + 0.010686979629099369, + 0.9998551607131958, + 0.013246714137494564, + -0.009308162532806636 + ], + [ + -0.2618202567100525, + -0.009987319819629192, + 0.9650650024414062, + 0.08998990035858978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9674431085586548, + -0.012298784218728542, + 0.25278952717781067, + 0.021457925494984688 + ], + [ + 0.009124689735472202, + 0.9998641610145569, + 0.013724842108786106, + -0.008687243806235641 + ], + [ + -0.25292399525642395, + -0.010971377603709698, + 0.9674239158630371, + 0.09195240709676321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9685744643211365, + -0.009044374339282513, + 0.24855917692184448, + 0.01721854762409825 + ], + [ + 0.005586831830441952, + 0.9998776316642761, + 0.014612234197556973, + -0.010431235943393534 + ], + [ + -0.24866092205047607, + -0.01276437845081091, + 0.9685065150260925, + 0.09344035358314055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9683398008346558, + -0.004619559273123741, + 0.24959297478199005, + 0.01541661510382401 + ], + [ + 0.0008054559584707022, + 0.999881386756897, + 0.015381267294287682, + -0.01366395090358803 + ], + [ + -0.24963442981243134, + -0.014693258330225945, + 0.9682286977767944, + 0.09543925326871106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9666694402694702, + -0.002053490374237299, + 0.2560195326805115, + 0.01281018736379513 + ], + [ + -0.0018891538493335247, + 0.9998834133148193, + 0.015152901411056519, + -0.013516812004807244 + ], + [ + -0.25602078437805176, + -0.015131507068872452, + 0.9665528535842896, + 0.09932424584815062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.965214729309082, + -0.0002304636873304844, + 0.2614583671092987, + 0.014259973004550099 + ], + [ + -0.00377529114484787, + 0.9998830556869507, + 0.014818434603512287, + -0.012430177497711168 + ], + [ + -0.26143118739128113, + -0.015290052630007267, + 0.9651010036468506, + 0.09848156229828495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9633148908615112, + 0.0022328393533825874, + 0.26836448907852173, + 0.012782842897058253 + ], + [ + -0.00572300236672163, + 0.9999089241027832, + 0.012223738245666027, + -0.012287228712325833 + ], + [ + -0.2683127522468567, + -0.013311159797012806, + 0.9632399082183838, + 0.09948932498424169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9608141779899597, + -0.00039296061731874943, + 0.27719295024871826, + 0.014225611990190533 + ], + [ + -0.003027453552931547, + 0.9999244809150696, + 0.011911383830010891, + -0.014331645126188975 + ], + [ + -0.2771766781806946, + -0.012283816002309322, + 0.9607404470443726, + 0.0993159256920398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9599419236183167, + -0.003777596401050687, + 0.2801735997200012, + 0.0182929222382246 + ], + [ + -0.00077603361569345, + 0.9998694658279419, + 0.016140174120664597, + -0.015266976824187371 + ], + [ + -0.28019797801971436, + -0.01571105420589447, + 0.95981365442276, + 0.09598739992333463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9614207744598389, + -0.005057603120803833, + 0.27503541111946106, + 0.017271827338600016 + ], + [ + 0.0011058945674449205, + 0.9998939633369446, + 0.01452117133885622, + -0.005747344630235529 + ], + [ + -0.2750796973705292, + -0.0136567959561944, + 0.9613244533538818, + 0.0944531072649252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9632037878036499, + -0.00154313282109797, + 0.26876771450042725, + 0.015059211709906897 + ], + [ + -0.002501110779121518, + 0.9998887777328491, + 0.014704299159348011, + -0.008017193098144838 + ], + [ + -0.2687605023384094, + -0.01483545359224081, + 0.9630928039550781, + 0.09471338284781658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9639274477958679, + 0.0024283728562295437, + 0.26615405082702637, + 0.012955209318862623 + ], + [ + -0.00620677275583148, + 0.9998915195465088, + 0.013356059789657593, + -0.005867752499025629 + ], + [ + -0.26609277725219727, + -0.014526229351758957, + 0.9638379812240601, + 0.0956156714987683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9631738066673279, + 0.0087767094373703, + 0.2687363028526306, + 0.008890445298518998 + ], + [ + -0.011858366429805756, + 0.9998812079429626, + 0.009846087545156479, + -0.008765957529196539 + ], + [ + -0.26861798763275146, + -0.01267026737332344, + 0.9631634950637817, + 0.09993091793693452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9613986015319824, + 0.010117272846400738, + 0.2749733030796051, + 0.008703068950508971 + ], + [ + -0.012549844570457935, + 0.9998961091041565, + 0.0070886206813156605, + -0.011874917900399212 + ], + [ + -0.2748730480670929, + -0.010265862569212914, + 0.9614257216453552, + 0.09756490031489168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9605039358139038, + 0.009990174323320389, + 0.27808690071105957, + 0.01121406758271427 + ], + [ + -0.012896526604890823, + 0.9998796582221985, + 0.008623899891972542, + -0.01484943108117006 + ], + [ + -0.27796727418899536, + -0.011869644746184349, + 0.9605172276496887, + 0.09632805236671343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9610734581947327, + 0.008938297629356384, + 0.27614834904670715, + 0.013024336036788414 + ], + [ + -0.012084510177373886, + 0.9998800158500671, + 0.00969361886382103, + -0.012949443887545162 + ], + [ + -0.2760285437107086, + -0.012653397396206856, + 0.9610661268234253, + 0.09117804670923327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9635798931121826, + 0.0069786543026566505, + 0.26732954382896423, + 0.013416894322567915 + ], + [ + -0.010980731807649136, + 0.9998488426208496, + 0.013478545472025871, + -0.006932663701354979 + ], + [ + -0.26719507575035095, + -0.01592312939465046, + 0.9635108709335327, + 0.08591898341838973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9645959734916687, + 0.005508648231625557, + 0.2636744976043701, + 0.009106934757297295 + ], + [ + -0.012519843876361847, + 0.9996111392974854, + 0.02491741254925728, + -0.009936588529093439 + ], + [ + -0.2634347081184387, + -0.027336400002241135, + 0.9642898440361023, + 0.08601577263774282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.964898943901062, + 0.000571537297219038, + 0.26262080669403076, + 0.00671161643442619 + ], + [ + -0.009520273655653, + 0.9994164705276489, + 0.032803572714328766, + -0.009376088951725557 + ], + [ + -0.262448787689209, + -0.034152351319789886, + 0.9643413424491882, + 0.08921969317827358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9654712677001953, + -0.00389095488935709, + 0.2604805827140808, + 0.0043811054339250866 + ], + [ + -0.0048050349578261375, + 0.9994523525238037, + 0.03273928537964821, + -0.002924079380286147 + ], + [ + -0.2604653239250183, + -0.03286045417189598, + 0.9649238586425781, + 0.08798109294629719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9676330089569092, + -0.0013898045290261507, + 0.2523578107357025, + 0.007067146865897867 + ], + [ + -0.0073900604620575905, + 0.9993999600410461, + 0.03384019806981087, + -0.005595622137637741 + ], + [ + -0.25225338339805603, + -0.034609828144311905, + 0.967042088508606, + 0.07256463891882674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9697433114051819, + -0.0001397966407239437, + 0.24412690103054047, + 0.0010928151582977365 + ], + [ + -0.00907377153635025, + 0.9992882013320923, + 0.036615896970033646, + -0.005862002182437713 + ], + [ + -0.2439582496881485, + -0.03772317245602608, + 0.9690517783164978, + 0.07643490577917023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9717084765434265, + 0.011178816668689251, + 0.23591868579387665, + -0.006636179228085112 + ], + [ + -0.018696777522563934, + 0.9993853569030762, + 0.029653742909431458, + -0.007675379516938365 + ], + [ + -0.2354421764612198, + -0.03322571516036987, + 0.9713202714920044, + 0.07955586767837734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9718785285949707, + 0.02428106591105461, + 0.23422761261463165, + -0.010898314420896841 + ], + [ + -0.0291186161339283, + 0.9994276762008667, + 0.01721654087305069, + -0.00845805562314499 + ], + [ + -0.2336755245923996, + -0.02355276793241501, + 0.9720293283462524, + 0.0752807929842587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9707050919532776, + 0.03900500759482384, + 0.23708705604076385, + -0.011342153699702047 + ], + [ + -0.04379274323582649, + 0.9989286065101624, + 0.014959149062633514, + -0.010057311175189104 + ], + [ + -0.23624958097934723, + -0.024903614073991776, + 0.9713732004165649, + 0.0663558926687662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9688781499862671, + 0.050510670989751816, + 0.24233004450798035, + -0.019137046985836872 + ], + [ + -0.05591677501797676, + 0.9983154535293579, + 0.015478702262043953, + -0.008071850091368559 + ], + [ + -0.2411399781703949, + -0.028547288849949837, + 0.9700703620910645, + 0.06925574841957734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9664458632469177, + 0.05634251981973648, + 0.25061503052711487, + -0.02643307495907129 + ], + [ + -0.061134375631809235, + 0.9980647563934326, + 0.01137034222483635, + -0.007394325133996555 + ], + [ + -0.24948939681053162, + -0.026310011744499207, + 0.9680200815200806, + 0.07414583501080611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9631813168525696, + 0.05162840336561203, + 0.26384902000427246, + -0.027356870873386126 + ], + [ + -0.05792715400457382, + 0.9981902837753296, + 0.01614324375987053, + -0.007458947966974902 + ], + [ + -0.2625380754470825, + -0.030832890421152115, + 0.9644289016723633, + 0.06858878060876125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9615482091903687, + 0.04057814180850983, + 0.27162179350852966, + -0.03131373970204568 + ], + [ + -0.049284182488918304, + 0.9984641671180725, + 0.025304649025201797, + -0.006450343626480266 + ], + [ + -0.27017781138420105, + -0.03771829977631569, + 0.9620713591575623, + 0.06442475025373769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.959987223148346, + 0.03214161843061447, + 0.2781931459903717, + -0.03502758473876011 + ], + [ + -0.042704105377197266, + 0.9985754489898682, + 0.03199059143662453, + -0.0054360103266066825 + ], + [ + -0.27676859498023987, + -0.04259054735302925, + 0.9599922895431519, + 0.06267311409654386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9574296474456787, + 0.02191685326397419, + 0.2878335118293762, + -0.036609646980183194 + ], + [ + -0.03401909023523331, + 0.9987319111824036, + 0.03711111843585968, + -0.0022445470805328533 + ], + [ + -0.2866551876068115, + -0.045323118567466736, + 0.9569611549377441, + 0.05604959824028982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9548274278640747, + 0.016365453600883484, + 0.296709805727005, + -0.0376107919826565 + ], + [ + -0.030318137258291245, + 0.9986370205879211, + 0.04248407110571861, + -0.0026879588078453118 + ], + [ + -0.29561010003089905, + -0.04956064745783806, + 0.954022228717804, + 0.053765198731996935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9540723562240601, + 0.012903065420687199, + 0.2992982268333435, + -0.04186814012656729 + ], + [ + -0.026670139282941818, + 0.9987633228302002, + 0.04195860028266907, + -0.006568921384323074 + ], + [ + -0.29838669300079346, + -0.04801386594772339, + 0.9532366394996643, + 0.05124994809009943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9572725296020508, + 0.0121771190315485, + 0.2889307737350464, + -0.042456824933908066 + ], + [ + -0.022500166669487953, + 0.999220609664917, + 0.032433945685625076, + -0.004878765522655712 + ], + [ + -0.2883106470108032, + -0.03754911944270134, + 0.9568004012107849, + 0.043435681901543025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9614507555961609, + 0.017583806067705154, + 0.27441439032554626, + -0.05157706432313804 + ], + [ + -0.025384165346622467, + 0.9993675947189331, + 0.024900080636143684, + 0.001618572807988623 + ], + [ + -0.2738030254840851, + -0.030905982479453087, + 0.96128910779953, + 0.03564479954570651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9650986194610596, + 0.025747034698724747, + 0.2606181204319, + -0.06008059849222022 + ], + [ + -0.03177090734243393, + 0.9993159770965576, + 0.01892668381333351, + 0.002572068043126085 + ], + [ + -0.25995251536369324, + -0.026546187698841095, + 0.9652564525604248, + 0.03736613223172096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9679024815559387, + 0.02509692870080471, + 0.25006982684135437, + -0.06491238133136527 + ], + [ + -0.029935652390122414, + 0.9994306564331055, + 0.015564264729619026, + 0.002300941548964764 + ], + [ + -0.24953684210777283, + -0.022550692781805992, + 0.9681026935577393, + 0.033560553348686795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9699565172195435, + 0.01994207873940468, + 0.24245953559875488, + -0.0707478335104793 + ], + [ + -0.025534797459840775, + 0.9994749426841736, + 0.01994575373828411, + 0.0024291946906615123 + ], + [ + -0.24193447828292847, + -0.02553766779601574, + 0.9699564576148987, + 0.022366259477464068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9724346995353699, + 0.011245756410062313, + 0.23290398716926575, + -0.07263632687818573 + ], + [ + -0.018395347520709038, + 0.9994231462478638, + 0.028548268601298332, + 0.003416843922719 + ], + [ + -0.23244857788085938, + -0.03204567730426788, + 0.972080647945404, + 0.01563434090959019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9753249883651733, + 0.005687890574336052, + 0.22070083022117615, + -0.0749900583043156 + ], + [ + -0.01408962532877922, + 0.9992338418960571, + 0.036512915045022964, + 0.004808380767650692 + ], + [ + -0.2203240692615509, + -0.03872155025601387, + 0.9746578931808472, + 0.011202251588005613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9785820841789246, + 0.005397324915975332, + 0.20578636229038239, + -0.07867129314017583 + ], + [ + -0.014391591772437096, + 0.999004065990448, + 0.04223509132862091, + 0.006638212168185287 + ], + [ + -0.20535345375537872, + -0.04429209232330322, + 0.9776850938796997, + 0.0075472928074947765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9810295104980469, + 0.011225325055420399, + 0.1935332864522934, + -0.0831542641642582 + ], + [ + -0.020201463252305984, + 0.9988064765930176, + 0.04446936771273613, + 0.006853181251650115 + ], + [ + -0.19280312955379486, + -0.04753541573882103, + 0.9800853729248047, + 0.008455389773989297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9817039966583252, + 0.01777421124279499, + 0.18958190083503723, + -0.0871162955780106 + ], + [ + -0.025719432160258293, + 0.998887300491333, + 0.039531394839286804, + 0.006889758151712787 + ], + [ + -0.18866831064224243, + -0.04368406534194946, + 0.9810687899589539, + 0.010407458628755986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9811619520187378, + 0.023195073008537292, + 0.1917894184589386, + -0.08864145944396176 + ], + [ + -0.029981490224599838, + 0.9990200400352478, + 0.03255839645862579, + 0.005892052310126194 + ], + [ + -0.1908462941646576, + -0.03769519180059433, + 0.9808958768844604, + 0.007856100504417499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.979434072971344, + 0.025792334228754044, + 0.20010919868946075, + -0.08862511632313211 + ], + [ + -0.032236356288194656, + 0.9990591406822205, + 0.029010750353336334, + 0.005373566443414753 + ], + [ + -0.19917266070842743, + -0.03486490994691849, + 0.9793440103530884, + 0.004625691060560294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9781356453895569, + 0.026055801659822464, + 0.206329345703125, + -0.08913834083630857 + ], + [ + -0.03141482174396515, + 0.9992477297782898, + 0.022739149630069733, + 0.005336833040203794 + ], + [ + -0.2055816352367401, + -0.02872377261519432, + 0.9782183170318604, + 0.003472587400411495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9777563214302063, + 0.026673514395952225, + 0.2080409824848175, + -0.08900421597512372 + ], + [ + -0.03054172918200493, + 0.9994148015975952, + 0.015403052791953087, + 0.004849500947605714 + ], + [ + -0.207508385181427, + -0.021414363756775856, + 0.9779987931251526, + 0.0004709946163686807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9780583381652832, + 0.030265066772699356, + 0.20612119138240814, + -0.08932321522250233 + ], + [ + -0.03339004144072533, + 0.9993739128112793, + 0.01169840432703495, + 0.004740966449727315 + ], + [ + -0.2056380957365036, + -0.018324116244912148, + 0.9784565567970276, + -0.0018021206539797635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9785674214363098, + 0.032727088779211044, + 0.20330937206745148, + -0.09059989092101055 + ], + [ + -0.035309191793203354, + 0.9993351101875305, + 0.00908516626805067, + 0.00515127327165989 + ], + [ + -0.20287688076496124, + -0.016069136559963226, + 0.9790723919868469, + -0.001856727940011696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.978854775428772, + 0.03212020918726921, + 0.2020188570022583, + -0.09194416996824693 + ], + [ + -0.034000787883996964, + 0.9994047284126282, + 0.005844731815159321, + 0.004827687335032296 + ], + [ + -0.20171085000038147, + -0.01258994359523058, + 0.9793642163276672, + -0.0016128721845197896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9785821437835693, + 0.03048308752477169, + 0.20358727872371674, + -0.088873851047941 + ], + [ + -0.033103249967098236, + 0.9994069933891296, + 0.00947622675448656, + 0.004799400728914034 + ], + [ + -0.20317767560482025, + -0.01601266674697399, + 0.9790109395980835, + -0.011206527233841912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9793181419372559, + 0.023892881348729134, + 0.20091062784194946, + -0.08904690265535829 + ], + [ + -0.02872234396636486, + 0.9993634819984436, + 0.02115686610341072, + 0.00692904510359508 + ], + [ + -0.20027723908424377, + -0.026489928364753723, + 0.9793810844421387, + -0.012184631932212642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9823880195617676, + 0.01943364366889, + 0.1858389526605606, + -0.0934241539383509 + ], + [ + -0.025463610887527466, + 0.9992220401763916, + 0.03011544793844223, + 0.0071263615808722725 + ], + [ + -0.18510912358760834, + -0.03431718796491623, + 0.9821186065673828, + -0.008988836449552257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9854126572608948, + 0.02172132208943367, + 0.1687900722026825, + -0.09487385221992631 + ], + [ + -0.02893463522195816, + 0.9987648129463196, + 0.04039374366402626, + 0.008051985721047743 + ], + [ + -0.16770416498184204, + -0.0446883849799633, + 0.984824001789093, + -0.013523899736892747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9883013963699341, + 0.0159118864685297, + 0.15168119966983795, + -0.09898413487945695 + ], + [ + -0.025234801694750786, + 0.9978950619697571, + 0.059738438576459885, + 0.010596432195729519 + ], + [ + -0.15041135251522064, + -0.06286722421646118, + 0.9866225719451904, + -0.013659185524207057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9911592602729797, + 0.011101525276899338, + 0.13221228122711182, + -0.10388179713463688 + ], + [ + -0.020797722041606903, + 0.9971744418144226, + 0.07218464463949203, + 0.012697436761888992 + ], + [ + -0.13103735446929932, + -0.07429619878530502, + 0.9885895252227783, + -0.013672236098821872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9935541152954102, + 0.013648148626089096, + 0.1125342845916748, + -0.10840646563524223 + ], + [ + -0.022323429584503174, + 0.9968430399894714, + 0.07619432359933853, + 0.01352402562814125 + ], + [ + -0.11113910377025604, + -0.0782153382897377, + 0.9907221794128418, + -0.014869387609412879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.995291531085968, + 0.01233550813049078, + 0.09613853693008423, + -0.11298768531725589 + ], + [ + -0.020165909081697464, + 0.996517539024353, + 0.08090835809707642, + 0.014942488015206703 + ], + [ + -0.09480568766593933, + -0.08246612548828125, + 0.992074191570282, + -0.014672565729503179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.9966076612472534, + 0.00986536592245102, + 0.08170568197965622, + -0.1162402331769227 + ], + [ + -0.016322126612067223, + 0.9967617392539978, + 0.07873794436454773, + 0.015809654141495745 + ], + [ + -0.08066431432962418, + -0.0798044502735138, + 0.993541419506073, + -0.014961904059930989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.9976639747619629, + 0.010488277301192284, + 0.06750264763832092, + -0.11646096595080502 + ], + [ + -0.01563120260834694, + 0.9969763159751892, + 0.07611735165119171, + 0.015950775440468128 + ], + [ + -0.06650020182132721, + -0.07699468731880188, + 0.9948112964630127, + -0.02100251541439309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.9988448619842529, + 0.016498234122991562, + 0.04513062909245491, + -0.11975503164721302 + ], + [ + -0.019894033670425415, + 0.9969199299812317, + 0.07586058229207993, + 0.016339072385376477 + ], + [ + -0.043740060180425644, + -0.07667078822851181, + 0.9960965514183044, + -0.02077256797188258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.9991698265075684, + 0.0283910371363163, + 0.029215628281235695, + -0.12309133768246236 + ], + [ + -0.030535951256752014, + 0.9966554045677185, + 0.07579915225505829, + 0.01646282809625668 + ], + [ + -0.026965899392962456, + -0.07662835717201233, + 0.9966949820518494, + -0.018999983448101332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.9989871978759766, + 0.033014312386512756, + 0.030572133138775826, + -0.12227143002112946 + ], + [ + -0.035179510712623596, + 0.9966946840286255, + 0.07322663813829422, + 0.01675045459744442 + ], + [ + -0.02805355377495289, + -0.07422798126935959, + 0.996846616268158, + -0.018339159923145568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.9986118674278259, + 0.03721678629517555, + 0.03727322444319725, + -0.11959638077780664 + ], + [ + -0.03974153473973274, + 0.9967929124832153, + 0.06945830583572388, + 0.017550352918186102 + ], + [ + -0.0345686711370945, + -0.0708431750535965, + 0.996888279914856, + -0.018567002890818585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.9979629516601562, + 0.04329762980341911, + 0.04685321822762489, + -0.11420185316398919 + ], + [ + -0.04627251252532005, + 0.9968513250350952, + 0.0643915981054306, + 0.0176655595665835 + ], + [ + -0.043917689472436905, + -0.06642845273017883, + 0.9968242049217224, + -0.015996035323085564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.9948164224624634, + 0.04955071210861206, + 0.08879750967025757, + -0.10919737815856934 + ], + [ + -0.05449792742729187, + 0.9970427751541138, + 0.05418230593204498, + 0.017434808239340783 + ], + [ + -0.08585013449192047, + -0.058740727603435516, + 0.9945749044418335, + -0.01738440692424774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 601.8660074869791, + "fy": 601.7901204427083, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/boom_up/transforms.json b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4a9b657ffcd61535d6df963f8c266888f69b2489 --- /dev/null +++ b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/boom_up/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.783745655207895e-05, + -2.8303711587795988e-06, + -3.445252104938845e-06 + ], + [ + 5.783744200016372e-05, + 1.0, + -5.463689831231022e-06, + 1.3817551007377915e-05 + ], + [ + 2.830687208188465e-06, + 5.463526122184703e-06, + 1.0, + -7.349567022174597e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958276748657, + -0.0028064714279025793, + 0.0007068119593895972, + -0.0004351669950372239 + ], + [ + 0.002806620905175805, + 0.9999960660934448, + -0.00021029174968134612, + -0.0006504231068827135 + ], + [ + -0.0007062189397402108, + 0.00021227462275419384, + 0.9999997019767761, + 0.0006566285198888248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999977350234985, + -0.0016366743948310614, + 0.001340940478257835, + -0.0008379061596683604 + ], + [ + 0.0016363593749701977, + 0.9999986290931702, + 0.00023600790882483125, + -0.0017338618817248515 + ], + [ + -0.0013413248816505075, + -0.00023381313076242805, + 0.9999990463256836, + 0.002198553846067603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999974966049194, + -0.0013848657254129648, + 0.0017620036378502846, + -0.0010890188880942084 + ], + [ + 0.0013835688587278128, + 0.9999987483024597, + 0.0007370490930043161, + -0.002861610187067504 + ], + [ + -0.0017630222719162703, + -0.000734609377104789, + 0.999998152256012, + 0.0032357621518029132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999961256980896, + -0.001618959940969944, + 0.002268835436552763, + -0.0014316248986485207 + ], + [ + 0.0016160369850695133, + 0.9999978542327881, + 0.001289574196562171, + -0.004036324920348269 + ], + [ + -0.0022709183394908905, + -0.0012859026901423931, + 0.9999966025352478, + 0.0039959194962212365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999963045120239, + 0.0005000975797884166, + 0.0026827254332602024, + -0.001710675338096532 + ], + [ + -0.0005049681640230119, + 0.9999982118606567, + 0.0018151759868487716, + -0.0051634385036920345 + ], + [ + -0.0026818127371370792, + -0.0018165238434448838, + 0.9999947547912598, + 0.00537310664066737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999912977218628, + 0.002839913358911872, + 0.003046482801437378, + -0.0019630603848240715 + ], + [ + -0.002846579300239682, + 0.9999935626983643, + 0.002185929799452424, + -0.006202741152383695 + ], + [ + -0.0030402555130422115, + -0.0021945827174931765, + 0.9999929666519165, + 0.006832584462798209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999901056289673, + 0.0032325047068297863, + 0.0030508756171911955, + -0.001953866747246424 + ], + [ + -0.003240032587200403, + 0.9999917149543762, + 0.0024657046888023615, + -0.007175465552944475 + ], + [ + -0.0030428797472268343, + -0.002475565066561103, + 0.999992311000824, + 0.007785323113857283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999921321868896, + 0.0027839711401611567, + 0.0028307600878179073, + -0.0017743883596748606 + ], + [ + -0.002791980979964137, + 0.9999920725822449, + 0.002829574281349778, + -0.008215420385668717 + ], + [ + -0.0028228601440787315, + -0.0028374555986374617, + 0.9999920129776001, + 0.008845940638672221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999954104423523, + 0.0016041825292631984, + 0.002573281992226839, + -0.0015568363656336057 + ], + [ + -0.0016120491782203317, + 0.9999940395355225, + 0.0030579303856939077, + -0.009162679739673584 + ], + [ + -0.002568361349403858, + -0.003062064526602626, + 0.9999920129776001, + 0.01038636752146427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999934434890747, + 0.0026383395306766033, + 0.002491466701030731, + -0.00150293727359188 + ], + [ + -0.002646366134285927, + 0.9999912977218628, + 0.003223949810490012, + -0.010049892029501805 + ], + [ + -0.0024829390458762646, + -0.0032305216882377863, + 0.9999917149543762, + 0.012330085341241364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999929070472717, + 0.002913790289312601, + 0.0023791722487658262, + -0.001423347368836403 + ], + [ + -0.002922088373452425, + 0.9999896287918091, + 0.0034918051678687334, + -0.010995666797018865 + ], + [ + -0.002368973335251212, + -0.0034987328108400106, + 0.9999910593032837, + 0.013986267282796854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999919533729553, + 0.0032580422703176737, + 0.0023322738707065582, + -0.0014280754580231736 + ], + [ + -0.003267096122726798, + 0.9999871253967285, + 0.0038886701222509146, + -0.012041059228368413 + ], + [ + -0.0023195743560791016, + -0.0038962585385888815, + 0.9999897480010986, + 0.014805444523168744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999970555305481, + 0.007387342397123575, + 0.0020871751476079226, + -0.0013461712682388785 + ], + [ + -0.007395886350423098, + 0.99996417760849, + 0.004115849267691374, + -0.012945883845802674 + ], + [ + -0.0020566952880471945, + -0.004131164867430925, + 0.9999893307685852, + 0.01634027939636168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999265670776367, + 0.011846134439110756, + 0.002549391007050872, + -0.001744296603782241 + ], + [ + -0.011856799945235252, + 0.9999208450317383, + 0.004209635313600302, + -0.013764747643981837 + ], + [ + -0.0024993212427943945, + -0.004239554051309824, + 0.9999879002571106, + 0.01726498820487995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998978972434998, + 0.013873682357370853, + 0.0034309057518839836, + -0.0024363205225537876 + ], + [ + -0.01388926524668932, + 0.9998931288719177, + 0.0045604887418448925, + -0.014858813967925212 + ], + [ + -0.003367268480360508, + -0.004607676062732935, + 0.9999837279319763, + 0.014807771966400101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998655319213867, + 0.015915818512439728, + 0.0039470018818974495, + -0.0028525619721424976 + ], + [ + -0.015934113413095474, + 0.9998622536659241, + 0.0046480922028422356, + -0.015715925944661185 + ], + [ + -0.003872480010613799, + -0.004710359498858452, + 0.9999814033508301, + 0.014720130534765641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998513460159302, + 0.016706084832549095, + 0.004268426913768053, + -0.003098322820564932 + ], + [ + -0.016725068911910057, + 0.9998502135276794, + 0.004451576620340347, + -0.016375277479263872 + ], + [ + -0.004193419124931097, + -0.004522304981946945, + 0.9999809861183167, + 0.015722114420380476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999411702156067, + 0.010277645662426949, + 0.0034610573202371597, + -0.0023901975044041627 + ], + [ + -0.010294608771800995, + 0.9999349117279053, + 0.004919321741908789, + -0.017512763350478508 + ], + [ + -0.003410272765904665, + -0.004954662639647722, + 0.9999819397926331, + 0.01895800877347096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999435544013977, + 0.010081742890179157, + 0.003351201768964529, + -0.002311529178741919 + ], + [ + -0.010097860358655453, + 0.9999373555183411, + 0.00482809916138649, + -0.018249008893073838 + ], + [ + -0.0033023161813616753, + -0.0048616668209433556, + 0.9999827146530151, + 0.020007231915446597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999231100082397, + 0.011888377368450165, + 0.0035325640346854925, + -0.002496566184727121 + ], + [ + -0.011904645711183548, + 0.9999184608459473, + 0.00462042260915041, + -0.018911829780140693 + ], + [ + -0.0034773468505591154, + -0.0046621207147836685, + 0.9999830722808838, + 0.020301802437906424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999351501464844, + 0.010883829556405544, + 0.0033528655767440796, + -0.0023489445143894962 + ], + [ + -0.010900500230491161, + 0.9999281167984009, + 0.004994542337954044, + -0.020033930543779343 + ], + [ + -0.003298264928162098, + -0.005030766129493713, + 0.9999818801879883, + 0.019443382766128572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998852610588074, + 0.014765947125852108, + 0.0033873978536576033, + -0.002488488902930509 + ], + [ + -0.014782938174903393, + 0.9998779892921448, + 0.005046765320003033, + -0.02083477718247609 + ], + [ + -0.003312464104965329, + -0.005096261389553547, + 0.9999815225601196, + 0.019919384423304688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998493790626526, + 0.01701226644217968, + 0.00342830503359437, + -0.0026866687211585193 + ], + [ + -0.01703006960451603, + 0.9998412728309631, + 0.0052327984012663364, + -0.021774733614961597 + ], + [ + -0.003338739275932312, + -0.0052903941832482815, + 0.9999804496765137, + 0.018726498613996077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998409152030945, + 0.01752272993326187, + 0.003327056998386979, + -0.002647964620177657 + ], + [ + -0.017539959400892258, + 0.9998325109481812, + 0.005222553852945566, + -0.02258902175182646 + ], + [ + -0.003234986448660493, + -0.005280079785734415, + 0.9999808073043823, + 0.019131956391098087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998390674591064, + 0.017639189958572388, + 0.0032628802582621574, + -0.0026187158578406433 + ], + [ + -0.017656300216913223, + 0.9998301267623901, + 0.005291546229273081, + -0.023468737103706918 + ], + [ + -0.003168987575918436, + -0.0053483047522604465, + 0.9999806880950928, + 0.018611711259423333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998289942741394, + 0.018244341015815735, + 0.0030210299883037806, + -0.0024836710284748846 + ], + [ + -0.018260013312101364, + 0.9998195171356201, + 0.0052446406334638596, + -0.024260752360636663 + ], + [ + -0.0029247996862977743, + -0.005298907868564129, + 0.999981701374054, + 0.019492051690385852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999863862991333, + 0.016277488321065903, + 0.0027016678359359503, + -0.002129826291602813 + ], + [ + -0.01628957688808441, + 0.9998571276664734, + 0.004514599684625864, + -0.024500470050064126 + ], + [ + -0.0026277953293174505, + -0.004557993728667498, + 0.9999861717224121, + 0.024072273988045814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997281432151794, + 0.02316964417695999, + 0.002601352520287037, + -0.0024245386054231365 + ], + [ + -0.023179713636636734, + 0.9997236728668213, + 0.003910321742296219, + -0.024866030773740604 + ], + [ + -0.002510033082216978, + -0.003969557583332062, + 0.9999889731407166, + 0.026879188858649948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997313618659973, + 0.023090697824954987, + 0.002011743374168873, + -0.002044547357488701 + ], + [ + -0.023098286241292953, + 0.9997258186340332, + 0.003834041301161051, + -0.025660685203730875 + ], + [ + -0.0019226610893383622, + -0.003879479132592678, + 0.9999906420707703, + 0.025743098660903282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997292160987854, + 0.023217996582388878, + 0.0015576299047097564, + -0.0018111721108367376 + ], + [ + -0.02322390489280224, + 0.9997227191925049, + 0.003889671992510557, + -0.026507412832930746 + ], + [ + -0.0014668876538053155, + -0.0039247930981218815, + 0.999991238117218, + 0.02551497393941953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997439384460449, + 0.022574761882424355, + 0.0015657554613426328, + -0.0019921178346469014 + ], + [ + -0.022580983117222786, + 0.9997367262840271, + 0.004076649434864521, + -0.027502407560178875 + ], + [ + -0.0014733137795701623, + -0.004110962152481079, + 0.9999904632568359, + 0.024888309482331117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998392462730408, + 0.017929350957274437, + -7.81268099672161e-05, + -0.0004131626646183066 + ], + [ + -0.01792893372476101, + 0.999832272529602, + 0.0037330477498471737, + -0.02811913285000358 + ], + [ + 0.00014504481805488467, + -0.0037310468032956123, + 0.9999930262565613, + 0.025732508477223807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998748302459717, + 0.015791447833180428, + -0.0009643216617405415, + 0.00027985575354912064 + ], + [ + -0.015787938609719276, + 0.9998691082000732, + 0.003542904742062092, + -0.028807938829149032 + ], + [ + 0.0010201430413872004, + -0.0035272366367280483, + 0.9999932646751404, + 0.026239610399881548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998689889907837, + 0.016108524054288864, + -0.0015843309229239821, + 0.0006143701653388783 + ], + [ + -0.01610235869884491, + 0.9998630285263062, + 0.0038305202033370733, + -0.02981676639785051 + ], + [ + 0.0016458180034533143, + -0.003804506966844201, + 0.9999914169311523, + 0.026585201509989612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998961091041565, + 0.014267563819885254, + -0.0020425745751708746, + 0.0009568118353659086 + ], + [ + -0.014259152114391327, + 0.9998900294303894, + 0.004075292963534594, + -0.03081664653910586 + ], + [ + 0.002100494457408786, + -0.004045743960887194, + 0.9999896287918091, + 0.0260177323005878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999678730964661, + 0.007661185692995787, + -0.0023502311669290066, + 0.0013944804414429447 + ], + [ + -0.007648948114365339, + 0.9999573826789856, + 0.0051724547520279884, + -0.03241418631216281 + ], + [ + 0.0023897578939795494, + -0.005154311656951904, + 0.9999838471412659, + 0.025341495717606268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999990701675415, + 0.003868326311931014, + -0.0019154594046995044, + 0.0012332426503393029 + ], + [ + -0.0038563243579119444, + 0.9999731779098511, + 0.006230430211871862, + -0.03395165900222588 + ], + [ + 0.0019395094132050872, + -0.006222985219210386, + 0.99997878074646, + 0.025573203279752252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999759197235107, + 0.006791156716644764, + -0.001446334645152092, + 0.0008466607127107741 + ], + [ + -0.0067808423191308975, + 0.9999523758888245, + 0.00702052703127265, + -0.035240475264616496 + ], + [ + 0.0014939431566745043, + -0.007010550703853369, + 0.9999743103981018, + 0.02570657385667124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999930739402771, + 0.01171522494405508, + -0.0011429354781284928, + 0.00043631118129600175 + ], + [ + -0.011706269346177578, + 0.9999029636383057, + 0.00755107868462801, + -0.03632310852023565 + ], + [ + 0.0012312872568145394, + -0.00753717590123415, + 0.9999708533287048, + 0.026282513651935277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999911367893219, + 0.013270126655697823, + -0.001104064635001123, + 0.00030639900417983037 + ], + [ + -0.013260602951049805, + 0.9998782277107239, + 0.008227849379181862, + -0.03761006575770492 + ], + [ + 0.001213114825077355, + -0.008212478831410408, + 0.9999655485153198, + 0.025436990748136497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999157190322876, + 0.012930509634315968, + -0.001161010004580021, + 0.00027833971481631736 + ], + [ + -0.012919754721224308, + 0.9998775124549866, + 0.00883627962321043, + -0.03895216757616351 + ], + [ + 0.0012751254253089428, + -0.00882053468376398, + 0.9999603033065796, + 0.02130792606852887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999902069568634, + 0.013994257897138596, + 0.0002114921371685341, + -0.0010868165620856664 + ], + [ + -0.013995654881000519, + 0.9998545050621033, + 0.009753463789820671, + -0.04062649115058016 + ], + [ + -7.49688915675506e-05, + -0.009755467996001244, + 0.9999524354934692, + 0.013920227972374967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999215006828308, + 0.012520823627710342, + 0.0004568512085825205, + -0.0012386413168908705 + ], + [ + -0.012525033205747604, + 0.9998630881309509, + 0.010814942419528961, + -0.04260101266944211 + ], + [ + -0.00032137666130438447, + -0.01081981509923935, + 0.9999414086341858, + -0.0006778059883258683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999226927757263, + 0.012133807875216007, + 0.0027203799691051245, + -0.0035330873787064445 + ], + [ + -0.012165836058557034, + 0.9998529553413391, + 0.012083525769412518, + -0.044839336401359606 + ], + [ + -0.0025733609218150377, + -0.012115688063204288, + 0.9999232888221741, + -0.016674329577521844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999293088912964, + 0.011890053749084473, + -5.142127338331193e-05, + -0.0007791162710463675 + ], + [ + -0.011888450011610985, + 0.9998492002487183, + 0.012659406289458275, + -0.046385781239133235 + ], + [ + 0.00020193452655803412, + -0.012657899409532547, + 0.9999198913574219, + -0.027138765747389517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999624490737915, + 0.008563719689846039, + 0.0013211503392085433, + -0.0021262199144564137 + ], + [ + -0.008580664172768593, + 0.9998733997344971, + 0.013401951640844345, + -0.04817821578669154 + ], + [ + -0.001206212560646236, + -0.013412784785032272, + 0.9999093413352966, + -0.04015578233506069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999905228614807, + 0.0042605348862707615, + 0.0008774549351073802, + -0.0019836363120943556 + ], + [ + -0.004272392485290766, + 0.999893069267273, + 0.013987302780151367, + -0.049851244551029586 + ], + [ + -0.0008177677518688142, + -0.013990920037031174, + 0.9999017715454102, + -0.052856285238931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999960660934448, + 0.002808012766763568, + -0.00020423665409907699, + -0.0011797751151871952 + ], + [ + -0.002804753603413701, + 0.9998908042907715, + 0.014510639011859894, + -0.05140866043492536 + ], + [ + 0.0002449603925924748, + -0.014510009437799454, + 0.9998946785926819, + -0.0638054220513864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999986886978149, + 0.0015466696349903941, + 0.00047506808186881244, + -0.002083152490148459 + ], + [ + -0.001553635229356587, + 0.9998858571052551, + 0.015029547736048698, + -0.05296015250381113 + ], + [ + -0.00045176807907409966, + -0.015030266717076302, + 0.9998869299888611, + -0.07414570854561142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999993085861206, + 0.003722446272149682, + -0.00016643184062559158, + -0.0016111618077213113 + ], + [ + -0.003719238331541419, + 0.9998601675033569, + 0.01630224660038948, + -0.0553195789102311 + ], + [ + 0.00022709280892740935, + -0.016301512718200684, + 0.9998670816421509, + -0.08883014887817635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999908208847046, + 0.004274276550859213, + 0.0002612349926494062, + -0.00213371841236949 + ], + [ + -0.004278173204511404, + 0.9998396635055542, + 0.01738869585096836, + -0.057651708336654776 + ], + [ + -0.00018686903058551252, + -0.017389653250575066, + 0.9998487830162048, + -0.1090207308823289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999738931655884, + 0.006894450634717941, + 0.0021738489158451557, + -0.00445719988831927 + ], + [ + -0.00693309772759676, + 0.9998084902763367, + 0.01830228790640831, + -0.059843662806040004 + ], + [ + -0.0020472481846809387, + -0.018316879868507385, + 0.9998301267623901, + -0.12713142933924337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999421238899231, + 0.01067639235407114, + 0.0013296757824718952, + -0.0037986936759634698 + ], + [ + -0.010700025595724583, + 0.9997572898864746, + 0.019257262349128723, + -0.061989757800397796 + ], + [ + -0.0011237550061196089, + -0.01927037537097931, + 0.9998136758804321, + -0.14371736545946973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998747706413269, + 0.015750795602798462, + 0.0015214320737868547, + -0.004275821630019418 + ], + [ + -0.015777289867401123, + 0.999688446521759, + 0.019340582191944122, + -0.06309315679548694 + ], + [ + -0.0012163284700363874, + -0.019362162798643112, + 0.9998117685317993, + -0.14993492460324745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997836947441101, + 0.020736683160066605, + 0.001580188749358058, + -0.004609804663976485 + ], + [ + -0.020763371139764786, + 0.9995976090431213, + 0.019327649846673012, + -0.06388760849156164 + ], + [ + -0.0011787614785134792, + -0.01935627870261669, + 0.9998119473457336, + -0.1489737115969712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9996997714042664, + 0.02433955855667591, + 0.0028113950975239277, + -0.005794765467732406 + ], + [ + -0.024387026205658913, + 0.9995349645614624, + 0.018306100741028786, + -0.06362831321321735 + ], + [ + -0.002364525105804205, + -0.018369166180491447, + 0.9998284578323364, + -0.14280251940666153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995543956756592, + 0.029548920691013336, + 0.004227399826049805, + -0.0072048303186277715 + ], + [ + -0.029618799686431885, + 0.999407172203064, + 0.01755179837346077, + -0.06358754864224225 + ], + [ + -0.0037062568590044975, + -0.017669185996055603, + 0.9998370409011841, + -0.1382570554525399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9994455575942993, + 0.03280578553676605, + 0.005688773933798075, + -0.00863220485866316 + ], + [ + -0.032905213534832, + 0.9992896914482117, + 0.018367277458310127, + -0.06523182779427403 + ], + [ + -0.005082180257886648, + -0.018544284626841545, + 0.9998151063919067, + -0.13933746454205886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9993156790733337, + 0.03692590817809105, + 0.0021574879065155983, + -0.00461629599425172 + ], + [ + -0.03695954754948616, + 0.9991456270217896, + 0.01849270612001419, + -0.06625293636432858 + ], + [ + -0.0014727849047631025, + -0.018559791147708893, + 0.9998266696929932, + -0.14174314910345825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994795322418213, + 0.03142419457435608, + 0.0072946250438690186, + -0.009924228156893707 + ], + [ + -0.03155197948217392, + 0.9993378520011902, + 0.01811831444501877, + -0.06658187622496906 + ], + [ + -0.006720441393554211, + -0.018339045345783234, + 0.9998092651367188, + -0.14077576896375862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997190833091736, + 0.022542152553796768, + 0.007318965625017881, + -0.009367958120693845 + ], + [ + -0.022671543061733246, + 0.9995790123939514, + 0.018105164170265198, + -0.06747135499353744 + ], + [ + -0.006907755043357611, + -0.018266011029481888, + 0.9998093247413635, + -0.1401817188251856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998928308486938, + 0.012742229737341404, + 0.007208742201328278, + -0.008771992511739416 + ], + [ + -0.012875487096607685, + 0.99974125623703, + 0.01875152811408043, + -0.06906973430502021 + ], + [ + -0.006967941299080849, + -0.018842335790395737, + 0.9997981786727905, + -0.14529293873462795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999678730964661, + 0.006993183866143227, + 0.003913265652954578, + -0.005636558311506491 + ], + [ + -0.007064376026391983, + 0.9998041987419128, + 0.01848454214632511, + -0.06968716128059657 + ], + [ + -0.0037832336965948343, + -0.018511595204472542, + 0.9998214840888977, + -0.14398231617336676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999958872795105, + 0.001987205818295479, + 0.0020537832751870155, + -0.004083671879546702 + ], + [ + -0.002024661749601364, + 0.9998286962509155, + 0.018399352207779884, + -0.07041489252251043 + ], + [ + -0.0020168679766356945, + -0.018403435125947, + 0.9998286366462708, + -0.1406724141156378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999946355819702, + -0.002930622547864914, + 0.0014693100238218904, + -0.0036386793271507606 + ], + [ + 0.0029037310741841793, + 0.9998341202735901, + 0.01798180863261223, + -0.07068068153909908 + ], + [ + -0.001521764206700027, + -0.01797744631767273, + 0.9998372197151184, + -0.13281349714629906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999932646751404, + -0.0035900401417165995, + 0.0007973811007104814, + -0.0031984394670210104 + ], + [ + 0.0035758151207119226, + 0.9998460412025452, + 0.017177239060401917, + -0.0703264184634794 + ], + [ + -0.0008589253411628306, + -0.017174270004034042, + 0.9998521208763123, + -0.11772682321342555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999962449073792, + 0.002508861944079399, + -0.0011235765414312482, + -0.001662164300195257 + ], + [ + -0.0024920362047851086, + 0.9998883605003357, + 0.014734344556927681, + -0.06831895304027916 + ], + [ + 0.0011604175670072436, + -0.01473148912191391, + 0.9998908042907715, + -0.09660089152041546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999516606330872, + 0.00877491943538189, + -0.004434290807694197, + 0.0013857514466628555 + ], + [ + -0.008724277839064598, + 0.9998979568481445, + 0.01131345797330141, + -0.0658242657672891 + ], + [ + 0.0045331125147640705, + -0.011274225078523159, + 0.9999261498451233, + -0.0725860119758805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999287128448486, + 0.011543706059455872, + -0.0030420604161918163, + -0.0001479367800595716 + ], + [ + -0.011517448350787163, + 0.9998974204063416, + 0.008512167260050774, + -0.06394865198738195 + ], + [ + 0.00314001040533185, + -0.00847652368247509, + 0.9999591708183289, + -0.04921642248942094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999113082885742, + 0.012692896649241447, + -0.00403233477845788, + 0.0008752765942149417 + ], + [ + -0.012666931375861168, + 0.9998992681503296, + 0.006400971207767725, + -0.06278585960457395 + ], + [ + 0.004113175440579653, + -0.006349326577037573, + 0.9999713897705078, + -0.031096034687135583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999157190322876, + 0.012004530988633633, + -0.004947065841406584, + 0.0018368172924965618 + ], + [ + -0.011980519630014896, + 0.9999164342880249, + 0.004855002276599407, + -0.0622155084359375 + ], + [ + 0.005004934500902891, + -0.0047953249886631966, + 0.9999759793281555, + -0.017425494321645044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999274611473083, + 0.010509963147342205, + -0.005883307196199894, + 0.0027701131918675395 + ], + [ + -0.010490966029465199, + 0.9999396800994873, + 0.0032504478003829718, + -0.06161086704959124 + ], + [ + 0.005917114205658436, + -0.0031884906347841024, + 0.9999774098396301, + -0.003821706134548857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999355673789978, + 0.009588354267179966, + -0.006072468124330044, + 0.002892447436567057 + ], + [ + -0.009576252661645412, + 0.9999521374702454, + 0.002018814440816641, + -0.0613915258141096 + ], + [ + 0.006091534160077572, + -0.0019605327397584915, + 0.9999794960021973, + 0.012112878507757482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999958872795105, + 0.008174346759915352, + -0.003933383617550135, + 0.0008530408178633156 + ], + [ + -0.008170386776328087, + 0.9999660849571228, + 0.0010218676179647446, + -0.06137173491155378 + ], + [ + 0.003941603470593691, + -0.000989688327535987, + 0.9999917149543762, + 0.02562894832365954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999635815620422, + 0.005333449225872755, + -0.006666846107691526, + 0.0034962981585259277 + ], + [ + -0.005337057169526815, + 0.9999856352806091, + -0.0005234805284999311, + -0.06086601166166212 + ], + [ + 0.006663958076387644, + 0.0005590427317656577, + 0.9999776482582092, + 0.03787847359935091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999913573265076, + 0.001240003271959722, + -0.003975546453148127, + 0.001154955617760208 + ], + [ + -0.0012464773608371615, + 0.9999979138374329, + -0.0016264364821836352, + -0.06074943256772254 + ], + [ + 0.0039735217578709126, + 0.0016313778469339013, + 0.9999907612800598, + 0.05003858470388742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999468326568604, + -0.0026609927881509066, + -0.009959506802260876, + 0.006675634573383087 + ], + [ + 0.002639488549903035, + 0.999994158744812, + -0.002171693369746208, + -0.06108480718579483 + ], + [ + 0.009965226985514164, + 0.002145289909094572, + 0.9999480247497559, + 0.06225665140135044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999139308929443, + -0.006439978256821632, + -0.011431481689214706, + 0.007638401545830502 + ], + [ + 0.006405310705304146, + 0.99997478723526, + -0.0030666275415569544, + -0.061114309088919655 + ], + [ + 0.011450942605733871, + 0.00299314153380692, + 0.9999299645423889, + 0.07703101772176148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998770952224731, + -0.008985310792922974, + -0.0128486892208457, + 0.008483486693383249 + ], + [ + 0.00893474742770195, + 0.9999521374702454, + -0.003987260162830353, + -0.06113861938245781 + ], + [ + 0.012883900664746761, + 0.003871970111504197, + 0.999909520149231, + 0.08851443246210933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9998668432235718, + -0.01049720961600542, + -0.012494683265686035, + 0.007779410066591068 + ], + [ + 0.01043976005166769, + 0.9999346733093262, + -0.004654319025576115, + -0.061424908559184435 + ], + [ + 0.012542724609375, + 0.004523257724940777, + 0.9999111294746399, + 0.10031323929217235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.999830424785614, + -0.010496334172785282, + -0.015131495893001556, + 0.009673265411618573 + ], + [ + 0.01041389163583517, + 0.9999305605888367, + -0.005516997538506985, + -0.06150208386200026 + ], + [ + 0.015188353136181831, + 0.005358484573662281, + 0.9998703002929688, + 0.1094327938850692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9998493194580078, + -0.010350535623729229, + -0.013937690295279026, + 0.008290976113524319 + ], + [ + 0.010265137068927288, + 0.9999281764030457, + -0.006184836849570274, + -0.061828249632881194 + ], + [ + 0.014000705443322659, + 0.006040832027792931, + 0.9998837113380432, + 0.12032915742005691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998689889907837, + -0.010942723602056503, + -0.011927382089197636, + 0.006337582984215711 + ], + [ + 0.010860024020075798, + 0.999916672706604, + -0.006976512726396322, + -0.06206542155820846 + ], + [ + 0.012002729810774326, + 0.006846067029982805, + 0.9999045133590698, + 0.13039158669084866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9998313784599304, + -0.011839164420962334, + -0.014037104323506355, + 0.007878730773217667 + ], + [ + 0.0117274709045887, + 0.99989914894104, + -0.008012828417122364, + -0.062103566443470634 + ], + [ + 0.014130553230643272, + 0.00784685742110014, + 0.9998693466186523, + 0.13730257873015464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9998257160186768, + -0.014038086868822575, + -0.01230772864073515, + 0.006279240219953878 + ], + [ + 0.013926898129284382, + 0.9998618364334106, + -0.009073690511286259, + -0.062147623151232886 + ], + [ + 0.01243340503424406, + 0.008900701068341732, + 0.9998831152915955, + 0.14537247701755857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999808132648468, + -0.015027159824967384, + -0.012566699646413326, + 0.0062295889812867995 + ], + [ + 0.014900829643011093, + 0.99983811378479, + -0.01008667703717947, + -0.06227020282790928 + ], + [ + 0.012716238386929035, + 0.009897488169372082, + 0.9998701810836792, + 0.15453210091141384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996447563171387, + -0.022669872269034386, + -0.014017144218087196, + 0.007685389311999575 + ], + [ + 0.022469447925686836, + 0.9996453523635864, + -0.014294503256678581, + -0.0601629770368584 + ], + [ + 0.014336226508021355, + 0.013974467292428017, + 0.9997995495796204, + 0.16685003997403974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9992615580558777, + -0.03604063391685486, + -0.013319705612957478, + 0.007851591740142216 + ], + [ + 0.03584642708301544, + 0.9992514848709106, + -0.014542469754815102, + -0.0610768624496731 + ], + [ + 0.013833855278789997, + 0.01405426673591137, + 0.9998055100440979, + 0.18340504345568742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9995713233947754, + -0.025640416890382767, + -0.014132135547697544, + 0.007373471992198101 + ], + [ + 0.025411110371351242, + 0.999546229839325, + -0.016173478215932846, + -0.06075261783255033 + ], + [ + 0.014540418051183224, + 0.01580743119120598, + 0.9997693300247192, + 0.19612070673322382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996501207351685, + -0.022146929055452347, + -0.014463857747614384, + 0.006986226959631216 + ], + [ + 0.021897826343774796, + 0.9996129274368286, + -0.017159629613161087, + -0.06095643971146139 + ], + [ + 0.014838292263448238, + 0.016836896538734436, + 0.9997481107711792, + 0.20817265628783171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9997978210449219, + -0.013864407315850258, + -0.014564436860382557, + 0.006112289460268149 + ], + [ + 0.013609688729047775, + 0.9997552037239075, + -0.01744503527879715, + -0.06163344846745908 + ], + [ + 0.014802736230194569, + 0.017243292182683945, + 0.9997417330741882, + 0.21695973846969033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997104406356812, + -0.018855322152376175, + -0.014951243065297604, + 0.0062103030541219 + ], + [ + 0.01861175149679184, + 0.9996944665908813, + -0.01626606658101082, + -0.06361144270039788 + ], + [ + 0.01525337714701891, + 0.015983086079359055, + 0.9997559189796448, + 0.23268935723491938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997162222862244, + -0.018118519335985184, + -0.015465804375708103, + 0.006307258113664537 + ], + [ + 0.017868008464574814, + 0.9997093677520752, + -0.016184967011213303, + -0.0647234991885537 + ], + [ + 0.01575455628335476, + 0.015904031693935394, + 0.9997494220733643, + 0.24309767389223597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997389316558838, + -0.017309721559286118, + -0.014913711696863174, + 0.005784905922006477 + ], + [ + 0.017065349966287613, + 0.9997205138206482, + -0.01636003889143467, + -0.06545066912927905 + ], + [ + 0.015192732214927673, + 0.016101261600852013, + 0.9997549057006836, + 0.24897839765349203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997499585151672, + -0.01662955805659294, + -0.014950308948755264, + 0.005692613064811742 + ], + [ + 0.016389206051826477, + 0.9997367262840271, + -0.016057923436164856, + -0.06646689914228504 + ], + [ + 0.015213409438729286, + 0.01580888405442238, + 0.999759316444397, + 0.2514048654216626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.999764084815979, + -0.01475293468683958, + -0.015941528603434563, + 0.0061927699999622075 + ], + [ + 0.014503070153295994, + 0.9997718930244446, + -0.01567736826837063, + -0.0675365381558572 + ], + [ + 0.01616918109357357, + 0.015442469157278538, + 0.999750018119812, + 0.24898906126002635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997694492340088, + -0.01517399586737156, + -0.015192190185189247, + 0.005778251094974516 + ], + [ + 0.014940397813916206, + 0.9997702240943909, + -0.015373367816209793, + -0.06854008839211681 + ], + [ + 0.015421973541378975, + 0.01514284685254097, + 0.9997664093971252, + 0.2495849801581507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999741792678833, + -0.014951758086681366, + -0.017109587788581848, + 0.006998188688981631 + ], + [ + 0.014687912538647652, + 0.999772846698761, + -0.015444104559719563, + -0.0693344600837339 + ], + [ + 0.017336618155241013, + 0.015188812278211117, + 0.9997343420982361, + 0.24637011893185948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9997638463973999, + -0.015479748137295246, + -0.015250885859131813, + 0.0059076428413391115 + ], + [ + 0.015239820815622807, + 0.9997602105140686, + -0.015724604949355125, + -0.0699758668345484 + ], + [ + 0.015490641817450523, + 0.01548847183585167, + 0.9997600317001343, + 0.24725996042517098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997507333755493, + -0.015762511640787125, + -0.01581212319433689, + 0.006285320428654182 + ], + [ + 0.015509653836488724, + 0.9997518658638, + -0.015988577157258987, + -0.07063989392058416 + ], + [ + 0.016060220077633858, + 0.015739351511001587, + 0.9997471570968628, + 0.24765668230608476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997729063034058, + -0.01603654958307743, + -0.014034310355782509, + 0.0051970350979404015 + ], + [ + 0.015811366960406303, + 0.9997467994689941, + -0.01601172611117363, + -0.07145139780665233 + ], + [ + 0.01428752951323986, + 0.01578618958592415, + 0.9997733235359192, + 0.25022648732708996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996452927589417, + -0.020930055528879166, + -0.016467053443193436, + 0.007226256474329174 + ], + [ + 0.02062314748764038, + 0.999614417552948, + -0.01859193481504917, + -0.07068704261544569 + ], + [ + 0.016849834471940994, + 0.018245739862322807, + 0.9996915459632874, + 0.24651188890734488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997533559799194, + -0.019349707290530205, + -0.01090001780539751, + 0.003629861176321822 + ], + [ + 0.019154125824570656, + 0.9996585845947266, + -0.01777059957385063, + -0.07201622032121686 + ], + [ + 0.011240151710808277, + 0.017557434737682343, + 0.9997826814651489, + 0.2510704677890648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9972494840621948, + -0.06734167784452438, + -0.030960649251937866, + 0.021397693116556517 + ], + [ + 0.06592915207147598, + 0.9968279004096985, + -0.044580843299627304, + -0.05564671846583856 + ], + [ + 0.0338645875453949, + 0.0424170158803463, + 0.9985259175300598, + 0.22323710002189825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9976950883865356, + -0.0615786537528038, + -0.028506334871053696, + 0.019211977866501355 + ], + [ + 0.06037455052137375, + 0.9973196983337402, + -0.041331566870212555, + -0.05865218468810901 + ], + [ + 0.030975069850683212, + 0.03951524198055267, + 0.9987387657165527, + 0.22710868907122572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9969954490661621, + -0.06999118626117706, + -0.03318643569946289, + 0.023083001639971065 + ], + [ + 0.06839758157730103, + 0.9965531229972839, + -0.04694247245788574, + -0.05582492482071082 + ], + [ + 0.03635760396718979, + 0.04453156143426895, + 0.9983461499214172, + 0.22476964899577384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9968399405479431, + -0.07114959508180618, + -0.03532453998923302, + 0.02472125693601518 + ], + [ + 0.0694161131978035, + 0.9964280724525452, + -0.048088446259498596, + -0.05582851746604463 + ], + [ + 0.038619834929704666, + 0.04548439383506775, + 0.9982182383537292, + 0.22173415860853904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9966672658920288, + -0.07324602454900742, + -0.035908594727516174, + 0.025504945584934605 + ], + [ + 0.07144481688737869, + 0.9962347745895386, + -0.04911151900887489, + -0.05587612196556793 + ], + [ + 0.03937061131000519, + 0.0463823564350605, + 0.9981476068496704, + 0.21836513511159203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9966979026794434, + -0.0732332244515419, + -0.03507343307137489, + 0.025035176875670095 + ], + [ + 0.07144875079393387, + 0.9962061047554016, + -0.04968338459730148, + -0.05634849958799103 + ], + [ + 0.03857884183526039, + 0.04701337218284607, + 0.9981489777565002, + 0.21812769763233247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9965919852256775, + -0.07375507801771164, + -0.036940798163414, + 0.026356073604388672 + ], + [ + 0.07186811417341232, + 0.9961581230163574, + -0.050040215253829956, + -0.05691755224357953 + ], + [ + 0.04048959165811539, + 0.0472148135304451, + 0.9980638027191162, + 0.21725697205825287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9966723918914795, + -0.07177923619747162, + -0.03862479701638222, + 0.027272720896631235 + ], + [ + 0.06983071565628052, + 0.9963234663009644, + -0.049631062895059586, + -0.05802586620504206 + ], + [ + 0.042045269161462784, + 0.04676871374249458, + 0.9980204701423645, + 0.21776846466539812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9966701865196228, + -0.07111449539661407, + -0.03989032655954361, + 0.027886850956427164 + ], + [ + 0.06910234689712524, + 0.996368944644928, + -0.049736976623535156, + -0.058882134801839014 + ], + [ + 0.04328250139951706, + 0.04681484401226044, + 0.9979654550552368, + 0.2205944336889204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9965727925300598, + -0.07222500443458557, + -0.040327038615942, + 0.02863916276284486 + ], + [ + 0.070188507437706, + 0.9962889552116394, + -0.04981835559010506, + -0.05945094828763285 + ], + [ + 0.043775517493486404, + 0.0468171201646328, + 0.9979438185691833, + 0.21471257724853093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.996569037437439, + -0.07290119677782059, + -0.0391865037381649, + 0.02800376515927886 + ], + [ + 0.07093841582536697, + 0.9962596297264099, + -0.04934089630842209, + -0.06062677484775378 + ], + [ + 0.042636942118406296, + 0.04639177769422531, + 0.9980129599571228, + 0.21598438730170905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9966841340065002, + -0.07113997638225555, + -0.03949461504817009, + 0.028085888740568124 + ], + [ + 0.06917673349380493, + 0.9963988065719604, + -0.049030330032110214, + -0.06164913396697401 + ], + [ + 0.04284040257334709, + 0.04613564535975456, + 0.9980161190032959, + 0.215500899259586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9967657327651978, + -0.06943682581186295, + -0.040455132722854614, + 0.028465590158031007 + ], + [ + 0.06746343523263931, + 0.9965539574623108, + -0.048258595168590546, + -0.06305223203395025 + ], + [ + 0.043666645884513855, + 0.04537326842546463, + 0.998015284538269, + 0.2179304448041049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9966028928756714, + -0.07033032923936844, + -0.042852647602558136, + 0.030394509336179938 + ], + [ + 0.06821341067552567, + 0.996466338634491, + -0.04900805279612541, + -0.06321813314537372 + ], + [ + 0.04614797234535217, + 0.04591843858361244, + 0.9978786706924438, + 0.2121656606358684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9966344237327576, + -0.07148434966802597, + -0.040122777223587036, + 0.028654966617295566 + ], + [ + 0.06949575990438461, + 0.9963808655738831, + -0.048944197595119476, + -0.06419189063724409 + ], + [ + 0.04347631335258484, + 0.04599110782146454, + 0.9979953169822693, + 0.21626070378240475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9966663122177124, + -0.07046996802091599, + -0.041112031787633896, + 0.02939279425796891 + ], + [ + 0.06844856590032578, + 0.996467113494873, + -0.048662759363651276, + -0.06513535214726592 + ], + [ + 0.0443960539996624, + 0.045686475932598114, + 0.9979687929153442, + 0.21352177806013872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9968398213386536, + -0.06798099726438522, + -0.04109657183289528, + 0.028965873967024908 + ], + [ + 0.06595052033662796, + 0.996624231338501, + -0.048894573003053665, + -0.06557481520432086 + ], + [ + 0.0442817397415638, + 0.046029720455408096, + 0.9979581236839294, + 0.2068559031102283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9968058466911316, + -0.0689178928732872, + -0.04035387560725212, + 0.028772155195474623 + ], + [ + 0.0669330433011055, + 0.9965717196464539, + -0.04862915351986885, + -0.06686076670885087 + ], + [ + 0.04356694594025612, + 0.045772816985845566, + 0.9980013966560364, + 0.21497103311121463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/move_left/transforms.json b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..bfec8cc5f0a16d81ad068995241d78fb35a484ba --- /dev/null +++ b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/move_left/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.783745655207895e-05, + -2.8303711587795988e-06, + -3.445252104938845e-06 + ], + [ + 5.783744200016372e-05, + 1.0, + -5.463689831231022e-06, + 1.3817551007377915e-05 + ], + [ + 2.830687208188465e-06, + 5.463526122184703e-06, + 1.0, + -7.349567022174597e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958276748657, + -0.0028064714279025793, + 0.0007068119593895972, + -0.0012639292257006689 + ], + [ + 0.002806620905175805, + 0.9999960660934448, + -0.00021029174968134612, + 0.00017370040153734354 + ], + [ + -0.0007062189397402108, + 0.00021227462275419384, + 0.9999997019767761, + 0.0006573876054776633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999977350234985, + -0.0016366743948310614, + 0.001340940478257835, + -0.002493500224822624 + ], + [ + 0.0016363593749701977, + 0.9999986290931702, + 0.00023600790882483125, + -8.367631194270255e-05 + ], + [ + -0.0013413248816505075, + -0.00023381313076242805, + 0.9999990463256836, + 0.0022003844440029547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999974966049194, + -0.0013848657254129648, + 0.0017620036378502846, + -0.003571785075690074 + ], + [ + 0.0013835688587278128, + 0.9999987483024597, + 0.0007370490930043161, + -0.00038570478348800343 + ], + [ + -0.0017630222719162703, + -0.000734609377104789, + 0.999998152256012, + 0.0032383119358396356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999961256980896, + -0.001618959940969944, + 0.002268835436552763, + -0.004742749148694998 + ], + [ + 0.0016160369850695133, + 0.9999978542327881, + 0.001289574196562171, + -0.0007358891608516785 + ], + [ + -0.0022709183394908905, + -0.0012859026901423931, + 0.9999966025352478, + 0.003999175746301728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999963045120239, + 0.0005000975797884166, + 0.0026827254332602024, + -0.005840824953518993 + ], + [ + -0.0005049681640230119, + 0.9999982118606567, + 0.0018151759868487716, + -0.001029127842433027 + ], + [ + -0.0026818127371370792, + -0.0018165238434448838, + 0.9999947547912598, + 0.005376682214608247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999912977218628, + 0.002839913358911872, + 0.003046482801437378, + -0.0069076127039792 + ], + [ + -0.002846579300239682, + 0.9999935626983643, + 0.002185929799452424, + -0.0012299801176798738 + ], + [ + -0.0030402555130422115, + -0.0021945827174931765, + 0.9999929666519165, + 0.006836777881619112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999901056289673, + 0.0032325047068297863, + 0.0030508756171911955, + -0.00772023303357284 + ], + [ + -0.003240032587200403, + 0.9999917149543762, + 0.0024657046888023615, + -0.0013716455258444445 + ], + [ + -0.0030428797472268343, + -0.002475565066561103, + 0.999992311000824, + 0.007788605099613201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999921321868896, + 0.0027839711401611567, + 0.0028307600878179073, + -0.008367500168248273 + ], + [ + -0.002791980979964137, + 0.9999920725822449, + 0.002829574281349778, + -0.0015854431720342763 + ], + [ + -0.0028228601440787315, + -0.0028374555986374617, + 0.9999920129776001, + 0.008845844139799107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999954104423523, + 0.0016041825292631984, + 0.002573281992226839, + -0.00898288682118551 + ], + [ + -0.0016120491782203317, + 0.9999940395355225, + 0.0030579303856939077, + -0.0017127170963482238 + ], + [ + -0.002568361349403858, + -0.003062064526602626, + 0.9999920129776001, + 0.010382695349071883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999934434890747, + 0.0026383395306766033, + 0.002491466701030731, + -0.00974554143853732 + ], + [ + -0.002646366134285927, + 0.9999912977218628, + 0.003223949810490012, + -0.0017636303447402459 + ], + [ + -0.0024829390458762646, + -0.0032305216882377863, + 0.9999917149543762, + 0.012323906972296229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999929070472717, + 0.002913790289312601, + 0.0023791722487658262, + -0.010487702975726942 + ], + [ + -0.002922088373452425, + 0.9999896287918091, + 0.0034918051678687334, + -0.001878287550061941 + ], + [ + -0.002368973335251212, + -0.0034987328108400106, + 0.9999910593032837, + 0.013975996742109684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999919533729553, + 0.0032580422703176737, + 0.0023322738707065582, + -0.011313039865652639 + ], + [ + -0.003267096122726798, + 0.9999871253967285, + 0.0038886701222509146, + -0.0020914305852002594 + ], + [ + -0.0023195743560791016, + -0.0038962585385888815, + 0.9999897480010986, + 0.01478980798582154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999970555305481, + 0.007387342397123575, + 0.0020871751476079226, + -0.0120102884317171 + ], + [ + -0.007395886350423098, + 0.99996417760849, + 0.004115849267691374, + -0.002123007125582946 + ], + [ + -0.0020566952880471945, + -0.004131164867430925, + 0.9999893307685852, + 0.01631799170666582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999265670776367, + 0.011846134439110756, + 0.002549391007050872, + -0.01317663218802965 + ], + [ + -0.011856799945235252, + 0.9999208450317383, + 0.004209635313600302, + -0.0020582294376366886 + ], + [ + -0.0024993212427943945, + -0.004239554051309824, + 0.9999879002571106, + 0.017244853279822746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998978972434998, + 0.013873682357370853, + 0.0034309057518839836, + -0.014659761202960345 + ], + [ + -0.01388926524668932, + 0.9998931288719177, + 0.0045604887418448925, + -0.0022912636276119012 + ], + [ + -0.003367268480360508, + -0.004607676062732935, + 0.9999837279319763, + 0.014792395012899617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998655319213867, + 0.015915818512439728, + 0.0039470018818974495, + -0.01586346727341783 + ], + [ + -0.015934113413095474, + 0.9998622536659241, + 0.0046480922028422356, + -0.0022839078675832383 + ], + [ + -0.003872480010613799, + -0.004710359498858452, + 0.9999814033508301, + 0.014709051136573977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998513460159302, + 0.016706084832549095, + 0.004268426913768053, + -0.016911107481819045 + ], + [ + -0.016725068911910057, + 0.9998502135276794, + 0.004451576620340347, + -0.002092814833418397 + ], + [ + -0.004193419124931097, + -0.004522304981946945, + 0.9999809861183167, + 0.015717493709992647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999411702156067, + 0.010277645662426949, + 0.0034610573202371597, + -0.017112464811806838 + ], + [ + -0.010294608771800995, + 0.9999349117279053, + 0.004919321741908789, + -0.0024845556075076673 + ], + [ + -0.003410272765904665, + -0.004954662639647722, + 0.9999819397926331, + 0.018935034378654948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999435544013977, + 0.010081742890179157, + 0.003351201768964529, + -0.017854813822306508 + ], + [ + -0.010097860358655453, + 0.9999373555183411, + 0.00482809916138649, + -0.0023889517842614946 + ], + [ + -0.0033023161813616753, + -0.0048616668209433556, + 0.9999827146530151, + 0.019982746244246556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999231100082397, + 0.011888377368450165, + 0.0035325640346854925, + -0.01882771879034348 + ], + [ + -0.011904645711183548, + 0.9999184608459473, + 0.00462042260915041, + -0.0021874809114277856 + ], + [ + -0.0034773468505591154, + -0.0046621207147836685, + 0.9999830722808838, + 0.020282219398828332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999351501464844, + 0.010883829556405544, + 0.0033528655767440796, + -0.01951429801223384 + ], + [ + -0.010900500230491161, + 0.9999281167984009, + 0.004994542337954044, + -0.002490623967244852 + ], + [ + -0.003298264928162098, + -0.005030766129493713, + 0.9999818801879883, + 0.019413314563460835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998852610588074, + 0.014765947125852108, + 0.0033873978536576033, + -0.02039974915625697 + ], + [ + -0.014782938174903393, + 0.9998779892921448, + 0.005046765320003033, + -0.0023863966830752112 + ], + [ + -0.003312464104965329, + -0.005096261389553547, + 0.9999815225601196, + 0.019886951745403083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998493790626526, + 0.01701226644217968, + 0.00342830503359437, + -0.021368696481712964 + ], + [ + -0.01703006960451603, + 0.9998412728309631, + 0.0052327984012663364, + -0.0024457742132954607 + ], + [ + -0.003338739275932312, + -0.0052903941832482815, + 0.9999804496765137, + 0.018689401041377673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998409152030945, + 0.01752272993326187, + 0.003327056998386979, + -0.02213196168338095 + ], + [ + -0.017539959400892258, + 0.9998325109481812, + 0.005222553852945566, + -0.0024097330837456648 + ], + [ + -0.003234986448660493, + -0.005280079785734415, + 0.9999808073043823, + 0.019091392556313147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998390674591064, + 0.017639189958572388, + 0.0032628802582621574, + -0.02291210175661201 + ], + [ + -0.017656300216913223, + 0.9998301267623901, + 0.005291546229273081, + -0.00244629026529156 + ], + [ + -0.003168987575918436, + -0.0053483047522604465, + 0.9999806880950928, + 0.0185666840450361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998289942741394, + 0.018244341015815735, + 0.0030210299883037806, + -0.02357557266873639 + ], + [ + -0.018260013312101364, + 0.9998195171356201, + 0.0052446406334638596, + -0.002384663276636034 + ], + [ + -0.0029247996862977743, + -0.005298907868564129, + 0.999981701374054, + 0.019441037795560296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999863862991333, + 0.016277488321065903, + 0.0027016678359359503, + -0.02407762142887324 + ], + [ + -0.01628957688808441, + 0.9998571276664734, + 0.004514599684625864, + -0.0018261220971938254 + ], + [ + -0.0026277953293174505, + -0.004557993728667498, + 0.9999861717224121, + 0.024029203445250398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997281432151794, + 0.02316964417695999, + 0.002601352520287037, + -0.025022586517051356 + ], + [ + -0.023179713636636734, + 0.9997236728668213, + 0.003910321742296219, + -0.0011955391852308279 + ], + [ + -0.002510033082216978, + -0.003969557583332062, + 0.9999889731407166, + 0.026845414737962987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997313618659973, + 0.023090697824954987, + 0.002011743374168873, + -0.025451637652687237 + ], + [ + -0.023098286241292953, + 0.9997258186340332, + 0.003834041301161051, + -0.001146719053826364 + ], + [ + -0.0019226610893383622, + -0.003879479132592678, + 0.9999906420707703, + 0.025696199716064957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997292160987854, + 0.023217996582388878, + 0.0015576299047097564, + -0.026022194082317644 + ], + [ + -0.02322390489280224, + 0.9997227191925049, + 0.003889671992510557, + -0.0011450998390801557 + ], + [ + -0.0014668876538053155, + -0.0039247930981218815, + 0.999991238117218, + 0.02545403413501499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997439384460449, + 0.022574761882424355, + 0.0015657554613426328, + -0.02702703062264049 + ], + [ + -0.022580983117222786, + 0.9997367262840271, + 0.004076649434864521, + -0.0013107968234526346 + ], + [ + -0.0014733137795701623, + -0.004110962152481079, + 0.9999904632568359, + 0.024820733366992077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998392462730408, + 0.017929350957274437, + -7.81268099672161e-05, + -0.026381027664704692 + ], + [ + -0.01792893372476101, + 0.999832272529602, + 0.0037330477498471737, + -0.0012031340069129817 + ], + [ + 0.00014504481805488467, + -0.0037310468032956123, + 0.9999930262565613, + 0.025630000269055857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998748302459717, + 0.015791447833180428, + -0.0009643216617405415, + -0.026558781948617913 + ], + [ + -0.015787938609719276, + 0.9998691082000732, + 0.003542904742062092, + -0.0011082011888819661 + ], + [ + 0.0010201430413872004, + -0.0035272366367280483, + 0.9999932646751404, + 0.026115590954114767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998689889907837, + 0.016108524054288864, + -0.0015843309229239821, + -0.027028485874198996 + ], + [ + -0.01610235869884491, + 0.9998630285263062, + 0.0038305202033370733, + -0.0012689786576396546 + ], + [ + 0.0016458180034533143, + -0.003804506966844201, + 0.9999914169311523, + 0.026432051882725054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998961091041565, + 0.014267563819885254, + -0.0020425745751708746, + -0.02755310476376591 + ], + [ + -0.014259152114391327, + 0.9998900294303894, + 0.004075292963534594, + -0.0014817528580584802 + ], + [ + 0.002100494457408786, + -0.004045743960887194, + 0.9999896287918091, + 0.025839948544686676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999678730964661, + 0.007661185692995787, + -0.0023502311669290066, + -0.02812869372923882 + ], + [ + -0.007648948114365339, + 0.9999573826789856, + 0.0051724547520279884, + -0.002435816139798642 + ], + [ + 0.0023897578939795494, + -0.005154311656951904, + 0.9999838471412659, + 0.0251170440615455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999990701675415, + 0.003868326311931014, + -0.0019154594046995044, + -0.029226697753337482 + ], + [ + -0.0038563243579119444, + 0.9999731779098511, + 0.006230430211871862, + -0.003256046122963702 + ], + [ + 0.0019395094132050872, + -0.006222985219210386, + 0.99997878074646, + 0.025323606336446987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999759197235107, + 0.006791156716644764, + -0.001446334645152092, + -0.030344265728827167 + ], + [ + -0.0067808423191308975, + 0.9999523758888245, + 0.00702052703127265, + -0.003624060147341864 + ], + [ + 0.0014939431566745043, + -0.007010550703853369, + 0.9999743103981018, + 0.025439490578406727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999930739402771, + 0.01171522494405508, + -0.0011429354781284928, + -0.03141526325167088 + ], + [ + -0.011706269346177578, + 0.9999029636383057, + 0.00755107868462801, + -0.003717521671975447 + ], + [ + 0.0012312872568145394, + -0.00753717590123415, + 0.9999708533287048, + 0.02599989376502296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999911367893219, + 0.013270126655697823, + -0.001104064635001123, + -0.03230984037557293 + ], + [ + -0.013260602951049805, + 0.9998782277107239, + 0.008227849379181862, + -0.004117873008555371 + ], + [ + 0.001213114825077355, + -0.008212478831410408, + 0.9999655485153198, + 0.025125400875194753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999157190322876, + 0.012930509634315968, + -0.001161010004580021, + -0.033164960768916604 + ], + [ + -0.012919754721224308, + 0.9998775124549866, + 0.00883627962321043, + -0.004634243647052237 + ], + [ + 0.0012751254253089428, + -0.00882053468376398, + 0.9999603033065796, + 0.020965841717725572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999902069568634, + 0.013994257897138596, + 0.0002114921371685341, + -0.03530841002506319 + ], + [ + -0.013995654881000519, + 0.9998545050621033, + 0.009753463789820671, + -0.0054349979955302784 + ], + [ + -7.49688915675506e-05, + -0.009755467996001244, + 0.9999524354934692, + 0.013584210648088839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999215006828308, + 0.012520823627710342, + 0.0004568512085825205, + -0.03632808686513069 + ], + [ + -0.012525033205747604, + 0.9998630881309509, + 0.010814942419528961, + -0.006623583564088364 + ], + [ + -0.00032137666130438447, + -0.01081981509923935, + 0.9999414086341858, + -0.0010508909906657058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999226927757263, + 0.012133807875216007, + 0.0027203799691051245, + -0.03945268319327046 + ], + [ + -0.012165836058557034, + 0.9998529553413391, + 0.012083525769412518, + -0.008038653077727014 + ], + [ + -0.0025733609218150377, + -0.012115688063204288, + 0.9999232888221741, + -0.01702132329175418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999293088912964, + 0.011890053749084473, + -5.142127338331193e-05, + -0.037524377825922016 + ], + [ + -0.011888450011610985, + 0.9998492002487183, + 0.012659406289458275, + -0.00875917441126975 + ], + [ + 0.00020193452655803412, + -0.012657899409532547, + 0.9999198913574219, + -0.027617024034268918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999624490737915, + 0.008563719689846039, + 0.0013211503392085433, + -0.03981575838690393 + ], + [ + -0.008580664172768593, + 0.9998733997344971, + 0.013401951640844345, + -0.0098402926960021 + ], + [ + -0.001206212560646236, + -0.013412784785032272, + 0.9999093413352966, + -0.04061983384111173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999905228614807, + 0.0042605348862707615, + 0.0008774549351073802, + -0.04066075154749508 + ], + [ + -0.004272392485290766, + 0.999893069267273, + 0.013987302780151367, + -0.010846470416839088 + ], + [ + -0.0008177677518688142, + -0.013990920037031174, + 0.9999017715454102, + -0.05336796966653648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999960660934448, + 0.002808012766763568, + -0.00020423665409907699, + -0.04073764830500596 + ], + [ + -0.002804753603413701, + 0.9998908042907715, + 0.014510639011859894, + -0.011632307725073385 + ], + [ + 0.0002449603925924748, + -0.014510009437799454, + 0.9998946785926819, + -0.06439074316862509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999986886978149, + 0.0015466696349903941, + 0.00047506808186881244, + -0.04251633342740334 + ], + [ + -0.001553635229356587, + 0.9998858571052551, + 0.015029547736048698, + -0.012405991243979748 + ], + [ + -0.00045176807907409966, + -0.015030266717076302, + 0.9998869299888611, + -0.07473607749872059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999993085861206, + 0.003722446272149682, + -0.00016643184062559158, + -0.04277937005520298 + ], + [ + -0.003719238331541419, + 0.9998601675033569, + 0.01630224660038948, + -0.013849355528623727 + ], + [ + 0.00022709280892740935, + -0.016301512718200684, + 0.9998670816421509, + -0.08951314910657007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999908208847046, + 0.004274276550859213, + 0.0002612349926494062, + -0.04410193639668859 + ], + [ + -0.004278173204511404, + 0.9998396635055542, + 0.01738869585096836, + -0.015329386293503248 + ], + [ + -0.00018686903058551252, + -0.017389653250575066, + 0.9998487830162048, + -0.1097458069114359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999738931655884, + 0.006894450634717941, + 0.0021738489158451557, + -0.04713499411278643 + ], + [ + -0.00693309772759676, + 0.9998084902763367, + 0.01830228790640831, + -0.01657873505711063 + ], + [ + -0.0020472481846809387, + -0.018316879868507385, + 0.9998301267623901, + -0.12783062012234994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999421238899231, + 0.01067639235407114, + 0.0013296757824718952, + -0.04713016786720327 + ], + [ + -0.010700025595724583, + 0.9997572898864746, + 0.019257262349128723, + -0.017730057204896506 + ], + [ + -0.0011237550061196089, + -0.01927037537097931, + 0.9998136758804321, + -0.1445122174258644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998747706413269, + 0.015750795602798462, + 0.0015214320737868547, + -0.04819540398711077 + ], + [ + -0.015777289867401123, + 0.999688446521759, + 0.019340582191944122, + -0.017774851204565734 + ], + [ + -0.0012163284700363874, + -0.019362162798643112, + 0.9998117685317993, + -0.15074473869725138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997836947441101, + 0.020736683160066605, + 0.001580188749358058, + -0.049111941554160286 + ], + [ + -0.020763371139764786, + 0.9995976090431213, + 0.019327649846673012, + -0.01750756393779408 + ], + [ + -0.0011787614785134792, + -0.01935627870261669, + 0.9998119473457336, + -0.149799962379885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9996997714042664, + 0.02433955855667591, + 0.0028113950975239277, + -0.050935403417703536 + ], + [ + -0.024387026205658913, + 0.9995349645614624, + 0.018306100741028786, + -0.01624018802068943 + ], + [ + -0.002364525105804205, + -0.018369166180491447, + 0.9998284578323364, + -0.14354323006796935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995543956756592, + 0.029548920691013336, + 0.004227399826049805, + -0.05289930310716068 + ], + [ + -0.029618799686431885, + 0.999407172203064, + 0.01755179837346077, + -0.015112771454059388 + ], + [ + -0.0037062568590044975, + -0.017669185996055603, + 0.9998370409011841, + -0.1389148132713927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9994455575942993, + 0.03280578553676605, + 0.005688773933798075, + -0.05496700384985071 + ], + [ + -0.032905213534832, + 0.9992896914482117, + 0.018367277458310127, + -0.015754716646326473 + ], + [ + -0.005082180257886648, + -0.018544284626841545, + 0.9998151063919067, + -0.1399827554952815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9993156790733337, + 0.03692590817809105, + 0.0021574879065155983, + -0.05154273936848257 + ], + [ + -0.03695954754948616, + 0.9991456270217896, + 0.01849270612001419, + -0.015732105538125866 + ], + [ + -0.0014727849047631025, + -0.018559791147708893, + 0.9998266696929932, + -0.1425763171764614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994795322418213, + 0.03142419457435608, + 0.0072946250438690186, + -0.05792697217346223 + ], + [ + -0.03155197948217392, + 0.9993378520011902, + 0.01811831444501877, + -0.015463372184471651 + ], + [ + -0.006720441393554211, + -0.018339045345783234, + 0.9998092651367188, + -0.14135189808535675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997190833091736, + 0.022542152553796768, + 0.007318965625017881, + -0.05863059677860954 + ], + [ + -0.022671543061733246, + 0.9995790123939514, + 0.018105164170265198, + -0.01593640963585416 + ], + [ + -0.006907755043357611, + -0.018266011029481888, + 0.9998093247413635, + -0.14075432511870095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998928308486938, + 0.012742229737341404, + 0.007208742201328278, + -0.05935326298190789 + ], + [ + -0.012875487096607685, + 0.99974125623703, + 0.01875152811408043, + -0.01718358712594125 + ], + [ + -0.006967941299080849, + -0.018842335790395737, + 0.9997981786727905, + -0.14590137878294326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999678730964661, + 0.006993183866143227, + 0.003913265652954578, + -0.057336893370605956 + ], + [ + -0.007064376026391983, + 0.9998041987419128, + 0.01848454214632511, + -0.017263425569519524 + ], + [ + -0.0037832336965948343, + -0.018511595204472542, + 0.9998214840888977, + -0.14474916474774388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999958872795105, + 0.001987205818295479, + 0.0020537832751870155, + -0.05687090792377626 + ], + [ + -0.002024661749601364, + 0.9998286962509155, + 0.018399352207779884, + -0.017424301686119442 + ], + [ + -0.0020168679766356945, + -0.018403435125947, + 0.9998286366462708, + -0.14153914163427905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999946355819702, + -0.002930622547864914, + 0.0014693100238218904, + -0.057514829557265876 + ], + [ + 0.0029037310741841793, + 0.9998341202735901, + 0.01798180863261223, + -0.017126569722602066 + ], + [ + -0.001521764206700027, + -0.01797744631767273, + 0.9998372197151184, + -0.13369748006961577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999932646751404, + -0.0035900401417165995, + 0.0007973811007104814, + -0.05793934700248593 + ], + [ + 0.0035758151207119226, + 0.9998460412025452, + 0.017177239060401917, + -0.01598440613174303 + ], + [ + -0.0008589253411628306, + -0.017174270004034042, + 0.9998521208763123, + -0.11861675110412762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999962449073792, + 0.002508861944079399, + -0.0011235765414312482, + -0.05689493674527054 + ], + [ + -0.0024920362047851086, + 0.9998883605003357, + 0.014734344556927681, + -0.01281524512354931 + ], + [ + 0.0011604175670072436, + -0.01473148912191391, + 0.9998908042907715, + -0.09748085660153753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999516606330872, + 0.00877491943538189, + -0.004434290807694197, + -0.05431674309998505 + ], + [ + -0.008724277839064598, + 0.9998979568481445, + 0.01131345797330141, + -0.009141363322057507 + ], + [ + 0.0045331125147640705, + -0.011274225078523159, + 0.9999261498451233, + -0.07347435822079251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999287128448486, + 0.011543706059455872, + -0.0030420604161918163, + -0.056510387580218334 + ], + [ + -0.011517448350787163, + 0.9998974204063416, + 0.008512167260050774, + -0.006272928066520898 + ], + [ + 0.00314001040533185, + -0.00847652368247509, + 0.9999591708183289, + -0.049878852945667775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999113082885742, + 0.012692896649241447, + -0.00403233477845788, + -0.056236532343597705 + ], + [ + -0.012666931375861168, + 0.9998992681503296, + 0.006400971207767725, + -0.00420764971462902 + ], + [ + 0.004113175440579653, + -0.006349326577037573, + 0.9999713897705078, + -0.03170130339889857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999157190322876, + 0.012004530988633633, + -0.004947065841406584, + -0.05613152514642859 + ], + [ + -0.011980519630014896, + 0.9999164342880249, + 0.004855002276599407, + -0.0028397367597549905 + ], + [ + 0.005004934500902891, + -0.0047953249886631966, + 0.9999759793281555, + -0.018000550870206362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999274611473083, + 0.010509963147342205, + -0.005883307196199894, + -0.0561043164411883 + ], + [ + -0.010490966029465199, + 0.9999396800994873, + 0.0032504478003829718, + -0.0014860682716700902 + ], + [ + 0.005917114205658436, + -0.0031884906347841024, + 0.9999774098396301, + -0.004363527249021471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999355673789978, + 0.009588354267179966, + -0.006072468124330044, + -0.05685577285860873 + ], + [ + -0.009576252661645412, + 0.9999521374702454, + 0.002018814440816641, + -0.0004860940127641209 + ], + [ + 0.006091534160077572, + -0.0019605327397584915, + 0.9999794960021973, + 0.011627092653469851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999958872795105, + 0.008174346759915352, + -0.003933383617550135, + -0.05980155003056977 + ], + [ + -0.008170386776328087, + 0.9999660849571228, + 0.0010218676179647446, + 0.000282892285368005 + ], + [ + 0.003941603470593691, + -0.000989688327535987, + 0.9999917149543762, + 0.025327365188897888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999635815620422, + 0.005333449225872755, + -0.006666846107691526, + -0.05815432987883996 + ], + [ + -0.005337057169526815, + 0.9999856352806091, + -0.0005234805284999311, + 0.0014473783662388763 + ], + [ + 0.006663958076387644, + 0.0005590427317656577, + 0.9999776482582092, + 0.037500069755676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999913573265076, + 0.001240003271959722, + -0.003975546453148127, + -0.06157653438897173 + ], + [ + -0.0012464773608371615, + 0.9999979138374329, + -0.0016264364821836352, + 0.002138644895970452 + ], + [ + 0.0039735217578709126, + 0.0016313778469339013, + 0.9999907612800598, + 0.04989147483840708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999468326568604, + -0.0026609927881509066, + -0.009959506802260876, + -0.05712668159129945 + ], + [ + 0.002639488549903035, + 0.999994158744812, + -0.002171693369746208, + 0.0023832172811539334 + ], + [ + 0.009965226985514164, + 0.002145289909094572, + 0.9999480247497559, + 0.06175901904194193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999139308929443, + -0.006439978256821632, + -0.011431481689214706, + -0.057233999209278394 + ], + [ + 0.006405310705304146, + 0.99997478723526, + -0.0030666275415569544, + 0.002933971216317174 + ], + [ + 0.011450942605733871, + 0.00299314153380692, + 0.9999299645423889, + 0.07648580409894305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998770952224731, + -0.008985310792922974, + -0.0128486892208457, + -0.057384389401836836 + ], + [ + 0.00893474742770195, + 0.9999521374702454, + -0.003987260162830353, + 0.003564168893047108 + ], + [ + 0.012883900664746761, + 0.003871970111504197, + 0.999909520149231, + 0.08792605021937697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9998668432235718, + -0.01049720961600542, + -0.012494683265686035, + -0.059021519046769416 + ], + [ + 0.01043976005166769, + 0.9999346733093262, + -0.004654319025576115, + 0.003996242730578115 + ], + [ + 0.012542724609375, + 0.004523257724940777, + 0.9999111294746399, + 0.0997830266055982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.999830424785614, + -0.010496334172785282, + -0.015131495893001556, + -0.05796017878311725 + ], + [ + 0.01041389163583517, + 0.9999305605888367, + -0.005516997538506985, + 0.004738288191878352 + ], + [ + 0.015188353136181831, + 0.005358484573662281, + 0.9998703002929688, + 0.10877476136146252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9998493194580078, + -0.010350535623729229, + -0.013937690295279026, + -0.0601688487763124 + ], + [ + 0.010265137068927288, + 0.9999281764030457, + -0.006184836849570274, + 0.0052398241071169045 + ], + [ + 0.014000705443322659, + 0.006040832027792931, + 0.9998837113380432, + 0.11978972798197969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998689889907837, + -0.010942723602056503, + -0.011927382089197636, + -0.06299908821016921 + ], + [ + 0.010860024020075798, + 0.999916672706604, + -0.006976512726396322, + 0.005778960128553397 + ], + [ + 0.012002729810774326, + 0.006846067029982805, + 0.9999045133590698, + 0.130037865194315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9998313784599304, + -0.011839164420962334, + -0.014037104323506355, + -0.06235294327801787 + ], + [ + 0.0117274709045887, + 0.99989914894104, + -0.008012828417122364, + 0.006496781453274744 + ], + [ + 0.014130553230643272, + 0.00784685742110014, + 0.9998693466186523, + 0.13686635521940949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9998257160186768, + -0.014038086868822575, + -0.01230772864073515, + -0.06494259717296963 + ], + [ + 0.013926898129284382, + 0.9998618364334106, + -0.009073690511286259, + 0.007112269208974335 + ], + [ + 0.01243340503424406, + 0.008900701068341732, + 0.9998831152915955, + 0.14512431186292907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999808132648468, + -0.015027159824967384, + -0.012566699646413326, + -0.06589920040112267 + ], + [ + 0.014900829643011093, + 0.99983811378479, + -0.01008667703717947, + 0.007733604144151053 + ], + [ + 0.012716238386929035, + 0.009897488169372082, + 0.9998701810836792, + 0.1543317599868602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996447563171387, + -0.022669872269034386, + -0.014017144218087196, + -0.06581987737146908 + ], + [ + 0.022469447925686836, + 0.9996453523635864, + -0.014294503256678581, + 0.010096778075618684 + ], + [ + 0.014336226508021355, + 0.013974467292428017, + 0.9997995495796204, + 0.16682402918746403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9992615580558777, + -0.03604063391685486, + -0.013319705612957478, + -0.06744311313060199 + ], + [ + 0.03584642708301544, + 0.9992514848709106, + -0.014542469754815102, + 0.008988959934901107 + ], + [ + 0.013833855278789997, + 0.01405426673591137, + 0.9998055100440979, + 0.18342107337984173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9995713233947754, + -0.025640416890382767, + -0.014132135547697544, + -0.06803466427671022 + ], + [ + 0.025411110371351242, + 0.999546229839325, + -0.016173478215932846, + 0.010898643020879138 + ], + [ + 0.014540418051183224, + 0.01580743119120598, + 0.9997693300247192, + 0.19621390026170482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996501207351685, + -0.022146929055452347, + -0.014463857747614384, + -0.06901520649586951 + ], + [ + 0.021897826343774796, + 0.9996129274368286, + -0.017159629613161087, + 0.011766171113641795 + ], + [ + 0.014838292263448238, + 0.016836896538734436, + 0.9997481107711792, + 0.20832131280417532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9997978210449219, + -0.013864407315850258, + -0.014564436860382557, + -0.07012181201149241 + ], + [ + 0.013609688729047775, + 0.9997552037239075, + -0.01744503527879715, + 0.012531214230501455 + ], + [ + 0.014802736230194569, + 0.017243292182683945, + 0.9997417330741882, + 0.21714328441322467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997104406356812, + -0.018855322152376175, + -0.014951243065297604, + -0.07123436651323453 + ], + [ + 0.01861175149679184, + 0.9996944665908813, + -0.01626606658101082, + 0.010983276133202324 + ], + [ + 0.01525337714701891, + 0.015983086079359055, + 0.9997559189796448, + 0.23274483923638656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997162222862244, + -0.018118519335985184, + -0.015465804375708103, + -0.07192301541597637 + ], + [ + 0.017868008464574814, + 0.9997093677520752, + -0.016184967011213303, + 0.010740340822799638 + ], + [ + 0.01575455628335476, + 0.015904031693935394, + 0.9997494220733643, + 0.24310916249817313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997389316558838, + -0.017309721559286118, + -0.014913711696863174, + -0.0732254853195026 + ], + [ + 0.017065349966287613, + 0.9997205138206482, + -0.01636003889143467, + 0.010887831203208482 + ], + [ + 0.015192732214927673, + 0.016101261600852013, + 0.9997549057006836, + 0.2490489776223159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997499585151672, + -0.01662955805659294, + -0.014950308948755264, + -0.07410577873214465 + ], + [ + 0.016389206051826477, + 0.9997367262840271, + -0.016057923436164856, + 0.010738071454458 + ], + [ + 0.015213409438729286, + 0.01580888405442238, + 0.999759316444397, + 0.2514516175609113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.999764084815979, + -0.01475293468683958, + -0.015941528603434563, + -0.07429783650604654 + ], + [ + 0.014503070153295994, + 0.9997718930244446, + -0.01567736826837063, + 0.010633550270283518 + ], + [ + 0.01616918109357357, + 0.015442469157278538, + 0.999750018119812, + 0.24893140477582443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997694492340088, + -0.01517399586737156, + -0.015192190185189247, + -0.07558498376026011 + ], + [ + 0.014940397813916206, + 0.9997702240943909, + -0.015373367816209793, + 0.010409079499789014 + ], + [ + 0.015421973541378975, + 0.01514284685254097, + 0.9997664093971252, + 0.24956260388640086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999741792678833, + -0.014951758086681366, + -0.017109587788581848, + -0.07518360302591126 + ], + [ + 0.014687912538647652, + 0.999772846698761, + -0.015444104559719563, + 0.010449278385432298 + ], + [ + 0.017336618155241013, + 0.015188812278211117, + 0.9997343420982361, + 0.24619616440628186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9997638463973999, + -0.015479748137295246, + -0.015250885859131813, + -0.07715774216604505 + ], + [ + 0.015239820815622807, + 0.9997602105140686, + -0.015724604949355125, + 0.01057580141350627 + ], + [ + 0.015490641817450523, + 0.01548847183585167, + 0.9997600317001343, + 0.247259782881222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997507333755493, + -0.015762511640787125, + -0.01581212319433689, + -0.07764139403550585 + ], + [ + 0.015509653836488724, + 0.9997518658638, + -0.015988577157258987, + 0.01070243765192091 + ], + [ + 0.016060220077633858, + 0.015739351511001587, + 0.9997471570968628, + 0.2476301642427267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997729063034058, + -0.01603654958307743, + -0.014034310355782509, + -0.07959367155043548 + ], + [ + 0.015811366960406303, + 0.9997467994689941, + -0.01601172611117363, + 0.010678749865552117 + ], + [ + 0.01428752951323986, + 0.01578618958592415, + 0.9997733235359192, + 0.25035158209348757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996452927589417, + -0.020930055528879166, + -0.016467053443193436, + -0.07880571503423094 + ], + [ + 0.02062314748764038, + 0.999614417552948, + -0.01859193481504917, + 0.01183949419997694 + ], + [ + 0.016849834471940994, + 0.018245739862322807, + 0.9996915459632874, + 0.2466295602708316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997533559799194, + -0.019349707290530205, + -0.01090001780539751, + -0.08312023429215448 + ], + [ + 0.019154125824570656, + 0.9996585845947266, + -0.01777059957385063, + 0.011448208813763355 + ], + [ + 0.011240151710808277, + 0.017557434737682343, + 0.9997826814651489, + 0.25160821998060856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9972494840621948, + -0.06734167784452438, + -0.030960649251937866, + -0.07010435716302928 + ], + [ + 0.06592915207147598, + 0.9968279004096985, + -0.044580843299627304, + 0.024364413622735944 + ], + [ + 0.0338645875453949, + 0.0424170158803463, + 0.9985259175300598, + 0.22397218477134861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9976950883865356, + -0.0615786537528038, + -0.028506334871053696, + -0.0727084708315405 + ], + [ + 0.06037455052137375, + 0.9973196983337402, + -0.041331566870212555, + 0.02265297276668312 + ], + [ + 0.030975069850683212, + 0.03951524198055267, + 0.9987387657165527, + 0.22784977838828052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9969954490661621, + -0.06999118626117706, + -0.03318643569946289, + -0.07038855484325039 + ], + [ + 0.06839758157730103, + 0.9965531229972839, + -0.04694247245788574, + 0.025484568890461252 + ], + [ + 0.03635760396718979, + 0.04453156143426895, + 0.9983461499214172, + 0.225485714691237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9968399405479431, + -0.07114959508180618, + -0.03532453998923302, + -0.0697207929089296 + ], + [ + 0.0694161131978035, + 0.9964280724525452, + -0.048088446259498596, + 0.026146920253176335 + ], + [ + 0.038619834929704666, + 0.04548439383506775, + 0.9982182383537292, + 0.22234118985058354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9966672658920288, + -0.07324602454900742, + -0.035908594727516174, + -0.0699914472808769 + ], + [ + 0.07144481688737869, + 0.9962347745895386, + -0.04911151900887489, + 0.02666711392850915 + ], + [ + 0.03937061131000519, + 0.0463823564350605, + 0.9981476068496704, + 0.21899097682523333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9966979026794434, + -0.0732332244515419, + -0.03507343307137489, + -0.07134704862621205 + ], + [ + 0.07144875079393387, + 0.9962061047554016, + -0.04968338459730148, + 0.026956088496141197 + ], + [ + 0.03857884183526039, + 0.04701337218284607, + 0.9981489777565002, + 0.21888750243223895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9965919852256775, + -0.07375507801771164, + -0.036940798163414, + -0.07094820487228308 + ], + [ + 0.07186811417341232, + 0.9961581230163574, + -0.050040215253829956, + 0.027108812196688217 + ], + [ + 0.04048959165811539, + 0.0472148135304451, + 0.9980638027191162, + 0.21786835586482828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9966723918914795, + -0.07177923619747162, + -0.03862479701638222, + -0.0707422631677271 + ], + [ + 0.06983071565628052, + 0.9963234663009644, + -0.049631062895059586, + 0.026966443978065302 + ], + [ + 0.042045269161462784, + 0.04676871374249458, + 0.9980204701423645, + 0.21820177239142666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9966701865196228, + -0.07111449539661407, + -0.03989032655954361, + -0.07094941712176997 + ], + [ + 0.06910234689712524, + 0.996368944644928, + -0.049736976623535156, + 0.026947500692172485 + ], + [ + 0.04328250139951706, + 0.04681484401226044, + 0.9979654550552368, + 0.2209213943274553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9965727925300598, + -0.07222500443458557, + -0.040327038615942, + -0.07117418521815096 + ], + [ + 0.070188507437706, + 0.9962889552116394, + -0.04981835559010506, + 0.027036118322660115 + ], + [ + 0.043775517493486404, + 0.0468171201646328, + 0.9979438185691833, + 0.214996627745919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.996569037437439, + -0.07290119677782059, + -0.0391865037381649, + -0.07275624037835716 + ], + [ + 0.07093841582536697, + 0.9962596297264099, + -0.04934089630842209, + 0.02655224861069159 + ], + [ + 0.042636942118406296, + 0.04639177769422531, + 0.9980129599571228, + 0.21633814867000933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9966841340065002, + -0.07113997638225555, + -0.03949461504817009, + -0.0734015267096029 + ], + [ + 0.06917673349380493, + 0.9963988065719604, + -0.049030330032110214, + 0.026475277937148226 + ], + [ + 0.04284040257334709, + 0.04613564535975456, + 0.9980161190032959, + 0.21581408349135198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9967657327651978, + -0.06943682581186295, + -0.040455132722854614, + -0.07374887000307564 + ], + [ + 0.06746343523263931, + 0.9965539574623108, + -0.048258595168590546, + 0.02601760315501 + ], + [ + 0.043666645884513855, + 0.04537326842546463, + 0.998015284538269, + 0.21809405489893985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9966028928756714, + -0.07033032923936844, + -0.042852647602558136, + -0.07277176090139004 + ], + [ + 0.06821341067552567, + 0.996466338634491, + -0.04900805279612541, + 0.02653855492999731 + ], + [ + 0.04614797234535217, + 0.04591843858361244, + 0.9978786706924438, + 0.21214346604898943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9966344237327576, + -0.07148434966802597, + -0.040122777223587036, + -0.0755086823589792 + ], + [ + 0.06949575990438461, + 0.9963808655738831, + -0.048944197595119476, + 0.0261985576842442 + ], + [ + 0.04347631335258484, + 0.04599110782146454, + 0.9979953169822693, + 0.21650594820168392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9966663122177124, + -0.07046996802091599, + -0.041112031787633896, + -0.0755569721456648 + ], + [ + 0.06844856590032578, + 0.996467113494873, + -0.048662759363651276, + 0.026132587657487095 + ], + [ + 0.0443960539996624, + 0.045686475932598114, + 0.9979687929153442, + 0.21364868732461753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9968398213386536, + -0.06798099726438522, + -0.04109657183289528, + -0.07663619068782192 + ], + [ + 0.06595052033662796, + 0.996624231338501, + -0.048894573003053665, + 0.026723404068592166 + ], + [ + 0.0442817397415638, + 0.046029720455408096, + 0.9979581236839294, + 0.20702925656945254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9968058466911316, + -0.0689178928732872, + -0.04035387560725212, + -0.07780021876096727 + ], + [ + 0.0669330433011055, + 0.9965717196464539, + -0.04862915351986885, + 0.026103100925683975 + ], + [ + 0.04356694594025612, + 0.045772816985845566, + 0.9980013966560364, + 0.2151916202157736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/move_right/transforms.json b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..949d9b5548f6842a42bc03337ce486e05993beda --- /dev/null +++ b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/move_right/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.783745655207895e-05, + -2.8303711587795988e-06, + -3.445252104938845e-06 + ], + [ + 5.783744200016372e-05, + 1.0, + -5.463689831231022e-06, + 1.3817551007377915e-05 + ], + [ + 2.830687208188465e-06, + 5.463526122184703e-06, + 1.0, + -7.349567022174597e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958276748657, + -0.0028064714279025793, + 0.0007068119593895972, + 0.0003889564398776217 + ], + [ + 0.002806620905175805, + 0.9999960660934448, + -0.00021029174968134612, + 0.00017833944435581597 + ], + [ + -0.0007062189397402108, + 0.00021227462275419384, + 0.9999997019767761, + 0.0006562203014450347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999977350234985, + -0.0016366743948310614, + 0.001340940478257835, + 0.0008122774116186935 + ], + [ + 0.0016363593749701977, + 0.9999986290931702, + 0.00023600790882483125, + -7.826685946346222e-05 + ], + [ + -0.0013413248816505075, + -0.00023381313076242805, + 0.9999990463256836, + 0.002195950312162788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999974966049194, + -0.0013848657254129648, + 0.0017620036378502846, + 0.0013868801967310143 + ], + [ + 0.0013835688587278128, + 0.9999987483024597, + 0.0007370490930043161, + -0.00037884411146125394 + ], + [ + -0.0017630222719162703, + -0.000734609377104789, + 0.999998152256012, + 0.003229569676640051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999961256980896, + -0.001618959940969944, + 0.002268835436552763, + 0.0018687954840196437 + ], + [ + 0.0016160369850695133, + 0.9999978542327881, + 0.001289574196562171, + -0.0007252046188016322 + ], + [ + -0.0022709183394908905, + -0.0012859026901423931, + 0.9999966025352478, + 0.003984161410172863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999963045120239, + 0.0005000975797884166, + 0.0026827254332602024, + 0.00242360731517542 + ], + [ + -0.0005049681640230119, + 0.9999982118606567, + 0.0018151759868487716, + -0.0010333011330447876 + ], + [ + -0.0026818127371370792, + -0.0018165238434448838, + 0.9999947547912598, + 0.005354518472979014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999912977218628, + 0.002839913358911872, + 0.003046482801437378, + 0.0030096563643367946 + ], + [ + -0.002846579300239682, + 0.9999935626983643, + 0.002185929799452424, + -0.0012582106561946475 + ], + [ + -0.0030402555130422115, + -0.0021945827174931765, + 0.9999929666519165, + 0.006806626587274892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999901056289673, + 0.0032325047068297863, + 0.0030508756171911955, + 0.0038499004199854603 + ], + [ + -0.003240032587200403, + 0.9999917149543762, + 0.0024657046888023615, + -0.0014091335061922176 + ], + [ + -0.0030428797472268343, + -0.002475565066561103, + 0.999992311000824, + 0.007753398226504791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999921321868896, + 0.0027839711401611567, + 0.0028307600878179073, + 0.004855536290421344 + ], + [ + -0.002791980979964137, + 0.9999920725822449, + 0.002829574281349778, + -0.0016223619287941329 + ], + [ + -0.0028228601440787315, + -0.0028374555986374617, + 0.9999920129776001, + 0.008808517063513767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999954104423523, + 0.0016041825292631984, + 0.002573281992226839, + 0.0058930779622544446 + ], + [ + -0.0016120491782203317, + 0.9999940395355225, + 0.0030579303856939077, + -0.0017366979932143115 + ], + [ + -0.002568361349403858, + -0.003062064526602626, + 0.9999920129776001, + 0.010344488320733643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999934434890747, + 0.0026383395306766033, + 0.002491466701030731, + 0.0067832758092159825 + ], + [ + -0.002646366134285927, + 0.9999912977218628, + 0.003223949810490012, + -0.0018073719337367076 + ], + [ + -0.0024829390458762646, + -0.0032305216882377863, + 0.9999917149543762, + 0.012282866657488355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999929070472717, + 0.002913790289312601, + 0.0023791722487658262, + 0.007693986243314365 + ], + [ + -0.002922088373452425, + 0.9999896287918091, + 0.0034918051678687334, + -0.001931416429579258 + ], + [ + -0.002368973335251212, + -0.0034987328108400106, + 0.9999910593032837, + 0.01393292449965057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999919533729553, + 0.0032580422703176737, + 0.0023322738707065582, + 0.008521511275629121 + ], + [ + -0.003267096122726798, + 0.9999871253967285, + 0.0038886701222509146, + -0.0021562324917667416 + ], + [ + -0.0023195743560791016, + -0.0038962585385888815, + 0.9999897480010986, + 0.01474379989941997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999970555305481, + 0.007387342397123575, + 0.0020871751476079226, + 0.009476682178152743 + ], + [ + -0.007395886350423098, + 0.99996417760849, + 0.004115849267691374, + -0.002281926997575509 + ], + [ + -0.0020566952880471945, + -0.004131164867430925, + 0.9999893307685852, + 0.016273798254195386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999265670776367, + 0.011846134439110756, + 0.002549391007050872, + 0.009962164405502441 + ], + [ + -0.011856799945235252, + 0.9999208450317383, + 0.004209635313600302, + -0.002332601667774364 + ], + [ + -0.0024993212427943945, + -0.004239554051309824, + 0.9999879002571106, + 0.017187017746931633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998978972434998, + 0.013873682357370853, + 0.0034309057518839836, + 0.010131095753490063 + ], + [ + -0.01388926524668932, + 0.9998931288719177, + 0.0045604887418448925, + -0.0026356255758769255 + ], + [ + -0.003367268480360508, + -0.004607676062732935, + 0.9999837279319763, + 0.014708909017518779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998655319213867, + 0.015915818512439728, + 0.0039470018818974495, + 0.010579257537726284 + ], + [ + -0.015934113413095474, + 0.9998622536659241, + 0.0046480922028422356, + -0.0027053059082601436 + ], + [ + -0.003872480010613799, + -0.004710359498858452, + 0.9999814033508301, + 0.014606638442078405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998513460159302, + 0.016706084832549095, + 0.004268426913768053, + 0.011183889017802132 + ], + [ + -0.016725068911910057, + 0.9998502135276794, + 0.004451576620340347, + -0.002562775447472068 + ], + [ + -0.004193419124931097, + -0.004522304981946945, + 0.9999809861183167, + 0.015599662098217724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999411702156067, + 0.010277645662426949, + 0.0034610573202371597, + 0.012637850996260802 + ], + [ + -0.010294608771800995, + 0.9999349117279053, + 0.004919321741908789, + -0.002790841488321581 + ], + [ + -0.003410272765904665, + -0.004954662639647722, + 0.9999819397926331, + 0.01883357171785117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999435544013977, + 0.010081742890179157, + 0.003351201768964529, + 0.0135483721836878 + ], + [ + -0.010097860358655453, + 0.9999373555183411, + 0.00482809916138649, + -0.0027060746715581122 + ], + [ + -0.0033023161813616753, + -0.0048616668209433556, + 0.9999827146530151, + 0.01987903714103024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999231100082397, + 0.011888377368450165, + 0.0035325640346854925, + 0.014227590631416515 + ], + [ + -0.011904645711183548, + 0.9999184608459473, + 0.00462042260915041, + -0.00258102291840906 + ], + [ + -0.0034773468505591154, + -0.0046621207147836685, + 0.9999830722808838, + 0.020167265783933814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999351501464844, + 0.010883829556405544, + 0.0033528655767440796, + 0.015194194802768096 + ], + [ + -0.010900500230491161, + 0.9999281167984009, + 0.004994542337954044, + -0.0028689884380552885 + ], + [ + -0.003298264928162098, + -0.005030766129493713, + 0.9999818801879883, + 0.01929882933454942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998852610588074, + 0.014765947125852108, + 0.0033873978536576033, + 0.01595971488224512 + ], + [ + -0.014782938174903393, + 0.9998779892921448, + 0.005046765320003033, + -0.0029239580712535165 + ], + [ + -0.003312464104965329, + -0.005096261389553547, + 0.9999815225601196, + 0.019766498505222527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998493790626526, + 0.01701226644217968, + 0.00342830503359437, + 0.0166421063586854 + ], + [ + -0.01703006960451603, + 0.9998412728309631, + 0.0052327984012663364, + -0.0030931983470208636 + ], + [ + -0.003338739275932312, + -0.0052903941832482815, + 0.9999804496765137, + 0.01856247376311909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998409152030945, + 0.01752272993326187, + 0.003327056998386979, + 0.017531149002361645 + ], + [ + -0.017539959400892258, + 0.9998325109481812, + 0.005222553852945566, + -0.0031055331260951098 + ], + [ + -0.003234986448660493, + -0.005280079785734415, + 0.9999808073043823, + 0.01896306251537455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998390674591064, + 0.017639189958572388, + 0.0032628802582621574, + 0.01840356218797917 + ], + [ + -0.017656300216913223, + 0.9998301267623901, + 0.005291546229273081, + -0.003175889447808635 + ], + [ + -0.003168987575918436, + -0.0053483047522604465, + 0.9999806880950928, + 0.01843573414520476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998289942741394, + 0.018244341015815735, + 0.0030210299883037806, + 0.019392284936433246 + ], + [ + -0.018260013312101364, + 0.9998195171356201, + 0.0052446406334638596, + -0.0031693911214536134 + ], + [ + -0.0029247996862977743, + -0.005298907868564129, + 0.999981701374054, + 0.019315343924744193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999863862991333, + 0.016277488321065903, + 0.0027016678359359503, + 0.020544402208756505 + ], + [ + -0.01628957688808441, + 0.9998571276664734, + 0.004514599684625864, + -0.002553094950050485 + ], + [ + -0.0026277953293174505, + -0.004557993728667498, + 0.9999861717224121, + 0.02391192993468582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997281432151794, + 0.02316964417695999, + 0.002601352520287037, + 0.021245823416874306 + ], + [ + -0.023179713636636734, + 0.9997236728668213, + 0.003910321742296219, + -0.0022683193204801316 + ], + [ + -0.002510033082216978, + -0.003969557583332062, + 0.9999889731407166, + 0.026729247917628977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997313618659973, + 0.023090697824954987, + 0.002011743374168873, + 0.02246936977560024 + ], + [ + -0.023098286241292953, + 0.9997258186340332, + 0.003834041301161051, + -0.002253909633987514 + ], + [ + -0.0019226610893383622, + -0.003879479132592678, + 0.9999906420707703, + 0.025604039101865265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997292160987854, + 0.023217996582388878, + 0.0015576299047097564, + 0.023551155476299816 + ], + [ + -0.02322390489280224, + 0.9997227191925049, + 0.003889671992510557, + -0.002296698428805887 + ], + [ + -0.0014668876538053155, + -0.0039247930981218815, + 0.999991238117218, + 0.025381295904247782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997439384460449, + 0.022574761882424355, + 0.0015657554613426328, + 0.02419951828947091 + ], + [ + -0.022580983117222786, + 0.9997367262840271, + 0.004076649434864521, + -0.002467838933591323 + ], + [ + -0.0014733137795701623, + -0.004110962152481079, + 0.9999904632568359, + 0.024745241255972782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998392462730408, + 0.017929350957274437, + -7.81268099672161e-05, + 0.026503031642299123 + ], + [ + -0.01792893372476101, + 0.999832272529602, + 0.0037330477498471737, + -0.0021514412452474482 + ], + [ + 0.00014504481805488467, + -0.0037310468032956123, + 0.9999930262565613, + 0.02563767206108521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998748302459717, + 0.015791447833180428, + -0.0009643216617405415, + 0.027979845155707814 + ], + [ + -0.015787938609719276, + 0.9998691082000732, + 0.003542904742062092, + -0.001969361476684836 + ], + [ + 0.0010201430413872004, + -0.0035272366367280483, + 0.9999932646751404, + 0.026171235120008615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998689889907837, + 0.016108524054288864, + -0.0015843309229239821, + 0.029162498631068193 + ], + [ + -0.01610235869884491, + 0.9998630285263062, + 0.0038305202033370733, + -0.002173904601045815 + ], + [ + 0.0016458180034533143, + -0.003804506966844201, + 0.9999914169311523, + 0.026524544134158796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998961091041565, + 0.014267563819885254, + -0.0020425745751708746, + 0.030292124688540676 + ], + [ + -0.014259152114391327, + 0.9998900294303894, + 0.004075292963534594, + -0.002306662484510871 + ], + [ + 0.002100494457408786, + -0.004045743960887194, + 0.9999896287918091, + 0.025961464752966523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999678730964661, + 0.007661185692995787, + -0.0023502311669290066, + 0.03137352681865008 + ], + [ + -0.007648948114365339, + 0.9999573826789856, + 0.0051724547520279884, + -0.002890960159826993 + ], + [ + 0.0023897578939795494, + -0.005154311656951904, + 0.9999838471412659, + 0.0252592445312699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999990701675415, + 0.003868326311931014, + -0.0019154594046995044, + 0.03192975838218377 + ], + [ + -0.0038563243579119444, + 0.9999731779098511, + 0.006230430211871862, + -0.0034918874473318703 + ], + [ + 0.0019395094132050872, + -0.006222985219210386, + 0.99997878074646, + 0.02544222096171738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999759197235107, + 0.006791156716644764, + -0.001446334645152092, + 0.03246413914636855 + ], + [ + -0.0067808423191308975, + 0.9999523758888245, + 0.00702052703127265, + -0.004049964293006284 + ], + [ + 0.0014939431566745043, + -0.007010550703853369, + 0.9999743103981018, + 0.02553332502461108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999930739402771, + 0.01171522494405508, + -0.0011429354781284928, + 0.033043081932970564 + ], + [ + -0.011706269346177578, + 0.9999029636383057, + 0.00755107868462801, + -0.004472140687679456 + ], + [ + 0.0012312872568145394, + -0.00753717590123415, + 0.9999708533287048, + 0.026079266001412662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999911367893219, + 0.013270126655697823, + -0.001104064635001123, + 0.033800002129763855 + ], + [ + -0.013260602951049805, + 0.9998782277107239, + 0.008227849379181862, + -0.004994607087963622 + ], + [ + 0.001213114825077355, + -0.008212478831410408, + 0.9999655485153198, + 0.025205606814042842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999157190322876, + 0.012930509634315968, + -0.001161010004580021, + 0.034597922669635114 + ], + [ + -0.012919754721224308, + 0.9998775124549866, + 0.00883627962321043, + -0.005509797272788099 + ], + [ + 0.0012751254253089428, + -0.00882053468376398, + 0.9999603033065796, + 0.02105225517630023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999902069568634, + 0.013994257897138596, + 0.0002114921371685341, + 0.03410627910201553 + ], + [ + -0.013995654881000519, + 0.9998545050621033, + 0.009753463789820671, + -0.006406597177351802 + ], + [ + -7.49688915675506e-05, + -0.009755467996001244, + 0.9999524354934692, + 0.013579006196112249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999215006828308, + 0.012520823627710342, + 0.0004568512085825205, + 0.03474071400984737 + ], + [ + -0.012525033205747604, + 0.9998630881309509, + 0.010814942419528961, + -0.007513792535736541 + ], + [ + -0.00032137666130438447, + -0.01081981509923935, + 0.9999414086341858, + -0.0010737326376675052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999226927757263, + 0.012133807875216007, + 0.0027203799691051245, + 0.03326896719041873 + ], + [ + -0.012165836058557034, + 0.9998529553413391, + 0.012083525769412518, + -0.008923441154712981 + ], + [ + -0.0025733609218150377, + -0.012115688063204288, + 0.9999232888221741, + -0.01720847681334073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999293088912964, + 0.011890053749084473, + -5.142127338331193e-05, + 0.036850529446984324 + ], + [ + -0.011888450011610985, + 0.9998492002487183, + 0.012659406289458275, + -0.009643439288166437 + ], + [ + 0.00020193452655803412, + -0.012657899409532547, + 0.9999198913574219, + -0.027602004110805926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999624490737915, + 0.008563719689846039, + 0.0013211503392085433, + 0.03621444435259097 + ], + [ + -0.008580664172768593, + 0.9998733997344971, + 0.013401951640844345, + -0.010492706831452276 + ], + [ + -0.001206212560646236, + -0.013412784785032272, + 0.9999093413352966, + -0.04071154587051623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999905228614807, + 0.0042605348862707615, + 0.0008774549351073802, + 0.037024462625215006 + ], + [ + -0.004272392485290766, + 0.999893069267273, + 0.013987302780151367, + -0.011178375287597214 + ], + [ + -0.0008177677518688142, + -0.013990920037031174, + 0.9999017715454102, + -0.0534314987315577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999960660934448, + 0.002808012766763568, + -0.00020423665409907699, + 0.0386008825586062 + ], + [ + -0.002804753603413701, + 0.9998908042907715, + 0.014510639011859894, + -0.01185483363079877 + ], + [ + 0.0002449603925924748, + -0.014510009437799454, + 0.9998946785926819, + -0.06437130829450205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999986886978149, + 0.0015466696349903941, + 0.00047506808186881244, + 0.038475295905146964 + ], + [ + -0.001553635229356587, + 0.9998858571052551, + 0.015029547736048698, + -0.012531822857597057 + ], + [ + -0.00045176807907409966, + -0.015030266717076302, + 0.9998869299888611, + -0.07477266697950512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999993085861206, + 0.003722446272149682, + -0.00016643184062559158, + 0.03986468662754132 + ], + [ + -0.003719238331541419, + 0.9998601675033569, + 0.01630224660038948, + -0.01415673059734616 + ], + [ + 0.00022709280892740935, + -0.016301512718200684, + 0.9998670816421509, + -0.08949438110583227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999908208847046, + 0.004274276550859213, + 0.0002612349926494062, + 0.04019481048780717 + ], + [ + -0.004278173204511404, + 0.9998396635055542, + 0.01738869585096836, + -0.015690025687602558 + ], + [ + -0.00018686903058551252, + -0.017389653250575066, + 0.9998487830162048, + -0.1097615595074026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999738931655884, + 0.006894450634717941, + 0.0021738489158451557, + 0.03881317521714844 + ], + [ + -0.00693309772759676, + 0.9998084902763367, + 0.01830228790640831, + -0.017174637671713986 + ], + [ + -0.0020472481846809387, + -0.018316879868507385, + 0.9998301267623901, + -0.1280065819497936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999421238899231, + 0.01067639235407114, + 0.0013296757824718952, + 0.04046806777935198 + ], + [ + -0.010700025595724583, + 0.9997572898864746, + 0.019257262349128723, + -0.018667414819067422 + ], + [ + -0.0011237550061196089, + -0.01927037537097931, + 0.9998136758804321, + -0.14461066207929307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998747706413269, + 0.015750795602798462, + 0.0015214320737868547, + 0.041049616863520065 + ], + [ + -0.015777289867401123, + 0.999688446521759, + 0.019340582191944122, + -0.019183072118350297 + ], + [ + -0.0012163284700363874, + -0.019362162798643112, + 0.9998117685317993, + -0.15085330355242818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997836947441101, + 0.020736683160066605, + 0.001580188749358058, + 0.041777485240758826 + ], + [ + -0.020763371139764786, + 0.9995976090431213, + 0.019327649846673012, + -0.01939514313231815 + ], + [ + -0.0011787614785134792, + -0.01935627870261669, + 0.9998119473457336, + -0.1499071225142953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9996997714042664, + 0.02433955855667591, + 0.0028113950975239277, + 0.041598790299055007 + ], + [ + -0.024387026205658913, + 0.9995349645614624, + 0.018306100741028786, + -0.018497499537246286 + ], + [ + -0.002364525105804205, + -0.018369166180491447, + 0.9998284578323364, + -0.14376209520172975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995543956756592, + 0.029548920691013336, + 0.004227399826049805, + 0.041273590369719615 + ], + [ + -0.029618799686431885, + 0.999407172203064, + 0.01755179837346077, + -0.01790330299476454 + ], + [ + -0.0037062568590044975, + -0.017669185996055603, + 0.9998370409011841, + -0.1392639978019105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9994455575942993, + 0.03280578553676605, + 0.005688773933798075, + 0.04084761158894163 + ], + [ + -0.032905213534832, + 0.9992896914482117, + 0.018367277458310127, + -0.018909266043054172 + ], + [ + -0.005082180257886648, + -0.018544284626841545, + 0.9998151063919067, + -0.14046997277620288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9993156790733337, + 0.03692590817809105, + 0.0021574879065155983, + 0.045911186359330156 + ], + [ + -0.03695954754948616, + 0.9991456270217896, + 0.01849270612001419, + -0.01933642505121625 + ], + [ + -0.0014727849047631025, + -0.018559791147708893, + 0.9998266696929932, + -0.14271994413411598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994795322418213, + 0.03142419457435608, + 0.0072946250438690186, + 0.04119496490837129 + ], + [ + -0.03155197948217392, + 0.9993378520011902, + 0.01811831444501877, + -0.018592494116588074 + ], + [ + -0.006720441393554211, + -0.018339045345783234, + 0.9998092651367188, + -0.14201838814091583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997190833091736, + 0.022542152553796768, + 0.007318965625017881, + 0.04216752567074516 + ], + [ + -0.022671543061733246, + 0.9995790123939514, + 0.018105164170265198, + -0.0182223007544752 + ], + [ + -0.006907755043357611, + -0.018266011029481888, + 0.9998093247413635, + -0.1414508095115023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998928308486938, + 0.012742229737341404, + 0.007208742201328278, + 0.043115093237297106 + ], + [ + -0.012875487096607685, + 0.99974125623703, + 0.01875152811408043, + -0.01850305853088286 + ], + [ + -0.006967941299080849, + -0.018842335790395737, + 0.9997981786727905, + -0.14661544880036972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999678730964661, + 0.006993183866143227, + 0.003913265652954578, + 0.046791992588199625 + ], + [ + -0.007064376026391983, + 0.9998041987419128, + 0.01848454214632511, + -0.017999054808631416 + ], + [ + -0.0037832336965948343, + -0.018511595204472542, + 0.9998214840888977, + -0.14514312131449672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999958872795105, + 0.001987205818295479, + 0.0020537832751870155, + 0.048913780978519075 + ], + [ + -0.002024661749601364, + 0.9998286962509155, + 0.018399352207779884, + -0.01763848078029215 + ], + [ + -0.0020168679766356945, + -0.018403435125947, + 0.9998286366462708, + -0.1417524962632124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999946355819702, + -0.002930622547864914, + 0.0014693100238218904, + 0.0499226106292268 + ], + [ + 0.0029037310741841793, + 0.9998341202735901, + 0.01798180863261223, + -0.016814598615458313 + ], + [ + -0.001521764206700027, + -0.01797744631767273, + 0.9998372197151184, + -0.13386097539760836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999932646751404, + -0.0035900401417165995, + 0.0007973811007104814, + 0.05115082732571119 + ], + [ + 0.0035758151207119226, + 0.9998460412025452, + 0.017177239060401917, + -0.015594317209483548 + ], + [ + -0.0008589253411628306, + -0.017174270004034042, + 0.9998521208763123, + -0.11871045205043629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999962449073792, + 0.002508861944079399, + -0.0011235765414312482, + 0.053848449054389645 + ], + [ + -0.0024920362047851086, + 0.9998883605003357, + 0.014734344556927681, + -0.01309122268672386 + ], + [ + 0.0011604175670072436, + -0.01473148912191391, + 0.9998908042907715, + -0.09735234754866236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999516606330872, + 0.00877491943538189, + -0.004434290807694197, + 0.05807451792984955 + ], + [ + -0.008724277839064598, + 0.9998979568481445, + 0.01131345797330141, + -0.01012194331058047 + ], + [ + 0.0045331125147640705, + -0.011274225078523159, + 0.9999261498451233, + -0.07296485135962893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999287128448486, + 0.011543706059455872, + -0.0030420604161918163, + 0.05753106892605366 + ], + [ + -0.011517448350787163, + 0.9998974204063416, + 0.008512167260050774, + -0.007586488291651996 + ], + [ + 0.00314001040533185, + -0.00847652368247509, + 0.9999591708183289, + -0.04952073605646464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999113082885742, + 0.012692896649241447, + -0.00403233477845788, + 0.059455685144336516 + ], + [ + -0.012666931375861168, + 0.9998992681503296, + 0.006400971207767725, + -0.005673245080431138 + ], + [ + 0.004113175440579653, + -0.006349326577037573, + 0.9999713897705078, + -0.03122539880246786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999157190322876, + 0.012004530988633633, + -0.004947065841406584, + 0.06121395593008781 + ], + [ + -0.011980519630014896, + 0.9999164342880249, + 0.004855002276599407, + -0.004245715096500541 + ], + [ + 0.005004934500902891, + -0.0047953249886631966, + 0.9999759793281555, + -0.017413194920513624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999274611473083, + 0.010509963147342205, + -0.005883307196199894, + 0.06289531529865666 + ], + [ + -0.010490966029465199, + 0.9999396800994873, + 0.0032504478003829718, + -0.0027345799313750396 + ], + [ + 0.005917114205658436, + -0.0031884906347841024, + 0.9999774098396301, + -0.0036593417567778222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999355673789978, + 0.009588354267179966, + -0.006072468124330044, + 0.0637976096515844 + ], + [ + -0.009576252661645412, + 0.9999521374702454, + 0.002018814440816641, + -0.0016415757388800137 + ], + [ + 0.006091534160077572, + -0.0019605327397584915, + 0.9999794960021973, + 0.012362104213280866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999958872795105, + 0.008174346759915352, + -0.003933383617550135, + 0.0625074691212282 + ], + [ + -0.008170386776328087, + 0.9999660849571228, + 0.0010218676179647446, + -0.0007164608079349345 + ], + [ + 0.003941603470593691, + -0.000989688327535987, + 0.9999917149543762, + 0.025809478671251496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999635815620422, + 0.005333449225872755, + -0.006666846107691526, + 0.06580809758752892 + ], + [ + -0.005337057169526815, + 0.9999856352806091, + -0.0005234805284999311, + 0.0007857597088595191 + ], + [ + 0.006663958076387644, + 0.0005590427317656577, + 0.9999776482582092, + 0.0383261802610133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999913573265076, + 0.001240003271959722, + -0.003975546453148127, + 0.06404221463055651 + ], + [ + -0.0012464773608371615, + 0.9999979138374329, + -0.0016264364821836352, + 0.0019820626159314037 + ], + [ + 0.0039735217578709126, + 0.0016313778469339013, + 0.9999907612800598, + 0.05039062798485037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999468326568604, + -0.0026609927881509066, + -0.009959506802260876, + 0.0701392789286646 + ], + [ + 0.002639488549903035, + 0.999994158744812, + -0.002171693369746208, + 0.002719152187505229 + ], + [ + 0.009965226985514164, + 0.002145289909094572, + 0.9999480247497559, + 0.0630273206582801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999139308929443, + -0.006439978256821632, + -0.011431481689214706, + 0.07168052411245661 + ], + [ + 0.006405310705304146, + 0.99997478723526, + -0.0030666275415569544, + 0.003759779869232419 + ], + [ + 0.011450942605733871, + 0.00299314153380692, + 0.9999299645423889, + 0.07796212397207898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998770952224731, + -0.008985310792922974, + -0.0128486892208457, + 0.07317807427184149 + ], + [ + 0.00893474742770195, + 0.9999521374702454, + -0.003987260162830353, + 0.004730854920796619 + ], + [ + 0.012883900664746761, + 0.003871970111504197, + 0.999909520149231, + 0.08960841080204637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9998668432235718, + -0.01049720961600542, + -0.012494683265686035, + 0.07319227840428141 + ], + [ + 0.01043976005166769, + 0.9999346733093262, + -0.004654319025576115, + 0.0053767068696416115 + ], + [ + 0.012542724609375, + 0.004523257724940777, + 0.9999111294746399, + 0.10144156870270564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.999830424785614, + -0.010496334172785282, + -0.015131495893001556, + 0.07590141527908893 + ], + [ + 0.01041389163583517, + 0.9999305605888367, + -0.005516997538506985, + 0.006132544757998433 + ], + [ + 0.015188353136181831, + 0.005358484573662281, + 0.9998703002929688, + 0.11080824335159595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9998493194580078, + -0.010350535623729229, + -0.013937690295279026, + 0.07534791848907046 + ], + [ + 0.010265137068927288, + 0.9999281764030457, + -0.006184836849570274, + 0.006631131941252503 + ], + [ + 0.014000705443322659, + 0.006040832027792931, + 0.9998837113380432, + 0.12168734425694243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998689889907837, + -0.010942723602056503, + -0.011927382089197636, + 0.07417302102327718 + ], + [ + 0.010860024020075798, + 0.999916672706604, + -0.006976512726396322, + 0.007268847721390241 + ], + [ + 0.012002729810774326, + 0.006846067029982805, + 0.9999045133590698, + 0.1316845206890163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9998313784599304, + -0.011839164420962334, + -0.014037104323506355, + 0.07646662001228653 + ], + [ + 0.0117274709045887, + 0.99989914894104, + -0.008012828417122364, + 0.008125058405316812 + ], + [ + 0.014130553230643272, + 0.00784685742110014, + 0.9998693466186523, + 0.1388282832712674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9998257160186768, + -0.014038086868822575, + -0.01230772864073515, + 0.07552878441643124 + ], + [ + 0.013926898129284382, + 0.9998618364334106, + -0.009073690511286259, + 0.009068940846972968 + ], + [ + 0.01243340503424406, + 0.008900701068341732, + 0.9998831152915955, + 0.14687115389253358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999808132648468, + -0.015027159824967384, + -0.012566699646413326, + 0.07622228622328768 + ], + [ + 0.014900829643011093, + 0.99983811378479, + -0.01008667703717947, + 0.009851738605802216 + ], + [ + 0.012716238386929035, + 0.009897488169372082, + 0.9998701810836792, + 0.1561393575096303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996447563171387, + -0.022669872269034386, + -0.014017144218087196, + 0.07793069089231783 + ], + [ + 0.022469447925686836, + 0.9996453523635864, + -0.014294503256678581, + 0.013327921826915801 + ], + [ + 0.014336226508021355, + 0.013974467292428017, + 0.9997995495796204, + 0.16888560225555965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9992615580558777, + -0.03604063391685486, + -0.013319705612957478, + 0.07790402258661662 + ], + [ + 0.03584642708301544, + 0.9992514848709106, + -0.014542469754815102, + 0.014202985692430626 + ], + [ + 0.013833855278789997, + 0.01405426673591137, + 0.9998055100440979, + 0.18543327051130207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9995713233947754, + -0.025640416890382767, + -0.014132135547697544, + 0.07900971222268648 + ], + [ + 0.025411110371351242, + 0.999546229839325, + -0.016173478215932846, + 0.014636806364763867 + ], + [ + 0.014540418051183224, + 0.01580743119120598, + 0.9997693300247192, + 0.1983529039089037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996501207351685, + -0.022146929055452347, + -0.014463857747614384, + 0.07969307592754399 + ], + [ + 0.021897826343774796, + 0.9996129274368286, + -0.017159629613161087, + 0.01502369899949259 + ], + [ + 0.014838292263448238, + 0.016836896538734436, + 0.9997481107711792, + 0.21052866206650644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9997978210449219, + -0.013864407315850258, + -0.014564436860382557, + 0.080261000740719 + ], + [ + 0.013609688729047775, + 0.9997552037239075, + -0.01744503527879715, + 0.014578291378176409 + ], + [ + 0.014802736230194569, + 0.017243292182683945, + 0.9997417330741882, + 0.2193698116809068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997104406356812, + -0.018855322152376175, + -0.014951243065297604, + 0.08078771702144757 + ], + [ + 0.01861175149679184, + 0.9996944665908813, + -0.01626606658101082, + 0.013813492889739265 + ], + [ + 0.01525337714701891, + 0.015983086079359055, + 0.9997559189796448, + 0.23506436105047868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997162222862244, + -0.018118519335985184, + -0.015465804375708103, + 0.08175237081975731 + ], + [ + 0.017868008464574814, + 0.9997093677520752, + -0.016184967011213303, + 0.013486993363635107 + ], + [ + 0.01575455628335476, + 0.015904031693935394, + 0.9997494220733643, + 0.2455309372656971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997389316558838, + -0.017309721559286118, + -0.014913711696863174, + 0.08210585282207275 + ], + [ + 0.017065349966287613, + 0.9997205138206482, + -0.01636003889143467, + 0.01353930706573912 + ], + [ + 0.015192732214927673, + 0.016101261600852013, + 0.9997549057006836, + 0.2514095013052964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997499585151672, + -0.01662955805659294, + -0.014950308948755264, + 0.08287975194379073 + ], + [ + 0.016389206051826477, + 0.9997367262840271, + -0.016057923436164856, + 0.013311583148546455 + ], + [ + 0.015213409438729286, + 0.01580888405442238, + 0.999759316444397, + 0.25384050003476133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.999764084815979, + -0.01475293468683958, + -0.015941528603434563, + 0.08434241496888567 + ], + [ + 0.014503070153295994, + 0.9997718930244446, + -0.01567736826837063, + 0.01293486388138503 + ], + [ + 0.01616918109357357, + 0.015442469157278538, + 0.999750018119812, + 0.25149709301546586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997694492340088, + -0.01517399586737156, + -0.015192190185189247, + 0.08470863041444875 + ], + [ + 0.014940397813916206, + 0.9997702240943909, + -0.015373367816209793, + 0.012804482124499545 + ], + [ + 0.015421973541378975, + 0.01514284685254097, + 0.9997664093971252, + 0.252035217826093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999741792678833, + -0.014951758086681366, + -0.017109587788581848, + 0.08675804273032944 + ], + [ + 0.014687912538647652, + 0.999772846698761, + -0.015444104559719563, + 0.012828477441279356 + ], + [ + 0.017336618155241013, + 0.015188812278211117, + 0.9997343420982361, + 0.2490044099917589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9997638463973999, + -0.015479748137295246, + -0.015250885859131813, + 0.08643997815352951 + ], + [ + 0.015239820815622807, + 0.9997602105140686, + -0.015724604949355125, + 0.013069590274244546 + ], + [ + 0.015490641817450523, + 0.01548847183585167, + 0.9997600317001343, + 0.24979461517862298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997507333755493, + -0.015762511640787125, + -0.01581212319433689, + 0.08760666106789072 + ], + [ + 0.015509653836488724, + 0.9997518658638, + -0.015988577157258987, + 0.013266016798447971 + ], + [ + 0.016060220077633858, + 0.015739351511001587, + 0.9997471570968628, + 0.25028474607374057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997729063034058, + -0.01603654958307743, + -0.014034310355782509, + 0.08731056570021575 + ], + [ + 0.015811366960406303, + 0.9997467994689941, + -0.01601172611117363, + 0.013318333440760444 + ], + [ + 0.01428752951323986, + 0.01578618958592415, + 0.9997733235359192, + 0.2527367729709045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996452927589417, + -0.020930055528879166, + -0.016467053443193436, + 0.08972952440611957 + ], + [ + 0.02062314748764038, + 0.999614417552948, + -0.01859193481504917, + 0.015316454602851848 + ], + [ + 0.016849834471940994, + 0.018245739862322807, + 0.9996915459632874, + 0.24947035880990265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997533559799194, + -0.019349707290530205, + -0.01090001780539751, + 0.08708570895731943 + ], + [ + 0.019154125824570656, + 0.9996585845947266, + -0.01777059957385063, + 0.014709159160756375 + ], + [ + 0.011240151710808277, + 0.017557434737682343, + 0.9997826814651489, + 0.25352183258591976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9972494840621948, + -0.06734167784452438, + -0.030960649251937866, + 0.10132365332038935 + ], + [ + 0.06592915207147598, + 0.9968279004096985, + -0.044580843299627304, + 0.035697689350725204 + ], + [ + 0.0338645875453949, + 0.0424170158803463, + 0.9985259175300598, + 0.22979353535766445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9976950883865356, + -0.0615786537528038, + -0.028506334871053696, + 0.10044522219422189 + ], + [ + 0.06037455052137375, + 0.9973196983337402, + -0.041331566870212555, + 0.03313120054311989 + ], + [ + 0.030975069850683212, + 0.03951524198055267, + 0.9987387657165527, + 0.23322561695740734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9969954490661621, + -0.06999118626117706, + -0.03318643569946289, + 0.1042916395385896 + ], + [ + 0.06839758157730103, + 0.9965531229972839, + -0.04694247245788574, + 0.03746827739821978 + ], + [ + 0.03635760396718979, + 0.04453156143426895, + 0.9983461499214172, + 0.2318558072871413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9968399405479431, + -0.07114959508180618, + -0.03532453998923302, + 0.10657982467558266 + ], + [ + 0.0694161131978035, + 0.9964280724525452, + -0.048088446259498596, + 0.03842381961212671 + ], + [ + 0.038619834929704666, + 0.04548439383506775, + 0.9982182383537292, + 0.22917147470591975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9966672658920288, + -0.07324602454900742, + -0.035908594727516174, + 0.1079260150601795 + ], + [ + 0.07144481688737869, + 0.9962347745895386, + -0.04911151900887489, + 0.03942089942245444 + ], + [ + 0.03937061131000519, + 0.0463823564350605, + 0.9981476068496704, + 0.22601911900949873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9966979026794434, + -0.0732332244515419, + -0.03507343307137489, + 0.1082233173110761 + ], + [ + 0.07144875079393387, + 0.9962061047554016, + -0.04968338459730148, + 0.03982867334992432 + ], + [ + 0.03857884183526039, + 0.04701337218284607, + 0.9981489777565002, + 0.22583807063065778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9965919852256775, + -0.07375507801771164, + -0.036940798163414, + 0.11025033789602194 + ], + [ + 0.07186811417341232, + 0.9961581230163574, + -0.050040215253829956, + 0.04017574204639955 + ], + [ + 0.04048959165811539, + 0.0472148135304451, + 0.9980638027191162, + 0.22523009980266745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9966723918914795, + -0.07177923619747162, + -0.03862479701638222, + 0.1121182913776518 + ], + [ + 0.06983071565628052, + 0.9963234663009644, + -0.049631062895059586, + 0.03977836040425892 + ], + [ + 0.042045269161462784, + 0.04676871374249458, + 0.9980204701423645, + 0.22591586309708347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9966701865196228, + -0.07111449539661407, + -0.03989032655954361, + 0.11355812153971392 + ], + [ + 0.06910234689712524, + 0.996368944644928, + -0.049736976623535156, + 0.03974000127478079 + ], + [ + 0.04328250139951706, + 0.04681484401226044, + 0.9979654550552368, + 0.22893402268571303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9965727925300598, + -0.07222500443458557, + -0.040327038615942, + 0.11496255123787676 + ], + [ + 0.070188507437706, + 0.9962889552116394, + -0.04981835559010506, + 0.04014570731515727 + ], + [ + 0.043775517493486404, + 0.0468171201646328, + 0.9979438185691833, + 0.2231728814265206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.996569037437439, + -0.07290119677782059, + -0.0391865037381649, + 0.11502701626274704 + ], + [ + 0.07093841582536697, + 0.9962596297264099, + -0.04934089630842209, + 0.03991915671662851 + ], + [ + 0.042636942118406296, + 0.04639177769422531, + 0.9980129599571228, + 0.22437221710223798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9966841340065002, + -0.07113997638225555, + -0.03949461504817009, + 0.11605082934121949 + ], + [ + 0.06917673349380493, + 0.9963988065719604, + -0.049030330032110214, + 0.03962457438638388 + ], + [ + 0.04284040257334709, + 0.04613564535975456, + 0.9980161190032959, + 0.22395730050942622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9967657327651978, + -0.06943682581186295, + -0.040455132722854614, + 0.11736654322132592 + ], + [ + 0.06746343523263931, + 0.9965539574623108, + -0.048258595168590546, + 0.03895274115002845 + ], + [ + 0.043666645884513855, + 0.04537326842546463, + 0.998015284538269, + 0.2264665027048962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9966028928756714, + -0.07033032923936844, + -0.042852647602558136, + 0.11995970763820263 + ], + [ + 0.06821341067552567, + 0.996466338634491, + -0.04900805279612541, + 0.039730239308570045 + ], + [ + 0.04614797234535217, + 0.04591843858361244, + 0.9978786706924438, + 0.22106794995709883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9966344237327576, + -0.07148434966802597, + -0.040122777223587036, + 0.11887621350955865 + ], + [ + 0.06949575990438461, + 0.9963808655738831, + -0.048944197595119476, + 0.03975310259121509 + ], + [ + 0.04347631335258484, + 0.04599110782146454, + 0.9979953169822693, + 0.22498562584731205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9966663122177124, + -0.07046996802091599, + -0.041112031787633896, + 0.1204815256293894 + ], + [ + 0.06844856590032578, + 0.996467113494873, + -0.048662759363651276, + 0.03959602458664208 + ], + [ + 0.0443960539996624, + 0.045686475932598114, + 0.9979687929153442, + 0.22238113430967507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9968398213386536, + -0.06798099726438522, + -0.04109657183289528, + 0.1210841044537292 + ], + [ + 0.06595052033662796, + 0.996624231338501, + -0.048894573003053665, + 0.039804499011394406 + ], + [ + 0.0442817397415638, + 0.046029720455408096, + 0.9979581236839294, + 0.21581241155951475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9968058466911316, + -0.0689178928732872, + -0.04035387560725212, + 0.12156095057725907 + ], + [ + 0.0669330433011055, + 0.9965717196464539, + -0.04862915351986885, + 0.03948970958590507 + ], + [ + 0.04356694594025612, + 0.045772816985845566, + 0.9980013966560364, + 0.2239050094038248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/orbit_left/transforms.json b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e720fcd54ada3586b3b047b5b74ddabd46de155a --- /dev/null +++ b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/orbit_left/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.783745655207895e-05, + -2.8303711587795988e-06, + -3.445252104938845e-06 + ], + [ + 5.783744200016372e-05, + 1.0, + -5.463689831231022e-06, + 1.3817551007377915e-05 + ], + [ + 2.830687208188465e-06, + 5.463526122184703e-06, + 1.0, + -7.349567022174597e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999919577560463, + -0.0028064714279025793, + 0.0028704308936486943, + -0.0025762787994555603 + ], + [ + 0.0028070693293181723, + 0.9999960660934448, + -0.00020421876935071892, + 0.00016995734063045585 + ], + [ + -0.0028698462579417137, + 0.00021227462275419384, + 0.9999958333319632, + 0.0009399192135246008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999825698749916, + -0.0016366743948310614, + 0.005668167225921645, + -0.005117847232133755 + ], + [ + 0.0016353227894025755, + 0.9999986290931702, + 0.00024308663381869915, + -8.783901043683268e-05 + ], + [ + -0.005668557300046512, + -0.00023381313076242805, + 0.9999838795014903, + 0.0027671145126334238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999649939813493, + -0.0013848657254129648, + 0.008252798604450173, + -0.0075079489276983985 + ], + [ + 0.001378755638896277, + 0.9999987483024597, + 0.0007460141021130809, + -0.00039053014083052133 + ], + [ + -0.00825382147278964, + -0.000734609377104789, + 0.9999656430068309, + 0.0040900667853677915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999390402251992, + -0.001618959940969944, + 0.010923134116874508, + -0.009990389515531503 + ], + [ + 0.001604815951130759, + 0.9999978542327881, + 0.001303511760034335, + -0.0007429211038477877 + ], + [ + -0.010925221068555261, + -0.0012859026901423931, + 0.9999394990181888, + 0.005137513697617804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999087674661523, + 0.0005000975797884166, + 0.013500473983348757, + -0.01239979381865195 + ], + [ + -0.0005245750903805344, + 0.9999982118606567, + 0.0018096070525010224, + -0.0010232580414615766 + ], + [ + -0.013499544575837892, + -0.0018165238434448838, + 0.9999072277095681, + 0.006802298657700553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998674885484424, + 0.002839913358911872, + 0.01602753632799621, + -0.014777721297243657 + ], + [ + -0.002874715920944191, + 0.9999935626983643, + 0.002148792957582733, + -0.001203868972656116 + ], + [ + -0.016021331229413526, + -0.0021945827174931765, + 0.9998692381769344, + 0.008550337445231825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998292120723701, + 0.0032325047068297863, + 0.01819521598136469, + -0.01690200678031231 + ], + [ + -0.0032770036922258974, + 0.9999917149543762, + 0.0024163521224441448, + -0.0013370160207171362 + ], + [ + -0.01818725442844817, + -0.002475565066561103, + 0.9998315382874655, + 0.009787780742532054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999793340169563, + 0.0027839711401611567, + 0.020138386006457808, + -0.018861473043156652 + ], + [ + -0.0028405375455038307, + 0.9999920725822449, + 0.002780826290644687, + -0.001549751591288954 + ], + [ + -0.020130485182816835, + -0.0028374555986374617, + 0.9997933577118274, + 0.011128305330693887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997557191017074, + 0.0016041825292631984, + 0.022044155901469745, + -0.02078929759491878 + ], + [ + -0.0016712858972527233, + 0.9999940395355225, + 0.0030259617060358016, + -0.0016859238313836624 + ], + [ + -0.02203917003796618, + -0.003062064526602626, + 0.9997524180931254, + 0.012947457797919833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997054871858595, + 0.0026383395306766033, + 0.024125366690327978, + -0.02286398020998777 + ], + [ + -0.0027154956818072765, + 0.9999912977218628, + 0.0031659420871740624, + -0.0017198165622347168 + ], + [ + -0.024116803634921462, + -0.0032305216882377863, + 0.9997039435483559, + 0.015172520973383974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9996530849275765, + 0.0029137902893126015, + 0.0261760272047228, + -0.024918325728276833 + ], + [ + -0.0030043577457927934, + 0.9999896287918093, + 0.0034212772948002163, + -0.001825281762695434 + ], + [ + -0.02616578720754205, + -0.0034987328108400115, + 0.9996514804175386, + 0.017107824664569376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9995943740224879, + 0.0032580422703176746, + 0.02829193762643032, + -0.02705568087456688 + ], + [ + -0.00336694743585107, + 0.9999871253967287, + 0.0038025435380859654, + -0.002026830885261115 + ], + [ + -0.028279185139073827, + -0.0038962585385888824, + 0.999592499081683, + 0.018205565040381903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9995163244784069, + 0.007387342397123575, + 0.030209019832240915, + -0.02906534834431395 + ], + [ + -0.007508713033434786, + 0.99996417760849, + 0.0039062230714920617, + -0.001981742059301196 + ], + [ + -0.030179080060505348, + -0.004131164867430925, + 0.9995359497152728, + 0.020013908096056077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9993906570173406, + 0.011846134439110756, + 0.032832203834385836, + -0.03154098919872657 + ], + [ + -0.01197885473100329, + 0.9999208450317383, + 0.003848606728201973, + -0.0018237554139761234 + ], + [ + -0.03278401458807851, + -0.004239554051309824, + 0.9994534784845107, + 0.021233198877304228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9992600222576984, + 0.013873682357370853, + 0.03587455844738984, + -0.03433156995853747 + ], + [ + -0.014029933420362146, + 0.9998931288719177, + 0.004107397579683651, + -0.0019985436198534886 + ], + [ + -0.03581373978774378, + -0.004607676062732935, + 0.9993478726990755, + 0.019082693230045966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991298554531997, + 0.015915818512439728, + 0.03855116976644983, + -0.036843724884382124 + ], + [ + -0.016085442530560462, + 0.9998622536659241, + 0.004093808738027287, + -0.0019283348985958447 + ], + [ + -0.03848070299238432, + -0.004710359498858452, + 0.9992482367490773, + 0.019295968640434036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9990181101736234, + 0.016706084832549095, + 0.041033512441755036, + -0.0392007759055876 + ], + [ + -0.016877456331143792, + 0.9998502135276794, + 0.003833527397219864, + -0.0016983104072075626 + ], + [ + -0.04096332269846864, + -0.004522304981946945, + 0.9991504208854738, + 0.020598252809545775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999048181942387, + 0.010277645662426949, + 0.042391661533162726, + -0.04071950484975525 + ], + [ + -0.010478338975402937, + 0.9999349117279053, + 0.0045147656064750755, + -0.0022163999740244097 + ], + [ + -0.0423425028721286, + -0.004954662639647722, + 0.9990908979278608, + 0.024084399193474427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9989610206175026, + 0.010081742890179157, + 0.04444346778813345, + -0.04277400332370695 + ], + [ + -0.010287751528303628, + 0.9999373555183411, + 0.004409024135449079, + -0.002111293316857198 + ], + [ + -0.04439623288699293, + -0.0048616668209433556, + 0.9990021568557392, + 0.025415498749715652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9988342523695951, + 0.011888377368450165, + 0.046785053494480526, + -0.045056886444374646 + ], + [ + -0.012093377033533262, + 0.9999184608459473, + 0.004101112839310737, + -0.0018489484243639678 + ], + [ + -0.046732481915232875, + -0.0046621207147836685, + 0.9988965471576507, + 0.026005503005305363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9987508786501665, + 0.010883829556405544, + 0.04876708522731782, + -0.04705631860164705 + ], + [ + -0.011116105615288764, + 0.9999281167984009, + 0.004494280186002972, + -0.0021606303245960442 + ], + [ + -0.04871466343700449, + -0.005030766129493713, + 0.9988000404595806, + 0.025417819151672436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9985915513225841, + 0.014765947125852111, + 0.05096001740593797, + -0.04925163999090258 + ], + [ + -0.015006328882711233, + 0.999877989292145, + 0.0043376485268066724, + -0.0019282555043588757 + ], + [ + -0.05088974883841921, + -0.005096261389553548, + 0.9986912692835883, + 0.02617779292604353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9984410829458129, + 0.01701226644217968, + 0.05315955204257926, + -0.051530688715267434 + ], + [ + -0.01726928226017513, + 0.9998412728309631, + 0.004379193996771203, + -0.0018977654404874619 + ], + [ + -0.05307661700607939, + -0.0052903941832482815, + 0.9985764465690071, + 0.025266975813854106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9983205310728022, + 0.01752272993326187, + 0.055218133443194685, + -0.053605762547290374 + ], + [ + -0.01778738757149896, + 0.9998325109481812, + 0.004305123449234593, + -0.0018219048899499651 + ], + [ + -0.05513344793061363, + -0.005280079785734415, + 0.9984650134249721, + 0.02595168290891806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9982003474017058, + 0.017639189958572388, + 0.057313817288584645, + -0.05569770217011038 + ], + [ + -0.01791656132396186, + 0.9998301267623901, + 0.004329229627892041, + -0.0018296659252276623 + ], + [ + -0.05722771856506959, + -0.0053483047522604465, + 0.9983468371629315, + 0.025710653312490298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9980775458123071, + 0.01824434101581574, + 0.05923138491298109, + -0.057674024097921946 + ], + [ + -0.01852600708587556, + 0.9998195171356203, + 0.0042096796774087125, + -0.0017231148343354874 + ], + [ + -0.05914389275235544, + -0.00529890786856413, + 0.998235421875146, + 0.026862439997505164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9980005100236917, + 0.016277488321065903, + 0.06107393484538093, + -0.059491215685472866 + ], + [ + -0.016525373440900906, + 0.9998571276664734, + 0.003555834380845756, + -0.0012145104433902655 + ], + [ + -0.061007329327824336, + -0.004557993728667498, + 0.9981269231478652, + 0.03172555265728019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9977366354365219, + 0.023169644176959995, + 0.06312474696356832, + -0.06174359844793528 + ], + [ + -0.023373939220810575, + 0.9997236728668215, + 0.0024997411279192513, + -0.00031281697779836164 + ], + [ + -0.06304938690211256, + -0.003969557583332063, + 0.9980025157685559, + 0.034822508068863646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9976379047672428, + 0.02309069782495499, + 0.06469508467782903, + -0.06348905187553686 + ], + [ + -0.02329324276555557, + 0.9997258186340334, + 0.002378138231601654, + -0.00023619345832167704 + ], + [ + -0.06462243563628771, + -0.003879479132592679, + 0.9979022605782643, + 0.03393584509886835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9975229075269906, + 0.023217996582388878, + 0.06640015580788174, + -0.06537499520048713 + ], + [ + -0.023427296166682997, + 0.9997227191925049, + 0.002375100207941738, + -0.0001977603950029756 + ], + [ + -0.06632660027728053, + -0.0039247930981218815, + 0.9977902636156826, + 0.03395986343752717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9973910519824006, + 0.022574761882424355, + 0.06856736450538391, + -0.06769211988422 + ], + [ + -0.022803435673384432, + 0.9997367262840271, + 0.002554053767033897, + -0.0003564070899664865 + ], + [ + -0.06849165333847293, + -0.004110962152481079, + 0.9976432181301473, + 0.03361034502235392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9974491677950195, + 0.017929350957274437, + 0.06909183856768861, + -0.06837671069428557 + ], + [ + -0.018144233957510178, + 0.999832272529602, + 0.0024837641000397277, + -0.0004164479503516807 + ], + [ + -0.06903571952390072, + -0.0037310468032956123, + 0.9976072087898985, + 0.034635197017984336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9973960576941028, + 0.015791447833180428, + 0.07036838901055113, + -0.06987660673739761 + ], + [ + -0.01600046068205276, + 0.9998691082000732, + 0.0024075791820155315, + -0.00039143385640329144 + ], + [ + -0.07032115887282167, + -0.0035272366367280483, + 0.9975181726175487, + 0.03536429806318785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.997281215455358, + 0.016108524054288864, + 0.07190745823493723, + -0.07166464766007967 + ], + [ + -0.01634034096952959, + 0.9998630285263062, + 0.002636683085612015, + -0.0005137057363928865 + ], + [ + -0.07185513555325758, + -0.003804506966844201, + 0.9974078314047354, + 0.035933083256376966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971850107565834, + 0.014267563819885254, + 0.07361015850355654, + -0.07350785724450061 + ], + [ + -0.014526601657644357, + 0.9998900294303894, + 0.0029848410410119653, + -0.0007865292984720565 + ], + [ + -0.07355947982301146, + -0.004045743960887194, + 0.9972826443372579, + 0.03559951683296328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9971188973566143, + 0.007661185692995787, + 0.07546638553646097, + -0.07540294907835615 + ], + [ + -0.008028235892860142, + 0.9999573826789856, + 0.004561592251245405, + -0.002021951286388629 + ], + [ + -0.07542822162467003, + -0.005154311656951904, + 0.9971378986222407, + 0.03514173028434956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969412694013343, + 0.003868326311931014, + 0.0780588097941312, + -0.07781070547048871 + ], + [ + -0.0043422144574403, + 0.9999731779098511, + 0.005902090458814325, + -0.00300384846182233 + ], + [ + -0.07803388350580921, + -0.006222985219210386, + 0.9969313099030156, + 0.035648569369743144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9967167864857763, + 0.006791156716644766, + 0.08068196482643847, + -0.08023559736064491 + ], + [ + -0.0073345001951178514, + 0.9999523758888247, + 0.006439932394176408, + -0.0032107251781732836 + ], + [ + -0.08063438496976896, + -0.0070105507038533705, + 0.9967190924643021, + 0.036065682362447685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9964692971213953, + 0.011715224944055082, + 0.08313681373779043, + -0.08261387979317898 + ], + [ + -0.012301034629572776, + 0.9999029636383059, + 0.006537589643649384, + -0.003035351951669392 + ], + [ + -0.08305215717889114, + -0.007537175901234152, + 0.9965167147435009, + 0.03691912946036884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9962644285671668, + 0.013270126655697823, + 0.08532966056737441, + -0.08481978706189276 + ], + [ + -0.013922165155507971, + 0.9998782277107239, + 0.007050844872400318, + -0.003328982606180818 + ], + [ + -0.0852257017440131, + -0.008212478831410408, + 0.9963278324062638, + 0.03632551131054669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.996086853848376, + 0.012930509634315968, + 0.0874286720849139, + -0.08698854775724442 + ], + [ + -0.013651782396282505, + 0.9998775124549866, + 0.007656940449077084, + -0.003836948825403031 + ], + [ + -0.08731895520816722, + -0.00882053468376398, + 0.9961413725948697, + 0.0324425572709099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.995757214813267, + 0.013994257897138596, + 0.09094923091421446, + -0.09042778183939693 + ], + [ + -0.014823010318250542, + 0.9998545050621033, + 0.008443149681988036, + -0.004548097614900626 + ], + [ + -0.09081784155427634, + -0.009755467996001244, + 0.9958197620679548, + 0.025415180053482915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9955546563793577, + 0.012520823627710342, + 0.09334957098032241, + -0.09275795030979907 + ], + [ + -0.013475595329900772, + 0.9998630881309509, + 0.00960457010217342, + -0.00578571469026596 + ], + [ + -0.09321653181369192, + -0.01081981509923935, + 0.9955870640887743, + 0.011075541849829564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.995136376845761, + 0.012133807875216007, + 0.09775675666329876, + -0.0971668913908541 + ], + [ + -0.013259360359725211, + 0.9998529553413391, + 0.010872374389924706, + -0.007186324851617442 + ], + [ + -0.09761045998745499, + -0.012115688063204288, + 0.99515094524219, + -0.004483047449848841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9951985687857005, + 0.011890053749084473, + 0.09715160374829916, + -0.0965857882106273 + ], + [ + -0.013062761934934483, + 0.9998492002487183, + 0.011443778305759673, + -0.007896561196881473 + ], + [ + -0.09700088786175813, + -0.012657899409532547, + 0.995203827195124, + -0.014957753074019827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9948826328984306, + 0.008563719689846039, + 0.10067368947724369, + -0.10017386543590864 + ], + [ + -0.009869856344860801, + 0.9998733997344971, + 0.012483030127383972, + -0.009148607302176918 + ], + [ + -0.1005540435605357, + -0.013412784785032272, + 0.9948412085161904, + -0.02759436202730945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9947354543682777, + 0.0042605348862707615, + 0.10238745803406296, + -0.10233859572787339 + ], + [ + -0.005670249134938595, + 0.999893069267273, + 0.01348132973262383, + -0.010397778476869825 + ], + [ + -0.10231906956326857, + -0.013990920037031174, + 0.9946532207193886, + -0.040083398788058944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9946292473628342, + 0.0028080127667635684, + 0.10346416870307559, + -0.10374275753547262 + ], + [ + -0.004293926312303853, + 0.9998908042907717, + 0.014141693114082102, + -0.011259460257943962 + ], + [ + -0.10341315377429612, + -0.014510009437799457, + 0.9945326278760345, + -0.05089057235393533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9943337853762335, + 0.0015466696349903941, + 0.10629170403376934, + -0.106824844297075 + ], + [ + -0.0031353304837042984, + 0.9998858571052551, + 0.014780757434381333, + -0.012098681757103494 + ], + [ + -0.10625670860785909, + -0.015030266717076302, + 0.9942251197454083, + -0.06090994984901653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9941651752081752, + 0.003722446272149682, + 0.10780447056162996, + -0.10840896428373532 + ], + [ + -0.005457660544126611, + 0.9998601675033569, + 0.01580537628061417, + -0.013375730957192232 + ], + [ + -0.10773055945183875, + -0.016301512718200684, + 0.9940464572055621, + -0.075449687137705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9938802527973463, + 0.004274276550859213, + 0.11038003984810837, + -0.11103782880827093 + ], + [ + -0.006167021578589525, + 0.9998396635055542, + 0.016811821858873442, + -0.014793270573387848 + ], + [ + -0.11029048475957644, + -0.017389653250575066, + 0.9937472680669458, + -0.09537362779254427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.99340755199575, + 0.006894450634717941, + 0.11442879126191839, + -0.11535419237882204 + ], + [ + -0.008944091066793275, + 0.9998084902763367, + 0.017408182607566363, + -0.01583752306122013 + ], + [ + -0.1142868500702544, + -0.018316879868507385, + 0.9932789082165423, + -0.11304993065152204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.993222676021716, + 0.010676392354071142, + 0.11573562547218781, + -0.1166716630782018 + ], + [ + -0.012833192286532997, + 0.9997572898864748, + 0.01790647583052573, + -0.01669829037052597 + ], + [ + -0.11551635992972628, + -0.019270375370979313, + 0.9931186333421812, + -0.12951177259877059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9928806950276731, + 0.015750795602798462, + 0.11806691815223398, + -0.11904131305114084 + ], + [ + -0.017924267502046363, + 0.999688446521759, + 0.01736956043192887, + -0.01636248411952805 + ], + [ + -0.11775655043061505, + -0.019362162798643112, + 0.9928536885061734, + -0.13545473419900558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9925255106259685, + 0.020736683160066608, + 0.12026239657236272, + -0.12126232704615482 + ], + [ + -0.022911090657658683, + 0.9995976090431216, + 0.016725954518644424, + -0.015709294630600314 + ], + [ + -0.11986716236385522, + -0.019356278702616695, + 0.9926012204912549, + -0.13422951885963746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.992030863759788, + 0.02433955855667591, + 0.12362160909867528, + -0.12437202952223082 + ], + [ + -0.026420843061059043, + 0.9995349645614624, + 0.0152243037094994, + -0.014158982976031728 + ], + [ + -0.12319356920352845, + -0.018369166180491447, + 0.9922126186343627, + -0.12760226998802507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9914426095573761, + 0.029548920691013336, + 0.12715507374022528, + -0.12761369220727115 + ], + [ + -0.03155296820719115, + 0.999407172203064, + 0.013774945311092262, + -0.012615091511332822 + ], + [ + -0.12667265841491074, + -0.017669185996055603, + 0.9917872162455214, + -0.12258867297549247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9908742824502281, + 0.03280578553676605, + 0.13073615078697634, + -0.1309600173327921 + ], + [ + -0.034945335563003284, + 0.9992896914482117, + 0.014104378093079326, + -0.012949709911433432 + ], + [ + -0.13018058041702563, + -0.018544284626841545, + 0.9913168474347239, + -0.12326580345794878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9909098371775704, + 0.03692590817809105, + 0.12936064231668815, + -0.12889459052578164 + ], + [ + -0.03901308340184727, + 0.9991456270217896, + 0.013636995936952102, + -0.012562682231787012 + ], + [ + -0.12874656367492096, + -0.018559791147708893, + 0.991503838049383, + -0.12585046377932688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9901250830446521, + 0.03142419457435608, + 0.13661942340195002, + -0.13651597709375607 + ], + [ + -0.03363196514808033, + 0.9993378520011902, + 0.013881341716505988, + -0.012672419202883861 + ], + [ + -0.13609275632333437, + -0.018339045345783234, + 0.9905263715126758, + -0.12392957974013728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9900614362001364, + 0.022542152553796768, + 0.13881702107334631, + -0.13854818017552017 + ], + [ + -0.024856986011229005, + 0.9995790123939514, + 0.014964159878517916, + -0.013810185907977054 + ], + [ + -0.1384212624118909, + -0.018266011029481888, + 0.9902050075776323, + -0.12302663636003222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9899456984227679, + 0.012742229737341404, + 0.1408728267658395, + -0.14059703443072533 + ], + [ + -0.015267703057006652, + 0.99974125623703, + 0.016861056252534406, + -0.01580840899108592 + ], + [ + -0.14062153012982506, + -0.018842335790395737, + 0.9898841020782804, + -0.12787836892208332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9901607434855931, + 0.006993183866143227, + 0.13975966132328074, + -0.13995571891621625 + ], + [ + -0.009510659315208914, + 0.9998041987419128, + 0.017353128432405527, + -0.016351329816184722 + ], + [ + -0.13961094312807223, + -0.018511595204472542, + 0.9900333819936675, + -0.1266983940784286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9901404486696076, + 0.001987205818295479, + 0.14006385868604776, + -0.14083700958650497 + ], + [ + -0.004544949840033801, + 0.9998286962509155, + 0.017943769052732764, + -0.016922617021511814 + ], + [ + -0.14000421108510222, + -0.018403435125947, + 0.9899798943881709, + -0.12335010272259843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9899157727552435, + -0.002930622547864914, + 0.14162694981906804, + -0.14280349314715027 + ], + [ + 0.00035450042772938733, + 0.9998341202735901, + 0.018211299385211648, + -0.01704515992222509 + ], + [ + -0.14165682068570778, + -0.01797744631767273, + 0.9897525583938523, + -0.11526632059894248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.989701295949579, + -0.0035900401417166003, + 0.1431031446474509, + -0.14455251353113246 + ], + [ + 0.0010948424798200623, + 0.9998460412025454, + 0.01751129108489979, + -0.01597491921282464 + ], + [ + -0.1431439755993714, + -0.017174270004034046, + 0.9895528301324839, + -0.09995917916531993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9896698002498244, + 0.0025088619440793995, + 0.1433437781230018, + -0.14485692976613523 + ], + [ + -0.004594363886293975, + 0.9998883605003359, + 0.01421980922686876, + -0.012318092151931609 + ], + [ + -0.14329209197372542, + -0.014731489121913913, + 0.9895707874891868, + -0.0787174476041866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9897985781536782, + 0.00877491943538189, + 0.14220323914311198, + -0.14365101965062238 + ], + [ + -0.010288539447468117, + 0.9998979568481445, + 0.009912280825558938, + -0.008146046643258511 + ], + [ + -0.14210174527430613, + -0.011274225078523159, + 0.9897878299126333, + -0.054731246936203806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9892588180618557, + 0.011543706059455872, + 0.14571779503544494, + -0.14712927314829574 + ], + [ + -0.012655409001738898, + 0.9998974204063416, + 0.00670441876487711, + -0.005064438563772207 + ], + [ + -0.14562546477513302, + -0.00847652368247509, + 0.9893035059970483, + -0.030733298040775087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9890734263680392, + 0.012692896649241447, + 0.14687627929560537, + -0.1481866566012124 + ], + [ + -0.013487681361076672, + 0.9998992681503296, + 0.004416563639925557, + -0.002917649363189428 + ], + [ + -0.1468054288829338, + -0.006349326577037573, + 0.9891450169829821, + -0.012367449042177039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.988897651203386, + 0.012004530988633633, + 0.14811263981417128, + -0.14941392272575832 + ], + [ + -0.012582321636662022, + 0.9999164342880249, + 0.0029646382481753925, + -0.0016261854674643628 + ], + [ + -0.14806467330758652, + -0.0047953249886631966, + 0.988966056607091, + 0.0015264889469740577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9887317354191444, + 0.010509963147342205, + 0.14932881917136331, + -0.15072064308207514 + ], + [ + -0.010868240525621221, + 0.9999396800994873, + 0.0015833909850860742, + -0.0004287265348158157 + ], + [ + -0.1493031711912855, + -0.0031884906347841024, + 0.9887863244919624, + 0.015352365767692625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9884440871910296, + 0.009588354267179968, + 0.15128218756936235, + -0.15279088046645883 + ], + [ + -0.009774590778001618, + 0.9999521374702456, + 0.0004874442621740459, + 0.00047296957256691245 + ], + [ + -0.15127026835465426, + -0.001960532739758492, + 0.9884904678979677, + 0.03160014810257249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.987796437618653, + 0.008174346759915354, + 0.15553590137405143, + -0.1570085249774029 + ], + [ + -0.008228798968553625, + 0.999966084957123, + -0.00029377038409718684, + 0.0010977682500684257 + ], + [ + -0.15553302253204704, + -0.0009896883275359871, + 0.987830170179753, + 0.04578309938894071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9879038716110365, + 0.005333449225872755, + 0.15497597150311818, + -0.15673310783340053 + ], + [ + -0.0051823685947913, + 0.9999856352806091, + -0.0013788643306130576, + 0.0019617104882591746 + ], + [ + -0.1549810942246598, + 0.0005590427317656577, + 0.987917286915352, + 0.05796394287685619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9871530949271082, + 0.0012400032719597223, + 0.15977260989651534, + -0.16141486770779453 + ], + [ + -0.0009634223726557515, + 0.9999979138374331, + -0.001808540509229422, + 0.0022281772078501403 + ], + [ + -0.15977450970996826, + 0.0016313778469339017, + 0.9871521754864209, + 0.0708968623286611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9877535075766237, + -0.0026609927881509066, + 0.15599957751964647, + -0.15840393082447735 + ], + [ + 0.002963075047992084, + 0.999994158744812, + -0.0017039184714168622, + 0.002069362921401594 + ], + [ + -0.1559941342207983, + 0.002145289909094572, + 0.9877556317422416, + 0.08243430486395091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9876284736938742, + -0.006439978256821634, + 0.15667975592430355, + -0.15985550111501562 + ], + [ + 0.006829392913035024, + 0.9999747872352602, + -0.0019472036743768072, + 0.0022108415130939543 + ], + [ + -0.15666326454865456, + 0.002993141533806921, + 0.9876475482768443, + 0.09727709702582324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9874919271900878, + -0.008985310792922974, + 0.1574134304931786, + -0.16134926032890426 + ], + [ + 0.00948276227600375, + 0.9999521374702454, + -0.0024093930396929283, + 0.0025490054107381484 + ], + [ + -0.15738424751035524, + 0.003871970111504197, + 0.9875298689239752, + 0.10883485739984528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9870779630950787, + -0.01049720961600542, + 0.15989657926250594, + -0.1642933493135446 + ], + [ + 0.011085362512740345, + 0.9999346733093262, + -0.0027867568048481396, + 0.0027951684843044756 + ], + [ + -0.15985688310077642, + 0.004523257724940777, + 0.9871298616257038, + 0.12099236344908115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9871535855216231, + -0.010496334172785282, + 0.15942910363777654, + -0.16460418068746044 + ], + [ + 0.01121630913839836, + 0.9999305605888367, + -0.0036167402664127445, + 0.00350527308370115 + ], + [ + -0.1593800699481692, + 0.005358484573662281, + 0.9872027637634823, + 0.12996700862810778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9866142345699606, + -0.010350535623729229, + 0.16274296597807097, + -0.16810391005171796 + ], + [ + 0.01119555458354977, + 0.9999281764030457, + -0.004276073370093789, + 0.00399217548951192 + ], + [ + -0.1626870097673288, + 0.006040832027792931, + 0.9866592080374131, + 0.14137174346405124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9859200863028337, + -0.010942723602056503, + 0.1668587456909788, + -0.17220558623590587 + ], + [ + 0.011931507862618698, + 0.999916672706604, + -0.004924527557285205, + 0.0044327841223620375 + ], + [ + -0.16679095495175267, + 0.006846067029982805, + 0.9859684978258845, + 0.15210122563742062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9859010911510383, + -0.011839164420962337, + 0.16690974842131293, + -0.1729209405657824 + ], + [ + 0.012982604692044111, + 0.9998991489410403, + -0.005761160340619976, + 0.005014232659997354 + ], + [ + -0.16682470123593765, + 0.007846857421100141, + 0.9859553244948552, + 0.158960105219913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9852158283326966, + -0.014038086868822578, + 0.17074165923778684, + -0.17678485336727828 + ], + [ + 0.015351380098632109, + 0.9998618364334109, + -0.006373812051307537, + 0.005341294090386109 + ], + [ + -0.17062859901687663, + 0.008900701068341734, + 0.9852952425560115, + 0.16767075816808408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9848747304689563, + -0.015027159824967384, + 0.17261514804246003, + -0.1790615348018934 + ], + [ + 0.016509657607721284, + 0.99983811378479, + -0.007155905489748479, + 0.005807324458386113 + ], + [ + -0.17247966956043798, + 0.009897488169372082, + 0.9849633725816126, + 0.17711121923034567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9846098758303415, + -0.02266987226903439, + 0.17329025241409873, + -0.1803149318962063 + ], + [ + 0.024747421738643815, + 0.9996453523635866, + -0.009837379261269071, + 0.007180732459058676 + ], + [ + -0.17300577232173323, + 0.01397446729242802, + 0.9848216434834594, + 0.18968164540231985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9837243707882769, + -0.03604063391685486, + 0.176032492123143, + -0.18319265816400268 + ], + [ + 0.03795081594432034, + 0.9992514848709106, + -0.007495687449992523, + 0.004488146872884242 + ], + [ + -0.17563057740221705, + 0.01405426673591137, + 0.9843557963194898, + 0.20659959479142379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9838007180934231, + -0.025640416890382767, + 0.17742236298501463, + -0.18515609279086895 + ], + [ + 0.02803663977563099, + 0.999546229839325, + -0.011011483006287357, + 0.007524832351898094 + ], + [ + -0.17705952038032527, + 0.01580743119120598, + 0.9840732001522389, + 0.21957236842330888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9835560349527527, + -0.02214692905545235, + 0.17924032240207566, + -0.18747032174535816 + ], + [ + 0.02480433281075918, + 0.9996129274368288, + -0.012598125291331579, + 0.0087444827971179 + ], + [ + -0.17889192541363214, + 0.01683689653873444, + 0.9837246255582105, + 0.23190651003295545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9833304451726924, + -0.013864407315850261, + 0.18129821119831396, + -0.1899133143344853 + ], + [ + 0.01675935614407605, + 0.9997552037239077, + -0.014445652107678201, + 0.01045859301825236 + ], + [ + -0.18105354389086653, + 0.017243292182683948, + 0.9833220571586099, + 0.24099462285266843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9829267142617806, + -0.018855322152376175, + 0.1830289025693088, + -0.19234172858682624 + ], + [ + 0.02146073247926918, + 0.9996944665908813, + -0.012264549614619003, + 0.008314399184122682 + ], + [ + -0.18274172739439573, + 0.015983086079359055, + 0.9830310392445071, + 0.25680423068602715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9826369133927604, + -0.018118519335985187, + 0.1846521395629528, + -0.19436094358188005 + ], + [ + 0.02074227219710662, + 0.9997093677520754, + -0.012287270964104195, + 0.008135365153133376 + ], + [ + -0.18437584893067097, + 0.015904031693935398, + 0.9827271540518283, + 0.267368721223695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9821458230030785, + -0.01730972155928612, + 0.1873230701825882, + -0.19696813787124579 + ], + [ + 0.02001805507093148, + 0.9997205138206484, + -0.012575949792293314, + 0.008349242815187782 + ], + [ + -0.1870530269701751, + 0.016101261600852016, + 0.9822178249685924, + 0.2736388548753642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9817564906689817, + -0.016629558056592945, + 0.18941405522840074, + -0.1991671965155949 + ], + [ + 0.019321644921839666, + 0.9997367262840273, + -0.01237485424582067, + 0.008264869304579286 + ], + [ + -0.18915840298979347, + 0.015808884054422382, + 0.9818193506050232, + 0.27630062895342716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9815626011637224, + -0.01475293468683958, + 0.19057076800719808, + -0.20070426694025786 + ], + [ + 0.017424301544533092, + 0.9997718930244446, + -0.01234960061616249, + 0.008382265280525067 + ], + [ + -0.19034510786708914, + 0.015442469157278538, + 0.9815957829263873, + 0.27392130114624463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9809971124462815, + -0.01517399586737156, + 0.1934280735476472, + -0.20328836215704926 + ], + [ + 0.0178153784216334, + 0.9997702240943909, + -0.01192343140813693, + 0.008086968025279053 + ], + [ + -0.1932026988992493, + 0.01514284685254097, + 0.981042011212964, + 0.27490839219791535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.980952789886656, + -0.014951758086681366, + 0.19366985835841438, + -0.20425286855499372 + ], + [ + 0.017609190462980283, + 0.999772846698761, + -0.012007145857071857, + 0.008133752733692847 + ], + [ + -0.19344634447307385, + 0.015188812278211117, + 0.9809932848443248, + 0.27155608322180463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9801579181870769, + -0.015479748137295246, + 0.19761273617352645, + -0.20749508823166424 + ], + [ + 0.01823404835211371, + 0.9997602105140686, + -0.012125791520488604, + 0.008157111378010132 + ], + [ + -0.1973776485180286, + 0.01548847183585167, + 0.9802051544623013, + 0.27311906401134184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9798357417816408, + -0.015762511640787125, + 0.19918200534205688, + -0.20930936250468937 + ], + [ + 0.018580452451443984, + 0.9997518658638, + -0.012286201542419958, + 0.00821646577784747 + ], + [ + -0.19893892516854852, + 0.015739351511001587, + 0.9798855100699183, + 0.27367552745021634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9790387228613832, + -0.01603654958307743, + 0.2030418803682453, + -0.21253069443120362 + ], + [ + 0.018906548001271232, + 0.9997467994689941, + -0.012203161102414992, + 0.008127262374035854 + ], + [ + -0.20279477374806093, + 0.01578618958592415, + 0.9790940259720321, + 0.2768931451386009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9790051409211583, + -0.02093005552887917, + 0.20275800658458476, + -0.21311173843776002 + ], + [ + 0.024192801390944766, + 0.9996144175529482, + -0.01362654076874635, + 0.008544427691170399 + ], + [ + -0.20239463429556817, + 0.01824573986232281, + 0.9791340643653262, + 0.27308851940224016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.977439154449758, + -0.019349707290530205, + 0.21032898642320147, + -0.21859611934006556 + ], + [ + 0.022608007290666216, + 0.9996585845947266, + -0.013097814766700891, + 0.00834326234751509 + ], + [ + -0.2100037451523612, + 0.017557434737682343, + 0.9775429290778526, + 0.27908761432598356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9790170426154138, + -0.0673416778445244, + 0.19232973127674424, + -0.2071412630321988 + ], + [ + 0.07421412624389351, + 0.9968279004096987, + -0.028746619766942504, + 0.014059079085389416 + ], + [ + -0.18978380317595014, + 0.042417015880346305, + 0.9809092344967194, + 0.2485931998759088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9784799848873672, + -0.0615786537528038, + 0.19693912687227902, + -0.2110518812444719 + ], + [ + 0.06813243132192895, + 0.9973196983337402, + -0.02667126867562545, + 0.013110149771511186 + ], + [ + -0.19476889539207, + 0.03951524198055267, + 0.9800528835144718, + 0.2531120556925432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9784342441000319, + -0.06999118626117706, + 0.19433912355846447, + -0.21009188170369986 + ], + [ + 0.07727851211089991, + 0.9965531229972839, + -0.030163826879366726, + 0.014567125561831418 + ], + [ + -0.19155805850211685, + 0.04453156143426895, + 0.980470509832933, + 0.2502279895699842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9783506959451296, + -0.07114959508180618, + 0.19433889456503156, + -0.2107846602882774 + ], + [ + 0.07859789237754651, + 0.9964280724525452, + -0.030878256896246133, + 0.014948906099433938 + ], + [ + -0.19144775861195665, + 0.04548439383506775, + 0.9804483151877402, + 0.24699531306876518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9778951854897051, + -0.07324602454900742, + 0.19584706347569328, + -0.2123669539587635 + ], + [ + 0.08087498041892009, + 0.9962347745895386, + -0.031233646947954125, + 0.01504574980658057 + ], + [ + -0.19282191041058977, + 0.0463823564350605, + 0.9801369296992427, + 0.24376693733408952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9773038044980727, + -0.07323322445154191, + 0.19878161038337208, + -0.21501959497107018 + ], + [ + 0.08107981385530687, + 0.9962061047554018, + -0.03161370715758958, + 0.015209002966495026 + ], + [ + -0.1957122855028819, + 0.04701337218284608, + 0.9795337718205204, + 0.24400618925146958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9772087433927127, + -0.07375507801771164, + 0.1990559705757218, + -0.21598139998501778 + ], + [ + 0.08163969262822475, + 0.9961581230163574, + -0.03168610997047844, + 0.015182353784477583 + ], + [ + -0.19595420612949693, + 0.0472148135304451, + 0.979475732435951, + 0.2429389750509295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9772544293181618, + -0.07177923619747162, + 0.1995532813092123, + -0.21715829525012606 + ], + [ + 0.07963181359826998, + 0.9963234663009644, + -0.03159660608692089, + 0.015241188282139998 + ], + [ + -0.19655163472887902, + 0.04676871374249458, + 0.9793774136498409, + 0.24327229969540026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9771219205818165, + -0.07111449539661407, + 0.20043814798732587, + -0.21872410281465116 + ], + [ + 0.07901831834465778, + 0.996368944644928, + -0.03170183837450184, + 0.015220346191795603 + ], + [ + -0.19745589998215607, + 0.04681484401226044, + 0.9791933373819707, + 0.24603416644223075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9766971733251881, + -0.07222500443458559, + 0.2021045087900837, + -0.22026773916717635 + ], + [ + 0.08016028218781383, + 0.9962889552116396, + -0.031346838590280826, + 0.01504056967406378 + ], + [ + -0.1990904579438286, + 0.046817120164632804, + 0.9788621713540587, + 0.24025980907546998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9759754928300728, + -0.07290119677782059, + 0.2053223462005562, + -0.22313202990699985 + ], + [ + 0.0808385530526954, + 0.9962596297264099, + -0.030527221109653713, + 0.014353662844457136 + ], + [ + -0.2023288849111742, + 0.04639177769422531, + 0.9782181757696933, + 0.24199748397926873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9757163939109014, + -0.07113997638225557, + 0.20716323576252077, + -0.2251237532603255 + ], + [ + 0.0791205039161642, + 0.9963988065719607, + -0.030485071428205827, + 0.014445659465802351 + ], + [ + -0.2042484963444109, + 0.04613564535975457, + 0.9778312868916064, + 0.2416678919155089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9755834767440066, + -0.06943682581186296, + 0.20836368129461041, + -0.2268342206003924 + ], + [ + 0.07733499400109463, + 0.996553957462311, + -0.029991762267080783, + 0.014169449323066043 + ], + [ + -0.20556311931596394, + 0.04537326842546464, + 0.9775914730151326, + 0.2440468510612569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9755731784869708, + -0.07033032923936844, + 0.2081121065953029, + -0.2272307983981081 + ], + [ + 0.07831347899607553, + 0.996466338634491, + -0.03036210866173443, + 0.01444839604443298 + ], + [ + -0.20524132356924524, + 0.04591843858361244, + 0.9776336102416131, + 0.23793443769491737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.97446171414053, + -0.07148434966802597, + 0.21287174423948174, + -0.23120205426791685 + ], + [ + 0.079603644241222, + 0.9963808655738831, + -0.029806961375405786, + 0.013808573952946449 + ], + [ + -0.20997059683933028, + 0.04599110782146454, + 0.9766254097678432, + 0.24293502182344534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9742815956308136, + -0.07046996802091599, + 0.2140310946625228, + -0.23260791107207868 + ], + [ + 0.07858360951120316, + 0.996467113494873, + -0.02962915184217413, + 0.013810600684778782 + ], + [ + -0.21118698401525426, + 0.045686475932598114, + 0.9763773753145815, + 0.24015718938689398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9739799558644601, + -0.06798099726438522, + 0.2161980647396262, + -0.23503369178474443 + ], + [ + 0.07629272530633897, + 0.996624231338501, + -0.030324420310278436, + 0.014683495799594968 + ], + [ + -0.2134067524605337, + 0.046029720455408096, + 0.9758785001758862, + 0.23377816385018788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9732848626657604, + -0.0689178928732872, + 0.2190134867533071, + -0.23748699645241328 + ], + [ + 0.07723850623481866, + 0.9965717196464539, + -0.029648608942419472, + 0.013815860678345154 + ], + [ + -0.2162193302372643, + 0.045772816985845566, + 0.9752712790489163, + 0.24227843241691918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/orbit_right/transforms.json b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8e6bbad629805422a11ef30b0a01382f3ae3c00e --- /dev/null +++ b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/orbit_right/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.783745655207895e-05, + -2.8303711587795988e-06, + -3.445252104938845e-06 + ], + [ + 5.783744200016372e-05, + 1.0, + -5.463689831231022e-06, + 1.3817551007377915e-05 + ], + [ + 2.830687208188465e-06, + 5.463526122184703e-06, + 1.0, + -7.349567022174597e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999995016314623, + -0.0028064714279025793, + -0.0014568102836673318, + 0.0017017040968306156 + ], + [ + 0.00280615934240294, + 0.9999960660934448, + -0.0002163637455735012, + 0.0001819640669551232 + ], + [ + 0.0014574116844830222, + 0.00021227462275419384, + 0.9999988893243901, + 0.0009368980083739086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999941750419563, + -0.0016366743948310614, + -0.002986311378747691, + 0.003438134879716342 + ], + [ + 0.001637365319426315, + 0.9999986290931702, + 0.00022892476454216838, + -7.383831718478825e-05 + ], + [ + 0.002985932653285233, + -0.00023381313076242805, + 0.9999954879952734, + 0.0027556381349461163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999878677781029, + -0.0013848657254129648, + -0.004728865564704294, + 0.005326021180212169 + ], + [ + 0.001388323786650693, + 0.9999987483024597, + 0.0007280530308705188, + -0.00037277341500327254 + ], + [ + 0.004727851207828429, + -0.000734609377104789, + 0.9999885300271829, + 0.004067440153587039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999783111219535, + -0.001618959940969944, + -0.006385633180312798, + 0.007121547169387494 + ], + [ + 0.001627136977289905, + 0.9999978542327881, + 0.001275540043545244, + -0.0007152674741402804 + ], + [ + 0.006383554482127433, + -0.0012859026901423931, + 0.9999788059675649, + 0.005098653736220591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999668106212586, + 0.0005000975797884166, + -0.008135337079858794, + 0.008990130862327519 + ], + [ + -0.0004853021405498892, + 0.9999982118606567, + 0.0018205324886655771, + -0.001034059312372288 + ], + [ + 0.008136232957780097, + -0.0018165238434448838, + 0.9999652511176804, + 0.006744934673256785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999465839134638, + 0.002839913358911872, + -0.00993508413195502, + 0.010890059805619454 + ], + [ + -0.0028179629613288705, + 0.9999935626983643, + 0.0022226982587084955, + -0.0012769349828673528 + ], + [ + 0.009941332560712331, + -0.0021945827174931765, + 0.9999481718638237, + 0.008472300153124064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999921622119247, + 0.0032325047068297863, + -0.01209416455480523, + 0.013043702141274587 + ], + [ + -0.003202318285651821, + 0.9999917149543762, + 0.0025144916734565798, + -0.0014340420534814636 + ], + [ + 0.012102192907730088, + -0.002475565066561103, + 0.9999237061419981, + 0.009696658649742413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998913308145873, + 0.0027839711401611567, + -0.014477713914504494, + 0.015362263652730222 + ], + [ + -0.002742587948797721, + 0.9999920725822449, + 0.002877474543634944, + -0.0016453043649985366 + ], + [ + 0.014485610611552327, + -0.0028374555986374617, + 0.9998910748894583, + 0.011031695748287483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998559301708415, + 0.0016041825292631984, + -0.016898567636975715, + 0.017712532407367768 + ], + [ + -0.0015522012130968106, + 0.9999940395355225, + 0.003088739579636284, + -0.0017479909596594906 + ], + [ + 0.016903421193341473, + -0.003062064526602626, + 0.9998524375381471, + 0.012848570732012753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998132910813105, + 0.0026383395306766033, + -0.01914359957317914, + 0.019915746757388074 + ], + [ + -0.002575997791602503, + 0.9999912977218628, + 0.0032804483649210288, + -0.0018330281251880281 + ], + [ + 0.019152087836185726, + -0.0032305216882377863, + 0.9998113784585645, + 0.015066300822491172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999766322570749, + 0.0029137902893126015, + -0.02141903029560477, + 0.02213934869195383 + ], + [ + -0.0028381638992430428, + 0.9999896287918093, + 0.0035603552454290524, + -0.001962789421335822 + ], + [ + 0.02142918234868038, + -0.0034987328108400115, + 0.9997642326393927, + 0.016996345497932455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997154687544331, + 0.0032580422703176746, + -0.023628961999449485, + 0.024279914989669697 + ], + [ + -0.003165042560102289, + 0.9999871253967287, + 0.003972175472907079, + -0.0021945505610447115 + ], + [ + 0.023641599980993785, + -0.0038962585385888824, + 0.9997129344380982, + 0.018086487350487422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996337218120119, + 0.007387342397123575, + -0.026036320675432333, + 0.026547023809610444 + ], + [ + -0.0072772088733259535, + 0.99996417760849, + 0.004322219466514434, + -0.0023930569544704946 + ], + [ + 0.02606731651057885, + -0.004131164867430925, + 0.9996516326483182, + 0.01989952702437426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9995450797814011, + 0.011846134439110756, + -0.02773576079661259, + 0.028346623192867775 + ], + [ + -0.011723866963722827, + 0.9999208450317383, + 0.0045668017070779315, + -0.002533883000044945 + ], + [ + 0.027787665141575546, + -0.004239554051309824, + 0.9996048684021499, + 0.0210835095033455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994826796182581, + 0.013873682357370853, + -0.029016360374059573, + 0.029831889288879303 + ], + [ + -0.013733968896835275, + 0.9998931288719177, + 0.005008776796598845, + -0.0028898179260494613 + ], + [ + 0.029082749234676825, + -0.004607676062732935, + 0.9995664001569404, + 0.018866615574006946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994030762922038, + 0.015915818512439728, + -0.030661895668287063, + 0.0315950829709084 + ], + [ + -0.015763690555408563, + 0.9998622536659241, + 0.005196805890240156, + -0.0030189932835565426 + ], + [ + 0.03074038333773504, + -0.004710359498858452, + 0.9995162990072635, + 0.01903090508247684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9993320396478634, + 0.016706084832549095, + -0.03250243270013257, + 0.033514425756318564 + ], + [ + -0.016550056767746055, + 0.9998502135276794, + 0.005063604003008534, + -0.0029146579808592165 + ], + [ + 0.03258215706823621, + -0.004522304981946945, + 0.9994588337710059, + 0.02029328215712101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9993176980699708, + 0.010277645662426949, + -0.03547479575791155, + 0.03627997843966969 + ], + [ + -0.010095266283001643, + 0.9999349117279053, + 0.005316417481739817, + -0.0030091261660308267 + ], + [ + 0.035527129188244966, + -0.004954662639647722, + 0.9993564594094627, + 0.023821794503646486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9992364720910689, + 0.010081742890179157, + -0.037746726814275045, + 0.03850342282877594 + ], + [ + -0.009890906718526708, + 0.9999373555183411, + 0.005239016092787784, + -0.002932067745559846 + ], + [ + 0.03779718048580209, + -0.0048616668209433556, + 0.9992735901865408, + 0.02514707983908679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991398836104807, + 0.011888377368450165, + -0.03972653919037881, + 0.040496549756708126 + ], + [ + -0.011693626177898531, + 0.9999184608459473, + 0.0051310818944463685, + -0.0028675100889101975 + ], + [ + 0.03978429860022615, + -0.0046621207147836685, + 0.9991974011046678, + 0.025707981156924548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.99905545715355, + 0.010883829556405544, + -0.042068274718120066, + 0.04277587107161798 + ], + [ + -0.010662395141200197, + 0.9999281167984009, + 0.005484495263327679, + -0.003139909634954823 + ], + [ + 0.042124941523862286, + -0.005030766129493713, + 0.9990996589717422, + 0.025121509575420486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9989139090816527, + 0.014765947125852111, + -0.04419289524426356, + 0.04485357763794294 + ], + [ + -0.0145260593574341, + 0.999877989292145, + 0.005744449566538352, + -0.00331956675608182 + ], + [ + 0.04427232442508732, + -0.005096261389553548, + 0.9990064960600116, + 0.025866037000013165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.998782151186625, + 0.01701226644217968, + -0.04631143010524612, + 0.04684850823205344 + ], + [ + -0.0167486922520646, + 0.9998412728309631, + 0.006073446936344102, + -0.003573422401158816 + ], + [ + 0.046407404828487306, + -0.0052903941832482815, + 0.9989086042738244, + 0.024938463844290618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9986659049955197, + 0.01752272993326187, + -0.048572988603872526, + 0.04904992178750447 + ], + [ + -0.017245246600764284, + 0.9998325109481812, + 0.006125905174804227, + -0.0036227679153817333 + ], + [ + 0.04867219598482025, + -0.005280079785734415, + 0.9988008297215529, + 0.025619540322381104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9985531587930356, + 0.017639189958572388, + -0.050797601021365185, + 0.05123510472904696 + ], + [ + -0.017344392675508063, + 0.9998301267623901, + 0.006238384531598417, + -0.003718007562494154 + ], + [ + 0.05089901301710248, + -0.0053483047522604465, + 0.9986894960493359, + 0.02537173003218411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9984172591151078, + 0.01824434101581574, + -0.05319888264337329, + 0.05353497465678892 + ], + [ + -0.01793624988435996, + 0.9998195171356203, + 0.006263008990740519, + -0.0037541399489459367 + ], + [ + 0.053303546640582476, + -0.00529890786856413, + 0.9985643141288838, + 0.02653712032130653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9983159828258072, + 0.016277488321065903, + -0.055679816447157846, + 0.055999079798861505 + ], + [ + -0.015998205225032747, + 0.9998571276664734, + 0.005457962539535476, + -0.003096054639308425 + ], + [ + 0.05576070391218535, + -0.004557993728667498, + 0.9984337698833887, + 0.031422026477078736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.998051631267986, + 0.023169644176959995, + -0.05793158633006437, + 0.05800785832717095 + ], + [ + -0.02290044128506339, + 0.9997236728668215, + 0.0053065553190484996, + -0.003089376279900139 + ], + [ + 0.05803853009216221, + -0.003969557583332063, + 0.9983064537975501, + 0.0345218462137492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9978901940629894, + 0.02309069782495499, + -0.060679515512031844, + 0.060539641953864805 + ], + [ + -0.022812422203572526, + 0.9997258186340334, + 0.0052748548027091195, + -0.0031018135453598243 + ], + [ + 0.06078468044059093, + -0.003879479132592679, + 0.9981433782170333, + 0.033697315877236095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9977249737766168, + 0.023217996582388878, + -0.06329145625486178, + 0.06293027475246125 + ], + [ + -0.02292270169952065, + 0.9997227191925049, + 0.005387861679185709, + -0.0031783168683452074 + ], + [ + 0.06339900304771605, + -0.0039247930981218815, + 0.9979805581689211, + 0.03377160304323101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9976009330203316, + 0.022574761882424355, + -0.06544289485297662, + 0.06489194484908245 + ], + [ + -0.022256982899758745, + 0.9997367262840271, + 0.005580912233222137, + -0.003351052430861496 + ], + [ + 0.06555165133535482, + -0.004110962152481079, + 0.9978407078613912, + 0.033414957061486034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9974383580290762, + 0.017929350957274437, + -0.06924771782449612, + 0.06849730661555244 + ], + [ + -0.017627722756704933, + 0.999832272529602, + 0.004964443616585722, + -0.002870847689247033 + ], + [ + 0.06932511414338749, + -0.0037310468032956123, + 0.9975871401279995, + 0.03465505307685694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9972584698547229, + 0.015791447833180428, + -0.07229211837188627, + 0.07127974714604278 + ], + [ + -0.015494964821149966, + 0.9998691082000732, + 0.004660176471649526, + -0.0026202806900967974 + ], + [ + 0.07235624654049487, + -0.0035272366367280483, + 0.9973726202749109, + 0.03550831576200957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9970483278937506, + 0.016108524054288864, + -0.07506755020780466, + 0.07376832187015823 + ], + [ + -0.015777276462654734, + 0.9998630285263062, + 0.005003637488407883, + -0.0028558264220016876 + ], + [ + 0.07513786909475463, + -0.003804506966844201, + 0.9971659055948382, + 0.036172470818331595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9968759498636395, + 0.014267563819885254, + -0.07768359991653778, + 0.07620661326132137 + ], + [ + -0.013909971206238244, + 0.9998900294303894, + 0.005142385905550864, + -0.0029215525166149054 + ], + [ + 0.07774842901221339, + -0.004045743960887194, + 0.996964819617161, + 0.03591402392287797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9967531450248306, + 0.007661185692995787, + -0.08015259630677558, + 0.07860012995848575 + ], + [ + -0.007223277889911226, + 0.9999573826789856, + 0.005751952011547873, + -0.0031999506928672324 + ], + [ + 0.08019324616301989, + -0.005154311656951904, + 0.9967659949838155, + 0.03550977218222156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9966349151214796, + 0.003868326311931014, + -0.0818774595528053, + 0.08047385031800933 + ], + [ + -0.00334573342732301, + 0.9999731779098511, + 0.006518862324955487, + -0.003614250725509162 + ], + [ + 0.08190047923449481, + -0.006222985219210386, + 0.9966211091187567, + 0.03595556661021991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9964792248882294, + 0.006791156716644766, + -0.08356486269324537, + 0.08232451638146172 + ], + [ + -0.006181373135096702, + 0.9999523758888247, + 0.007553691052621311, + -0.004313046221033985 + ], + [ + 0.08361217821695681, + -0.0070105507038533705, + 0.9964737111314733, + 0.03630854378009102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9962766404426315, + 0.011715224944055082, + -0.08541455152620835, + 0.08421659370259664 + ], + [ + -0.011028201850904423, + 0.9999029636383059, + 0.008510833992177771, + -0.004988449682276549 + ], + [ + 0.08550596981041102, + -0.007537175901234152, + 0.9963091652203288, + 0.03712455992466917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9960735639362995, + 0.013270126655697823, + -0.0875295254645271, + 0.08628507602920028 + ], + [ + -0.01249977974001348, + 0.9998782277107239, + 0.009343265086844252, + -0.00559813737859363 + ], + [ + 0.08764285073629151, + -0.008212478831410408, + 0.9961181157774109, + 0.036533099555588824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9958811400965826, + 0.012930509634315968, + -0.08974156178726952, + 0.0883947000923493 + ], + [ + -0.012086124713733711, + 0.9998775124549866, + 0.009946129349663458, + -0.006103048358893087 + ], + [ + 0.08985917833611153, + -0.00882053468376398, + 0.9959154392831732, + 0.032666211759232885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9957955995780041, + 0.013994257897138596, + -0.09052799190109657, + 0.08923065372019151 + ], + [ + -0.013052805439916847, + 0.9998545050621033, + 0.01098329101841037, + -0.007062781339514998 + ], + [ + 0.0906685224243964, + -0.009755467996001244, + 0.9958333685466823, + 0.025401709940574287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9956395411506064, + 0.012520823627710342, + -0.09243982008983466, + 0.09118164148063106 + ], + [ + -0.011466136022134135, + 0.9998630881309509, + 0.011931771078290306, + -0.00808974505010274 + ], + [ + 0.09257655823299199, + -0.01081981509923935, + 0.9956467771504167, + 0.01101642331717382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9956535539580552, + 0.012133807875216007, + -0.09234063290734999, + 0.09105058971500385 + ], + [ + -0.010962136062116245, + 0.9998529553413391, + 0.013185246868352275, + -0.009476324903653476 + ], + [ + 0.09248704289882766, + -0.012115688063204288, + 0.9956401722566327, + -0.004967436407294884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9951885714973802, + 0.011890053749084473, + -0.09725395922520043, + 0.09591063658899412 + ], + [ + -0.01060152894103297, + 0.9998492002487183, + 0.013755122514633934, + -0.010185207107442452 + ], + [ + 0.09740284416133486, + -0.012657899409532547, + 0.9951645672244738, + -0.014918878651537777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9951451793142594, + 0.008563719689846039, + -0.09804446482828368, + 0.09660677928396258 + ], + [ + -0.007206545240901544, + 0.9998733997344971, + 0.014188227906268079, + -0.010837179337662924 + ], + [ + 0.09815355687691109, + -0.013412784785032272, + 0.9950809138510994, + -0.027831730226058338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9949136049179513, + 0.0042605348862707615, + -0.10064161410225572, + 0.09872553377978292 + ], + [ + -0.0028303931160858467, + 0.999893069267273, + 0.01434875783545088, + -0.01125681149401476 + ], + [ + 0.10069198330492632, + -0.013990920037031174, + 0.9948192529207837, + -0.04024782410750941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9945869018692552, + 0.0028080127667635684, + -0.10387044115191246, + 0.10160047044409705 + ], + [ + -0.0012853567986019806, + 0.9998908042907717, + 0.014723217895849405, + -0.011835399682248138 + ], + [ + 0.10390043486008156, + -0.014510009437799457, + 0.9944818389088073, + -0.0508402711983132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9944343282549508, + 0.0015466696349903941, + -0.10534690254182444, + 0.10279691735440474 + ], + [ + 4.5506227652548045e-05, + 0.9998858571052551, + 0.015109567060617895, + -0.01242435793790491 + ], + [ + 0.10535824547928344, + -0.015030266717076302, + 0.9943207314375347, + -0.06100465039379098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9941292356915016, + 0.003722446272149682, + -0.10813538834815307, + 0.10548959405652945 + ], + [ + -0.0019373313732815288, + 0.9998601675033569, + 0.016608513634182216, + -0.014171276174942847 + ], + [ + 0.10818208993652907, + -0.016301512718200684, + 0.9939974184773823, + -0.07540111197741059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9939377879259188, + 0.004274276550859213, + -0.10986074745020688, + 0.10713820653066991 + ], + [ + -0.0023372863607001894, + 0.9998396635055542, + 0.017754058742534582, + -0.015726674009459193 + ], + [ + 0.10991901971960566, + -0.017389653250575066, + 0.9937884246271445, + -0.09541439851100417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9938956750634637, + 0.006894450634717941, + -0.1101085815093195, + 0.10709603876401298 + ], + [ + -0.004834436134504748, + 0.9998084902763367, + 0.018964962799089855, + -0.017379832518077495 + ], + [ + 0.11021824092774168, + -0.018316879868507385, + 0.9937386039465415, + -0.11350535337305663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.993526962497808, + 0.010676392354071142, + -0.11309373968994126, + 0.1100492539488684 + ], + [ + -0.008426310115223658, + 0.9997572898864748, + 0.02035509761151765, + -0.019124350396718896 + ], + [ + 0.1132836108547024, + -0.019270375370979313, + 0.9933757963704251, + -0.12976656611072912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9932354030907268, + 0.015750795602798462, + -0.11504479896024401, + 0.11194179771600742 + ], + [ + -0.013415186508006167, + 0.999688446521759, + 0.021047892199428278, + -0.02000722804151925 + ], + [ + 0.11534047831251419, + -0.019362162798643112, + 0.9931372644364282, + -0.13573572072049112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9929007076802594, + 0.020736683160066608, + -0.11712436962779348, + 0.11397681948360942 + ], + [ + -0.018321969711327424, + 0.9995976090431216, + 0.02165597043728166, + -0.02059470907742137 + ], + [ + 0.11752631208106573, + -0.019356278702616695, + 0.9928811034069062, + -0.1345068696962488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9927104741774176, + 0.02433955855667591, + -0.11804004128507886, + 0.11512408704880035 + ], + [ + -0.021995631968978763, + 0.9995349645614624, + 0.02111948261159417, + -0.02000133508817342 + ], + [ + 0.11849918909430046, + -0.018369166180491447, + 0.9927842052804613, + -0.12816873463728606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.992482673333003, + 0.029548920691013336, + -0.11876448946380136, + 0.11612369143500442 + ], + [ + -0.02723471338472203, + 0.999407172203064, + 0.02106203475117351, + -0.019837518598270557 + ], + [ + 0.11931644376638767, + -0.017669185996055603, + 0.9926990636365502, + -0.12349242904302432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.992298313476534, + 0.03280578553676605, + -0.11944807162728047, + 0.11702645541454258 + ], + [ + -0.03034758334542873, + 0.9992896914482117, + 0.0223413102591521, + -0.021114284537331385 + ], + [ + 0.12009614856536888, + -0.018544284626841545, + 0.9925890341049503, + -0.12452681457200393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9914591673794375, + 0.03692590817809105, + -0.1250807763612684, + 0.12333472945786303 + ], + [ + -0.03430455087413373, + 0.9991456270217896, + 0.023047475437190733, + -0.021891347578011373 + ], + [ + 0.12582496121563685, + -0.018559791147708893, + 0.9918788321462663, + -0.12622219769963827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9920137133403119, + 0.03142419457435608, + -0.12215293475650187, + 0.12003047394856686 + ], + [ + -0.02894100469961817, + 0.9993378520011902, + 0.022050373569370174, + -0.02077118270768113 + ], + [ + 0.1227649720263246, + -0.018339045345783234, + 0.9922663415782708, + -0.1256545829376386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9919877685749624, + 0.022542152553796768, + -0.12430639479938864, + 0.12233655782916925 + ], + [ + -0.020091754736811542, + 0.9995790123939514, + 0.020931249987234175, + -0.019726507473275354 + ], + [ + 0.12472590476687345, + -0.018266011029481888, + 0.9920231104160857, + -0.12482927061476874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.991873938646898, + 0.012742229737341404, + -0.12658486868433283, + 0.12461058666807048 + ], + [ + -0.010251925024770731, + 0.99974125623703, + 0.020305073451591833, + -0.01922345228175662 + ], + [ + 0.12681084715418445, + -0.018842335790395737, + 0.9917479313451654, + -0.1297265181225499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9912242678103979, + 0.006993183866143227, + -0.13200572630337473, + 0.1295496693982571 + ], + [ + -0.004487039160351514, + 0.9998041987419128, + 0.01927304300246858, + -0.01825527838834906 + ], + [ + 0.1321146597550365, + -0.018511595204472542, + 0.9910615669981053, + -0.127718028702617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9907074173205946, + 0.001987205818295479, + -0.1359956097366164, + 0.132953912095088 + ], + [ + 0.0005343864396576775, + 0.9998286962509155, + 0.01850269839778359, + -0.017476953307858843 + ], + [ + 0.13600908602676676, + -0.018403435125947, + 0.9905366721795511, + -0.12390230513588579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9903276876439655, + -0.002930622547864914, + -0.13871734264474656, + 0.13526506362612192 + ], + [ + 0.005395624888757725, + 0.9998341202735901, + 0.01739725058481623, + -0.01623771928171986 + ], + [ + 0.1386433409015552, + -0.01797744631767273, + 0.9901791785922455, + -0.11568947764564008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9899282542743586, + -0.0035900401417166003, + -0.14152461482578316, + 0.13779363396578254 + ], + [ + 0.0059839944775453725, + 0.9998460412025454, + 0.016493507983701222, + -0.014965294789181934 + ], + [ + 0.14144361016005566, + -0.017174270004034046, + 0.9897973057745166, + -0.10020169505980805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9893451852520673, + 0.0025088619440793995, + -0.14556736128561337, + 0.14176804387474579 + ], + [ + -0.00033743162673795533, + 0.9998883605003359, + 0.014939788949831292, + -0.013032374645637184 + ], + [ + 0.145588584351814, + -0.014731489121913913, + 0.9892355286687851, + -0.07838484170066476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9884984732683999, + 0.00877491943538189, + -0.15097600764319682, + 0.147238968925477 + ], + [ + -0.006971508017107677, + 0.9998979568481445, + 0.012470181678478237, + -0.010683974406020052 + ], + [ + 0.1510700219168436, + -0.011274225078523159, + 0.9884587511531313, + -0.053412546143408436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9883538864865345, + 0.011543706059455872, + -0.15173424125784493, + 0.14803173560224395 + ], + [ + -0.010123267007768532, + 0.9998974204063416, + 0.01013055146897519, + -0.008464182595303037 + ], + [ + 0.15183563195028235, + -0.00847652368247509, + 0.9883694369208731, + -0.029806423327788677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9878566626045706, + 0.012692896649241447, + -0.1548486303294067, + 0.15124683595899044 + ], + [ + -0.01155617759352588, + 0.9998992681503296, + 0.008238831367999829, + -0.006710889294025267 + ], + [ + 0.1549376104297379, + -0.006349326577037573, + 0.9879038594145124, + -0.011135717310096084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9873837071241494, + 0.012004530988633633, + -0.15789025788207472, + 0.1542985308674406 + ], + [ + -0.011096551649568423, + 0.9999164342880249, + 0.00663102097715111, + -0.005265125172977499 + ], + [ + 0.1579566657680684, + -0.0047953249886631966, + 0.9874344030577915, + 0.0030466780073216404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9869061200446027, + 0.010509963147342205, + -0.16095294678437871, + 0.15727306746250777 + ], + [ + -0.009859612677264522, + 0.9999396800994873, + 0.004838782593662583, + -0.0036601124904577986 + ], + [ + 0.1609940940572182, + -0.0031884906347841024, + 0.9869502186578581, + 0.01717493193446812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9865338198393308, + 0.009588354267179968, + -0.16327595074565743, + 0.15948305203031476 + ], + [ + -0.009139515346320261, + 0.9999521374702456, + 0.003499926573586527, + -0.0025176371973003654 + ], + [ + 0.163301688956692, + -0.001960532739758492, + 0.9865742027831074, + 0.033502498003068495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9865422740547052, + 0.008174346759915354, + -0.16330205231812356, + 0.15955051046553978 + ], + [ + -0.007902975388084297, + 0.999966084957123, + 0.002311366158525234, + -0.0014887478832207454 + ], + [ + 0.16331540291765892, + -0.0009896883275359871, + 0.9865733857068905, + 0.04703090090027883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9857496654014696, + 0.005333449225872755, + -0.16813449511715747, + 0.16410526322096033 + ], + [ + -0.005351516792734694, + 0.9999856352806091, + 0.0003456575062033602, + 0.00024931539700980324 + ], + [ + 0.1681339176579095, + 0.0005590427317656577, + 0.9857640138929123, + 0.06010207419826183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9858515332652865, + 0.0012400032719597223, + -0.16761644923991284, + 0.16371037897428056 + ], + [ + -0.001495904484372046, + 0.9999979138374331, + -0.001400453931871041, + 0.0018229124458533205 + ], + [ + 0.16761435428568763, + 0.0016313778469339017, + 0.9858512766934099, + 0.07218876573588481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9844503374459239, + -0.0026609927881509066, + -0.1756427995075174, + 0.17098461293384465 + ], + [ + 0.002242811202160278, + 0.999994158744812, + -0.0025793312716154235, + 0.002938826438186064 + ], + [ + 0.1756486381759078, + 0.002145289909094572, + 0.9844505644555039, + 0.08571691099637718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9837883351486522, + -0.006439978256821634, + -0.17921791091527173, + 0.17379983714476527 + ], + [ + 0.005799231211662301, + 0.9999747872352602, + -0.0040989177917837485, + 0.004348191582943182 + ], + [ + 0.1792397884199394, + 0.002993141533806921, + 0.9838008722924974, + 0.10109809402413242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9831209113493838, + -0.008985310792922974, + -0.18273633473609316, + 0.17657126141363552 + ], + [ + 0.00812632995569642, + 0.9999521374702454, + -0.005448918851852317, + 0.0055686110471039624 + ], + [ + 0.18277654840586488, + 0.003871970111504197, + 0.9831468744466632, + 0.11318912699509145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9827741072141946, + -0.01049720961600542, + -0.18451253474255663, + 0.17790113874304597 + ], + [ + 0.009482159143452157, + 0.9999346733093262, + -0.006382784150077693, + 0.00636807258701135 + ], + [ + 0.18456748552403512, + 0.004523257724940777, + 0.9828094576647152, + 0.12528498626743795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9818769791161073, + -0.010496334172785282, + -0.18922853478471222, + 0.18185511882335417 + ], + [ + 0.009292439564844445, + 0.9999305605888367, + -0.007248238943117388, + 0.007113874614412339 + ], + [ + 0.18929147373253188, + 0.005358484573662281, + 0.9819063302836515, + 0.13523004729730287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9816945514198369, + -0.010350535623729229, + -0.19018077858714844, + 0.18263929293835138 + ], + [ + 0.009012449851670249, + 0.9999281764030457, + -0.007899429952268482, + 0.007593145140258242 + ], + [ + 0.19024887433816784, + 0.006040832027792931, + 0.9817172819937062, + 0.14628313578661983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9816592027367321, + -0.010942723602056503, + -0.19032989064053285, + 0.1828219570290867 + ], + [ + 0.009439250282346939, + 0.999916672706604, + -0.0088041129959472, + 0.008288896963243293 + ], + [ + 0.19041037194302715, + 0.006846067029982805, + 0.9816806973834552, + 0.15636308366493465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9808267864088701, + -0.011839164420962337, + -0.1945215687622396, + 0.18637052755767286 + ], + [ + 0.010086029137846897, + 0.9998991489410403, + -0.010000550449386353, + 0.009228523518897061 + ], + [ + 0.19462034114359644, + 0.007846857421100141, + 0.9808472386948771, + 0.16403794866933014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9807143084006016, + -0.014038086868822578, + -0.19494201162110641, + 0.18678183510472718 + ], + [ + 0.01203270125166526, + 0.9998618364334109, + -0.011467539037921104, + 0.01040553293964602 + ], + [ + 0.1950760654776966, + 0.008900701068341734, + 0.9807477568078926, + 0.17219191802855602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9802250409833241, + -0.015027159824967384, + -0.19731470568424503, + 0.18877593976491214 + ], + [ + 0.012777578582650719, + 0.99983811378479, + -0.012669225046015534, + 0.011289459846019074 + ], + [ + 0.1974731421397143, + 0.009897488169372082, + 0.9802583536356579, + 0.181789625878076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9793639239645057, + -0.02266987226903439, + -0.2008293394930844, + 0.1917389162135742 + ], + [ + 0.01939766754735801, + 0.9996453523635866, + -0.018246627281843657, + 0.015543547862055637 + ], + [ + 0.20117175135753562, + 0.01397446729242802, + 0.9794562742592664, + 0.19501738913125571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9786828290647439, + -0.03604063391685486, + -0.20219049448405121, + 0.1929934105831673 + ], + [ + 0.03244645494997557, + 0.9992514848709106, + -0.021063649312663288, + 0.017983038549921615 + ], + [ + 0.2027982963862632, + 0.01405426673591137, + 0.9791196476678641, + 0.21180754419264983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9783916338457669, + -0.025640416890382767, + -0.20516422355988856, + 0.19542275834182501 + ], + [ + 0.021846230268706513, + 0.999546229839325, + -0.02073760234339786, + 0.017199911022913007 + ], + [ + 0.20560285333342765, + 0.01580743119120598, + 0.9785078455057641, + 0.22510851723769704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9779585647435577, + -0.02214692905545235, + -0.20762132046468917, + 0.1974150348112803 + ], + [ + 0.01816360685531125, + 0.9996129274368288, + -0.02107251938066929, + 0.017175585365225263 + ], + [ + 0.2080076393075189, + 0.01683689653873444, + 0.9779822502978012, + 0.23761955031579846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9776322313626796, + -0.013864407315850261, + -0.20986430374902276, + 0.19930604562910006 + ], + [ + 0.009934132354462786, + 0.9997552037239077, + -0.01977032871613578, + 0.015756818544376595 + ], + [ + 0.21008702710817517, + 0.017243292182683948, + 0.9775306107181152, + 0.24675729946583064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9770137315430052, + -0.018855322152376175, + -0.21234093614185204, + 0.20112037636259433 + ], + [ + 0.015027757630562058, + 0.9996944665908813, + -0.01962520614906488, + 0.015639539167723128 + ], + [ + 0.2126460972902899, + 0.015983086079359055, + 0.976998567223326, + 0.26280759489620503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9764548409855878, + -0.018118519335985187, + -0.21495966999192645, + 0.2033802236310564 + ], + [ + 0.014272732330937243, + 0.9997093677520754, + -0.019429564983642813, + 0.015244225031607855 + ], + [ + 0.21524923141717942, + 0.015904031693935398, + 0.9764296602183001, + 0.2736367355515342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9761212165055629, + -0.01730972155928612, + -0.21653572673516325, + 0.2050589482517471 + ], + [ + 0.013409184079702891, + 0.9997205138206484, + -0.019469741249379002, + 0.015211767323713403 + ], + [ + 0.2168122228907503, + 0.016101261600852016, + 0.9760805041541959, + 0.27974833973107316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9756537538551806, + -0.016629558056592945, + -0.21868526213953446, + 0.20714125492898577 + ], + [ + 0.01276677834062137, + 0.9997367262840273, + -0.019064950849461935, + 0.01492560769682073 + ], + [ + 0.21894473429781075, + 0.015808884054422382, + 0.975609215806913, + 0.2824835117608674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9749877313206958, + -0.01475293468683958, + -0.22176853112258427, + 0.20988691707539922 + ], + [ + 0.01095838109174017, + 0.9997718930244446, + -0.018331197547943524, + 0.014338503193592339 + ], + [ + 0.2219883896423643, + 0.015442469157278538, + 0.9749270208645316, + 0.2805617909483923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9746669843395357, + -0.01517399586737156, + -0.2231457458764826, + 0.211582039410251 + ], + [ + 0.01140975905257071, + 0.9997702240943909, + -0.018148645217008017, + 0.01428672622491557 + ], + [ + 0.22336985391640196, + 0.01514284685254097, + 0.9746161393020827, + 0.28130798798569845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9737513435772903, + -0.014951758086681366, + -0.22712267809358888, + 0.2148829526146153 + ], + [ + 0.011108748070249311, + 0.999772846698761, + -0.018189306108432113, + 0.01429157301112439 + ], + [ + 0.22734305602049457, + 0.015188812278211117, + 0.9736962811775117, + 0.27882435763027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9736743002499054, + -0.015479748137295246, + -0.2274174468145955, + 0.2159269693089511 + ], + [ + 0.011549037943782026, + 0.9997602105140686, + -0.01860470536930529, + 0.014611511894245971 + ], + [ + 0.22765091272563573, + 0.01548847183585167, + 0.9736196089357256, + 0.2796796927584254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9730466809529759, + -0.015762511640787125, + -0.23006892187181477, + 0.21838407576440896 + ], + [ + 0.011715629710667988, + 0.9997518658638, + -0.018945394747110624, + 0.014851496845336161 + ], + [ + 0.23031046654163115, + 0.015739351511001587, + 0.9729899268715877, + 0.28054609079671144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9729536800594271, + -0.01603654958307743, + -0.23044297017774115, + 0.21944925865657758 + ], + [ + 0.011964130721782564, + 0.9997467994689941, + -0.01905870599720679, + 0.014959007378073019 + ], + [ + 0.23069025770298163, + 0.01578618958592415, + 0.9728991915684695, + 0.2830664733914038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9717957554571265, + -0.02093005552887917, + -0.23489334784051297, + 0.22308955894300206 + ], + [ + 0.016053128736925142, + 0.9996144175529482, + -0.02265549183354256, + 0.01754346340448399 + ], + [ + 0.23527697008986553, + 0.01824573986232281, + 0.9717570948223286, + 0.28044104705435025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9726210421298593, + -0.019349707290530205, + -0.23158992116993288, + 0.22192927768596116 + ], + [ + 0.01475290592593639, + 0.9996585845947266, + -0.021564473377713066, + 0.016783222896869763 + ], + [ + 0.23192812512433877, + 0.017557434737682343, + 0.9725744680714348, + 0.28404040819801135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9652009412669998, + -0.0673416778445244, + -0.25269000423782717, + 0.2365470767392344 + ], + [ + 0.054320052181901425, + 0.9968279004096987, + -0.058167315677493996, + 0.043391755103406975 + ], + [ + 0.2558055371299493, + 0.042417015880346305, + 0.965797258974432, + 0.2636599638754814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9656388995409103, + -0.0615786537528038, + -0.2524868634440568, + 0.23710285360455632 + ], + [ + 0.049514037197115474, + 0.9973196983337402, + -0.05386784654176765, + 0.04022979884615192 + ], + [ + 0.2551272342715209, + 0.03951524198055267, + 0.9660997212659999, + 0.2670257497434103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9633450591737335, + -0.06999118626117706, + -0.2589740564972268, + 0.24201372937860538 + ], + [ + 0.05593474219751414, + 0.9965531229972839, + -0.06126279051251699, + 0.045583245489481575 + ], + [ + 0.26236925725557103, + 0.04453156143426895, + 0.9639394603792875, + 0.26671500239885015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9621405409539974, + -0.07114959508180618, + -0.2631031540096527, + 0.245514914653804 + ], + [ + 0.05653048067489446, + 0.9964280724525452, + -0.06273276807066894, + 0.04672385978846678 + ], + [ + 0.266626780040802, + 0.04548439383506775, + 0.9627259751336796, + 0.2646733911091284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9612658106008327, + -0.07324602454900742, + -0.2657124525608859, + 0.24811732314299553 + ], + [ + 0.058131292809927, + 0.9962347745895386, + -0.06431994990418355, + 0.04805497563643357 + ], + [ + 0.26942315583854365, + 0.0463823564350605, + 0.9619042848395299, + 0.2619571078238527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9609135863430082, + -0.07323322445154191, + -0.26698676838830787, + 0.24974271143492113 + ], + [ + 0.0578621975308773, + 0.9962061047554018, + -0.06500252911967949, + 0.048525704165068226 + ], + [ + 0.270734197320487, + 0.04701337218284608, + 0.9615054358842328, + 0.2619955834918166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9597904968889625, + -0.07375507801771164, + -0.2708549605723434, + 0.2529949381475919 + ], + [ + 0.05804483686641364, + 0.9961581230163574, + -0.06557321015966577, + 0.0490020568457167 + ], + [ + 0.2746507132696028, + 0.0472148135304451, + 0.9603841663788937, + 0.2619925704137375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9588797617801952, + -0.07177923619747162, + -0.27458575008837555, + 0.25611964589339764 + ], + [ + 0.05602122271630789, + 0.9963234663009644, + -0.06481661714816264, + 0.04840086803574732 + ], + [ + 0.27822870721500553, + 0.04676871374249458, + 0.959375552098089, + 0.2632378355981235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9579775955831149, + -0.07111449539661407, + -0.2778877924826508, + 0.25881654689116573 + ], + [ + 0.055148349681641784, + 0.996368944644928, + -0.0648657129594062, + 0.04832977404443683 + ], + [ + 0.28149167094174465, + 0.04681484401226044, + 0.9584210262726031, + 0.2667723746466871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9571738981349869, + -0.07222500443458559, + -0.28035999997105054, + 0.26148958471331013 + ], + [ + 0.0560420354955206, + 0.9962889552116396, + -0.06532675858753342, + 0.04897068272131008 + ], + [ + 0.2840377970177063, + 0.046817120164632804, + 0.9576694058064057, + 0.26142151077676273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9568398947281858, + -0.07290119677782059, + -0.28132338031304643, + 0.2628868017939219 + ], + [ + 0.056744350414625014, + 0.9962596297264099, + -0.06516794905744219, + 0.0489497667639745 + ], + [ + 0.28502193949050625, + 0.04639177769422531, + 0.957397655671172, + 0.2627911831784459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9562646526714783, + -0.07113997638225557, + -0.2837199352340047, + 0.2652150255946406 + ], + [ + 0.054972267719789206, + 0.9963988065719607, + -0.064555739494443, + 0.048478542973413724 + ], + [ + 0.287290698959754, + 0.04613564535975457, + 0.9567316907964656, + 0.2627440884423146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9554890427892877, + -0.06943682581186296, + -0.2867389629753455, + 0.26780886695074035 + ], + [ + 0.05336450897003385, + 0.996553957462311, + -0.0635014667816548, + 0.04764804996446613 + ], + [ + 0.29016018873351773, + 0.04537326842546464, + 0.9559018511379374, + 0.2657163405243401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9541083021109016, + -0.07033032923936844, + -0.2910859380625564, + 0.27159494808813067 + ], + [ + 0.05376536228559457, + 0.996466338634491, + -0.0645301824974523, + 0.04859098758599332 + ], + [ + 0.29459575775618085, + 0.04591843858361244, + 0.9545181068406023, + 0.2610327017262143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9541961876721018, + -0.07148434966802597, + -0.2905161738239137, + 0.2719030770425621 + ], + [ + 0.054882525702678354, + 0.9963808655738831, + -0.06490842391718366, + 0.04889031764916085 + ], + [ + 0.2941046918418816, + 0.04599110782146454, + 0.95466605301428, + 0.26488204253363196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9533443215363514, + -0.07046996802091599, + -0.29354478646665827, + 0.274777056902643 + ], + [ + 0.053800948896115454, + 0.996467113494873, + -0.06448820218127843, + 0.048656539582797864 + ], + [ + 0.29705221620041544, + 0.045686475932598114, + 0.9537676352729064, + 0.2627584252877038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9528786306213651, + -0.06798099726438522, + -0.29563638633978595, + 0.27670408807450386 + ], + [ + 0.051187461252809326, + 0.996624231338501, + -0.06418718105911075, + 0.04853986081950985 + ], + [ + 0.29900189886126693, + 0.046029720455408096, + 0.953141727960037, + 0.2565106417253414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9523961595640507, + -0.0689178928732872, + -0.2969711880331096, + 0.27849767833400346 + ], + [ + 0.05206620407850598, + 0.9965717196464539, + -0.06429570164841507, + 0.04846295338434074 + ], + [ + 0.30038420674973043, + 0.045772816985845566, + 0.9527193683563359, + 0.26483034310949966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/pan_right/transforms.json b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ce67776a9118cefd251d14c9346ede77610a9e4c --- /dev/null +++ b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/pan_right/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.783745655207895e-05, + -2.8303711587795988e-06, + -3.445252104938845e-06 + ], + [ + 5.783744200016372e-05, + 1.0, + -5.463689831231022e-06, + 1.3817551007377915e-05 + ], + [ + 2.830687208188465e-06, + 5.463526122184703e-06, + 1.0, + -7.349567022174597e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999919577560463, + -0.0028064714279025793, + 0.0028704308936486943, + -0.0004374863929115236 + ], + [ + 0.0028070693293181723, + 0.9999960660934448, + -0.00020421876935071892, + 0.00017601992294657975 + ], + [ + -0.0028698462579417137, + 0.00021227462275419384, + 0.9999958333319632, + 0.000656803953461349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999825698749916, + -0.0016366743948310614, + 0.005668167225921645, + -0.0008406114066019654 + ], + [ + 0.0016353227894025755, + 0.9999986290931702, + 0.00024308663381869915, + -8.097158570308238e-05 + ], + [ + -0.005668557300046512, + -0.00023381313076242805, + 0.9999838795014903, + 0.0021981673780828714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999649939813493, + -0.0013848657254129648, + 0.008252798604450173, + -0.0010924524394795299 + ], + [ + 0.001378755638896277, + 0.9999987483024597, + 0.0007460141021130809, + -0.0003822744474746287 + ], + [ + -0.00825382147278964, + -0.000734609377104789, + 0.9999656430068309, + 0.0032339408062398434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999390402251992, + -0.001618959940969944, + 0.010923134116874508, + -0.0014369768323376775 + ], + [ + 0.001604815951130759, + 0.9999978542327881, + 0.001303511760034335, + -0.0007305468898266554 + ], + [ + -0.010925221068555261, + -0.0012859026901423931, + 0.9999394990181888, + 0.003991668578237295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999087674661523, + 0.0005000975797884166, + 0.013500473983348757, + -0.0017086088191717863 + ], + [ + -0.0005245750903805344, + 0.9999982118606567, + 0.0018096070525010224, + -0.0010312144877389073 + ], + [ + -0.013499544575837892, + -0.0018165238434448838, + 0.9999072277095681, + 0.005365600343793631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998674885484424, + 0.002839913358911872, + 0.01602753632799621, + -0.0019489781698212028 + ], + [ + -0.002874715920944191, + 0.9999935626983643, + 0.002148792957582733, + -0.0012440953869372606 + ], + [ + -0.016021331229413526, + -0.0021945827174931765, + 0.9998692381769344, + 0.006821702234447002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998292120723701, + 0.0032325047068297863, + 0.01819521598136469, + -0.0019351663067936897 + ], + [ + -0.0032770036922258974, + 0.9999917149543762, + 0.0024163521224441448, + -0.001390389516018331 + ], + [ + -0.01818725442844817, + -0.002475565066561103, + 0.9998315382874655, + 0.007771001663058996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999793340169563, + 0.0027839711401611567, + 0.020138386006457808, + -0.0017559819389134645 + ], + [ + -0.0028405375455038307, + 0.9999920725822449, + 0.002780826290644687, + -0.0016039025504142046 + ], + [ + -0.020130485182816835, + -0.0028374555986374617, + 0.9997933577118274, + 0.008827180601656437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997557191017074, + 0.0016041825292631984, + 0.022044155901469745, + -0.0015449044294655323 + ], + [ + -0.0016712858972527233, + 0.9999940395355225, + 0.0030259617060358016, + -0.0017247075447812676 + ], + [ + -0.02203917003796618, + -0.003062064526602626, + 0.9997524180931254, + 0.010363591834902763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997054871858595, + 0.0026383395306766033, + 0.024125366690327978, + -0.0014811328146606684 + ], + [ + -0.0027154956818072765, + 0.9999912977218628, + 0.0031659420871740624, + -0.0017855011392384768 + ], + [ + -0.024116803634921462, + -0.0032305216882377863, + 0.9997039435483559, + 0.012303386814892292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9996530849275765, + 0.0029137902893126015, + 0.0261760272047228, + -0.0013968583662062883 + ], + [ + -0.0030043577457927934, + 0.9999896287918093, + 0.0034212772948002163, + -0.0019048519898205996 + ], + [ + -0.02616578720754205, + -0.0034987328108400115, + 0.9996514804175386, + 0.013954460620880127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9995943740224879, + 0.0032580422703176746, + 0.02829193762643032, + -0.0013957642950117588 + ], + [ + -0.00336694743585107, + 0.9999871253967287, + 0.0038025435380859654, + -0.0021238315384835005 + ], + [ + -0.028279185139073827, + -0.0038962585385888824, + 0.999592499081683, + 0.014766803942620754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9995163244784069, + 0.007387342397123575, + 0.030209019832240915, + -0.0012668031267821789 + ], + [ + -0.007508713033434786, + 0.99996417760849, + 0.0039062230714920617, + -0.0022024670615792274 + ], + [ + -0.030179080060505348, + -0.004131164867430925, + 0.9995359497152728, + 0.016295894980430603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9993906570173406, + 0.011846134439110756, + 0.032832203834385836, + -0.0016072338912636042 + ], + [ + -0.01197885473100329, + 0.9999208450317383, + 0.003848606728201973, + -0.0021954155527055264 + ], + [ + -0.03278401458807851, + -0.004239554051309824, + 0.9994534784845107, + 0.01721593551337719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9992600222576984, + 0.013873682357370853, + 0.03587455844738984, + -0.002264332724735141 + ], + [ + -0.014029933420362146, + 0.9998931288719177, + 0.004107397579683651, + -0.0024634446017444134 + ], + [ + -0.03581373978774378, + -0.004607676062732935, + 0.9993478726990755, + 0.014750652015209198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991298554531997, + 0.015915818512439728, + 0.03855116976644983, + -0.0026421048678457737 + ], + [ + -0.016085442530560462, + 0.9998622536659241, + 0.004093808738027287, + -0.002494606887921691 + ], + [ + -0.03848070299238432, + -0.004710359498858452, + 0.9992482367490773, + 0.014657844789326191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9990181101736234, + 0.016706084832549095, + 0.041033512441755036, + -0.002863609232008457 + ], + [ + -0.016877456331143792, + 0.9998502135276794, + 0.003833527397219864, + -0.0023277951404452324 + ], + [ + -0.04096332269846864, + -0.004522304981946945, + 0.9991504208854738, + 0.015658577904105186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999048181942387, + 0.010277645662426949, + 0.042391661533162726, + -0.002237306907773018 + ], + [ + -0.010478338975402937, + 0.9999349117279053, + 0.0045147656064750755, + -0.002637698547914624 + ], + [ + -0.0423425028721286, + -0.004954662639647722, + 0.9990908979278608, + 0.01888430304825306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9989610206175026, + 0.010081742890179157, + 0.04444346778813345, + -0.002153220819309354 + ], + [ + -0.010287751528303628, + 0.9999373555183411, + 0.004409024135449079, + -0.0025475132279098034 + ], + [ + -0.04439623288699293, + -0.0048616668209433556, + 0.9990021568557392, + 0.019930891692638397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9988342523695951, + 0.011888377368450165, + 0.046785053494480526, + -0.002300064079463482 + ], + [ + -0.012093377033533262, + 0.9999184608459473, + 0.004101112839310737, + -0.0023842519149184227 + ], + [ + -0.046732481915232875, + -0.0046621207147836685, + 0.9988965471576507, + 0.020224742591381073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9987508786501665, + 0.010883829556405544, + 0.04876708522731782, + -0.002160051604732871 + ], + [ + -0.011116105615288764, + 0.9999281167984009, + 0.004494280186002972, + -0.00267980620265007 + ], + [ + -0.04871466343700449, + -0.005030766129493713, + 0.9988000404595806, + 0.019356071949005127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9985915513225841, + 0.014765947125852111, + 0.05096001740593797, + -0.002220017137005925 + ], + [ + -0.015006328882711233, + 0.999877989292145, + 0.0043376485268066724, + -0.002655177377164364 + ], + [ + -0.05088974883841921, + -0.005096261389553548, + 0.9986912692835883, + 0.019826725125312805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9984410829458129, + 0.01701226644217968, + 0.05315955204257926, + -0.0023632950615137815 + ], + [ + -0.01726928226017513, + 0.9998412728309631, + 0.004379193996771203, + -0.002769486280158162 + ], + [ + -0.05307661700607939, + -0.0052903941832482815, + 0.9985764465690071, + 0.018625937402248383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9983205310728022, + 0.01752272993326187, + 0.055218133443194685, + -0.002300406340509653 + ], + [ + -0.01778738757149896, + 0.9998325109481812, + 0.004305123449234593, + -0.0027576331049203873 + ], + [ + -0.05513344793061363, + -0.005280079785734415, + 0.9984650134249721, + 0.01902722753584385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9982003474017058, + 0.017639189958572388, + 0.057313817288584645, + -0.0022542697843164206 + ], + [ + -0.01791656132396186, + 0.9998301267623901, + 0.004329229627892041, + -0.0028110898565500975 + ], + [ + -0.05722771856506959, + -0.0053483047522604465, + 0.9983468371629315, + 0.01850120909512043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9980775458123071, + 0.01824434101581574, + 0.05923138491298109, + -0.0020916438661515713 + ], + [ + -0.01852600708587556, + 0.9998195171356203, + 0.0042096796774087125, + -0.0027770271990448236 + ], + [ + -0.05914389275235544, + -0.00529890786856413, + 0.998235421875146, + 0.019378190860152245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9980005100236917, + 0.016277488321065903, + 0.06107393484538093, + -0.0017666096100583673 + ], + [ + -0.016525373440900906, + 0.9998571276664734, + 0.003555834380845756, + -0.002189608523622155 + ], + [ + -0.061007329327824336, + -0.004557993728667498, + 0.9981269231478652, + 0.02397056668996811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9977366354365219, + 0.023169644176959995, + 0.06312474696356832, + -0.0018883815500885248 + ], + [ + -0.023373939220810575, + 0.9997236728668215, + 0.0024997411279192513, + -0.0017319292528554797 + ], + [ + -0.06304938690211256, + -0.003969557583332063, + 0.9980025157685559, + 0.026787331327795982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9976379047672428, + 0.02309069782495499, + 0.06469508467782903, + -0.0014911339385434985 + ], + [ + -0.02329324276555557, + 0.9997258186340334, + 0.002378138231601654, + -0.001700314343906939 + ], + [ + -0.06462243563628771, + -0.003879479132592679, + 0.9979022605782643, + 0.02565011940896511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9975229075269906, + 0.023217996582388878, + 0.06640015580788174, + -0.001235519303008914 + ], + [ + -0.023427296166682997, + 0.9997227191925049, + 0.002375100207941738, + -0.0017208991339430213 + ], + [ + -0.06632660027728053, + -0.0039247930981218815, + 0.9977902636156826, + 0.025417665019631386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9973910519824006, + 0.022574761882424355, + 0.06856736450538391, + -0.0014137561665847898 + ], + [ + -0.022803435673384432, + 0.9997367262840271, + 0.002554053767033897, + -0.0018893178785219789 + ], + [ + -0.06849165333847293, + -0.004110962152481079, + 0.9976432181301473, + 0.02478298731148243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9974491677950195, + 0.017929350957274437, + 0.06909183856768861, + 6.1001988797215745e-05 + ], + [ + -0.018144233957510178, + 0.999832272529602, + 0.0024837641000397277, + -0.001677287626080215 + ], + [ + -0.06903571952390072, + -0.0037310468032956123, + 0.9976072087898985, + 0.025633836165070534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9973960576941028, + 0.015791447833180428, + 0.07036838901055113, + 0.0007105316035449505 + ], + [ + -0.01600046068205276, + 0.9998691082000732, + 0.0024075791820155315, + -0.001538781332783401 + ], + [ + -0.07032115887282167, + -0.0035272366367280483, + 0.9975181726175487, + 0.02614341303706169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.997281215455358, + 0.016108524054288864, + 0.07190745823493723, + 0.0010670063784345984 + ], + [ + -0.01634034096952959, + 0.9998630285263062, + 0.002636683085612015, + -0.0017214416293427348 + ], + [ + -0.07185513555325758, + -0.003804506966844201, + 0.9974078314047354, + 0.026478298008441925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9971850107565834, + 0.014267563819885254, + 0.07361015850355654, + 0.001369509962387383 + ], + [ + -0.014526601657644357, + 0.9998900294303894, + 0.0029848410410119653, + -0.0018942076712846756 + ], + [ + -0.07355947982301146, + -0.004045743960887194, + 0.9972826443372579, + 0.0259007066488266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9971188973566143, + 0.007661185692995787, + 0.07546638553646097, + 0.0016224165447056293 + ], + [ + -0.008028235892860142, + 0.9999573826789856, + 0.004561592251245405, + -0.0026633881498128176 + ], + [ + -0.07542822162467003, + -0.005154311656951904, + 0.9971378986222407, + 0.0251881442964077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969412694013343, + 0.003868326311931014, + 0.0780588097941312, + 0.0013515303144231439 + ], + [ + -0.0043422144574403, + 0.9999731779098511, + 0.005902090458814325, + -0.003373966785147786 + ], + [ + -0.07803388350580921, + -0.006222985219210386, + 0.9969313099030156, + 0.025382913649082184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9967167864857763, + 0.006791156716644766, + 0.08068196482643847, + 0.0010599367087706923 + ], + [ + -0.0073345001951178514, + 0.9999523758888247, + 0.006439932394176408, + -0.003837012220174074 + ], + [ + -0.08063438496976896, + -0.0070105507038533705, + 0.9967190924643021, + 0.025486407801508904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9964692971213953, + 0.011715224944055082, + 0.08313681373779043, + 0.0008139093406498432 + ], + [ + -0.012301034629572776, + 0.9999029636383059, + 0.006537589643649384, + -0.004094831179827452 + ], + [ + -0.08305215717889114, + -0.007537175901234152, + 0.9965167147435009, + 0.02603957988321781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9962644285671668, + 0.013270126655697823, + 0.08532966056737441, + 0.0007450808770954609 + ], + [ + -0.013922165155507971, + 0.9998782277107239, + 0.007050844872400318, + -0.004556240048259497 + ], + [ + -0.0852257017440131, + -0.008212478831410408, + 0.9963278324062638, + 0.025165503844618797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.996086853848376, + 0.012930509634315968, + 0.0874286720849139, + 0.0007164809503592551 + ], + [ + -0.013651782396282505, + 0.9998775124549866, + 0.007656940449077084, + -0.005072020459920168 + ], + [ + -0.08731895520816722, + -0.00882053468376398, + 0.9961413725948697, + 0.0210090484470129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.995757214813267, + 0.013994257897138596, + 0.09094923091421446, + -0.0006010654615238309 + ], + [ + -0.014823010318250542, + 0.9998545050621033, + 0.008443149681988036, + -0.00592079758644104 + ], + [ + -0.09081784155427634, + -0.009755467996001244, + 0.9958197620679548, + 0.013581608422100544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9955546563793577, + 0.012520823627710342, + 0.09334957098032241, + -0.00079368642764166 + ], + [ + -0.013475595329900772, + 0.9998630881309509, + 0.00960457010217342, + -0.007068688049912453 + ], + [ + -0.09321653181369192, + -0.01081981509923935, + 0.9955870640887743, + -0.0010623118141666055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.995136376845761, + 0.012133807875216007, + 0.09775675666329876, + -0.0030918580014258623 + ], + [ + -0.013259360359725211, + 0.9998529553413391, + 0.010872374389924706, + -0.008481047116219997 + ], + [ + -0.09761045998745499, + -0.012115688063204288, + 0.99515094524219, + -0.017114900052547455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9951985687857005, + 0.011890053749084473, + 0.09715160374829916, + -0.0003369241894688457 + ], + [ + -0.013062761934934483, + 0.9998492002487183, + 0.011443778305759673, + -0.009201306849718094 + ], + [ + -0.09700088786175813, + -0.012657899409532547, + 0.995203827195124, + -0.027609514072537422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9948826328984306, + 0.008563719689846039, + 0.10067368947724369, + -0.0018006570171564817 + ], + [ + -0.009869856344860801, + 0.9998733997344971, + 0.012483030127383972, + -0.010166499763727188 + ], + [ + -0.1005540435605357, + -0.013412784785032272, + 0.9948412085161904, + -0.04066568985581398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9947354543682777, + 0.0042605348862707615, + 0.10238745803406296, + -0.0018181444611400366 + ], + [ + -0.005670249134938595, + 0.999893069267273, + 0.01348132973262383, + -0.011012422852218151 + ], + [ + -0.10231906956326857, + -0.013990920037031174, + 0.9946532207193886, + -0.05339973419904709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9946292473628342, + 0.0028080127667635684, + 0.10346416870307559, + -0.0010683828731998801 + ], + [ + -0.004293926312303853, + 0.9998908042907717, + 0.014141693114082102, + -0.011743570677936077 + ], + [ + -0.10341315377429612, + -0.014510009437799457, + 0.9945326278760345, + -0.06438102573156357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9943337853762335, + 0.0015466696349903941, + 0.10629170403376934, + -0.002020518761128187 + ], + [ + -0.0031353304837042984, + 0.9998858571052551, + 0.014780757434381333, + -0.012468907050788403 + ], + [ + -0.10625670860785909, + -0.015030266717076302, + 0.9942251197454083, + -0.07475437223911285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9941651752081752, + 0.003722446272149682, + 0.10780447056162996, + -0.0014573417138308287 + ], + [ + -0.005457660544126611, + 0.9998601675033569, + 0.01580537628061417, + -0.014003043062984943 + ], + [ + -0.10773055945183875, + -0.016301512718200684, + 0.9940464572055621, + -0.08950376510620117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9938802527973463, + 0.004274276550859213, + 0.11038003984810837, + -0.001953562954440713 + ], + [ + -0.006167021578589525, + 0.9998396635055542, + 0.016811821858873442, + -0.015509705990552902 + ], + [ + -0.11029048475957644, + -0.017389653250575066, + 0.9937472680669458, + -0.10975368320941925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.99340755199575, + 0.006894450634717941, + 0.11442879126191839, + -0.0041609094478189945 + ], + [ + -0.008944091066793275, + 0.9998084902763367, + 0.017408182607566363, + -0.016876686364412308 + ], + [ + -0.1142868500702544, + -0.018316879868507385, + 0.9932789082165423, + -0.12791860103607178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.993222676021716, + 0.010676392354071142, + 0.11573562547218781, + -0.003331050043925643 + ], + [ + -0.012833192286532997, + 0.9997572898864748, + 0.01790647583052573, + -0.018198736011981964 + ], + [ + -0.11551635992972628, + -0.019270375370979313, + 0.9931186333421812, + -0.14456143975257874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9928806950276731, + 0.015750795602798462, + 0.11806691815223398, + -0.003572893561795354 + ], + [ + -0.017924267502046363, + 0.999688446521759, + 0.01736956043192887, + -0.018478961661458015 + ], + [ + -0.11775655043061505, + -0.019362162798643112, + 0.9928536885061734, + -0.15079902112483978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9925255106259685, + 0.020736683160066608, + 0.12026239657236272, + -0.0036672281567007303 + ], + [ + -0.022911090657658683, + 0.9995976090431216, + 0.016725954518644424, + -0.018451353535056114 + ], + [ + -0.11986716236385522, + -0.019356278702616695, + 0.9926012204912549, + -0.14985354244709015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.992030863759788, + 0.02433955855667591, + 0.12362160909867528, + -0.0046683065593242645 + ], + [ + -0.026420843061059043, + 0.9995349645614624, + 0.0152243037094994, + -0.017368843778967857 + ], + [ + -0.12319356920352845, + -0.018369166180491447, + 0.9922126186343627, + -0.14365266263484955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9914426095573761, + 0.029548920691013336, + 0.12715507374022528, + -0.0058128563687205315 + ], + [ + -0.03155296820719115, + 0.999407172203064, + 0.013774945311092262, + -0.016508037224411964 + ], + [ + -0.12667265841491074, + -0.017669185996055603, + 0.9917872162455214, + -0.1390894055366516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9908742824502281, + 0.03280578553676605, + 0.13073615078697634, + -0.00705969613045454 + ], + [ + -0.034945335563003284, + 0.9992896914482117, + 0.014104378093079326, + -0.017331991344690323 + ], + [ + -0.13018058041702563, + -0.018544284626841545, + 0.9913168474347239, + -0.1402263641357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9909098371775704, + 0.03692590817809105, + 0.12936064231668815, + -0.002815776504576206 + ], + [ + -0.03901308340184727, + 0.9991456270217896, + 0.013636995936952102, + -0.01753426529467106 + ], + [ + -0.12874656367492096, + -0.018559791147708893, + 0.991503838049383, + -0.1426481306552887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9901250830446521, + 0.03142419457435608, + 0.13661942340195002, + -0.008366003632545471 + ], + [ + -0.03363196514808033, + 0.9993378520011902, + 0.013881341716505988, + -0.01702793315052986 + ], + [ + -0.13609275632333437, + -0.018339045345783234, + 0.9905263715126758, + -0.1416851431131363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9900614362001364, + 0.022542152553796768, + 0.13881702107334631, + -0.00823153555393219 + ], + [ + -0.024856986011229005, + 0.9995790123939514, + 0.014964159878517916, + -0.01707935519516468 + ], + [ + -0.1384212624118909, + -0.018266011029481888, + 0.9902050075776323, + -0.14110256731510162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9899456984227679, + 0.012742229737341404, + 0.1408728267658395, + -0.008119084872305393 + ], + [ + -0.015267703057006652, + 0.99974125623703, + 0.016861056252534406, + -0.017843322828412056 + ], + [ + -0.14062153012982506, + -0.018842335790395737, + 0.9898841020782804, + -0.1462584137916565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9901607434855931, + 0.006993183866143227, + 0.13975966132328074, + -0.005272450391203165 + ], + [ + -0.009510659315208914, + 0.9998041987419128, + 0.017353128432405527, + -0.01763124018907547 + ], + [ + -0.13961094312807223, + -0.018511595204472542, + 0.9900333819936675, + -0.1449461430311203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9901404486696076, + 0.001987205818295479, + 0.14006385868604776, + -0.0039785634726285934 + ], + [ + -0.004544949840033801, + 0.9998286962509155, + 0.017943769052732764, + -0.017531391233205795 + ], + [ + -0.14000421108510222, + -0.018403435125947, + 0.9899798943881709, + -0.14164581894874573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9899157727552435, + -0.002930622547864914, + 0.14162694981906804, + -0.003796109464019537 + ], + [ + 0.00035450042772938733, + 0.9998341202735901, + 0.018211299385211648, + -0.01697058416903019 + ], + [ + -0.14165682068570778, + -0.01797744631767273, + 0.9897525583938523, + -0.13377922773361206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.989701295949579, + -0.0035900401417166003, + 0.1431031446474509, + -0.00339425983838737 + ], + [ + 0.0010948424798200623, + 0.9998460412025454, + 0.01751129108489979, + -0.01578936167061329 + ], + [ + -0.1431439755993714, + -0.017174270004034046, + 0.9895528301324839, + -0.11866360157728195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9896698002498244, + 0.0025088619440793995, + 0.1433437781230018, + -0.0015232438454404473 + ], + [ + -0.004594363886293975, + 0.9998883605003359, + 0.01421980922686876, + -0.012953233905136585 + ], + [ + -0.14329209197372542, + -0.014731489121913913, + 0.9895707874891868, + -0.09741660207509995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9897985781536782, + 0.00877491943538189, + 0.14220323914311198, + 0.001878887414932251 + ], + [ + -0.010288539447468117, + 0.9998979568481445, + 0.009912280825558938, + -0.009631653316318989 + ], + [ + -0.14210174527430613, + -0.011274225078523159, + 0.9897878299126333, + -0.07321960479021072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9892588180618557, + 0.011543706059455872, + 0.14571779503544494, + 0.000510340672917664 + ], + [ + -0.012655409001738898, + 0.9998974204063416, + 0.00670441876487711, + -0.006929708179086447 + ], + [ + -0.14562546477513302, + -0.00847652368247509, + 0.9893035059970483, + -0.04969979450106621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9890734263680392, + 0.012692896649241447, + 0.14687627929560537, + 0.0016095764003694057 + ], + [ + -0.013487681361076672, + 0.9998992681503296, + 0.004416563639925557, + -0.004940447397530079 + ], + [ + -0.1468054288829338, + -0.006349326577037573, + 0.9891450169829821, + -0.03146335110068321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.988897651203386, + 0.012004530988633633, + 0.14811263981417128, + 0.00254121539182961 + ], + [ + -0.012582321636662022, + 0.9999164342880249, + 0.0029646382481753925, + -0.0035427259281277657 + ], + [ + -0.14806467330758652, + -0.0047953249886631966, + 0.988966056607091, + -0.017706872895359993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9887317354191444, + 0.010509963147342205, + 0.14932881917136331, + 0.0033954994287341833 + ], + [ + -0.010868240525621221, + 0.9999396800994873, + 0.0015833909850860742, + -0.002110324101522565 + ], + [ + -0.1493031711912855, + -0.0031884906347841024, + 0.9887863244919624, + -0.004011434502899647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9884440871910296, + 0.009588354267179968, + 0.15128218756936235, + 0.003470918396487832 + ], + [ + -0.009774590778001618, + 0.9999521374702456, + 0.0004874442621740459, + -0.0010638348758220673 + ], + [ + -0.15127026835465426, + -0.001960532739758492, + 0.9884904678979677, + 0.011994598433375359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.987796437618653, + 0.008174346759915354, + 0.15553590137405143, + 0.0013529595453292131 + ], + [ + -0.008228798968553625, + 0.999966084957123, + -0.00029377038409718684, + -0.00021678426128346473 + ], + [ + -0.15553302253204704, + -0.0009896883275359871, + 0.987830170179753, + 0.025568421930074692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9879038716110365, + 0.005333449225872755, + 0.15497597150311818, + 0.003826883854344487 + ], + [ + -0.0051823685947913, + 0.9999856352806091, + -0.0013788643306130576, + 0.0011165690375491977 + ], + [ + -0.1549810942246598, + 0.0005590427317656577, + 0.987917286915352, + 0.03791312500834465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9871530949271082, + 0.0012400032719597223, + 0.15977260989651534, + 0.001232840120792389 + ], + [ + -0.0009634223726557515, + 0.9999979138374331, + -0.001808540509229422, + 0.0020603537559509277 + ], + [ + -0.15977450970996826, + 0.0016313778469339017, + 0.9871521754864209, + 0.05014105141162872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9877535075766237, + -0.0026609927881509066, + 0.15599957751964647, + 0.006506298668682575 + ], + [ + 0.002963075047992084, + 0.999994158744812, + -0.0017039184714168622, + 0.0025511847343295813 + ], + [ + -0.1559941342207983, + 0.002145289909094572, + 0.9877556317422416, + 0.06239316985011101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9876284736938742, + -0.006439978256821634, + 0.15667975592430355, + 0.0072232624515891075 + ], + [ + 0.006829392913035024, + 0.9999747872352602, + -0.0019472036743768072, + 0.0033468755427747965 + ], + [ + -0.15666326454865456, + 0.002993141533806921, + 0.9876475482768443, + 0.07722396403551102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9874919271900878, + -0.008985310792922974, + 0.1574134304931786, + 0.007896842435002327 + ], + [ + 0.00948276227600375, + 0.9999521374702454, + -0.0024093930396929283, + 0.0041475119069218636 + ], + [ + -0.15738424751035524, + 0.003871970111504197, + 0.9875298689239752, + 0.08876723051071167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9870779630950787, + -0.01049720961600542, + 0.15989657926250594, + 0.007085379678755999 + ], + [ + 0.011085362512740345, + 0.9999346733093262, + -0.0027867568048481396, + 0.004686474800109863 + ], + [ + -0.15985688310077642, + 0.004523257724940777, + 0.9871298616257038, + 0.10061229765415192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9871535855216231, + -0.010496334172785282, + 0.15942910363777654, + 0.00897061824798584 + ], + [ + 0.01121630913839836, + 0.9999305605888367, + -0.0036167402664127445, + 0.005435416474938393 + ], + [ + -0.1593800699481692, + 0.005358484573662281, + 0.9872027637634823, + 0.10979150235652924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9866142345699606, + -0.010350535623729229, + 0.16274296597807097, + 0.007589534856379032 + ], + [ + 0.01119555458354977, + 0.9999281764030457, + -0.004276073370093789, + 0.005935478024184704 + ], + [ + -0.1626870097673288, + 0.006040832027792931, + 0.9866592080374131, + 0.12073853611946106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9859200863028337, + -0.010942723602056503, + 0.1668587456909788, + 0.005586966406553984 + ], + [ + 0.011931507862618698, + 0.999916672706604, + -0.004924527557285205, + 0.006523903924971819 + ], + [ + -0.16679095495175267, + 0.006846067029982805, + 0.9859684978258845, + 0.13086119294166565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9859010911510383, + -0.011839164420962337, + 0.16690974842131293, + 0.007056838367134333 + ], + [ + 0.012982604692044111, + 0.9998991489410403, + -0.005761160340619976, + 0.007310919929295778 + ], + [ + -0.16682470123593765, + 0.007846857421100141, + 0.9859553244948552, + 0.13784731924533844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9852158283326966, + -0.014038086868822578, + 0.17074165923778684, + 0.0052930936217308044 + ], + [ + 0.015351380098632109, + 0.9998618364334109, + -0.006373812051307537, + 0.008090605027973652 + ], + [ + -0.17062859901687663, + 0.008900701068341734, + 0.9852952425560115, + 0.14599773287773132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9848747304689563, + -0.015027159824967384, + 0.17261514804246003, + 0.005161542911082506 + ], + [ + 0.016509657607721284, + 0.99983811378479, + -0.007155905489748479, + 0.008792671374976635 + ], + [ + -0.17247966956043798, + 0.009897488169372082, + 0.9849633725816126, + 0.15523555874824524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9846098758303415, + -0.02266987226903439, + 0.17329025241409873, + 0.0060554067604243755 + ], + [ + 0.024747421738643815, + 0.9996453523635866, + -0.009837379261269071, + 0.011712349951267242 + ], + [ + -0.17300577232173323, + 0.01397446729242802, + 0.9848216434834594, + 0.16785481572151184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9837243707882769, + -0.03604063391685486, + 0.176032492123143, + 0.005230454728007317 + ], + [ + 0.03795081594432034, + 0.9992514848709106, + -0.007495687449992523, + 0.011595972813665867 + ], + [ + -0.17563057740221705, + 0.01405426673591137, + 0.9843557963194898, + 0.1844271719455719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9838007180934231, + -0.025640416890382767, + 0.17742236298501463, + 0.005487523972988129 + ], + [ + 0.02803663977563099, + 0.999546229839325, + -0.011011483006287357, + 0.012767724692821503 + ], + [ + -0.17705952038032527, + 0.01580743119120598, + 0.9840732001522389, + 0.19728340208530426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9835560349527527, + -0.02214692905545235, + 0.17924032240207566, + 0.00533893471583724 + ], + [ + 0.02480433281075918, + 0.9996129274368288, + -0.012598125291331579, + 0.013394935056567192 + ], + [ + -0.17889192541363214, + 0.01683689653873444, + 0.9837246255582105, + 0.20942498743534088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9833304451726924, + -0.013864407315850261, + 0.18129821119831396, + 0.005069594364613295 + ], + [ + 0.01675935614407605, + 0.9997552037239077, + -0.014445652107678201, + 0.013554752804338932 + ], + [ + -0.18105354389086653, + 0.017243292182683948, + 0.9833220571586099, + 0.21825654804706573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9829267142617806, + -0.018855322152376175, + 0.1830289025693088, + 0.004776675254106522 + ], + [ + 0.02146073247926918, + 0.9996944665908813, + -0.012264549614619003, + 0.012398384511470795 + ], + [ + -0.18274172739439573, + 0.015983086079359055, + 0.9830310392445071, + 0.23390460014343262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9826369133927604, + -0.018118519335985187, + 0.1846521395629528, + 0.004914677701890469 + ], + [ + 0.02074227219710662, + 0.9997093677520754, + -0.012287270964104195, + 0.012113667093217373 + ], + [ + -0.18437584893067097, + 0.015904031693935398, + 0.9827271540518283, + 0.24432004988193512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9821458230030785, + -0.01730972155928612, + 0.1873230701825882, + 0.004440183751285076 + ], + [ + 0.02001805507093148, + 0.9997205138206484, + -0.012575949792293314, + 0.0122135691344738 + ], + [ + -0.1870530269701751, + 0.016101261600852016, + 0.9822178249685924, + 0.25022923946380615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9817564906689817, + -0.016629558056592945, + 0.18941405522840074, + 0.00438698660582304 + ], + [ + 0.019321644921839666, + 0.9997367262840273, + -0.01237485424582067, + 0.012024827301502228 + ], + [ + -0.18915840298979347, + 0.015808884054422382, + 0.9818193506050232, + 0.2526460587978363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9815626011637224, + -0.01475293468683958, + 0.19057076800719808, + 0.005022289231419563 + ], + [ + 0.017424301544533092, + 0.9997718930244446, + -0.01234960061616249, + 0.011784207075834274 + ], + [ + -0.19034510786708914, + 0.015442469157278538, + 0.9815957829263873, + 0.25021424889564514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9809971124462815, + -0.01517399586737156, + 0.1934280735476472, + 0.0045618233270943165 + ], + [ + 0.0178153784216334, + 0.9997702240943909, + -0.01192343140813693, + 0.01160678081214428 + ], + [ + -0.1932026988992493, + 0.01514284685254097, + 0.981042011212964, + 0.25079891085624695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.980952789886656, + -0.014951758086681366, + 0.19366985835841438, + 0.005787219852209091 + ], + [ + 0.017609190462980283, + 0.999772846698761, + -0.012007145857071857, + 0.011638877913355827 + ], + [ + -0.19344634447307385, + 0.015188812278211117, + 0.9809932848443248, + 0.24760028719902039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9801579181870769, + -0.015479748137295246, + 0.19761273617352645, + 0.0046411179937422276 + ], + [ + 0.01823404835211371, + 0.9997602105140686, + -0.012125791520488604, + 0.011822695843875408 + ], + [ + -0.1973776485180286, + 0.01548847183585167, + 0.9802051544623013, + 0.24852719902992249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9798357417816408, + -0.015762511640787125, + 0.19918200534205688, + 0.004982633516192436 + ], + [ + 0.018580452451443984, + 0.9997518658638, + -0.012286201542419958, + 0.01198422722518444 + ], + [ + -0.19893892516854852, + 0.015739351511001587, + 0.9798855100699183, + 0.24895745515823364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9790387228613832, + -0.01603654958307743, + 0.2030418803682453, + 0.0038584470748901367 + ], + [ + 0.018906548001271232, + 0.9997467994689941, + -0.012203161102414992, + 0.01199854165315628 + ], + [ + -0.20279477374806093, + 0.01578618958592415, + 0.9790940259720321, + 0.25154417753219604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9790051409211583, + -0.02093005552887917, + 0.20275800658458476, + 0.005461904685944319 + ], + [ + 0.024192801390944766, + 0.9996144175529482, + -0.01362654076874635, + 0.013577974401414394 + ], + [ + -0.20239463429556817, + 0.01824573986232281, + 0.9791340643653262, + 0.24804995954036713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.977439154449758, + -0.019349707290530205, + 0.21032898642320147, + 0.0019827373325824738 + ], + [ + 0.022608007290666216, + 0.9996585845947266, + -0.013097814766700891, + 0.013078683987259865 + ], + [ + -0.2100037451523612, + 0.017557434737682343, + 0.9775429290778526, + 0.25256502628326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9790170426154138, + -0.0673416778445244, + 0.19232973127674424, + 0.015609648078680038 + ], + [ + 0.07421412624389351, + 0.9968279004096987, + -0.028746619766942504, + 0.030031051486730576 + ], + [ + -0.18978380317595014, + 0.042417015880346305, + 0.9809092344967194, + 0.22688286006450653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9784799848873672, + -0.0615786537528038, + 0.19693912687227902, + 0.013868375681340694 + ], + [ + 0.06813243132192895, + 0.9973196983337402, + -0.02667126867562545, + 0.027892086654901505 + ], + [ + -0.19476889539207, + 0.03951524198055267, + 0.9800528835144718, + 0.23053769767284393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9784342441000319, + -0.06999118626117706, + 0.19433912355846447, + 0.0169515423476696 + ], + [ + 0.07727851211089991, + 0.9965531229972839, + -0.030163826879366726, + 0.031476423144340515 + ], + [ + -0.19155805850211685, + 0.04453156143426895, + 0.980470509832933, + 0.22867076098918915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9783506959451296, + -0.07114959508180618, + 0.19433889456503156, + 0.01842951588332653 + ], + [ + 0.07859789237754651, + 0.9964280724525452, + -0.030878256896246133, + 0.03228536993265152 + ], + [ + -0.19144775861195665, + 0.04548439383506775, + 0.9804483151877402, + 0.22575633227825165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9778951854897051, + -0.07324602454900742, + 0.19584706347569328, + 0.0189672838896513 + ], + [ + 0.08087498041892009, + 0.9962347745895386, + -0.031233646947954125, + 0.033044006675481796 + ], + [ + -0.19282191041058977, + 0.0463823564350605, + 0.9801369296992427, + 0.22250504791736603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9773038044980727, + -0.07323322445154191, + 0.19878161038337208, + 0.018438134342432022 + ], + [ + 0.08107981385530687, + 0.9962061047554018, + -0.03161370715758958, + 0.03339238092303276 + ], + [ + -0.1957122855028819, + 0.04701337218284608, + 0.9795337718205204, + 0.22236278653144836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9772087433927127, + -0.07375507801771164, + 0.1990559705757218, + 0.01965106651186943 + ], + [ + 0.08163969262822475, + 0.9961581230163574, + -0.03168610997047844, + 0.033642277121543884 + ], + [ + -0.19595420612949693, + 0.0472148135304451, + 0.979475732435951, + 0.22154922783374786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9772544293181618, + -0.07177923619747162, + 0.1995532813092123, + 0.02068801410496235 + ], + [ + 0.07963181359826998, + 0.9963234663009644, + -0.03159660608692089, + 0.03337240219116211 + ], + [ + -0.19655163472887902, + 0.04676871374249458, + 0.9793774136498409, + 0.22205881774425507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9771219205818165, + -0.07111449539661407, + 0.20043814798732587, + 0.021304352208971977 + ], + [ + 0.07901831834465778, + 0.996368944644928, + -0.03170183837450184, + 0.03334375098347664 + ], + [ + -0.19745589998215607, + 0.04681484401226044, + 0.9791933373819707, + 0.22492770850658417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9766971733251881, + -0.07222500443458559, + 0.2021045087900837, + 0.0218941830098629 + ], + [ + 0.08016028218781383, + 0.9962889552116396, + -0.031346838590280826, + 0.03359091281890869 + ], + [ + -0.1990904579438286, + 0.046817120164632804, + 0.9788621713540587, + 0.2190847545862198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9759754928300728, + -0.07290119677782059, + 0.2053223462005562, + 0.02113538794219494 + ], + [ + 0.0808385530526954, + 0.9962596297264099, + -0.030527221109653713, + 0.03323570266366005 + ], + [ + -0.2023288849111742, + 0.04639177769422531, + 0.9782181757696933, + 0.22035518288612366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9757163939109014, + -0.07113997638225557, + 0.20716323576252077, + 0.021324651315808296 + ], + [ + 0.0791205039161642, + 0.9963988065719607, + -0.030485071428205827, + 0.03304992616176605 + ], + [ + -0.2042484963444109, + 0.04613564535975457, + 0.9778312868916064, + 0.2198856920003891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9755834767440066, + -0.06943682581186296, + 0.20836368129461041, + 0.021808836609125137 + ], + [ + 0.07733499400109463, + 0.996553957462311, + -0.029991762267080783, + 0.032485172152519226 + ], + [ + -0.20556311931596394, + 0.04537326842546464, + 0.9775914730151326, + 0.22228027880191803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9755731784869708, + -0.07033032923936844, + 0.2081121065953029, + 0.023593973368406296 + ], + [ + 0.07831347899607553, + 0.996466338634491, + -0.03036210866173443, + 0.033134397119283676 + ], + [ + -0.20524132356924524, + 0.04591843858361244, + 0.9776336102416131, + 0.21660570800304413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.97446171414053, + -0.07148434966802597, + 0.21287174423948174, + 0.021683765575289726 + ], + [ + 0.079603644241222, + 0.9963808655738831, + -0.029806961375405786, + 0.032975830137729645 + ], + [ + -0.20997059683933028, + 0.04599110782146454, + 0.9766254097678432, + 0.22074578702449799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9742815956308136, + -0.07046996802091599, + 0.2140310946625228, + 0.022462276741862297 + ], + [ + 0.07858360951120316, + 0.996467113494873, + -0.02962915184217413, + 0.03286430612206459 + ], + [ + -0.21118698401525426, + 0.045686475932598114, + 0.9763773753145815, + 0.2180149108171463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9739799558644601, + -0.06798099726438522, + 0.2161980647396262, + 0.022223956882953644 + ], + [ + 0.07629272530633897, + 0.996624231338501, + -0.030324420310278436, + 0.033263951539993286 + ], + [ + -0.2134067524605337, + 0.046029720455408096, + 0.9758785001758862, + 0.21142083406448364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9732848626657604, + -0.0689178928732872, + 0.2190134867533071, + 0.021880365908145905 + ], + [ + 0.07723850623481866, + 0.9965717196464539, + -0.029648608942419472, + 0.032796405255794525 + ], + [ + -0.2162193302372643, + 0.045772816985845566, + 0.9752712790489163, + 0.2195483148097992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/pull_out/transforms.json b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..026657b75a391617d5cf936750158ba2a9177e2b --- /dev/null +++ b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/pull_out/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.783745655207895e-05, + -2.8303711587795988e-06, + -3.445252104938845e-06 + ], + [ + 5.783744200016372e-05, + 1.0, + -5.463689831231022e-06, + 1.3817551007377915e-05 + ], + [ + 2.830687208188465e-06, + 5.463526122184703e-06, + 1.0, + -7.349567022174597e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958276748657, + -0.0028064714279025793, + 0.0007068119593895972, + -0.0004380705350267216 + ], + [ + 0.002806620905175805, + 0.9999960660934448, + -0.00021029174968134612, + 0.00017619371778102716 + ], + [ + -0.0007062189397402108, + 0.00021227462275419384, + 0.9999997019767761, + -0.00016964208123020161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999977350234985, + -0.0016366743948310614, + 0.001340940478257835, + -0.0008428278371445404 + ], + [ + 0.0016363593749701977, + 0.9999986290931702, + 0.00023600790882483125, + -8.136168142014822e-05 + ], + [ + -0.0013413248816505075, + -0.00023381313076242805, + 0.9999990463256836, + 0.0005452763924205842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999974966049194, + -0.0013848657254129648, + 0.0017620036378502846, + -0.0010968210435403157 + ], + [ + 0.0013835688587278128, + 0.9999987483024597, + 0.0007370490930043161, + -0.00038410184192009394 + ], + [ + -0.0017630222719162703, + -0.000734609377104789, + 0.999998152256012, + 0.0007546065444480779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999961256980896, + -0.001618959940969944, + 0.002268835436552763, + -0.0014444771147725625 + ], + [ + 0.0016160369850695133, + 0.9999978542327881, + 0.001289574196562171, + -0.0007348099450219022 + ], + [ + -0.0022709183394908905, + -0.0012859026901423931, + 0.9999966025352478, + 0.0006858946855587897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999963045120239, + 0.0005000975797884166, + 0.0026827254332602024, + -0.0017196944614579854 + ], + [ + -0.0005049681640230119, + 0.9999982118606567, + 0.0018151759868487716, + -0.0010387152149572906 + ], + [ + -0.0026818127371370792, + -0.0018165238434448838, + 0.9999947547912598, + 0.0012333906132512345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999912977218628, + 0.002839913358911872, + 0.003046482801437378, + -0.001964084696109322 + ], + [ + -0.002846579300239682, + 0.9999935626983643, + 0.002185929799452424, + -0.0012549347082568595 + ], + [ + -0.0030402555130422115, + -0.0021945827174931765, + 0.9999929666519165, + 0.001863059424602788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999901056289673, + 0.0032325047068297863, + 0.0030508756171911955, + -0.001952816000446862 + ], + [ + -0.003240032587200403, + 0.9999917149543762, + 0.0024657046888023615, + -0.0014046539233089233 + ], + [ + -0.0030428797472268343, + -0.002475565066561103, + 0.999992311000824, + 0.001985922177930262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999921321868896, + 0.0027839711401611567, + 0.0028307600878179073, + -0.00177469770808912 + ], + [ + -0.002791980979964137, + 0.9999920725822449, + 0.002829574281349778, + -0.0016226104795470956 + ], + [ + -0.0028228601440787315, + -0.0028374555986374617, + 0.9999920129776001, + 0.002215663160482221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999954104423523, + 0.0016041825292631984, + 0.002573281992226839, + -0.0015640445434573023 + ], + [ + -0.0016120491782203317, + 0.9999940395355225, + 0.0030579303856939077, + -0.0017474524815343628 + ], + [ + -0.002568361349403858, + -0.003062064526602626, + 0.9999920129776001, + 0.00292563471358177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999934434890747, + 0.0026383395306766033, + 0.002491466701030731, + -0.0015017234485534842 + ], + [ + -0.002646366134285927, + 0.9999912977218628, + 0.003223949810490012, + -0.0018121453525483115 + ], + [ + -0.0024829390458762646, + -0.0032305216882377863, + 0.9999917149543762, + 0.004038992476426372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999929070472717, + 0.002913790289312601, + 0.0023791722487658262, + -0.0014184872048314322 + ], + [ + -0.002922088373452425, + 0.9999896287918091, + 0.0034918051678687334, + -0.0019365956731648608 + ], + [ + -0.002368973335251212, + -0.0034987328108400106, + 0.9999910593032837, + 0.004863632809032093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999919533729553, + 0.0032580422703176737, + 0.0023322738707065582, + -0.0014188942838121545 + ], + [ + -0.003267096122726798, + 0.9999871253967285, + 0.0038886701222509146, + -0.0021623968620099556 + ], + [ + -0.0023195743560791016, + -0.0038962585385888815, + 0.9999897480010986, + 0.004849550243436305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999970555305481, + 0.007387342397123575, + 0.0020871751476079226, + -0.0012892273225829252 + ], + [ + -0.007395886350423098, + 0.99996417760849, + 0.004115849267691374, + -0.0022466869297445066 + ], + [ + -0.0020566952880471945, + -0.004131164867430925, + 0.9999893307685852, + 0.005552207955644149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999265670776367, + 0.011846134439110756, + 0.002549391007050872, + -0.0016367309772955976 + ], + [ + -0.011856799945235252, + 0.9999208450317383, + 0.004209635313600302, + -0.0022441220769951167 + ], + [ + -0.0024993212427943945, + -0.004239554051309824, + 0.9999879002571106, + 0.005645827576518058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998978972434998, + 0.013873682357370853, + 0.0034309057518839836, + -0.002306864614221306 + ], + [ + -0.01388926524668932, + 0.9998931288719177, + 0.0045604887418448925, + -0.002519979586147449 + ], + [ + -0.003367268480360508, + -0.004607676062732935, + 0.9999837279319763, + 0.002354159520184697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998655319213867, + 0.015915818512439728, + 0.0039470018818974495, + -0.0026942966282675583 + ], + [ + -0.015934113413095474, + 0.9998622536659241, + 0.0046480922028422356, + -0.0025560692641576213 + ], + [ + -0.003872480010613799, + -0.004710359498858452, + 0.9999814033508301, + 0.0014349501995631463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998513460159302, + 0.016706084832549095, + 0.004268426913768053, + -0.0029235788663341243 + ], + [ + -0.016725068911910057, + 0.9998502135276794, + 0.004451576620340347, + -0.002390337952466543 + ], + [ + -0.004193419124931097, + -0.004522304981946945, + 0.9999809861183167, + 0.0016092582644263564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999411702156067, + 0.010277645662426949, + 0.0034610573202371597, + -0.002288793710883984 + ], + [ + -0.010294608771800995, + 0.9999349117279053, + 0.004919321741908789, + -0.0027108785407694656 + ], + [ + -0.003410272765904665, + -0.004954662639647722, + 0.9999819397926331, + 0.00400853865464364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999435544013977, + 0.010081742890179157, + 0.003351201768964529, + -0.0022058429958468134 + ], + [ + -0.010097860358655453, + 0.9999373555183411, + 0.00482809916138649, + -0.00262332635523736 + ], + [ + -0.0033023161813616753, + -0.0048616668209433556, + 0.9999827146530151, + 0.0042286837765993165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999231100082397, + 0.011888377368450165, + 0.0035325640346854925, + -0.0023584535676401015 + ], + [ + -0.011904645711183548, + 0.9999184608459473, + 0.00462042260915041, + -0.0024606225365572726 + ], + [ + -0.0034773468505591154, + -0.0046621207147836685, + 0.9999830722808838, + 0.0036960967685565477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999351501464844, + 0.010883829556405544, + 0.0033528655767440796, + -0.0022182418337507435 + ], + [ + -0.010900500230491161, + 0.9999281167984009, + 0.004994542337954044, + -0.002766488342399686 + ], + [ + -0.003298264928162098, + -0.005030766129493713, + 0.9999818801879883, + 0.002001014524254916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998852610588074, + 0.014765947125852108, + 0.0033873978536576033, + -0.0022816061888906087 + ], + [ + -0.014782938174903393, + 0.9998779892921448, + 0.005046765320003033, + -0.0027469367466189643 + ], + [ + -0.003312464104965329, + -0.005096261389553547, + 0.9999815225601196, + 0.0016452428969469905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998493790626526, + 0.01701226644217968, + 0.00342830503359437, + -0.0024284611902515257 + ], + [ + -0.01703006960451603, + 0.9998412728309631, + 0.0052327984012663364, + -0.0028689526960500016 + ], + [ + -0.003338739275932312, + -0.0052903941832482815, + 0.9999804496765137, + -0.0003819554428423737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998409152030945, + 0.01752272993326187, + 0.003327056998386979, + -0.0023663975537007997 + ], + [ + -0.017539959400892258, + 0.9998325109481812, + 0.005222553852945566, + -0.0028612209499374896 + ], + [ + -0.003234986448660493, + -0.005280079785734415, + 0.9999808073043823, + -0.0008071025263918334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998390674591064, + 0.017639189958572388, + 0.0032628802582621574, + -0.0023216846656854734 + ], + [ + -0.017656300216913223, + 0.9998301267623901, + 0.005291546229273081, + -0.0029204193240970617 + ], + [ + -0.003168987575918436, + -0.0053483047522604465, + 0.9999806880950928, + -0.0021595489233732224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998289942741394, + 0.018244341015815735, + 0.0030210299883037806, + -0.002156558560115124 + ], + [ + -0.018260013312101364, + 0.9998195171356201, + 0.0052446406334638596, + -0.002889721956458097 + ], + [ + -0.0029247996862977743, + -0.005298907868564129, + 0.999981701374054, + -0.0021090192520175147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999863862991333, + 0.016277488321065903, + 0.0027016678359359503, + -0.0018268947601164421 + ], + [ + -0.01628957688808441, + 0.9998571276664734, + 0.004514599684625864, + -0.002290347524849344 + ], + [ + -0.0026277953293174505, + -0.004557993728667498, + 0.9999861717224121, + 0.001656825668063043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997281432151794, + 0.02316964417695999, + 0.002601352520287037, + -0.0019485781373348365 + ], + [ + -0.023179713636636734, + 0.9997236728668213, + 0.003910321742296219, + -0.001822416036974731 + ], + [ + -0.002510033082216978, + -0.003969557583332062, + 0.9999889731407166, + 0.0036470906270190673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997313618659973, + 0.023090697824954987, + 0.002011743374168873, + -0.001539349275610356 + ], + [ + -0.023098286241292953, + 0.9997258186340332, + 0.003834041301161051, + -0.0017922045899678237 + ], + [ + -0.0019226610893383622, + -0.003879479132592678, + 0.9999906420707703, + 0.0016834015411532587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997292160987854, + 0.023217996582388878, + 0.0015576299047097564, + -0.0012741382262661807 + ], + [ + -0.02322390489280224, + 0.9997227191925049, + 0.003889671992510557, + -0.0018173372825176632 + ], + [ + -0.0014668876538053155, + -0.0039247930981218815, + 0.999991238117218, + 0.0006244938266425082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997439384460449, + 0.022574761882424355, + 0.0015657554613426328, + -0.0014538705627018325 + ], + [ + -0.022580983117222786, + 0.9997367262840271, + 0.004076649434864521, + -0.001993760963216855 + ], + [ + -0.0014733137795701623, + -0.004110962152481079, + 0.9999904632568359, + -0.0008366030694778349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998392462730408, + 0.017929350957274437, + -7.81268099672161e-05, + 6.306815236659666e-05 + ], + [ + -0.01792893372476101, + 0.999832272529602, + 0.0037330477498471737, + -0.0017760128558282394 + ], + [ + 0.00014504481805488467, + -0.0037310468032956123, + 0.9999930262565613, + -0.0008122603970864631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998748302459717, + 0.015791447833180428, + -0.0009643216617405415, + 0.0007368312852287835 + ], + [ + -0.015787938609719276, + 0.9998691082000732, + 0.003542904742062092, + -0.0016354060075669126 + ], + [ + 0.0010201430413872004, + -0.0035272366367280483, + 0.9999932646751404, + -0.0011291305449875888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998689889907837, + 0.016108524054288864, + -0.0015843309229239821, + 0.0011115247680043632 + ], + [ + -0.01610235869884491, + 0.9998630285263062, + 0.0038305202033370733, + -0.0018290760813373303 + ], + [ + 0.0016458180034533143, + -0.003804506966844201, + 0.9999914169311523, + -0.00162063436813591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998961091041565, + 0.014267563819885254, + -0.0020425745751708746, + 0.0014285926980328214 + ], + [ + -0.014259152114391327, + 0.9998900294303894, + 0.004075292963534594, + -0.002012088046262949 + ], + [ + 0.002100494457408786, + -0.004045743960887194, + 0.9999896287918091, + -0.003024613192258791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999678730964661, + 0.007661185692995787, + -0.0023502311669290066, + 0.0016923407777712858 + ], + [ + -0.007648948114365339, + 0.9999573826789856, + 0.0051724547520279884, + -0.002817279365575634 + ], + [ + 0.0023897578939795494, + -0.005154311656951904, + 0.9999838471412659, + -0.004563441238373767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999990701675415, + 0.003868326311931014, + -0.0019154594046995044, + 0.0014101022135751121 + ], + [ + -0.0038563243579119444, + 0.9999731779098511, + 0.006230430211871862, + -0.003564484072618248 + ], + [ + 0.0019395094132050872, + -0.006222985219210386, + 0.99997878074646, + -0.005194949894404607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999759197235107, + 0.006791156716644764, + -0.001446334645152092, + 0.0011053587885357995 + ], + [ + -0.0067808423191308975, + 0.9999523758888245, + 0.00702052703127265, + -0.004057491581486769 + ], + [ + 0.0014939431566745043, + -0.007010550703853369, + 0.9999743103981018, + -0.005917744095290993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999930739402771, + 0.01171522494405508, + -0.0011429354781284928, + 0.0008507477568870426 + ], + [ + -0.011706269346177578, + 0.9999029636383057, + 0.00755107868462801, + -0.004338213054786536 + ], + [ + 0.0012312872568145394, + -0.00753717590123415, + 0.9999708533287048, + -0.006190885637294169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999911367893219, + 0.013270126655697823, + -0.001104064635001123, + 0.0007815788815583079 + ], + [ + -0.013260602951049805, + 0.9998782277107239, + 0.008227849379181862, + -0.004828235069058897 + ], + [ + 0.001213114825077355, + -0.008212478831410408, + 0.9999655485153198, + -0.00789120850299508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999157190322876, + 0.012930509634315968, + -0.001161010004580021, + 0.0007558209587789086 + ], + [ + -0.012919754721224308, + 0.9998775124549866, + 0.00883627962321043, + -0.005371431587648786 + ], + [ + 0.0012751254253089428, + -0.00882053468376398, + 0.9999603033065796, + -0.012873903979077811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999902069568634, + 0.013994257897138596, + 0.0002114921371685341, + -0.0006084065109131519 + ], + [ + -0.013995654881000519, + 0.9998545050621033, + 0.009753463789820671, + -0.006259347569228204 + ], + [ + -7.49688915675506e-05, + -0.009755467996001244, + 0.9999524354934692, + -0.021127484380152106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999215006828308, + 0.012520823627710342, + 0.0004568512085825205, + -0.0008099216358805429 + ], + [ + -0.012525033205747604, + 0.9998630881309509, + 0.010814942419528961, + -0.00745302071440811 + ], + [ + -0.00032137666130438447, + -0.01081981509923935, + 0.9999414086341858, + -0.03659741972430709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999226927757263, + 0.012133807875216007, + 0.0027203799691051245, + -0.0031907809093933213 + ], + [ + -0.012165836058557034, + 0.9998529553413391, + 0.012083525769412518, + -0.008920448053289544 + ], + [ + -0.0025733609218150377, + -0.012115688063204288, + 0.9999232888221741, + -0.05347574691880833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999293088912964, + 0.011890053749084473, + -5.142127338331193e-05, + -0.00033501182806202836 + ], + [ + -0.011888450011610985, + 0.9998492002487183, + 0.012659406289458275, + -0.009672111215854972 + ], + [ + 0.00020193452655803412, + -0.012657899409532547, + 0.9999198913574219, + -0.0647966174701275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999624490737915, + 0.008563719689846039, + 0.0013211503392085433, + -0.0018508825672420958 + ], + [ + -0.008580664172768593, + 0.9998733997344971, + 0.013401951640844345, + -0.010675995445941106 + ], + [ + -0.001206212560646236, + -0.013412784785032272, + 0.9999093413352966, + -0.07867877225368476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999905228614807, + 0.0042605348862707615, + 0.0008774549351073802, + -0.0018522274214293314 + ], + [ + -0.004272392485290766, + 0.999893069267273, + 0.013987302780151367, + -0.01155573130731494 + ], + [ + -0.0008177677518688142, + -0.013990920037031174, + 0.9999017715454102, + -0.09223889392023245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999960660934448, + 0.002808012766763568, + -0.00020423665409907699, + -0.001060280923285206 + ], + [ + -0.002804753603413701, + 0.9998908042907715, + 0.014510639011859894, + -0.012319199332952007 + ], + [ + 0.0002449603925924748, + -0.014510009437799454, + 0.9998946785926819, + -0.10404626917986831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999986886978149, + 0.0015466696349903941, + 0.00047506808186881244, + -0.0020397570553526267 + ], + [ + -0.001553635229356587, + 0.9998858571052551, + 0.015029547736048698, + -0.013077541628529218 + ], + [ + -0.00045176807907409966, + -0.015030266717076302, + 0.9998869299888611, + -0.11524566113948823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999993085861206, + 0.003722446272149682, + -0.00016643184062559158, + -0.0014504643650446471 + ], + [ + -0.003719238331541419, + 0.9998601675033569, + 0.01630224660038948, + -0.014676689616720046 + ], + [ + 0.00022709280892740935, + -0.016301512718200684, + 0.9998670816421509, + -0.13082058666166196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999908208847046, + 0.004274276550859213, + 0.0002612349926494062, + -0.001964573685535853 + ], + [ + -0.004278173204511404, + 0.9998396635055542, + 0.01738869585096836, + -0.01624261796443669 + ], + [ + -0.00018686903058551252, + -0.017389653250575066, + 0.9998487830162048, + -0.15189606993158988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999738931655884, + 0.006894450634717941, + 0.0021738489158451557, + -0.004254331054119778 + ], + [ + -0.00693309772759676, + 0.9998084902763367, + 0.01830228790640831, + -0.017663230968654648 + ], + [ + -0.0020472481846809387, + -0.018316879868507385, + 0.9998301267623901, + -0.17088650731015798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999421238899231, + 0.01067639235407114, + 0.0013296757824718952, + -0.0033892920410091227 + ], + [ + -0.010700025595724583, + 0.9997572898864746, + 0.019257262349128723, + -0.019042235933059502 + ], + [ + -0.0011237550061196089, + -0.01927037537097931, + 0.9998136758804321, + -0.1883549313407299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998747706413269, + 0.015750795602798462, + 0.0015214320737868547, + -0.003640792183270139 + ], + [ + -0.015777289867401123, + 0.999688446521759, + 0.019340582191944122, + -0.019342095081594363 + ], + [ + -0.0012163284700363874, + -0.019362162798643112, + 0.9998117685317993, + -0.19541871988576306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997836947441101, + 0.020736683160066605, + 0.001580188749358058, + -0.0037390549180351877 + ], + [ + -0.020763371139764786, + 0.9995976090431213, + 0.019327649846673012, + -0.019329883073541252 + ], + [ + -0.0011787614785134792, + -0.01935627870261669, + 0.9998119473457336, + -0.19529954005371442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9996997714042664, + 0.02433955855667591, + 0.0028113950975239277, + -0.004798420712598099 + ], + [ + -0.024387026205658913, + 0.9995349645614624, + 0.018306100741028786, + -0.018216068276073322 + ], + [ + -0.002364525105804205, + -0.018369166180491447, + 0.9998284578323364, + -0.1899257152287428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995543956756592, + 0.029548920691013336, + 0.004227399826049805, + -0.006011998343997258 + ], + [ + -0.029618799686431885, + 0.999407172203064, + 0.01755179837346077, + -0.017334857478368382 + ], + [ + -0.0037062568590044975, + -0.017669185996055603, + 0.9998370409011841, + -0.18618916696753385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9994455575942993, + 0.03280578553676605, + 0.005688773933798075, + -0.007332381161991968 + ], + [ + -0.032905213534832, + 0.9992896914482117, + 0.018367277458310127, + -0.01821240629723742 + ], + [ + -0.005082180257886648, + -0.018544284626841545, + 0.9998151063919067, + -0.18815138576444515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9993156790733337, + 0.03692590817809105, + 0.0021574879065155983, + -0.0029209763281170496 + ], + [ + -0.03695954754948616, + 0.9991456270217896, + 0.01849270612001419, + -0.018435975758374232 + ], + [ + -0.0014727849047631025, + -0.018559791147708893, + 0.9998266696929932, + -0.19140000959073217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994795322418213, + 0.03142419457435608, + 0.0072946250438690186, + -0.008727720576869555 + ], + [ + -0.03155197948217392, + 0.9993378520011902, + 0.01811831444501877, + -0.01792636196598534 + ], + [ + -0.006720441393554211, + -0.018339045345783234, + 0.9998092651367188, + -0.19126246204553557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997190833091736, + 0.022542152553796768, + 0.007318965625017881, + -0.008600508201143836 + ], + [ + -0.022671543061733246, + 0.9995790123939514, + 0.018105164170265198, + -0.01799209487647557 + ], + [ + -0.006907755043357611, + -0.018266011029481888, + 0.9998093247413635, + -0.19150617790123647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998928308486938, + 0.012742229737341404, + 0.007208742201328278, + -0.008488458439646181 + ], + [ + -0.012875487096607685, + 0.99974125623703, + 0.01875152811408043, + -0.018804144930125267 + ], + [ + -0.006967941299080849, + -0.018842335790395737, + 0.9997981786727905, + -0.1974877419550557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999678730964661, + 0.006993183866143227, + 0.003913265652954578, + -0.005476198933464437 + ], + [ + -0.007064376026391983, + 0.9998041987419128, + 0.01848454214632511, + -0.01859365849917339 + ], + [ + -0.0037832336965948343, + -0.018511595204472542, + 0.9998214840888977, + -0.19700296410351748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999958872795105, + 0.001987205818295479, + 0.0020537832751870155, + -0.004087193331812039 + ], + [ + -0.002024661749601364, + 0.9998286962509155, + 0.018399352207779884, + -0.01850458011031151 + ], + [ + -0.0020168679766356945, + -0.018403435125947, + 0.9998286366462708, + -0.194529317085408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999946355819702, + -0.002930622547864914, + 0.0014693100238218904, + -0.003875039341332283 + ], + [ + 0.0029037310741841793, + 0.9998341202735901, + 0.01798180863261223, + -0.017936549095575474 + ], + [ + -0.001521764206700027, + -0.01797744631767273, + 0.9998372197151184, + -0.18748949160260603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999932646751404, + -0.0035900401417165995, + 0.0007973811007104814, + -0.003437753352971578 + ], + [ + 0.0035758151207119226, + 0.9998460412025452, + 0.017177239060401917, + -0.016726301982998848 + ], + [ + -0.0008589253411628306, + -0.017174270004034042, + 0.9998521208763123, + -0.17320098998871716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999962449073792, + 0.002508861944079399, + -0.0011235765414312482, + -0.0014610292766173948 + ], + [ + -0.0024920362047851086, + 0.9998883605003357, + 0.014734344556927681, + -0.013769102570685473 + ], + [ + 0.0011604175670072436, + -0.01473148912191391, + 0.9998908042907715, + -0.15278245652756417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999516606330872, + 0.00877491943538189, + -0.004434290807694197, + 0.002128087228918371 + ], + [ + -0.008724277839064598, + 0.9998979568481445, + 0.01131345797330141, + -0.010267450954487993 + ], + [ + 0.0045331125147640705, + -0.011274225078523159, + 0.9999261498451233, + -0.12941380164101104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999287128448486, + 0.011543706059455872, + -0.0030420604161918163, + 0.000683813539626123 + ], + [ + -0.011517448350787163, + 0.9998974204063416, + 0.008512167260050774, + -0.007415112758378598 + ], + [ + 0.00314001040533185, + -0.00847652368247509, + 0.9999591708183289, + -0.10672225961384695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999113082885742, + 0.012692896649241447, + -0.00403233477845788, + 0.0018428519660653162 + ], + [ + -0.012666931375861168, + 0.9998992681503296, + 0.006400971207767725, + -0.0053107515169877155 + ], + [ + 0.004113175440579653, + -0.006349326577037573, + 0.9999713897705078, + -0.08931293563286136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999157190322876, + 0.012004530988633633, + -0.004947065841406584, + 0.002831497767647682 + ], + [ + -0.011980519630014896, + 0.9999164342880249, + 0.004855002276599407, + -0.0038276062270026067 + ], + [ + 0.005004934500902891, + -0.0047953249886631966, + 0.9999759793281555, + -0.0763831493683344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999274611473083, + 0.010509963147342205, + -0.005883307196199894, + 0.0037455805180948384 + ], + [ + -0.010490966029465199, + 0.9999396800994873, + 0.0032504478003829718, + -0.0023037391772478327 + ], + [ + 0.005917114205658436, + -0.0031884906347841024, + 0.9999774098396301, + -0.06351422252641484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999355673789978, + 0.009588354267179966, + -0.006072468124330044, + 0.003837273911426752 + ], + [ + -0.009576252661645412, + 0.9999521374702454, + 0.002018814440816641, + -0.0011856311189457158 + ], + [ + 0.006091534160077572, + -0.0019605327397584915, + 0.9999794960021973, + -0.04833474306097208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999958872795105, + 0.008174346759915352, + -0.003933383617550135, + 0.0015935135847496345 + ], + [ + -0.008170386776328087, + 0.9999660849571228, + 0.0010218676179647446, + -0.0002792786445308954 + ], + [ + 0.003941603470593691, + -0.000989688327535987, + 0.9999917149543762, + -0.03558809617457311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999635815620422, + 0.005333449225872755, + -0.006666846107691526, + 0.004240118117217929 + ], + [ + -0.005337057169526815, + 0.9999856352806091, + -0.0005234805284999311, + 0.0011490161777454745 + ], + [ + 0.006663958076387644, + 0.0005590427317656577, + 0.9999776482582092, + -0.024068960627494772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999913573265076, + 0.001240003271959722, + -0.003975546453148127, + 0.0014825438649570645 + ], + [ + -0.0012464773608371615, + 0.9999979138374329, + -0.0016264364821836352, + 0.002162510096980644 + ], + [ + 0.0039735217578709126, + 0.0016313778469339013, + 0.9999907612800598, + -0.012668285660507275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999468326568604, + -0.0026609927881509066, + -0.009959506802260876, + 0.007140085465190085 + ], + [ + 0.002639488549903035, + 0.999994158744812, + -0.002171693369746208, + 0.002689383403313431 + ], + [ + 0.009965226985514164, + 0.002145289909094572, + 0.9999480247497559, + -0.0012398862703280056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999139308929443, + -0.006439978256821632, + -0.011431481689214706, + 0.007960167882794683 + ], + [ + 0.006405310705304146, + 0.99997478723526, + -0.0030666275415569544, + 0.003544558971073509 + ], + [ + 0.011450942605733871, + 0.00299314153380692, + 0.9999299645423889, + 0.012765668800547095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998770952224731, + -0.008985310792922974, + -0.0128486892208457, + 0.008735723797355063 + ], + [ + 0.00893474742770195, + 0.9999521374702454, + -0.003987260162830353, + 0.004407837157222358 + ], + [ + 0.012883900664746761, + 0.003871970111504197, + 0.999909520149231, + 0.0234838816745222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9998668432235718, + -0.01049720961600542, + -0.012494683265686035, + 0.00791147444012367 + ], + [ + 0.01043976005166769, + 0.9999346733093262, + -0.004654319025576115, + 0.00499419837204878 + ], + [ + 0.012542724609375, + 0.004523257724940777, + 0.9999111294746399, + 0.03450247091202696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.999830424785614, + -0.010496334172785282, + -0.015131495893001556, + 0.009983553097021482 + ], + [ + 0.01041389163583517, + 0.9999305605888367, + -0.005516997538506985, + 0.005804736144871505 + ], + [ + 0.015188353136181831, + 0.005358484573662281, + 0.9998703002929688, + 0.04285803597328092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9998493194580078, + -0.010350535623729229, + -0.013937690295279026, + 0.008534072545811164 + ], + [ + 0.010265137068927288, + 0.9999281764030457, + -0.006184836849570274, + 0.006354615728039879 + ], + [ + 0.014000705443322659, + 0.006040832027792931, + 0.9998837113380432, + 0.052977821797378796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998689889907837, + -0.010942723602056503, + -0.011927382089197636, + 0.0064051256738295245 + ], + [ + 0.010860024020075798, + 0.999916672706604, + -0.006976512726396322, + 0.007002458103724625 + ], + [ + 0.012002729810774326, + 0.006846067029982805, + 0.9999045133590698, + 0.06227270152943193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9998313784599304, + -0.011839164420962334, + -0.014037104323506355, + 0.00803131503091494 + ], + [ + 0.0117274709045887, + 0.99989914894104, + -0.008012828417122364, + 0.007867182397922454 + ], + [ + 0.014130553230643272, + 0.00784685742110014, + 0.9998693466186523, + 0.06843490179412622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9998257160186768, + -0.014038086868822575, + -0.01230772864073515, + 0.0061576861295510425 + ], + [ + 0.013926898129284382, + 0.9998618364334106, + -0.009073690511286259, + 0.008728013039097067 + ], + [ + 0.01243340503424406, + 0.008900701068341732, + 0.9998831152915955, + 0.07575800990270189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999808132648468, + -0.015027159824967384, + -0.012566699646413326, + 0.0060547132991746935 + ], + [ + 0.014900829643011093, + 0.99983811378479, + -0.01008667703717947, + 0.009509575693321622 + ], + [ + 0.012716238386929035, + 0.009897488169372082, + 0.9998701810836792, + 0.08417040538196721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996447563171387, + -0.022669872269034386, + -0.014017144218087196, + 0.007063251014121554 + ], + [ + 0.022469447925686836, + 0.9996453523635864, + -0.014294503256678581, + 0.012740136549061488 + ], + [ + 0.014336226508021355, + 0.013974467292428017, + 0.9997995495796204, + 0.09596840182611764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9992615580558777, + -0.03604063391685486, + -0.013319705612957478, + 0.00619916059076786 + ], + [ + 0.03584642708301544, + 0.9992514848709106, + -0.014542469754815102, + 0.01265360697765242 + ], + [ + 0.013833855278789997, + 0.01405426673591137, + 0.9998055100440979, + 0.11171404394236477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9995713233947754, + -0.025640416890382767, + -0.014132135547697544, + 0.006526995100050179 + ], + [ + 0.025411110371351242, + 0.999546229839325, + -0.016173478215932846, + 0.013957344164902514 + ], + [ + 0.014540418051183224, + 0.01580743119120598, + 0.9997693300247192, + 0.12374664971158525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996501207351685, + -0.022146929055452347, + -0.014463857747614384, + 0.006414758845825087 + ], + [ + 0.021897826343774796, + 0.9996129274368286, + -0.017159629613161087, + 0.014671271143496529 + ], + [ + 0.014838292263448238, + 0.016836896538734436, + 0.9997481107711792, + 0.13506355770855896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9997978210449219, + -0.013864407315850258, + -0.014564436860382557, + 0.006164936310311487 + ], + [ + 0.013609688729047775, + 0.9997552037239075, + -0.01744503527879715, + 0.0148667347963807 + ], + [ + 0.014802736230194569, + 0.017243292182683945, + 0.9997417330741882, + 0.14306935985718877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997104406356812, + -0.018855322152376175, + -0.014951243065297604, + 0.00591346398303824 + ], + [ + 0.01861175149679184, + 0.9996944665908813, + -0.01626606658101082, + 0.013635143292836906 + ], + [ + 0.01525337714701891, + 0.015983086079359055, + 0.9997559189796448, + 0.157890100518534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997162222862244, + -0.018118519335985184, + -0.015465804375708103, + 0.006103371757213488 + ], + [ + 0.017868008464574814, + 0.9997093677520752, + -0.016184967011213303, + 0.01335763563209575 + ], + [ + 0.01575455628335476, + 0.015904031693935394, + 0.9997494220733643, + 0.1674798050448914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997389316558838, + -0.017309721559286118, + -0.014913711696863174, + 0.0055987696186446945 + ], + [ + 0.017065349966287613, + 0.9997205138206482, + -0.01636003889143467, + 0.013484514304552197 + ], + [ + 0.015192732214927673, + 0.016101261600852013, + 0.9997549057006836, + 0.17256232943416627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997499585151672, + -0.01662955805659294, + -0.014950308948755264, + 0.005560771192708784 + ], + [ + 0.016389206051826477, + 0.9997367262840271, + -0.016057923436164856, + 0.013285573356407733 + ], + [ + 0.015213409438729286, + 0.01580888405442238, + 0.999759316444397, + 0.1741525587464167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.999764084815979, + -0.01475293468683958, + -0.015941528603434563, + 0.006287071666072223 + ], + [ + 0.014503070153295994, + 0.9997718930244446, + -0.01567736826837063, + 0.013028031335143018 + ], + [ + 0.01616918109357357, + 0.015442469157278538, + 0.999750018119812, + 0.1708952391935774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997694492340088, + -0.01517399586737156, + -0.015192190185189247, + 0.00577970964772519 + ], + [ + 0.014940397813916206, + 0.9997702240943909, + -0.015373367816209793, + 0.012839191289972667 + ], + [ + 0.015421973541378975, + 0.01514284685254097, + 0.9997664093971252, + 0.17065234745829558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999741792678833, + -0.014951758086681366, + -0.017109587788581848, + 0.007172955061532249 + ], + [ + 0.014687912538647652, + 0.999772846698761, + -0.015444104559719563, + 0.012889722745465345 + ], + [ + 0.017336618155241013, + 0.015188812278211117, + 0.9997343420982361, + 0.16663006775635333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9997638463973999, + -0.015479748137295246, + -0.015250885859131813, + 0.005888917745853013 + ], + [ + 0.015239820815622807, + 0.9997602105140686, + -0.015724604949355125, + 0.013109254430640828 + ], + [ + 0.015490641817450523, + 0.01548847183585167, + 0.9997600317001343, + 0.16672865098172968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997507333755493, + -0.015762511640787125, + -0.01581212319433689, + 0.006289420557046725 + ], + [ + 0.015509653836488724, + 0.9997518658638, + -0.015988577157258987, + 0.013305597238181052 + ], + [ + 0.016060220077633858, + 0.015739351511001587, + 0.9997471570968628, + 0.16633372316675737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997729063034058, + -0.01603654958307743, + -0.014034310355782509, + 0.005029906038471982 + ], + [ + 0.015811366960406303, + 0.9997467994689941, + -0.01601172611117363, + 0.01333505763433689 + ], + [ + 0.01428752951323986, + 0.01578618958592415, + 0.9997733235359192, + 0.16809202408002427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996452927589417, + -0.020930055528879166, + -0.016467053443193436, + 0.0068500364638002945 + ], + [ + 0.02062314748764038, + 0.999614417552948, + -0.01859193481504917, + 0.015145228410616886 + ], + [ + 0.016849834471940994, + 0.018245739862322807, + 0.9996915459632874, + 0.1637784407897429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997533559799194, + -0.019349707290530205, + -0.01090001780539751, + 0.0029105900879179644 + ], + [ + 0.019154125824570656, + 0.9996585845947266, + -0.01777059957385063, + 0.014591387917926489 + ], + [ + 0.011240151710808277, + 0.017557434737682343, + 0.9997826814651489, + 0.16745955835689197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9972494840621948, + -0.06734167784452438, + -0.030960649251937866, + 0.018270728675540814 + ], + [ + 0.06592915207147598, + 0.9968279004096985, + -0.044580843299627304, + 0.033862793390169614 + ], + [ + 0.0338645875453949, + 0.0424170158803463, + 0.9985259175300598, + 0.14105914483878237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9976950883865356, + -0.0615786537528038, + -0.028506334871053696, + 0.016342065897423867 + ], + [ + 0.06037455052137375, + 0.9973196983337402, + -0.041331566870212555, + 0.03147871022628358 + ], + [ + 0.030975069850683212, + 0.03951524198055267, + 0.9987387657165527, + 0.14387028411892822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9969954490661621, + -0.06999118626117706, + -0.03318643569946289, + 0.019858783822168005 + ], + [ + 0.06839758157730103, + 0.9965531229972839, + -0.04694247245788574, + 0.03558873891337844 + ], + [ + 0.03635760396718979, + 0.04453156143426895, + 0.9983461499214172, + 0.14121233793822202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9968399405479431, + -0.07114959508180618, + -0.03532453998923302, + 0.021553256196423995 + ], + [ + 0.0694161131978035, + 0.9964280724525452, + -0.048088446259498596, + 0.03653781931262371 + ], + [ + 0.038619834929704666, + 0.04548439383506775, + 0.9982182383537292, + 0.13748414095275657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9966672658920288, + -0.07324602454900742, + -0.035908594727516174, + 0.02217234854301638 + ], + [ + 0.07144481688737869, + 0.9962347745895386, + -0.04911151900887489, + 0.03742751415726567 + ], + [ + 0.03937061131000519, + 0.0463823564350605, + 0.9981476068496704, + 0.13341418714070122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9966979026794434, + -0.0732332244515419, + -0.03507343307137489, + 0.021597641949688107 + ], + [ + 0.07144875079393387, + 0.9962061047554016, + -0.04968338459730148, + 0.03786799160163265 + ], + [ + 0.03857884183526039, + 0.04701337218284607, + 0.9981489777565002, + 0.1324468868823091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9965919852256775, + -0.07375507801771164, + -0.036940798163414, + 0.023009320890361614 + ], + [ + 0.07186811417341232, + 0.9961581230163574, + -0.050040215253829956, + 0.03819138759916479 + ], + [ + 0.04048959165811539, + 0.0472148135304451, + 0.9980638027191162, + 0.13081615485928272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9966723918914795, + -0.07177923619747162, + -0.03862479701638222, + 0.024231280608118074 + ], + [ + 0.06983071565628052, + 0.9963234663009644, + -0.049631062895059586, + 0.037925334407155176 + ], + [ + 0.042045269161462784, + 0.04676871374249458, + 0.9980204701423645, + 0.1305048737890464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9966701865196228, + -0.07111449539661407, + -0.03989032655954361, + 0.024996679956632212 + ], + [ + 0.06910234689712524, + 0.996368944644928, + -0.049736976623535156, + 0.037947504191605516 + ], + [ + 0.04328250139951706, + 0.04681484401226044, + 0.9979654550552368, + 0.13255404655105812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9965727925300598, + -0.07222500443458557, + -0.040327038615942, + 0.025660261822756658 + ], + [ + 0.070188507437706, + 0.9962889552116394, + -0.04981835559010506, + 0.03824337082029867 + ], + [ + 0.043775517493486404, + 0.0468171201646328, + 0.9979438185691833, + 0.125888348389263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.996569037437439, + -0.07290119677782059, + -0.0391865037381649, + 0.024827339534055103 + ], + [ + 0.07093841582536697, + 0.9962596297264099, + -0.04934089630842209, + 0.037884349092718 + ], + [ + 0.042636942118406296, + 0.04639177769422531, + 0.9980129599571228, + 0.1263275155843782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9966841340065002, + -0.07113997638225555, + -0.03949461504817009, + 0.025078271754270742 + ], + [ + 0.06917673349380493, + 0.9963988065719604, + -0.049030330032110214, + 0.037709833561512064 + ], + [ + 0.04284040257334709, + 0.04613564535975456, + 0.9980161190032959, + 0.12503292035957997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9967657327651978, + -0.06943682581186295, + -0.040455132722854614, + 0.025687179911481447 + ], + [ + 0.06746343523263931, + 0.9965539574623108, + -0.048258595168590546, + 0.037111615986863446 + ], + [ + 0.043666645884513855, + 0.04537326842546463, + 0.998015284538269, + 0.12660278044948892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9966028928756714, + -0.07033032923936844, + -0.042852647602558136, + 0.027737576483694976 + ], + [ + 0.06821341067552567, + 0.996466338634491, + -0.04900805279612541, + 0.0378731923070082 + ], + [ + 0.04614797234535217, + 0.04591843858361244, + 0.9978786706924438, + 0.12011661339889872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9966344237327576, + -0.07148434966802597, + -0.040122777223587036, + 0.02559656533758995 + ], + [ + 0.06949575990438461, + 0.9963808655738831, + -0.048944197595119476, + 0.037748900647005756 + ], + [ + 0.04347631335258484, + 0.04599110782146454, + 0.9979953169822693, + 0.12342062388077255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9966663122177124, + -0.07046996802091599, + -0.041112031787633896, + 0.026505526149075878 + ], + [ + 0.06844856590032578, + 0.996467113494873, + -0.048662759363651276, + 0.03765014774543195 + ], + [ + 0.0443960539996624, + 0.045686475932598114, + 0.9979687929153442, + 0.11986756672051326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9968398213386536, + -0.06798099726438522, + -0.04109657183289528, + 0.026299649957290366 + ], + [ + 0.06595052033662796, + 0.996624231338501, + -0.048894573003053665, + 0.0381130001022796 + ], + [ + 0.0442817397415638, + 0.046029720455408096, + 0.9979581236839294, + 0.11244978047599477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9968058466911316, + -0.0689178928732872, + -0.04035387560725212, + 0.025915753468871115 + ], + [ + 0.0669330433011055, + 0.9965717196464539, + -0.04862915351986885, + 0.03765932060778141 + ], + [ + 0.04356694594025612, + 0.045772816985845566, + 0.9980013966560364, + 0.11974817514419556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/push_in/transforms.json b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..db7d26798c48ec2b252e6406e588eb9e4eb19b4f --- /dev/null +++ b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/push_in/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.783745655207895e-05, + -2.8303711587795988e-06, + -3.445252104938845e-06 + ], + [ + 5.783744200016372e-05, + 1.0, + -5.463689831231022e-06, + 1.3817551007377915e-05 + ], + [ + 2.830687208188465e-06, + 5.463526122184703e-06, + 1.0, + -7.349567022174597e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958276748657, + -0.0028064714279025793, + 0.0007068119593895972, + -0.0004369022507963256 + ], + [ + 0.002806620905175805, + 0.9999960660934448, + -0.00021029174968134612, + 0.00017584612811213235 + ], + [ + -0.0007062189397402108, + 0.00021227462275419384, + 0.9999997019767761, + 0.0014832499881528996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999977350234985, + -0.0016366743948310614, + 0.001340940478257835, + -0.0008383949760593904 + ], + [ + 0.0016363593749701977, + 0.9999986290931702, + 0.00023600790882483125, + -8.058148998601654e-05 + ], + [ + -0.0013413248816505075, + -0.00023381313076242805, + 0.9999990463256836, + 0.0038510583637451586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999974966049194, + -0.0013848657254129648, + 0.0017620036378502846, + -0.001088083835418744 + ], + [ + 0.0013835688587278128, + 0.9999987483024597, + 0.0007370490930043161, + -0.00038044705302916343 + ], + [ + -0.0017630222719162703, + -0.000734609377104789, + 0.999998152256012, + 0.005713275068031608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999961256980896, + -0.001618959940969944, + 0.002268835436552763, + -0.0014294765499027924 + ], + [ + 0.0016160369850695133, + 0.9999978542327881, + 0.001289574196562171, + -0.0007262838346314086 + ], + [ + -0.0022709183394908905, + -0.0012859026901423931, + 0.9999966025352478, + 0.007297442470915801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999963045120239, + 0.0005000975797884166, + 0.0026827254332602024, + -0.0016975231768855872 + ], + [ + -0.0005049681640230119, + 0.9999982118606567, + 0.0018151759868487716, + -0.001023713760520524 + ], + [ + -0.0026818127371370792, + -0.0018165238434448838, + 0.9999947547912598, + 0.009497810074336026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999912977218628, + 0.002839913358911872, + 0.003046482801437378, + -0.0019338716435330836 + ], + [ + -0.002846579300239682, + 0.9999935626983643, + 0.002185929799452424, + -0.0012332560656176618 + ], + [ + -0.0030402555130422115, + -0.0021945827174931765, + 0.9999929666519165, + 0.011780345044291218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999901056289673, + 0.0032325047068297863, + 0.0030508756171911955, + -0.0019175166131405175 + ], + [ + -0.003240032587200403, + 0.9999917149543762, + 0.0024657046888023615, + -0.0013761251087277388 + ], + [ + -0.0030428797472268343, + -0.002475565066561103, + 0.999992311000824, + 0.01355608114818773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999921321868896, + 0.0027839711401611567, + 0.0028307600878179073, + -0.001737266169737809 + ], + [ + -0.002791980979964137, + 0.9999920725822449, + 0.002829574281349778, + -0.0015851946212813136 + ], + [ + -0.0028228601440787315, + -0.0028374555986374617, + 0.9999920129776001, + 0.015438698042830653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999954104423523, + 0.0016041825292631984, + 0.002573281992226839, + -0.0015257643154737623 + ], + [ + -0.0016120491782203317, + 0.9999940395355225, + 0.0030579303856939077, + -0.0017019626080281725 + ], + [ + -0.002568361349403858, + -0.003062064526602626, + 0.9999920129776001, + 0.017801548956223757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999934434890747, + 0.0026383395306766033, + 0.002491466701030731, + -0.0014605421807678525 + ], + [ + -0.002646366134285927, + 0.9999912977218628, + 0.003223949810490012, + -0.001758856925928642 + ], + [ + -0.0024829390458762646, + -0.0032305216882377863, + 0.9999917149543762, + 0.020567781153358212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999929070472717, + 0.002913790289312601, + 0.0023791722487658262, + -0.0013752295275811445 + ], + [ + -0.002922088373452425, + 0.9999896287918091, + 0.0034918051678687334, + -0.0018731083064763383 + ], + [ + -0.002368973335251212, + -0.0034987328108400106, + 0.9999910593032837, + 0.023045288432728163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999919533729553, + 0.0032580422703176737, + 0.0023322738707065582, + -0.001372634306211363 + ], + [ + -0.003267096122726798, + 0.9999871253967285, + 0.0038886701222509146, + -0.0020852662149570453 + ], + [ + -0.0023195743560791016, + -0.0038962585385888815, + 0.9999897480010986, + 0.0246840576418052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999970555305481, + 0.007387342397123575, + 0.0020871751476079226, + -0.0012443789309814325 + ], + [ + -0.007395886350423098, + 0.99996417760849, + 0.004115849267691374, + -0.0021582471934139483 + ], + [ + -0.0020566952880471945, + -0.004131164867430925, + 0.9999893307685852, + 0.027039582005217055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999265670776367, + 0.011846134439110756, + 0.002549391007050872, + -0.0015777368052316107 + ], + [ + -0.011856799945235252, + 0.9999208450317383, + 0.004209635313600302, + -0.002146709028415936 + ], + [ + -0.0024993212427943945, + -0.004239554051309824, + 0.9999879002571106, + 0.02878604345023632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998978972434998, + 0.013873682357370853, + 0.0034309057518839836, + -0.002221800835248976 + ], + [ + -0.01388926524668932, + 0.9998931288719177, + 0.0045604887418448925, + -0.0024069096173413777 + ], + [ + -0.003367268480360508, + -0.004607676062732935, + 0.9999837279319763, + 0.0271471445102337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998655319213867, + 0.015915818512439728, + 0.0039470018818974495, + -0.002589913107423989 + ], + [ + -0.015934113413095474, + 0.9998622536659241, + 0.0046480922028422356, + -0.0024331445116857605 + ], + [ + -0.003872480010613799, + -0.004710359498858452, + 0.9999814033508301, + 0.027880739379089234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998513460159302, + 0.016706084832549095, + 0.004268426913768053, + -0.00280363959768279 + ], + [ + -0.016725068911910057, + 0.9998502135276794, + 0.004451576620340347, + -0.002265252328423922 + ], + [ + -0.004193419124931097, + -0.004522304981946945, + 0.9999809861183167, + 0.029707897543784015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999411702156067, + 0.010277645662426949, + 0.0034610573202371597, + -0.002185820104662052 + ], + [ + -0.010294608771800995, + 0.9999349117279053, + 0.004919321741908789, + -0.002564518555059783 + ], + [ + -0.003410272765904665, + -0.004954662639647722, + 0.9999819397926331, + 0.03376006744186248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999435544013977, + 0.010081742890179157, + 0.003351201768964529, + -0.0021005986427718943 + ], + [ + -0.010097860358655453, + 0.9999373555183411, + 0.00482809916138649, + -0.002471700100582247 + ], + [ + -0.0033023161813616753, + -0.0048616668209433556, + 0.9999827146530151, + 0.03563309960867748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999231100082397, + 0.011888377368450165, + 0.0035325640346854925, + -0.0022416745912868623 + ], + [ + -0.011904645711183548, + 0.9999184608459473, + 0.00462042260915041, + -0.002307881293279573 + ], + [ + -0.0034773468505591154, + -0.0046621207147836685, + 0.9999830722808838, + 0.0367533884142056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999351501464844, + 0.010883829556405544, + 0.0033528655767440796, + -0.0021018613757149986 + ], + [ + -0.010900500230491161, + 0.9999281167984009, + 0.004994542337954044, + -0.0025931240629004544 + ], + [ + -0.003298264928162098, + -0.005030766129493713, + 0.9999818801879883, + 0.03671112937375534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998852610588074, + 0.014765947125852108, + 0.0033873978536576033, + -0.0021584280851212416 + ], + [ + -0.014782938174903393, + 0.9998779892921448, + 0.005046765320003033, + -0.0025634180077097634 + ], + [ + -0.003312464104965329, + -0.005096261389553547, + 0.9999815225601196, + 0.038008207353678616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998493790626526, + 0.01701226644217968, + 0.00342830503359437, + -0.0022981289327760374 + ], + [ + -0.01703006960451603, + 0.9998412728309631, + 0.0052327984012663364, + -0.0026700198642663226 + ], + [ + -0.003338739275932312, + -0.0052903941832482815, + 0.9999804496765137, + 0.03763383024733914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998409152030945, + 0.01752272993326187, + 0.003327056998386979, + -0.0022344151273185064 + ], + [ + -0.017539959400892258, + 0.9998325109481812, + 0.005222553852945566, + -0.002654045259903285 + ], + [ + -0.003234986448660493, + -0.005280079785734415, + 0.9999808073043823, + 0.038861557598079535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998390674591064, + 0.017639189958572388, + 0.0032628802582621574, + -0.0021868549029473677 + ], + [ + -0.017656300216913223, + 0.9998301267623901, + 0.005291546229273081, + -0.002701760389003133 + ], + [ + -0.003168987575918436, + -0.0053483047522604465, + 0.9999806880950928, + 0.03916196711361408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998289942741394, + 0.018244341015815735, + 0.0030210299883037806, + -0.0020267291721880187 + ], + [ + -0.018260013312101364, + 0.9998195171356201, + 0.0052446406334638596, + -0.0026643324416315505 + ], + [ + -0.0029247996862977743, + -0.005298907868564129, + 0.999981701374054, + 0.040865400972322004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999863862991333, + 0.016277488321065903, + 0.0027016678359359503, + -0.0017063244600002924 + ], + [ + -0.01628957688808441, + 0.9998571276664734, + 0.004514599684625864, + -0.0020888695223949664 + ], + [ + -0.0026277953293174505, + -0.004557993728667498, + 0.9999861717224121, + 0.046284307711873175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997281432151794, + 0.02316964417695999, + 0.002601352520287037, + -0.0018281849628422131 + ], + [ + -0.023179713636636734, + 0.9997236728668213, + 0.003910321742296219, + -0.0016414424687362283 + ], + [ + -0.002510033082216978, + -0.003969557583332062, + 0.9999889731407166, + 0.0499275720285729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997313618659973, + 0.023090697824954987, + 0.002011743374168873, + -0.0014429186014766411 + ], + [ + -0.023098286241292953, + 0.9997258186340332, + 0.003834041301161051, + -0.0016084240978460544 + ], + [ + -0.0019226610893383622, + -0.003879479132592678, + 0.9999906420707703, + 0.04961683727677696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997292160987854, + 0.023217996582388878, + 0.0015576299047097564, + -0.0011969003797516473 + ], + [ + -0.02322390489280224, + 0.9997227191925049, + 0.003889671992510557, + -0.0016244609853683794 + ], + [ + -0.0014668876538053155, + -0.0039247930981218815, + 0.999991238117218, + 0.05021083621262026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997439384460449, + 0.022574761882424355, + 0.0015657554613426328, + -0.001373641770467747 + ], + [ + -0.022580983117222786, + 0.9997367262840271, + 0.004076649434864521, + -0.0017848747938271027 + ], + [ + -0.0014733137795701623, + -0.004110962152481079, + 0.9999904632568359, + 0.05040257769244269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998392462730408, + 0.017929350957274437, + -7.81268099672161e-05, + 5.893582522783482e-05 + ], + [ + -0.01792893372476101, + 0.999832272529602, + 0.0037330477498471737, + -0.0015785623963321905 + ], + [ + 0.00014504481805488467, + -0.0037310468032956123, + 0.9999930262565613, + 0.05207993272722753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998748302459717, + 0.015791447833180428, + -0.0009643216617405415, + 0.0006842319218611175 + ], + [ + -0.015787938609719276, + 0.9998691082000732, + 0.003542904742062092, + -0.0014421566579998894 + ], + [ + 0.0010201430413872004, + -0.0035272366367280483, + 0.9999932646751404, + 0.05341595661911097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998689889907837, + 0.016108524054288864, + -0.0015843309229239821, + 0.0010224879888648336 + ], + [ + -0.01610235869884491, + 0.9998630285263062, + 0.0038305202033370733, + -0.0016138071773481393 + ], + [ + 0.0016458180034533143, + -0.003804506966844201, + 0.9999914169311523, + 0.05457723038501976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998961091041565, + 0.014267563819885254, + -0.0020425745751708746, + 0.0013104272267419445 + ], + [ + -0.014259152114391327, + 0.9998900294303894, + 0.004075292963534594, + -0.0017763272963064022 + ], + [ + 0.002100494457408786, + -0.004045743960887194, + 0.9999896287918091, + 0.054826026489911986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999678730964661, + 0.007661185692995787, + -0.0023502311669290066, + 0.0015524923116399729 + ], + [ + -0.007648948114365339, + 0.9999573826789856, + 0.0051724547520279884, + -0.0025094969340500014 + ], + [ + 0.0023897578939795494, + -0.005154311656951904, + 0.9999838471412659, + 0.054939729831189166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999990701675415, + 0.003868326311931014, + -0.0019154594046995044, + 0.0012929584152711756 + ], + [ + -0.0038563243579119444, + 0.9999731779098511, + 0.006230430211871862, + -0.0031834494976773244 + ], + [ + 0.0019395094132050872, + -0.006222985219210386, + 0.99997878074646, + 0.05596077719256898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999759197235107, + 0.006791156716644764, + -0.001446334645152092, + 0.0010145146290055852 + ], + [ + -0.0067808423191308975, + 0.9999523758888245, + 0.00702052703127265, + -0.003616532858861379 + ], + [ + 0.0014939431566745043, + -0.007010550703853369, + 0.9999743103981018, + 0.0568905596983088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999930739402771, + 0.01171522494405508, + -0.0011429354781284928, + 0.0007770709244126438 + ], + [ + -0.011706269346177578, + 0.9999029636383057, + 0.00755107868462801, + -0.003851449304868367 + ], + [ + 0.0012312872568145394, + -0.00753717590123415, + 0.9999708533287048, + 0.05827004540372979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999911367893219, + 0.013270126655697823, + -0.001104064635001123, + 0.0007085828726326139 + ], + [ + -0.013260602951049805, + 0.9998782277107239, + 0.008227849379181862, + -0.004284245027460097 + ], + [ + 0.001213114825077355, + -0.008212478831410408, + 0.9999655485153198, + 0.058222216192232674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999157190322876, + 0.012930509634315968, + -0.001161010004580021, + 0.0006771409419396015 + ], + [ + -0.012919754721224308, + 0.9998775124549866, + 0.00883627962321043, + -0.00477260933219155 + ], + [ + 0.0012751254253089428, + -0.00882053468376398, + 0.9999603033065796, + 0.054892000873103614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999902069568634, + 0.013994257897138596, + 0.0002114921371685341, + -0.0005937244121345099 + ], + [ + -0.013995654881000519, + 0.9998545050621033, + 0.009753463789820671, + -0.005582247603653876 + ], + [ + -7.49688915675506e-05, + -0.009755467996001244, + 0.9999524354934692, + 0.048290701224353194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999215006828308, + 0.012520823627710342, + 0.0004568512085825205, + -0.0007774512194027771 + ], + [ + -0.012525033205747604, + 0.9998630881309509, + 0.010814942419528961, + -0.006684355385416795 + ], + [ + -0.00032137666130438447, + -0.01081981509923935, + 0.9999414086341858, + 0.03447279609597388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999226927757263, + 0.012133807875216007, + 0.0027203799691051245, + -0.0029929350934584033 + ], + [ + -0.012165836058557034, + 0.9998529553413391, + 0.012083525769412518, + -0.008041646179150451 + ], + [ + -0.0025733609218150377, + -0.012115688063204288, + 0.9999232888221741, + 0.019245946813713423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999293088912964, + 0.011890053749084473, + -5.142127338331193e-05, + -0.0003388365508756631 + ], + [ + -0.011888450011610985, + 0.9998492002487183, + 0.012659406289458275, + -0.008730502483581216 + ], + [ + 0.00020193452655803412, + -0.012657899409532547, + 0.9999198913574219, + 0.009577589325052649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999624490737915, + 0.008563719689846039, + 0.0013211503392085433, + -0.0017504314670708677 + ], + [ + -0.008580664172768593, + 0.9998733997344971, + 0.013401951640844345, + -0.00965700408151327 + ], + [ + -0.001206212560646236, + -0.013412784785032272, + 0.9999093413352966, + -0.0026526074579431985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999905228614807, + 0.0042605348862707615, + 0.0008774549351073802, + -0.0017840615008507417 + ], + [ + -0.004272392485290766, + 0.999893069267273, + 0.013987302780151367, + -0.010469114397121362 + ], + [ + -0.0008177677518688142, + -0.013990920037031174, + 0.9999017715454102, + -0.014560574477861729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999960660934448, + 0.002808012766763568, + -0.00020423665409907699, + -0.0010764848231145543 + ], + [ + -0.002804753603413701, + 0.9998908042907715, + 0.014510639011859894, + -0.011167942022920147 + ], + [ + 0.0002449603925924748, + -0.014510009437799454, + 0.9998946785926819, + -0.02471578228325883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999986886978149, + 0.0015466696349903941, + 0.00047506808186881244, + -0.0020012804669037477 + ], + [ + -0.001553635229356587, + 0.9998858571052551, + 0.015029547736048698, + -0.011860272473047587 + ], + [ + -0.00045176807907409966, + -0.015030266717076302, + 0.9998869299888611, + -0.03426308333873749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999993085861206, + 0.003722446272149682, + -0.00016643184062559158, + -0.0014642190626170102 + ], + [ + -0.003719238331541419, + 0.9998601675033569, + 0.01630224660038948, + -0.01332939650924984 + ], + [ + 0.00022709280892740935, + -0.016301512718200684, + 0.9998670816421509, + -0.048186943550740394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999908208847046, + 0.004274276550859213, + 0.0002612349926494062, + -0.0019425522233455727 + ], + [ + -0.004278173204511404, + 0.9998396635055542, + 0.01738869585096836, + -0.014776794016669112 + ], + [ + -0.00018686903058551252, + -0.017389653250575066, + 0.9998487830162048, + -0.06761129648724863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999738931655884, + 0.006894450634717941, + 0.0021738489158451557, + -0.004067487841518211 + ], + [ + -0.00693309772759676, + 0.9998084902763367, + 0.01830228790640831, + -0.016090141760169967 + ], + [ + -0.0020472481846809387, + -0.018316879868507385, + 0.9998301267623901, + -0.08495069476198558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999421238899231, + 0.01067639235407114, + 0.0013296757824718952, + -0.0032728080468421633 + ], + [ + -0.010700025595724583, + 0.9997572898864746, + 0.019257262349128723, + -0.017355236090904426 + ], + [ + -0.0011237550061196089, + -0.01927037537097931, + 0.9998136758804321, + -0.10076794816442758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998747706413269, + 0.015750795602798462, + 0.0015214320737868547, + -0.003504994940320569 + ], + [ + -0.015777289867401123, + 0.999688446521759, + 0.019340582191944122, + -0.017615828241321668 + ], + [ + -0.0012163284700363874, + -0.019362162798643112, + 0.9998117685317993, + -0.1061793223639165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997836947441101, + 0.020736683160066605, + 0.001580188749358058, + -0.003595401395366273 + ], + [ + -0.020763371139764786, + 0.9995976090431213, + 0.019327649846673012, + -0.017572823996570976 + ], + [ + -0.0011787614785134792, + -0.01935627870261669, + 0.9998119473457336, + -0.10440754484046588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9996997714042664, + 0.02433955855667591, + 0.0028113950975239277, + -0.00453819240605043 + ], + [ + -0.024387026205658913, + 0.9995349645614624, + 0.018306100741028786, + -0.016521619281862392 + ], + [ + -0.002364525105804205, + -0.018369166180491447, + 0.9998284578323364, + -0.09737961004095629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995543956756592, + 0.029548920691013336, + 0.004227399826049805, + -0.005613714393443805 + ], + [ + -0.029618799686431885, + 0.999407172203064, + 0.01755179837346077, + -0.015681216970455547 + ], + [ + -0.0037062568590044975, + -0.017669185996055603, + 0.9998370409011841, + -0.09198964410576939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9994455575942993, + 0.03280578553676605, + 0.005688773933798075, + -0.006787011098917112 + ], + [ + -0.032905213534832, + 0.9992896914482117, + 0.018367277458310127, + -0.016451576392143227 + ], + [ + -0.005082180257886648, + -0.018544284626841545, + 0.9998151063919067, + -0.09230134250703922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9993156790733337, + 0.03692590817809105, + 0.0021574879065155983, + -0.002710576681035363 + ], + [ + -0.03695954754948616, + 0.9991456270217896, + 0.01849270612001419, + -0.016632554830967886 + ], + [ + -0.0014727849047631025, + -0.018559791147708893, + 0.9998266696929932, + -0.09389625171984523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994795322418213, + 0.03142419457435608, + 0.0072946250438690186, + -0.008004286688221387 + ], + [ + -0.03155197948217392, + 0.9993378520011902, + 0.01811831444501877, + -0.016129504335074384 + ], + [ + -0.006720441393554211, + -0.018339045345783234, + 0.9998092651367188, + -0.09210782418073701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997190833091736, + 0.022542152553796768, + 0.007318965625017881, + -0.007862562906720544 + ], + [ + -0.022671543061733246, + 0.9995790123939514, + 0.018105164170265198, + -0.01616661551385379 + ], + [ + -0.006907755043357611, + -0.018266011029481888, + 0.9998093247413635, + -0.09069895672896677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998928308486938, + 0.012742229737341404, + 0.007208742201328278, + -0.007749711304964605 + ], + [ + -0.012875487096607685, + 0.99974125623703, + 0.01875152811408043, + -0.016882500726698845 + ], + [ + -0.006967941299080849, + -0.018842335790395737, + 0.9997981786727905, + -0.0950290856282573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999678730964661, + 0.006993183866143227, + 0.003913265652954578, + -0.0050687018489418935 + ], + [ + -0.007064376026391983, + 0.9998041987419128, + 0.01848454214632511, + -0.01666882187897755 + ], + [ + -0.0037832336965948343, + -0.018511595204472542, + 0.9998214840888977, + -0.09288932195872314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999958872795105, + 0.001987205818295479, + 0.0020537832751870155, + -0.003869933613445148 + ], + [ + -0.002024661749601364, + 0.9998286962509155, + 0.018399352207779884, + -0.01655820235610008 + ], + [ + -0.0020168679766356945, + -0.018403435125947, + 0.9998286366462708, + -0.08876232081208346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999946355819702, + -0.002930622547864914, + 0.0014693100238218904, + -0.003717179586706791 + ], + [ + 0.0029037310741841793, + 0.9998341202735901, + 0.01798180863261223, + -0.016004619242484905 + ], + [ + -0.001521764206700027, + -0.01797744631767273, + 0.9998372197151184, + -0.08006896386461809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999932646751404, + -0.0035900401417165995, + 0.0007973811007104814, + -0.003350766323803162 + ], + [ + 0.0035758151207119226, + 0.9998460412025452, + 0.017177239060401917, + -0.01485242135822773 + ], + [ + -0.0008589253411628306, + -0.017174270004034042, + 0.9998521208763123, + -0.06412621316584674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999962449073792, + 0.002508861944079399, + -0.0011235765414312482, + -0.0015854584142635 + ], + [ + -0.0024920362047851086, + 0.9998883605003357, + 0.014734344556927681, + -0.012137365239587698 + ], + [ + 0.0011604175670072436, + -0.01473148912191391, + 0.9998908042907715, + -0.042050747622635734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999516606330872, + 0.00877491943538189, + -0.004434290807694197, + 0.0016296876009461309 + ], + [ + -0.008724277839064598, + 0.9998979568481445, + 0.01131345797330141, + -0.008995855678149985 + ], + [ + 0.0045331125147640705, + -0.011274225078523159, + 0.9999261498451233, + -0.017025407939410403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999287128448486, + 0.011543706059455872, + -0.0030420604161918163, + 0.0003368678062092051 + ], + [ + -0.011517448350787163, + 0.9998974204063416, + 0.008512167260050774, + -0.006444303599794295 + ], + [ + 0.00314001040533185, + -0.00847652368247509, + 0.9999591708183289, + 0.00732267061171453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999113082885742, + 0.012692896649241447, + -0.00403233477845788, + 0.0013763008346734953 + ], + [ + -0.012666931375861168, + 0.9998992681503296, + 0.006400971207767725, + -0.004570143278072442 + ], + [ + 0.004113175440579653, + -0.006349326577037573, + 0.9999713897705078, + 0.026386233431494932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999157190322876, + 0.012004530988633633, + -0.004947065841406584, + 0.0022509330160115377 + ], + [ + -0.011980519630014896, + 0.9999164342880249, + 0.004855002276599407, + -0.0032578456292529246 + ], + [ + 0.005004934500902891, + -0.0047953249886631966, + 0.9999759793281555, + 0.04096940357761442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999274611473083, + 0.010509963147342205, + -0.005883307196199894, + 0.0030454183393735282 + ], + [ + -0.010490966029465199, + 0.9999396800994873, + 0.0032504478003829718, + -0.001916909025797297 + ], + [ + 0.005917114205658436, + -0.0031884906347841024, + 0.9999774098396301, + 0.055491353520615544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999355673789978, + 0.009588354267179966, + -0.006072468124330044, + 0.003104562881548912 + ], + [ + -0.009576252661645412, + 0.9999521374702454, + 0.002018814440816641, + -0.0009420386326984187 + ], + [ + 0.006091534160077572, + -0.0019605327397584915, + 0.9999794960021973, + 0.07232393992772279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999958872795105, + 0.008174346759915352, + -0.003933383617550135, + 0.0011124055059087918 + ], + [ + -0.008170386776328087, + 0.9999660849571228, + 0.0010218676179647446, + -0.00015428987803603407 + ], + [ + 0.003941603470593691, + -0.000989688327535987, + 0.9999917149543762, + 0.0867249400347225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999635815620422, + 0.005333449225872755, + -0.006666846107691526, + 0.0034136495914710453 + ], + [ + -0.005337057169526815, + 0.9999856352806091, + -0.0005234805284999311, + 0.0010841218973529209 + ], + [ + 0.006663958076387644, + 0.0005590427317656577, + 0.9999776482582092, + 0.09989521064418408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999913573265076, + 0.001240003271959722, + -0.003975546453148127, + 0.0009831363766277133 + ], + [ + -0.0012464773608371615, + 0.9999979138374329, + -0.0016264364821836352, + 0.0019581974149212116 + ], + [ + 0.0039735217578709126, + 0.0016313778469339013, + 0.9999907612800598, + 0.11295038848376472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999468326568604, + -0.0026609927881509066, + -0.009959506802260876, + 0.005872511872175065 + ], + [ + 0.002639488549903035, + 0.999994158744812, + -0.002171693369746208, + 0.0024129860653457316 + ], + [ + 0.009965226985514164, + 0.002145289909094572, + 0.9999480247497559, + 0.12602622597055002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999139308929443, + -0.006439978256821632, + -0.011431481689214706, + 0.0064863570203835316 + ], + [ + 0.006405310705304146, + 0.99997478723526, + -0.0030666275415569544, + 0.003149192114476084 + ], + [ + 0.011450942605733871, + 0.00299314153380692, + 0.9999299645423889, + 0.14168225927047495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998770952224731, + -0.008985310792922974, + -0.0128486892208457, + 0.007057961072649591 + ], + [ + 0.00893474742770195, + 0.9999521374702454, + -0.003987260162830353, + 0.003887186656621369 + ], + [ + 0.012883900664746761, + 0.003871970111504197, + 0.999909520149231, + 0.15405057934690114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9998668432235718, + -0.01049720961600542, + -0.012494683265686035, + 0.006259284917388327 + ], + [ + 0.01043976005166769, + 0.9999346733093262, + -0.004654319025576115, + 0.004378751228170947 + ], + [ + 0.012542724609375, + 0.004523257724940777, + 0.9999111294746399, + 0.16672212439627687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.999830424785614, + -0.010496334172785282, + -0.015131495893001556, + 0.007957683398950198 + ], + [ + 0.01041389163583517, + 0.9999305605888367, + -0.005516997538506985, + 0.00506609680500528 + ], + [ + 0.015188353136181831, + 0.005358484573662281, + 0.9998703002929688, + 0.17672496873977755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9998493194580078, + -0.010350535623729229, + -0.013937690295279026, + 0.0066449971669469 + ], + [ + 0.010265137068927288, + 0.9999281764030457, + -0.006184836849570274, + 0.005516340320329528 + ], + [ + 0.014000705443322659, + 0.006040832027792931, + 0.9998837113380432, + 0.1884992504415433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998689889907837, + -0.010942723602056503, + -0.011927382089197636, + 0.004768807139278443 + ], + [ + 0.010860024020075798, + 0.999916672706604, + -0.006976512726396322, + 0.006045349746219013 + ], + [ + 0.012002729810774326, + 0.006846067029982805, + 0.9999045133590698, + 0.19944968435389937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9998313784599304, + -0.011839164420962334, + -0.014037104323506355, + 0.0060823617033537265 + ], + [ + 0.0117274709045887, + 0.99989914894104, + -0.008012828417122364, + 0.006754657460669102 + ], + [ + 0.014130553230643272, + 0.00784685742110014, + 0.9998693466186523, + 0.20725973669655068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9998257160186768, + -0.014038086868822575, + -0.01230772864073515, + 0.004428501113910566 + ], + [ + 0.013926898129284382, + 0.9998618364334106, + -0.009073690511286259, + 0.007453197016850237 + ], + [ + 0.01243340503424406, + 0.008900701068341732, + 0.9998831152915955, + 0.21623745585276077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999808132648468, + -0.015027159824967384, + -0.012566699646413326, + 0.004268372522990319 + ], + [ + 0.014900829643011093, + 0.99983811378479, + -0.01008667703717947, + 0.008075767056631648 + ], + [ + 0.012716238386929035, + 0.009897488169372082, + 0.9998701810836792, + 0.22630071211452327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996447563171387, + -0.022669872269034386, + -0.014017144218087196, + 0.005047562506727197 + ], + [ + 0.022469447925686836, + 0.9996453523635864, + -0.014294503256678581, + 0.010684563353472997 + ], + [ + 0.014336226508021355, + 0.013974467292428017, + 0.9997995495796204, + 0.23974122961690603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9992615580558777, + -0.03604063391685486, + -0.013319705612957478, + 0.004261748865246773 + ], + [ + 0.03584642708301544, + 0.9992514848709106, + -0.014542469754815102, + 0.010538338649679313 + ], + [ + 0.013833855278789997, + 0.01405426673591137, + 0.9998055100440979, + 0.257140299948779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9995713233947754, + -0.025640416890382767, + -0.014132135547697544, + 0.004448052845926078 + ], + [ + 0.025411110371351242, + 0.999546229839325, + -0.016173478215932846, + 0.011578105220740492 + ], + [ + 0.014540418051183224, + 0.01580743119120598, + 0.9997693300247192, + 0.2708201544590233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996501207351685, + -0.022146929055452347, + -0.014463857747614384, + 0.004263110585849394 + ], + [ + 0.021897826343774796, + 0.9996129274368286, + -0.017159629613161087, + 0.012118598969637856 + ], + [ + 0.014838292263448238, + 0.016836896538734436, + 0.9997481107711792, + 0.28378641716212283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9997978210449219, + -0.013864407315850258, + -0.014564436860382557, + 0.003974252418915102 + ], + [ + 0.013609688729047775, + 0.9997552037239075, + -0.01744503527879715, + 0.012242770812297164 + ], + [ + 0.014802736230194569, + 0.017243292182683945, + 0.9997417330741882, + 0.2934437362369427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997104406356812, + -0.018855322152376175, + -0.014951243065297604, + 0.003639886525174803 + ], + [ + 0.01861175149679184, + 0.9996944665908813, + -0.01626606658101082, + 0.011161625730104683 + ], + [ + 0.01525337714701891, + 0.015983086079359055, + 0.9997559189796448, + 0.3099190997683312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997162222862244, + -0.018118519335985184, + -0.015465804375708103, + 0.003725983646567449 + ], + [ + 0.017868008464574814, + 0.9997093677520752, + -0.016184967011213303, + 0.010869698554338995 + ], + [ + 0.01575455628335476, + 0.015904031693935394, + 0.9997494220733643, + 0.32116029471897883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997389316558838, + -0.017309721559286118, + -0.014913711696863174, + 0.0032815978839254574 + ], + [ + 0.017065349966287613, + 0.9997205138206482, + -0.01636003889143467, + 0.010942623964395404 + ], + [ + 0.015192732214927673, + 0.016101261600852013, + 0.9997549057006836, + 0.32789614949344603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997499585151672, + -0.01662955805659294, + -0.014950308948755264, + 0.003213202018937296 + ], + [ + 0.016389206051826477, + 0.9997367262840271, + -0.016057923436164856, + 0.010764081246596722 + ], + [ + 0.015213409438729286, + 0.01580888405442238, + 0.999759316444397, + 0.33113955884925594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.999764084815979, + -0.01475293468683958, + -0.015941528603434563, + 0.0037575067967669036 + ], + [ + 0.014503070153295994, + 0.9997718930244446, + -0.01567736826837063, + 0.01054038281652553 + ], + [ + 0.01616918109357357, + 0.015442469157278538, + 0.999750018119812, + 0.3295332585977129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997694492340088, + -0.01517399586737156, + -0.015192190185189247, + 0.0033439370064634426 + ], + [ + 0.014940397813916206, + 0.9997702240943909, + -0.015373367816209793, + 0.010374370334315892 + ], + [ + 0.015421973541378975, + 0.01514284685254097, + 0.9997664093971252, + 0.3309454742541983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999741792678833, + -0.014951758086681366, + -0.017109587788581848, + 0.0044014846428859335 + ], + [ + 0.014687912538647652, + 0.999772846698761, + -0.015444104559719563, + 0.01038803308124631 + ], + [ + 0.017336618155241013, + 0.015188812278211117, + 0.9997343420982361, + 0.3285705066416874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9997638463973999, + -0.015479748137295246, + -0.015250885859131813, + 0.0033933182416314425 + ], + [ + 0.015239820815622807, + 0.9997602105140686, + -0.015724604949355125, + 0.010536137257109989 + ], + [ + 0.015490641817450523, + 0.01548847183585167, + 0.9997600317001343, + 0.3303257470781153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997507333755493, + -0.015762511640787125, + -0.01581212319433689, + 0.0036758464753381477 + ], + [ + 0.015509653836488724, + 0.9997518658638, + -0.015988577157258987, + 0.01066285721218783 + ], + [ + 0.016060220077633858, + 0.015739351511001587, + 0.9997471570968628, + 0.3315811871497099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997729063034058, + -0.01603654958307743, + -0.014034310355782509, + 0.002686988111308291 + ], + [ + 0.015811366960406303, + 0.9997467994689941, + -0.01601172611117363, + 0.010662025671975672 + ], + [ + 0.01428752951323986, + 0.01578618958592415, + 0.9997733235359192, + 0.3349963309843678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996452927589417, + -0.020930055528879166, + -0.016467053443193436, + 0.004073772908088343 + ], + [ + 0.02062314748764038, + 0.999614417552948, + -0.01859193481504917, + 0.012010720392211903 + ], + [ + 0.016849834471940994, + 0.018245739862322807, + 0.9996915459632874, + 0.33232147829099135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997533559799194, + -0.019349707290530205, + -0.01090001780539751, + 0.0010548845772469831 + ], + [ + 0.019154125824570656, + 0.9996585845947266, + -0.01777059957385063, + 0.01156598005659324 + ], + [ + 0.011240151710808277, + 0.017557434737682343, + 0.9997826814651489, + 0.33767049420963635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9972494840621948, + -0.06734167784452438, + -0.030960649251937866, + 0.012948567481819263 + ], + [ + 0.06592915207147598, + 0.9968279004096985, + -0.044580843299627304, + 0.026199309583291534 + ], + [ + 0.0338645875453949, + 0.0424170158803463, + 0.9985259175300598, + 0.3127065752902307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9976950883865356, + -0.0615786537528038, + -0.028506334871053696, + 0.011394685465257522 + ], + [ + 0.06037455052137375, + 0.9973196983337402, + -0.041331566870212555, + 0.024305463083519423 + ], + [ + 0.030975069850683212, + 0.03951524198055267, + 0.9987387657165527, + 0.31720511122675965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9969954490661621, + -0.06999118626117706, + -0.03318643569946289, + 0.0140443008731712 + ], + [ + 0.06839758157730103, + 0.9965531229972839, + -0.04694247245788574, + 0.02736410737530259 + ], + [ + 0.03635760396718979, + 0.04453156143426895, + 0.9983461499214172, + 0.3161291840401563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9968399405479431, + -0.07114959508180618, + -0.03532453998923302, + 0.015305775570229066 + ], + [ + 0.0694161131978035, + 0.9964280724525452, + -0.048088446259498596, + 0.02803292055267933 + ], + [ + 0.038619834929704666, + 0.04548439383506775, + 0.9982182383537292, + 0.3140285236037467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9966672658920288, + -0.07324602454900742, + -0.035908594727516174, + 0.015762219236286217 + ], + [ + 0.07144481688737869, + 0.9962347745895386, + -0.04911151900887489, + 0.02866049919369792 + ], + [ + 0.03937061131000519, + 0.0463823564350605, + 0.9981476068496704, + 0.31159590869403087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9966979026794434, + -0.0732332244515419, + -0.03507343307137489, + 0.015278626735175938 + ], + [ + 0.07144875079393387, + 0.9962061047554016, + -0.04968338459730148, + 0.028916770244432875 + ], + [ + 0.03857884183526039, + 0.04701337218284607, + 0.9981489777565002, + 0.31227868618058763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9965919852256775, + -0.07375507801771164, + -0.036940798163414, + 0.016292812133377247 + ], + [ + 0.07186811417341232, + 0.9961581230163574, + -0.050040215253829956, + 0.029093166643922978 + ], + [ + 0.04048959165811539, + 0.0472148135304451, + 0.9980638027191162, + 0.312282300808213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9966723918914795, + -0.07177923619747162, + -0.03862479701638222, + 0.017144747601806624 + ], + [ + 0.06983071565628052, + 0.9963234663009644, + -0.049631062895059586, + 0.02881946997516904 + ], + [ + 0.042045269161462784, + 0.04676871374249458, + 0.9980204701423645, + 0.3136127616994637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9966701865196228, + -0.07111449539661407, + -0.03989032655954361, + 0.017612024461311743 + ], + [ + 0.06910234689712524, + 0.996368944644928, + -0.049736976623535156, + 0.028739997775347765 + ], + [ + 0.04328250139951706, + 0.04681484401226044, + 0.9979654550552368, + 0.3173013704621102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9965727925300598, + -0.07222500443458557, + -0.040327038615942, + 0.01812810419696914 + ], + [ + 0.070188507437706, + 0.9962889552116394, + -0.04981835559010506, + 0.028938454817518715 + ], + [ + 0.043775517493486404, + 0.0468171201646328, + 0.9979438185691833, + 0.3122811607831766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.996569037437439, + -0.07290119677782059, + -0.0391865037381649, + 0.017443436350334775 + ], + [ + 0.07093841582536697, + 0.9962596297264099, + -0.04934089630842209, + 0.0285870562346021 + ], + [ + 0.042636942118406296, + 0.04639177769422531, + 0.9980129599571228, + 0.3143828501878691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9966841340065002, + -0.07113997638225555, + -0.03949461504817009, + 0.01757103087734585 + ], + [ + 0.06917673349380493, + 0.9963988065719604, + -0.049030330032110214, + 0.02839001876202004 + ], + [ + 0.04284040257334709, + 0.04613564535975456, + 0.9980161190032959, + 0.31473846364119823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9967657327651978, + -0.06943682581186295, + -0.040455132722854614, + 0.017930493306768828 + ], + [ + 0.06746343523263931, + 0.9965539574623108, + -0.048258595168590546, + 0.027858728318175006 + ], + [ + 0.043666645884513855, + 0.04537326842546463, + 0.998015284538269, + 0.31795777715434714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9966028928756714, + -0.07033032923936844, + -0.042852647602558136, + 0.019450370253117615 + ], + [ + 0.06821341067552567, + 0.996466338634491, + -0.04900805279612541, + 0.028395601931559152 + ], + [ + 0.04614797234535217, + 0.04591843858361244, + 0.9978786706924438, + 0.3130948026071895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9966344237327576, + -0.07148434966802597, + -0.040122777223587036, + 0.017770965812989502 + ], + [ + 0.06949575990438461, + 0.9963808655738831, + -0.048944197595119476, + 0.02820275962845353 + ], + [ + 0.04347631335258484, + 0.04599110782146454, + 0.9979953169822693, + 0.3180709501682234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9966663122177124, + -0.07046996802091599, + -0.041112031787633896, + 0.018419027334648716 + ], + [ + 0.06844856590032578, + 0.996467113494873, + -0.048662759363651276, + 0.028078464498697234 + ], + [ + 0.0443960539996624, + 0.045686475932598114, + 0.9979687929153442, + 0.31616225491377936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9968398213386536, + -0.06798099726438522, + -0.04109657183289528, + 0.01814826380861692 + ], + [ + 0.06595052033662796, + 0.996624231338501, + -0.048894573003053665, + 0.028414902977706973 + ], + [ + 0.0442817397415638, + 0.046029720455408096, + 0.9979581236839294, + 0.31039188765297254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9968058466911316, + -0.0689178928732872, + -0.04035387560725212, + 0.017844978347420694 + ], + [ + 0.0669330433011055, + 0.9965717196464539, + -0.04862915351986885, + 0.02793348990380764 + ], + [ + 0.04356694594025612, + 0.045772816985845566, + 0.9980013966560364, + 0.31934845447540283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/tilt_down/transforms.json b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0296556b4a84c8e39758bf56aed9901126b78708 --- /dev/null +++ b/dynpose_eval/camera_controls/992dcc88-4e7e-438e-9004-4b7431b93945/tilt_down/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.783745655207895e-05, + -2.8303711587795988e-06, + -3.445252104938845e-06 + ], + [ + 5.783744200016372e-05, + 1.0, + -5.463689831231022e-06, + 1.3817551007377915e-05 + ], + [ + 2.830687208188465e-06, + 5.463526122184703e-06, + 1.0, + -7.349567022174597e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958276748657, + -0.0028079941382254995, + 0.0007007381402927454, + -0.0004374863929115236 + ], + [ + 0.002806620905175805, + 0.9999941804468132, + 0.001953329847045402, + 0.00017601992294657975 + ], + [ + -0.0007062189397402108, + -0.0019513548453186206, + 0.9999978206118372, + 0.000656803953461349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999977350234985, + -0.0016424616548082322, + 0.0013338456257793012, + -0.0008406114066019654 + ], + [ + 0.0016363593749701977, + 0.9999882452547629, + 0.004563248870377287, + -8.097158570308238e-05 + ], + [ + -0.0013413248816505075, + -0.004561055918332702, + 0.9999886719807214, + 0.0021981673780828714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999974966049194, + -0.001396273450515907, + 0.0017529775664866956, + -0.0010924524394795299 + ], + [ + 0.0013835688587278128, + 0.9999728984770213, + 0.007227873775647928, + -0.0003822744474746287 + ], + [ + -0.0017630222719162703, + -0.007225430242295821, + 0.9999723182789555, + 0.0032339408062398434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999961256980896, + -0.0016385347590226757, + 0.0022547393135565526, + -0.0014369768323376775 + ], + [ + 0.0016160369850695133, + 0.9999492436304613, + 0.009943924509843832, + -0.0007305468898266554 + ], + [ + -0.0022709183394908905, + -0.009940242308209897, + 0.9999480237545455, + 0.003991668578237295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999963045120239, + 0.0004710467386830567, + 0.0026879784801124114, + -0.0017086088191717863 + ], + [ + -0.0005049681640230119, + 0.9999200598058131, + 0.012632995935780652, + -0.0010312144877389073 + ], + [ + -0.0026818127371370792, + -0.012634306315117654, + 0.9999165883576697, + 0.005365600343793631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999912977218628, + 0.002800126378985086, + 0.003083092215178086, + -0.0019489781698212028 + ], + [ + -0.002846579300239682, + 0.9998809245367949, + 0.015167085240739729, + -0.0012440953869372606 + ], + [ + -0.0030402555130422115, + -0.015175729692135176, + 0.9998802162133804, + 0.006821702234447002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999901056289673, + 0.003185928948499884, + 0.003099481480241317, + -0.0019351663067936897 + ], + [ + -0.003240032587200403, + 0.9998396835333574, + 0.017610136539011337, + -0.001390389516018331 + ], + [ + -0.0030428797472268343, + -0.017620004812914782, + 0.9998401301776001, + 0.007771001663058996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999921321868896, + 0.0027345587846926353, + 0.0028785215366735396, + -0.0017559819389134645 + ], + [ + -0.002791980979964137, + 0.9997933010980059, + 0.020137199345972683, + -0.0016039025504142046 + ], + [ + -0.0028228601440787315, + -0.02014507845100751, + 0.9997931050909832, + 0.008827180601656437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999954104423523, + 0.001553772863062348, + 0.002604029893976495, + -0.0015449044294655323 + ], + [ + -0.0016120491782203317, + 0.9997449116472723, + 0.022528685718513426, + -0.0017247075447812676 + ], + [ + -0.002568361349403858, + -0.022532779615620554, + 0.9997428049758357, + 0.010363591834902763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999934434890747, + 0.002583820064043934, + 0.0025479630448889544, + -0.0014811328146606684 + ], + [ + -0.002646366134285927, + 0.9996874949235002, + 0.024857631934932182, + -0.0017855011392384768 + ], + [ + -0.0024829390458762646, + -0.024864211301162217, + 0.9996877698782474, + 0.012303386814892292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999992907047272, + 0.0028563462668533377, + 0.0024478399545768627, + -0.0013968583662062883 + ], + [ + -0.0029220883734524254, + 0.9996233294988446, + 0.027288267005346437, + -0.0019048519898205996 + ], + [ + -0.0023689733352512126, + -0.027295226729251873, + 0.9996245947432387, + 0.013954460620880127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999919533729555, + 0.0031963968310573733, + 0.002416068736928584, + -0.0013957642950117588 + ], + [ + -0.003267096122726799, + 0.9995491426015548, + 0.02984768398099335, + -0.0021238315384835005 + ], + [ + -0.002319574356079102, + -0.029855337924308698, + 0.9995515673217296, + 0.014766803942620754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999970555305481, + 0.007325721712786169, + 0.002294107490059027, + -0.0012668031267821789 + ], + [ + -0.007395886350423098, + 0.9994528958908226, + 0.032236712159689124, + -0.0022024670615792274 + ], + [ + -0.0020566952880471945, + -0.03225272909629427, + 0.9994776083734973, + 0.016295894980430603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999265670776367, + 0.011763488851821161, + 0.0029069959906056052, + -0.0016072338912636042 + ], + [ + -0.011856799945235252, + 0.9993346550947199, + 0.03449151323407651, + -0.0021954155527055264 + ], + [ + -0.0024993212427943945, + -0.034523449095483216, + 0.999400773434627, + 0.01721593551337719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998978972434998, + 0.013755047794950988, + 0.003879282999492033, + -0.002264332724735141 + ], + [ + -0.01388926524668932, + 0.9992186028156577, + 0.0370033918710612, + -0.0024634446017444134 + ], + [ + -0.003367268480360508, + -0.037053494171392976, + 0.9993076229956033, + 0.014750652015209198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998655319213867, + 0.01576967218415453, + 0.0044955024169634214, + -0.0026421048678457737 + ], + [ + -0.015934113413095474, + 0.9991023135938187, + 0.039251726567189914, + -0.002494606887921691 + ], + [ + -0.003872480010613799, + -0.03931808046797, + 0.9992192367455794, + 0.014657844789326191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998513460159302, + 0.01653782057325702, + 0.004879880063819523, + -0.002863609232008457 + ], + [ + -0.016725068911910057, + 0.9990102434067768, + 0.04121649662557029, + -0.0023277951404452324 + ], + [ + -0.004193419124931097, + -0.04129198610641454, + 0.9991383266214435, + 0.015658577904105186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999411702156067, + 0.010135094318734985, + 0.0038585983577870027, + -0.002237306907773018 + ], + [ + -0.010294608771800995, + 0.9989851499179305, + 0.04384857651217643, + -0.002637698547914624 + ], + [ + -0.003410272765904665, + -0.043885721673920346, + 0.9990307663062581, + 0.01888430304825306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999435544013977, + 0.009935499535091336, + 0.00376270407927448, + -0.002153220819309354 + ], + [ + -0.010097860358655453, + 0.9988941303035026, + 0.04591886265724033, + -0.0025475132279098034 + ], + [ + -0.0033023161813616753, + -0.045954266100243106, + 0.9989380715721468, + 0.019930891692638397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999231100082397, + 0.011724432871563092, + 0.0040435379253869145, + -0.002300064079463482 + ], + [ + -0.011904645711183548, + 0.998782547752074, + 0.04787169259062692, + -0.0023842519149184227 + ], + [ + -0.0034773468505591154, + -0.047916146696061035, + 0.9988452948798808, + 0.020224742591381073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999351501464844, + 0.010720307657422492, + 0.0038437556008168615, + -0.002160051604732871 + ], + [ + -0.010900500230491161, + 0.9986692865754916, + 0.050406748238315, + -0.00267980620265007 + ], + [ + -0.003298264928162098, + -0.05044537661190429, + 0.9987213491713477, + 0.019356071949005127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998852610588076, + 0.014588043436582621, + 0.004086153134037328, + -0.002220017137005925 + ], + [ + -0.014782938174903396, + 0.9985053319092625, + 0.052617159367184044, + -0.002655177377164364 + ], + [ + -0.00331246410496533, + -0.052671525685717716, + 0.9986063927913464, + 0.019826725125312805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998493790626526, + 0.016820672012774814, + 0.004270301856044298, + -0.0023632950615137815 + ], + [ + -0.01703006960451603, + 0.9983432258655713, + 0.0549614083123219, + -0.002769486280158162 + ], + [ + -0.003338739275932312, + -0.05502585586521349, + 0.998479365431333, + 0.018625937402248383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998409152030945, + 0.0173264238809418, + 0.004232069007291496, + -0.002300406340509653 + ], + [ + -0.017539959400892258, + 0.998213754622073, + 0.057110639122634456, + -0.0027576331049203873 + ], + [ + -0.003234986448660493, + -0.05717578466265302, + 0.9983588652723419, + 0.01902722753584385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998390674591064, + 0.017436986070332942, + 0.004211760529442865, + -0.0022542697843164206 + ], + [ + -0.017656300216913223, + 0.9980817411526411, + 0.059339032861228276, + -0.0028110898565500975 + ], + [ + -0.003168987575918436, + -0.05940384838165596, + 0.9982290136658559, + 0.01850120909512043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998289942741396, + 0.018045624328846713, + 0.0040420346205522215, + -0.0020916438661515713 + ], + [ + -0.018260013312101368, + 0.9979430617159586, + 0.061450945262521754, + -0.0027770271990448236 + ], + [ + -0.0029247996862977747, + -0.06151424542234954, + 0.9981019382396101, + 0.019378190860152245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999863862991333, + 0.016091984986158055, + 0.0036474174895988363, + -0.0017666096100583673 + ], + [ + -0.01628957688808441, + 0.9978879384814017, + 0.06288338086570361, + -0.002189608523622155 + ], + [ + -0.0026277953293174505, + -0.06293423510055933, + 0.9980142288540698, + 0.02397056668996811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997281432151797, + 0.02296964135003844, + 0.003999377760645299, + -0.0018883815500885248 + ], + [ + -0.023179713636636737, + 0.9976529222369146, + 0.06443104421473028, + -0.0017319292528554797 + ], + [ + -0.0025100330822169785, + -0.06450623389299809, + 0.9979141494033313, + 0.026787331327795982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997313618659975, + 0.022919114353150215, + 0.00345566704329532, + -0.0014911339385434985 + ], + [ + -0.023098286241292957, + 0.99751810681036, + 0.06651344902846598, + -0.001700314343906939 + ], + [ + -0.0019226610893383627, + -0.06657540297259469, + 0.9977795599762949, + 0.02565011940896511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997292160987854, + 0.02306806993986524, + 0.0030603472792076177, + -0.001235519303008914 + ], + [ + -0.02322390489280224, + 0.997365160193424, + 0.06872686556369963, + -0.0017208991339430213 + ], + [ + -0.0014668876538053155, + -0.06877932975204494, + 0.997630835585453, + 0.025417665019631386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9997439384460449, + 0.022419061521389123, + 0.003075247097885544, + -0.0014137561665847898 + ], + [ + -0.022580983117222786, + 0.9972155701692382, + 0.0710721293036831, + -0.0018893178785219789 + ], + [ + -0.0014733137795701623, + -0.07112337090176814, + 0.9974664368919938, + 0.02478298731148243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998392462730408, + 0.017891799472958426, + 0.0011624289943897282, + 6.1001988797215745e-05 + ], + [ + -0.01792893372476101, + 0.9971785502763788, + 0.07289339960456262, + -0.001677287626080215 + ], + [ + 0.00014504481805488467, + -0.0729025245394101, + 0.9973390572858283, + 0.025633836165070534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9998748302459717, + 0.015820006953653223, + 0.0001646843092848024, + 0.0007105316035449505 + ], + [ + -0.015787938609719276, + 0.9970688083771801, + 0.07486372331197061, + -0.001538781332783401 + ], + [ + 0.0010201430413872004, + -0.07485695234869343, + 0.9971937662656152, + 0.02614341303706169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998689889907837, + 0.01618140117769427, + -0.0003961156490857734, + 0.0010670063784345984 + ], + [ + -0.01610235869884491, + 0.9968772950771425, + 0.07730722643132952, + -0.0017214416293427348 + ], + [ + 0.0016458180034533143, + -0.077290719729185, + 0.9970072481446557, + 0.026478298008441925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998961091041565, + 0.01438120447657721, + -0.0009573118888370731, + 0.001369509962387383 + ], + [ + -0.014259152114391327, + 0.9967161028345397, + 0.0797100327271962, + -0.0018942076712846756 + ], + [ + 0.002100494457408786, + -0.07968810357351729, + 0.9968176522735908, + 0.0259007066488266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999678730964661, + 0.007820833532189818, + -0.0017469732746505158, + 0.0016224165447056293 + ], + [ + -0.007648948114365339, + 0.9965230835781815, + 0.08296544677274664, + -0.0026633881498128176 + ], + [ + 0.0023897578939795494, + -0.08294941793911016, + 0.9965508795519004, + 0.0251881442964077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.999990701675415, + 0.004009114598399725, + -0.0015999791634667602, + 0.0013515303144231439 + ], + [ + -0.0038563243579119444, + 0.9962723841030827, + 0.08617720970947829, + -0.003373966785147786 + ], + [ + 0.0019395094132050872, + -0.08617023661300073, + 0.9962785643635392, + 0.025382913649082184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.999975919723511, + 0.006886997019407494, + -0.0008837225302485146, + 0.0010599367087706923 + ], + [ + -0.006780842319130899, + 0.9959979778532708, + 0.089118291936603, + -0.003837012220174074 + ], + [ + 0.0014939431566745047, + -0.0891101506893304, + 0.9960206575776708, + 0.025486407801508904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9999307394027712, + 0.011769870313328077, + -0.00015149192854295405, + 0.0008139093406498432 + ], + [ + -0.01170626934617758, + 0.9957088754548575, + 0.09179755346626409, + -0.004094831179827452 + ], + [ + 0.0012312872568145396, + -0.09178942199551117, + 0.9957776953402976, + 0.02603957988321781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.999911367893219, + 0.013315892823440931, + 4.710086152456567e-05, + 0.0007450808770954609 + ], + [ + -0.013260602951049805, + 0.9954247873953633, + 0.09462378344919672, + -0.004556240048259497 + ], + [ + 0.001213114825077355, + -0.094616018199404, + 0.995513109972034, + 0.025165503844618797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9999157190322876, + 0.012982523055103294, + -1.0897595347386982e-05, + 0.0007164809503592551 + ], + [ + -0.012919754721224308, + 0.9951631117842082, + 0.09738326701606818, + -0.005072020459920168 + ], + [ + 0.0012751254253089428, + -0.09737491864200677, + 0.9952469719826113, + 0.0210090484470129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.999902069568634, + 0.013917324276901406, + 0.0014805634019794036, + -0.0006010654615238309 + ], + [ + -0.013995654881000519, + 0.9948439365042521, + 0.10044751539787683, + -0.00592079758644104 + ], + [ + -7.49688915675506e-05, + -0.10045839827622828, + 0.9949412809914546, + 0.013581608422100544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9999215006828308, + 0.012424231917692239, + 0.0016180848551328527, + -0.00079368642764166 + ], + [ + -0.012525033205747604, + 0.9945342091784006, + 0.10365743948310038, + -0.007068688049912453 + ], + [ + -0.00032137666130438447, + -0.1036695672202045, + 0.9946117382840788, + -0.0010623118141666055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9999226927757263, + 0.011820276497526625, + 0.003861453644805552, + -0.0030918580014258623 + ], + [ + -0.012165836058557034, + 0.9941769315952189, + 0.10707087644987984, + -0.008481047116219997 + ], + [ + -0.0025733609218150377, + -0.10710957873271507, + 0.9942438893802155, + -0.017114900052547455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9999293088912964, + 0.011838740224198735, + 0.001104650264750351, + -0.0003369241894688457 + ], + [ + -0.011888450011610985, + 0.9938832244024345, + 0.10979444456357165, + -0.009201306849718094 + ], + [ + 0.00020193452655803412, + -0.10979981667851173, + 0.9939537271961234, + -0.027609514072537422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999624490737915, + 0.008390066955694839, + 0.002165527562513372, + -0.0018006570171564817 + ], + [ + -0.008580664172768593, + 0.9935936418961006, + 0.11268585797715852, + -0.010166499763727188 + ], + [ + -0.001206212560646236, + -0.11270020876944474, + 0.9936283292200359, + -0.04066568985581398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999905228614807, + 0.004149449508512019, + 0.0013054322872458272, + -0.0018181444611400366 + ], + [ + -0.004272392485290766, + 0.9933076514888585, + 0.11541968680203471, + -0.011012422852218151 + ], + [ + -0.0008177677518688142, + -0.115424168788113, + 0.9933159416030257, + -0.05339973419904709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.999996066093445, + 0.002814055905178817, + 8.796403647516859e-05, + -0.0010683828731998801 + ], + [ + -0.0028047536034137015, + 0.9929990952084473, + 0.11808884818213705, + -0.011743570677936077 + ], + [ + 0.00024496039259247487, + -0.11808862364024716, + 0.9930030139020728, + -0.06438102573156357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999986886978149, + 0.0014877142036004974, + 0.0006360684637813526, + -0.002020518761128187 + ], + [ + -0.001553635229356587, + 0.9926814403760416, + 0.12075252575912632, + -0.012468907050788403 + ], + [ + -0.00045176807907409966, + -0.12075335423527939, + 0.9926824311536219, + -0.07475437223911285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999993085861206, + 0.003718654904282303, + 0.00023645614703843965, + -0.0014573417138308287 + ], + [ + -0.003719238331541419, + 0.9922548995367637, + 0.1241625231273427, + -0.014003043062984943 + ], + [ + 0.00022709280892740935, + -0.12416254005961049, + 0.9922618524938056, + -0.08950376510620117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999908208847046, + 0.004219513450594144, + 0.0007303355358084173, + -0.001953562954440713 + ], + [ + -0.004278173204511404, + 0.9918439146910035, + 0.12738668828697416, + -0.015509705990552902 + ], + [ + -0.00018686903058551252, + -0.12738864411713488, + 0.9918528733079112, + -0.10975368320941925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999738931655884, + 0.006606799318020754, + 0.0029341560004342467, + -0.0041609094478189945 + ], + [ + -0.00693309772759676, + 0.9914324289248306, + 0.13043668903904115, + -0.016876686364412308 + ], + [ + -0.0020472481846809387, + -0.13045361790755186, + 0.991452290352211, + -0.12791860103607178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999421238899233, + 0.010454129936859458, + 0.0025425496352716225, + -0.003331050043925643 + ], + [ + -0.010700025595724584, + 0.9909877581021233, + 0.13352432035423265, + -0.018198736011981964 + ], + [ + -0.001123755006119609, + -0.1335437990128931, + 0.9910422733615779, + -0.14456143975257874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9998747706413269, + 0.015466059335541831, + 0.0033471370312226864, + -0.003572893561795354 + ], + [ + -0.015777289867401123, + 0.9906184547213353, + 0.135742864984224, + -0.018478961661458015 + ], + [ + -0.0012163284700363874, + -0.13577867416653008, + 0.9907384203131041, + -0.15079902112483978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997836947441103, + 0.020402432418119728, + 0.004030853059669258, + -0.0036672281567007303 + ], + [ + -0.02076337113976479, + 0.9902337789984975, + 0.13786225365804583, + -0.018451353535056114 + ], + [ + -0.0011787614785134794, + -0.13791612608979628, + 0.9904432026849723, + -0.14985354244709015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9996997714042664, + 0.02382131265696227, + 0.005732636080154231, + -0.0046683065593242645 + ], + [ + -0.024387026205658913, + 0.9899944648287425, + 0.13898279862513885, + -0.017368843778967857 + ], + [ + -0.002364525105804205, + -0.13908087539704667, + 0.9902781838737768, + -0.14365266263484955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9995543956756592, + 0.028804460653383983, + 0.007830240721761758, + -0.0058128563687205315 + ], + [ + -0.029618799686431885, + 0.9896574087440476, + 0.1403601609969314, + -0.016508037224411964 + ], + [ + -0.0037062568590044975, + -0.14052953716910668, + 0.9900695721386634, + -0.1390894055366516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9994455575942993, + 0.031835797806947085, + 0.009750061104902487, + -0.00705969613045454 + ], + [ + -0.032905213534832, + 0.9891327813805805, + 0.143295446941657, + -0.017331991344690323 + ], + [ + -0.005082180257886648, + -0.14353682391881253, + 0.9896319101772542, + -0.1402263641357422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9993156790733337, + 0.03635078638064679, + 0.006840890172496342, + -0.002815776504576206 + ], + [ + -0.03695954754948616, + 0.9886615676332728, + 0.14554129606859306, + -0.01753426529467106 + ], + [ + -0.0014727849047631025, + -0.1456945373062854, + 0.9893285283847504, + -0.1426481306552887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9994795322418213, + 0.030215460116037623, + 0.011301218038502338, + -0.008366003632545471 + ], + [ + -0.03155197948217392, + 0.9885834298979218, + 0.14733369571127294, + -0.01702793315052986 + ], + [ + -0.006720441393554211, + -0.14761359537538055, + 0.9890223019213337, + -0.1416851431131363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9997190833091736, + 0.021382938978088878, + 0.010221830571779552, + -0.00823153555393219 + ], + [ + -0.022671543061733246, + 0.9885031340212274, + 0.14949097972222603, + -0.01707935519516468 + ], + [ + -0.006907755043357611, + -0.1496807365085594, + 0.9887102761259062, + -0.14110256731510162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998928308486938, + 0.011663633750357463, + 0.008848165377179678, + -0.008119084872305393 + ], + [ + -0.012875487096607685, + 0.988251716649591, + 0.1522916405064465, + -0.017843322828412056 + ], + [ + -0.006967941299080849, + -0.15238924535647858, + 0.9882959827881272, + -0.1462584137916565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9999678730964661, + 0.006396555269790032, + 0.00482725070167288, + -0.005272450391203165 + ], + [ + -0.007064376026391983, + 0.9880185394045685, + 0.1541735383040182, + -0.01763124018907547 + ], + [ + -0.0037832336965948343, + -0.15420268928202216, + 0.988031988257937, + -0.1449461430311203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9999958872795105, + 0.0016846999713253045, + 0.0023084190937353267, + -0.0039785634726285934 + ], + [ + -0.002024661749601364, + 0.9877186741781248, + 0.15622989050843977, + -0.017531391233205795 + ], + [ + -0.0020168679766356945, + -0.156233926117693, + 0.9877180515775881, + -0.14164581894874573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9999946355819702, + -0.0031076460778858015, + 0.0010440097311609318, + -0.003796109464019537 + ], + [ + 0.0029037310741841793, + 0.9874422374216635, + 0.15795392132094369, + -0.01697058416903019 + ], + [ + -0.001521764206700027, + -0.15795003653265963, + 0.9874459177408625, + -0.13377922773361206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9999932646751406, + -0.0036669778718741394, + 0.00027834892867085456, + -0.00339425983838737 + ], + [ + 0.0035758151207119235, + 0.9872244741631833, + 0.1592953271862251, + -0.01578936167061329 + ], + [ + -0.0008589253411628308, + -0.15929325357835897, + 0.9872309144954143, + -0.11866360157728195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9999962449073794, + 0.0026448545130167817, + -0.0007493711389420014, + -0.0015232438454404473 + ], + [ + -0.002492036204785109, + 0.9872722737911805, + 0.15901978423065447, + -0.012953233905136585 + ], + [ + 0.0011604175670072439, + -0.1590173117661686, + 0.9872751044342485, + -0.09741660207509995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999516606330872, + 0.009330170656799495, + -0.00310000993218437, + 0.001878887414932251 + ], + [ + -0.008724277839064598, + 0.987436886408197, + 0.1577729818469974, + -0.009631653316318989 + ], + [ + 0.0045331125147640705, + -0.15773830581155995, + 0.987470526230992, + -0.07321960479021072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9999287128448486, + 0.011867769432558658, + -0.0012912512762842524, + 0.000510340672917664 + ], + [ + -0.011517448350787163, + 0.9875093369093, + 0.15713884893199978, + -0.006929708179086447 + ], + [ + 0.00314001040533185, + -0.15711278637104312, + 0.9875757019672701, + -0.04969979450106621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9999113082885742, + 0.013155979400685046, + -0.0020711241205288704, + 0.0016095764003694057 + ], + [ + -0.012666931375861168, + 0.9874873902911077, + 0.15718833575054253, + -0.004940447397530079 + ], + [ + 0.004113175440579653, + -0.15714816372006937, + 0.987566478241821, + -0.03146335110068321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9999157190322876, + 0.012620137282816059, + -0.0030519435871511702, + 0.00254121539182961 + ], + [ + -0.011980519630014896, + 0.9873985010030835, + 0.15779938790517445, + -0.0035427259281277657 + ], + [ + 0.005004934500902891, + -0.15774952462422862, + 0.987466476320022, + -0.017706872895359993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9999274611473083, + 0.011295501362667023, + -0.004181420558773795, + 0.0033954994287341833 + ], + [ + -0.010490966029465199, + 0.9873266847955502, + 0.15835386556379435, + -0.002110324101522565 + ], + [ + 0.005917114205658436, + -0.15829851251286065, + 0.9873735704374103, + -0.004011434502899647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.999935567378998, + 0.010424137709827969, + -0.004488736980543107, + 0.003470918396487832 + ], + [ + -0.009576252661645414, + 0.9871877796357701, + 0.15927536087184793, + -0.0010638348758220673 + ], + [ + 0.006091534160077574, + -0.15922210782906673, + 0.9872239647070473, + 0.011994598433375359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999588727951052, + 0.008696878295519895, + -0.0025798758782285248, + 0.0013529595453292131 + ], + [ + -0.008170386776328089, + 0.9870135639646, + 0.1604289245360794, + -0.00021678426128346473 + ], + [ + 0.003941603470593692, + -0.1604012428961458, + 0.9870439963536337, + 0.025568421930074692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999635815620422, + 0.006340485253499903, + -0.005717583792018671, + 0.003826883854344487 + ], + [ + -0.005337057169526815, + 0.9869331065976623, + 0.16104219292134114, + 0.0011165690375491977 + ], + [ + 0.006663958076387644, + -0.1610058075168446, + 0.9869309699723905, + 0.03791312500834465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999913573265078, + 0.0018740575005668702, + -0.003718936165112078, + 0.001232840120792389 + ], + [ + -0.0012464773608371618, + 0.9867750232211572, + 0.16209110562191134, + 0.0020603537559509277 + ], + [ + 0.003973521757870913, + -0.16208506006738627, + 0.9867687760271426, + 0.05014105141162872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999468326568604, + -0.0009725645578978167, + -0.010262883441976374, + 0.006506298668682575 + ], + [ + 0.002639488549903035, + 0.9865087252618677, + 0.16368741172747947, + 0.0025511847343295813 + ], + [ + 0.009965226985514164, + -0.16370579921451175, + 0.9864588515357701, + 0.06239316985011101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9999139308929446, + -0.0044284178280441355, + -0.012350757430192183, + 0.0072232624515891075 + ], + [ + 0.0064053107053041475, + 0.9862834770434707, + 0.16493599431817216, + 0.0033468755427747965 + ], + [ + 0.011450942605733873, + -0.16500090776168244, + 0.986226948183736, + 0.07722396403551102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998770952224731, + -0.006668864727749098, + -0.014189815642998274, + 0.007896842435002327 + ], + [ + 0.00893474742770195, + 0.986058584126984, + 0.16615849103914634, + 0.0041475119069218636 + ], + [ + 0.012883900664746761, + -0.16626485200319768, + 0.9859969774933209, + 0.08876723051071167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9998668432235718, + -0.008188423994768112, + -0.014115885806922537, + 0.007085379678755999 + ], + [ + 0.01043976005166769, + 0.9857944533537786, + 0.16763146873050197, + 0.004686474800109863 + ], + [ + 0.012542724609375, + -0.1677565167130629, + 0.985748688970975, + 0.10061229765415192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.999830424785614, + -0.00769725085246959, + -0.016729839459506457, + 0.00897061824798584 + ], + [ + 0.01041389163583517, + 0.9855758190546688, + 0.16891378912351723, + 0.005435416474938393 + ], + [ + 0.015188353136181831, + -0.1690593671400519, + 0.9854888437456221, + 0.10979150235652924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9998493194580078, + -0.007728218671321246, + -0.015545656455532674, + 0.007589534856379032 + ], + [ + 0.010265137068927288, + 0.9853235644654043, + 0.17038803796266494, + 0.005935478024184704 + ], + [ + 0.014000705443322659, + -0.1705219347276452, + 0.9852543821914562, + 0.12073853611946106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998689889907837, + -0.008636306942111094, + -0.01369013680480808, + 0.005586966406553984 + ], + [ + 0.010860024020075798, + 0.9850826902023845, + 0.17173851504569546, + 0.006523903924971819 + ], + [ + 0.012002729810774326, + -0.1718646911110707, + 0.985047426482052, + 0.13086119294166565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9998313784599306, + -0.00910701844379253, + -0.015945793396378995, + 0.007056838367134333 + ], + [ + 0.011727470904588703, + 0.9848788808436383, + 0.17284705244938775, + 0.007310919929295778 + ], + [ + 0.014130553230643276, + -0.1730049032124803, + 0.9848195707556986, + 0.13784731924533844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.999825716018677, + -0.011550594407689579, + -0.014667373181985634, + 0.0052930936217308044 + ], + [ + 0.013926898129284385, + 0.9846599190851206, + 0.17392776535898707, + 0.008090605027973652 + ], + [ + 0.012433405034244064, + -0.17410172892314665, + 0.9846492038846654, + 0.14599773287773132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999808132648468, + -0.012442922878455595, + -0.015129809736050381, + 0.005161542911082506 + ], + [ + 0.014900829643011093, + 0.9844453888538485, + 0.17505790811835426, + 0.008792671374976635 + ], + [ + 0.012716238386929035, + -0.17524976375522575, + 0.984441902600712, + 0.15523555874824524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9996447563171389, + -0.01964645273147568, + -0.018011672209844412, + 0.0060554067604243755 + ], + [ + 0.02246944792568684, + 0.9846623625108715, + 0.17301790421798455, + 0.011712349951267242 + ], + [ + 0.014336226508021358, + -0.1733611413749743, + 0.9847539488303083, + 0.16785481572151184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9992615580558777, + -0.032868561848732866, + -0.019899735996756884, + 0.005230454728007317 + ], + [ + 0.03584642708301544, + 0.9839458892742908, + 0.17482991855947952, + 0.011595972813665867 + ], + [ + 0.013833855278789997, + -0.17541414906726407, + 0.9843975094620213, + 0.1844271719455719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9995713233947754, + -0.02246196112877237, + -0.018777873567064018, + 0.005487523972988129 + ], + [ + 0.025411110371351242, + 0.984166750973566, + 0.17541394831011864, + 0.012767724692821503 + ], + [ + 0.014540418051183224, + -0.1758159255337286, + 0.9843156752117986, + 0.19728340208530426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996501207351687, + -0.018929629540004447, + -0.018475897082649476, + 0.00533893471583724 + ], + [ + 0.0218978263437748, + 0.9840411724598045, + 0.1765883022491043, + 0.013394935056567192 + ], + [ + 0.014838292263448242, + -0.1769310936267534, + 0.9841113525326488, + 0.20942498743534088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9997978210449221, + -0.010747434668894818, + -0.0169952128353166, + 0.005069594364613295 + ], + [ + 0.013609688729047779, + 0.9838521562246965, + 0.17846493022699467, + 0.013554752804338932 + ], + [ + 0.014802736230194572, + -0.1786601404286415, + 0.9837994806857224, + 0.21825654804706573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9997104406356812, + -0.015526514820693034, + -0.018384509245293904, + 0.004776675254106522 + ], + [ + 0.01861175149679184, + 0.9831710517044026, + 0.18173688273133703, + 0.012398384511470795 + ], + [ + 0.01525337714701891, + -0.18202642724746065, + 0.9831753334776963, + 0.23390460014343262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997162222862246, + -0.014661922606814292, + -0.01877497998368917, + 0.004914677701890469 + ], + [ + 0.017868008464574817, + 0.9827739308856747, + 0.18394611683840306, + 0.012113667093217373 + ], + [ + 0.015754556283354763, + -0.18422938934652958, + 0.9827570285992121, + 0.24432004988193512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.999738931655884, + -0.013940651227306202, + -0.018102582699597712, + 0.004440183751285076 + ], + [ + 0.017065349966287616, + 0.982419917020884, + 0.18590283286445608, + 0.0122135691344738 + ], + [ + 0.015192732214927677, + -0.18616322309511052, + 0.9824013316687648, + 0.25022923946380615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9997499585151675, + -0.013228135795444658, + -0.01802970776796182, + 0.00438698660582304 + ], + [ + 0.01638920605182648, + 0.9819696018613343, + 0.1883270554287896, + 0.012024827301502228 + ], + [ + 0.01521340943872929, + -0.1885754631741005, + 0.9819408873863477, + 0.2526460587978363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.999764084815979, + -0.011148400344548474, + -0.018641206662819553, + 0.005022289231419563 + ], + [ + 0.014503070153295994, + 0.9815157668475216, + 0.19083086067831082, + 0.011784207075834274 + ], + [ + 0.01616918109357357, + -0.19105619986477784, + 0.9814459216265906, + 0.25021424889564514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9997694492340088, + -0.01167597702131239, + -0.01802010970565259, + 0.0045618233270943165 + ], + [ + 0.014940397813916206, + 0.9810356159354793, + 0.19325103282998482, + 0.01160678081214428 + ], + [ + 0.015421973541378975, + -0.19347570086196852, + 0.980983859370576, + 0.25079891085624695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.999741792678833, + -0.011016182704717407, + -0.01987301644929918, + 0.005787219852209091 + ], + [ + 0.014687912538647652, + 0.9806326464776953, + 0.19530457758062786, + 0.011638877913355827 + ], + [ + 0.017336618155241013, + -0.19554604914504667, + 0.9805412777913936, + 0.24760028719902039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9997638463973999, + -0.011884178409795195, + -0.018192812465545844, + 0.0046411179937422276 + ], + [ + 0.015239820815622807, + 0.9802550616306547, + 0.19714907018657093, + 0.011822695843875408 + ], + [ + 0.015490641817450523, + -0.19737976890874714, + 0.9802046931995343, + 0.24852719902992249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997507333755493, + -0.012000473006925189, + -0.018827338121702075, + 0.004982633516192436 + ], + [ + 0.015509653836488724, + 0.9798747288216055, + 0.1990099085835884, + 0.01198422722518444 + ], + [ + 0.016060220077633858, + -0.19925231257746218, + 0.9798166263346317, + 0.24895745515823364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9997729063034058, + -0.012612645266306188, + -0.017177135066106027, + 0.0038584470748901367 + ], + [ + 0.015811366960406303, + 0.9794419241412309, + 0.20110583197928358, + 0.01199854165315628 + ], + [ + 0.01428752951323986, + -0.20133175496749764, + 0.9794189229729064, + 0.25154417753219604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996452927589419, + -0.016817736795109776, + -0.02064932935069236, + 0.005461904685944319 + ], + [ + 0.020623147487640384, + 0.9794401581403445, + 0.2006779022261892, + 0.013577974401414394 + ], + [ + 0.016849834471940998, + -0.2010325844232077, + 0.9794396326950003, + 0.24804995954036713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9997533559799194, + -0.016462145310409713, + -0.014907022914255412, + 0.0019827373325824738 + ], + [ + 0.019154125824570656, + 0.9788652212224023, + 0.2036073639246962, + 0.013078683987259865 + ], + [ + 0.011240151710808277, + -0.20384268447296972, + 0.978939136851247, + 0.25256502628326416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.997249484062195, + -0.05873595477406999, + -0.04520565223283073, + 0.015609648078680038 + ], + [ + 0.065929152071476, + 0.98164507337283, + 0.17895883478433053, + 0.030031051486730576 + ], + [ + 0.033864587545394904, + -0.1814469801239359, + 0.9828174828620754, + 0.22688286006450653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9976950883865356, + -0.05357585554102966, + -0.04164335996092382, + 0.013868375681340694 + ], + [ + 0.06037455052137375, + 0.981002894822573, + 0.18435888764630137, + 0.027892086654901505 + ], + [ + 0.030975069850683212, + -0.18644816187979138, + 0.9819764047193049, + 0.23053769767284393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9969954490661621, + -0.06061391168089214, + -0.04822923780677416, + 0.0169515423476696 + ], + [ + 0.06839758157730103, + 0.9811307925983795, + 0.18084272308106497, + 0.031476423144340515 + ], + [ + 0.03635760396718979, + -0.1835981317791409, + 0.9823287744100242, + 0.22867076098918915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9968399405479431, + -0.06114634399607002, + -0.05070712594567134, + 0.01842951588332653 + ], + [ + 0.0694161131978035, + 0.9808784442812554, + 0.18182101028080264, + 0.03228536993265152 + ], + [ + 0.038619834929704666, + -0.1847663367210396, + 0.9820233613714359, + 0.22575633227825165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9966672658920288, + -0.06294070479371536, + -0.051892918279946215, + 0.0189672838896513 + ], + [ + 0.07144481688737869, + 0.9805316045116194, + 0.18290281560079108, + 0.033044006675481796 + ], + [ + 0.03937061131000519, + -0.18600072588574945, + 0.9817605095022754, + 0.22250504791736603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9966979026794436, + -0.0630109749514205, + -0.05121394250254115, + 0.018438134342432022 + ], + [ + 0.07144875079393388, + 0.9802393189259024, + 0.18446115983766578, + 0.03339238092303276 + ], + [ + 0.0385788418352604, + -0.18751122811161072, + 0.9815045482790312, + 0.22236278653144836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9965919852256775, + -0.06296691478834243, + -0.05328791368018123, + 0.01965106651186943 + ], + [ + 0.07186811417341232, + 0.9798754157076675, + 0.1862235186163334, + 0.033642277121543884 + ], + [ + 0.04048959165811539, + -0.18941855771442442, + 0.9810612635856362, + 0.22154922783374786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9966723918914795, + -0.06053178082849494, + -0.05458971701135848, + 0.02068801410496235 + ], + [ + 0.06983071565628052, + 0.9795334798437078, + 0.18877990828300256, + 0.03337240219116211 + ], + [ + 0.042045269161462784, + -0.1919637567925101, + 0.9805009370145548, + 0.22205881774425507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9966701865196228, + -0.05946452962587902, + -0.055789598716203655, + 0.021304352208971977 + ], + [ + 0.06910234689712524, + 0.97919230213942, + 0.19080690796561997, + 0.03334375098347664 + ], + [ + 0.04328250139951706, + -0.19402676435971017, + 0.9800409653762437, + 0.22492770850658417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.99657279253006, + -0.06031545449444427, + -0.0566106638208404, + 0.0218941830098629 + ], + [ + 0.07018850743770601, + 0.9787192628466719, + 0.19282674960510432, + 0.03359091281890869 + ], + [ + 0.04377551749348641, + -0.1961393100393826, + 0.9795984273253138, + 0.2190847545862198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.996569037437439, + -0.06112702971169985, + -0.055800114744368516, + 0.02113538794219494 + ], + [ + 0.07093841582536697, + 0.9781547516679352, + 0.19539973301046673, + 0.03323570266366005 + ], + [ + 0.042636942118406296, + -0.19868769011881154, + 0.9791349585604933, + 0.22035518288612366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9966841340065005, + -0.05922329859819616, + -0.055797148319783524, + 0.021324651315808296 + ], + [ + 0.06917673349380495, + 0.9777881008201074, + 0.19785091583233208, + 0.03304992616176605 + ], + [ + 0.0428404025733471, + -0.20105473294936468, + 0.9786427672658814, + 0.2198856920003891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.996765732765198, + -0.0572140971716166, + -0.05643259366082328, + 0.021808836609125137 + ], + [ + 0.06746343523263933, + 0.9773163620700503, + 0.2007521122469235, + 0.032485172152519226 + ], + [ + 0.04366664588451386, + -0.20390996663338548, + 0.9780153205176201, + 0.22228027880191803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9966028928756714, + -0.05735643393331645, + -0.0591011345400416, + 0.023593973368406296 + ], + [ + 0.06821341067552567, + 0.9769825964539891, + 0.2021186767632263, + 0.033134397119283676 + ], + [ + 0.04614797234535217, + -0.20546354199363845, + 0.9775761235506439, + 0.21660570800304413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9966344237327576, + -0.05903445222619842, + -0.056875152307021504, + 0.021683765575289726 + ], + [ + 0.06949575990438461, + 0.9764441709945212, + 0.20427223181532175, + 0.032975830137729645 + ], + [ + 0.04347631335258484, + -0.20753731834305186, + 0.9772605058080268, + 0.22074578702449799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9966663122177124, + -0.05767841230813326, + -0.05770109447999512, + 0.022462276741862297 + ], + [ + 0.06844856590032578, + 0.9760116564041521, + 0.20667854022348836, + 0.03286430612206459 + ], + [ + 0.0443960539996624, + -0.2099390985738005, + 0.9767059642523277, + 0.2180149108171463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9968398213386536, + -0.05515185321537216, + -0.05717182253861351, + 0.022223956882953644 + ], + [ + 0.06595052033662796, + 0.9757735610801346, + 0.20860607675041926, + 0.033263951539993286 + ], + [ + 0.0442817397415638, + -0.2117173578479873, + 0.9763272567012657, + 0.21142083406448364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9968058466911316, + -0.056125221068876525, + -0.05681611386384329, + 0.021880365908145905 + ], + [ + 0.0669330433011055, + 0.9752005128339749, + 0.21095958555965494, + 0.032796405255794525 + ], + [ + 0.04356694594025612, + -0.2140886224248662, + 0.975842200486555, + 0.2195483148097992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 9019.083984375, + "fy": 9029.990885416666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/move_left/transforms.json b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..bf24b959e8b0321383d538b508211de493211624 --- /dev/null +++ b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/move_left/transforms.json @@ -0,0 +1,7888 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 225, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 5.429926386568695e-05, + 6.081355968490243e-05, + -9.924238838721067e-06 + ], + [ + -5.429988959804177e-05, + 1.0, + 1.0281693903380074e-05, + -4.616683509084396e-05 + ], + [ + -6.081299943616614e-05, + -1.028499536914751e-05, + 1.0, + -0.00013104858226142824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + -0.000524801725987345, + -0.0033989716321229935, + -0.005713944043964148 + ], + [ + 0.0005185141344554722, + 0.999998152256012, + -0.0018504558829590678, + -9.461178927137683e-05 + ], + [ + 0.003399936482310295, + 0.0018486824119463563, + 0.9999924898147583, + 0.0017672040208708494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999714493751526, + -0.000941636273637414, + -0.007498056627810001, + -0.009939239067690713 + ], + [ + 0.0009150825208052993, + 0.9999933242797852, + -0.003544056788086891, + -0.00016461137305928526 + ], + [ + 0.007501343265175819, + 0.003537094220519066, + 0.9999656081199646, + 0.00035182073063749287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999345541000366, + -0.0008186700870282948, + -0.011413106694817543, + -0.015920156586383072 + ], + [ + 0.0007583763799630105, + 0.9999857544898987, + -0.005286171566694975, + 0.0003673775473674011 + ], + [ + 0.011417271569371223, + 0.005277170334011316, + 0.9999209046363831, + 0.003195649409566873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998676776885986, + -0.0019139857031404972, + -0.01615421660244465, + -0.020779202133417128 + ], + [ + 0.0017907950095832348, + 0.9999692440032959, + -0.00763694616034627, + 0.0010243506046078567 + ], + [ + 0.01616833545267582, + 0.007607006933540106, + 0.9998403191566467, + 0.002864289699521448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997848868370056, + -0.0023734024725854397, + -0.020604988560080528, + -0.0265265606077654 + ], + [ + 0.002175173256546259, + 0.999951183795929, + -0.009637533687055111, + 0.0011978656184510328 + ], + [ + 0.0206268560141325, + 0.009590641595423222, + 0.99974125623703, + 0.0019529994419177196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999688982963562, + -0.0010817669099196792, + -0.024916311725974083, + -0.033050894417933054 + ], + [ + 0.0008171632653102279, + 0.999943196773529, + -0.01062743365764618, + 0.0011426502712960688 + ], + [ + 0.02492639236152172, + 0.01060376688838005, + 0.9996330738067627, + 0.0018634700432552823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995627403259277, + -0.0005323534714989364, + -0.02956518903374672, + -0.03945017233490944 + ], + [ + 0.000184318792889826, + 0.9999306797981262, + -0.011773251928389072, + 0.0017905822291595542 + ], + [ + 0.029569406062364578, + 0.011762653477489948, + 0.9994935393333435, + -0.001062567892950028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9994422197341919, + -0.0002050281473202631, + -0.033395010977983475, + -0.04649772612111909 + ], + [ + -0.00021745330013800412, + 0.9999200105667114, + -0.012646914459764957, + 0.0011516841018809438 + ], + [ + 0.03339492902159691, + 0.012647121213376522, + 0.9993622303009033, + -0.0003777431748208723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9992830753326416, + -0.0006102025508880615, + -0.03785432502627373, + -0.052074741891452246 + ], + [ + 0.00011476478539407253, + 0.9999143481254578, + -0.013088801875710487, + -0.0006212054160382 + ], + [ + 0.03785907104611397, + 0.013075074180960655, + 0.9991975426673889, + -0.001447452586476824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9990656971931458, + 7.511320291087031e-05, + -0.04321671277284622, + -0.056619707228881974 + ], + [ + -0.0006541114416904747, + 0.9999102354049683, + -0.01338357012718916, + -0.0019796670164526275 + ], + [ + 0.04321182519197464, + 0.01339933555573225, + 0.9989760518074036, + -0.005570230972287911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9990081787109375, + 0.0005726817180402577, + -0.04452284798026085, + -0.06522789001464843 + ], + [ + -0.0012013160157948732, + 0.9998999834060669, + -0.01409388892352581, + -0.0019912162364302535 + ], + [ + 0.04451032355427742, + 0.014133397489786148, + 0.9989089369773865, + -0.0008683898802181439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9988492727279663, + 0.0012008092598989606, + -0.047944359481334686, + -0.0711177300129618 + ], + [ + -0.0019254976650699973, + 0.9998845458030701, + -0.015071873553097248, + -0.0018274344501800703 + ], + [ + 0.047920726239681244, + 0.015146846882998943, + 0.9987362623214722, + -0.0022639763009335316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9986376166343689, + 0.0035616722889244556, + -0.05205990746617317, + -0.07475419307925871 + ], + [ + -0.004335870500653982, + 0.9998815655708313, + -0.014765923842787743, + -0.0026114814550965092 + ], + [ + 0.05200115218758583, + 0.014971531927585602, + 0.9985347986221313, + -0.004108181570856167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.998422384262085, + 0.00528716342523694, + -0.055899716913700104, + -0.07854064851999283 + ], + [ + -0.0061421445570886135, + 0.9998666048049927, + -0.015134178102016449, + -0.0026254020776832476 + ], + [ + 0.05581224709749222, + 0.015453645959496498, + 0.9983216524124146, + -0.005440400121733547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981784820556641, + 0.0062154619954526424, + -0.060008704662323, + -0.08192633305277143 + ], + [ + -0.007152061443775892, + 0.9998557567596436, + -0.015405572019517422, + -0.0020577192720208715 + ], + [ + 0.05990429222583771, + 0.01580669730901718, + 0.9980789422988892, + -0.006781387109575527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997832179069519, + 0.00663546659052372, + -0.06547434628009796, + -0.08386404642036983 + ], + [ + -0.007689968682825565, + 0.9998445510864258, + -0.015866728499531746, + -0.0027591005300304718 + ], + [ + 0.06535889208316803, + 0.016335828229784966, + 0.9977281093597412, + -0.012872627510556152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9975054860115051, + 0.006460017058998346, + -0.07029300183057785, + -0.08666069606052977 + ], + [ + -0.007616034243255854, + 0.9998399019241333, + -0.01619013398885727, + -0.004080388642406823 + ], + [ + 0.07017716020345688, + 0.01668510213494301, + 0.9973949790000916, + -0.01914990042402808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9973834156990051, + 0.004202523734420538, + -0.07217133790254593, + -0.09308637854244028 + ], + [ + -0.0053828260861337185, + 0.9998548030853271, + -0.016167467460036278, + -0.0070925773641127825 + ], + [ + 0.07209291309118271, + 0.016513647511601448, + 0.9972612261772156, + -0.013432922793020096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9971669316291809, + 0.003244871972128749, + -0.07515043020248413, + -0.098211077041924 + ], + [ + -0.004402914084494114, + 0.9998740553855896, + -0.015249108895659447, + -0.01132467750534748 + ], + [ + 0.07509148120880127, + 0.015536786988377571, + 0.9970555901527405, + -0.012820964253374508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9968822002410889, + 0.003172739874571562, + -0.07884043455123901, + -0.10307622168745313 + ], + [ + -0.004221676383167505, + 0.9999047517776489, + -0.013141436502337456, + -0.016410845211274654 + ], + [ + 0.07879123091697693, + 0.0134333036839962, + 0.9968006014823914, + -0.013633968308568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9964529871940613, + 0.007055305875837803, + -0.08385535329580307, + -0.10500430334359408 + ], + [ + -0.00770771037787199, + 0.9999424815177917, + -0.007458925247192383, + -0.023552573888446206 + ], + [ + 0.08379790931940079, + 0.0080788005143404, + 0.9964500069618225, + -0.01685001642908901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996464192867279, + 0.005916144698858261, + -0.08381001651287079, + -0.11425187358898775 + ], + [ + -0.006354592740535736, + 0.9999674558639526, + -0.004965651780366898, + -0.029417023535019585 + ], + [ + 0.08377791941165924, + 0.005480672232806683, + 0.9964693784713745, + -0.007538553806287902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9962736964225769, + 0.005605824291706085, + -0.08606579899787903, + -0.12174569168793303 + ], + [ + -0.005895278416574001, + 0.9999777674674988, + -0.003109376411885023, + -0.034311432756866066 + ], + [ + 0.08604645729064941, + 0.003605171572417021, + 0.9962846040725708, + -0.005148820645575013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9960087537765503, + 0.005215528886765242, + -0.08910275995731354, + -0.12859531108822142 + ], + [ + -0.005348358768969774, + 0.9999849200248718, + -0.0012520585441961884, + -0.038970573308012846 + ], + [ + 0.08909489214420319, + 0.0017236148705706, + 0.9960216283798218, + -0.008427774254232644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9956978559494019, + 0.002971149981021881, + -0.09261176735162735, + -0.13519672490656376 + ], + [ + -0.0030042272992432117, + 0.9999954700469971, + -0.00021774844208266586, + -0.04250181295356015 + ], + [ + 0.09261069446802139, + 0.0004950384027324617, + 0.9957022666931152, + -0.013787154257962746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9954857230186462, + 0.00293578184209764, + -0.09486605226993561, + -0.1420614393161876 + ], + [ + -0.002805527066811919, + 0.9999949336051941, + 0.001506383647210896, + -0.04607580090544486 + ], + [ + 0.09487000107765198, + -0.0012334341881796718, + 0.9954888820648193, + -0.017195820728582997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.995131254196167, + 0.0033743365202099085, + -0.09850090742111206, + -0.1462360493838787 + ], + [ + -0.002973983297124505, + 0.9999867081642151, + 0.00421100901439786, + -0.05128276110429267 + ], + [ + 0.09851381182670593, + -0.0038975668139755726, + 0.9951280355453491, + -0.02410113951191306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9949544072151184, + 0.0022510988637804985, + -0.100302554666996, + -0.15107590332627296 + ], + [ + -0.0017347722314298153, + 0.9999848008155823, + 0.005234616342931986, + -0.0547935145732481 + ], + [ + 0.10031280666589737, + -0.005034202244132757, + 0.9949432015419006, + -0.022316837403923272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9945237040519714, + 0.0020090490579605103, + -0.10449186712503433, + -0.15455374417028256 + ], + [ + -0.0013550854055210948, + 0.9999790787696838, + 0.0063291285187006, + -0.05883557982061965 + ], + [ + 0.10450238734483719, + -0.0061528729274868965, + 0.9945055842399597, + -0.030150873975695245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9941442608833313, + 0.0022488199174404144, + -0.1080377921462059, + -0.15886891500226089 + ], + [ + -0.0013999015791341662, + 0.9999675750732422, + 0.007932805456221104, + -0.06268336321798935 + ], + [ + 0.10805212706327438, + -0.007735110353678465, + 0.9941151142120361, + -0.040117282852796574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.993832528591156, + 0.000539722794201225, + -0.11089025437831879, + -0.16453352232596705 + ], + [ + 0.0003340734983794391, + 0.9999690651893616, + 0.00786109920591116, + -0.06458758215607564 + ], + [ + 0.11089105904102325, + -0.007849660702049732, + 0.9938015937805176, + -0.04499569271158959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9934127330780029, + -0.0003444814938120544, + -0.11459057033061981, + -0.17136297907148088 + ], + [ + 0.00118216872215271, + 0.9999730587005615, + 0.007242387626320124, + -0.06443566594805036 + ], + [ + 0.11458499729633331, + -0.007330145221203566, + 0.9933863878250122, + -0.05205857998558453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9931498765945435, + -0.0006783365970477462, + -0.11684539914131165, + -0.18052305201334612 + ], + [ + 0.0013714333763346076, + 0.9999819397926331, + 0.005851445719599724, + -0.06234872903998101 + ], + [ + 0.11683931946754456, + -0.005971608683466911, + 0.9931328892707825, + -0.05909223935699889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9928338527679443, + -0.001985865645110607, + -0.11948620527982712, + -0.18932283116238457 + ], + [ + 0.0024133059196174145, + 0.9999911785125732, + 0.003432728350162506, + -0.058054953570327986 + ], + [ + 0.11947833746671677, + -0.0036964858882129192, + 0.9928299188613892, + -0.07041645240969956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9927089810371399, + 0.004223942756652832, + -0.12046174705028534, + -0.2013210328295827 + ], + [ + -0.0034181056544184685, + 0.9999703764915466, + 0.006895413156598806, + -0.05463382760353852 + ], + [ + 0.12048730254173279, + -0.006433387752622366, + 0.9926940202713013, + -0.07041131844744086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9928902983665466, + 0.005899191368371248, + -0.11888688802719116, + -0.21444689109921455 + ], + [ + -0.0050647989846765995, + 0.9999603629112244, + 0.007319290190935135, + -0.048966280153919274 + ], + [ + 0.11892536282539368, + -0.006665114313364029, + 0.9928808212280273, + -0.06522917305784566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9930081963539124, + 0.0072663226164877415, + -0.11782153695821762, + -0.22643208878913096 + ], + [ + -0.0066042267717421055, + 0.9999601244926453, + 0.006008932366967201, + -0.04261351749446476 + ], + [ + 0.11786050349473953, + -0.0051887985318899155, + 0.9930166006088257, + -0.06449590228564506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9934129118919373, + 0.011571774259209633, + -0.11400401592254639, + -0.23867928752941744 + ], + [ + -0.01056690327823162, + 0.9998998641967773, + 0.009414730593562126, + -0.040770539154099034 + ], + [ + 0.11410154402256012, + -0.00814804621040821, + 0.9934356808662415, + -0.048530572692730596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9932152628898621, + 0.014665169641375542, + -0.11536205559968948, + -0.24861572504575763 + ], + [ + -0.013468045741319656, + 0.9998471140861511, + 0.01114975567907095, + -0.03845468173635059 + ], + [ + 0.11550793796777725, + -0.00952040683478117, + 0.99326092004776, + -0.059210743844908265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9932880401611328, + 0.015775708481669426, + -0.11458612233400345, + -0.2580590120383671 + ], + [ + -0.014470522291958332, + 0.9998207092285156, + 0.012213376350700855, + -0.03658062477396535 + ], + [ + 0.11475824564695358, + -0.01047328021377325, + 0.9933382272720337, + -0.059894831984170845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9932069778442383, + 0.01807323284447193, + -0.11494898796081543, + -0.26715071201324464 + ], + [ + -0.016652198508381844, + 0.9997727274894714, + 0.013310663402080536, + -0.03383961429603265 + ], + [ + 0.11516343057155609, + -0.011306090280413628, + 0.9932821989059448, + -0.06159381812571415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9928529262542725, + 0.01824348233640194, + -0.11794166266918182, + -0.2778030946850777 + ], + [ + -0.016831854358315468, + 0.9997743964195251, + 0.012953964062035084, + -0.03137609550030902 + ], + [ + 0.11815138161182404, + -0.010876203887164593, + 0.9929360151290894, + -0.06707006460055709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9933094382286072, + 0.021204473450779915, + -0.11351996660232544, + -0.2916290967858263 + ], + [ + -0.019827144220471382, + 0.9997156262397766, + 0.013248386792838573, + -0.030545498002486834 + ], + [ + 0.11376860737800598, + -0.010908971540629864, + 0.9934473633766174, + -0.06976524691230485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9938482046127319, + 0.03586491197347641, + -0.10478276759386063, + -0.30331254707915445 + ], + [ + -0.03347736597061157, + 0.999140202999115, + 0.024456825107336044, + -0.03406215171728815 + ], + [ + 0.10556981712579727, + -0.020798519253730774, + 0.9941943883895874, + -0.03768638030492834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9939356446266174, + 0.034998804330825806, + -0.10424481332302094, + -0.31518124589430435 + ], + [ + -0.0330176055431366, + 0.9992409944534302, + 0.020671160891652107, + -0.03483251754992774 + ], + [ + 0.1048891544342041, + -0.01710388995707035, + 0.9943368434906006, + -0.05931301893932479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9952325820922852, + 0.022283431142568588, + -0.09495047479867935, + -0.3253209940024785 + ], + [ + -0.01989760622382164, + 0.9994639158248901, + 0.02600027248263359, + -0.0431374206041385 + ], + [ + 0.09547894448041916, + -0.02398703247308731, + 0.99514240026474, + -0.0647837556965117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9946903586387634, + 0.02808489464223385, + -0.09900665283203125, + -0.32350083187754664 + ], + [ + -0.025564825162291527, + 0.9993183612823486, + 0.0266311913728714, + -0.043445866291377956 + ], + [ + 0.09968709945678711, + -0.023958701640367508, + 0.9947303533554077, + -0.06956005373171398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9949796199798584, + 0.019916994497179985, + -0.09807608276605606, + -0.31914108310426986 + ], + [ + -0.0169504564255476, + 0.9993759989738464, + 0.030988262966275215, + -0.04869816371106676 + ], + [ + 0.0986320748925209, + -0.02917025424540043, + 0.994696319103241, + -0.06446208533431802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9944373965263367, + 0.02012706734240055, + -0.10338827222585678, + -0.3086407551541924 + ], + [ + -0.01702454872429371, + 0.9993804693222046, + 0.030803797766566277, + -0.04887689059250988 + ], + [ + 0.10394420474767685, + -0.028872309252619743, + 0.994163990020752, + -0.06816628959495574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9934733510017395, + 0.02524719387292862, + -0.11123543977737427, + -0.29711426821138176 + ], + [ + -0.02238023281097412, + 0.9993863105773926, + 0.02694767341017723, + -0.043967935123613903 + ], + [ + 0.11184751987457275, + -0.024282321333885193, + 0.993428647518158, + -0.07773787155747414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9930144548416138, + 0.026521842926740646, + -0.11497350037097931, + -0.28554117142089774 + ], + [ + -0.02351594716310501, + 0.9993472695350647, + 0.027422450482845306, + -0.042379489477856885 + ], + [ + 0.11562575399875641, + -0.024527177214622498, + 0.9929899573326111, + -0.08025040452900742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9924052357673645, + 0.02515990659594536, + -0.12041106820106506, + -0.2691630807306085 + ], + [ + -0.02175479382276535, + 0.9993277192115784, + 0.029510753229260445, + -0.04082189943375332 + ], + [ + 0.12107260525226593, + -0.02666710875928402, + 0.9922853708267212, + -0.07547829473125083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9923263192176819, + 0.02479124814271927, + -0.12113559246063232, + -0.25688615518489055 + ], + [ + -0.02117912843823433, + 0.9992944598197937, + 0.03101605735719204, + -0.03667404659458303 + ], + [ + 0.12181904911994934, + -0.02821250446140766, + 0.9921512603759766, + -0.06727367050147483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9920835494995117, + 0.022380176931619644, + -0.12356916815042496, + -0.24331330827304296 + ], + [ + -0.018947362899780273, + 0.9994031190872192, + 0.028886251151561737, + -0.034089090675115584 + ], + [ + 0.12414189428091049, + -0.026316266506910324, + 0.9919154644012451, + -0.07142941095600171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9922812581062317, + 0.020047249272465706, + -0.12237676233053207, + -0.2362756078530635 + ], + [ + -0.017011811956763268, + 0.9995223879814148, + 0.025798799470067024, + -0.02988737937578532 + ], + [ + 0.12283550947904587, + -0.02351781539618969, + 0.9921483397483826, + -0.0831569689492296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9928100109100342, + 0.012904680334031582, + -0.11900295317173004, + -0.23080494701862336 + ], + [ + -0.010300095193088055, + 0.9996943473815918, + 0.022475900128483772, + -0.024664631974883378 + ], + [ + 0.11925661563873291, + -0.021088557317852974, + 0.9926394820213318, + -0.06431669965386391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9935962557792664, + 0.020664729177951813, + -0.11108306795358658, + -0.22109474781900645 + ], + [ + -0.019686654210090637, + 0.9997572302818298, + 0.009894650429487228, + 0.025128951648782406 + ], + [ + 0.11126057058572769, + -0.007644433528184891, + 0.9937618970870972, + 0.0028850595965715393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9942190051078796, + 0.013682366348803043, + -0.10649557411670685, + -0.21894341616758278 + ], + [ + -0.013351223431527615, + 0.9999035596847534, + 0.0038218130357563496, + 0.03262125883900028 + ], + [ + 0.1065375953912735, + -0.0023778732866048813, + 0.9943058490753174, + 0.030443381345165627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9950547218322754, + 0.019083619117736816, + -0.09747787564992905, + -0.22417347537619728 + ], + [ + -0.018497522920370102, + 0.9998050332069397, + 0.006912839598953724, + 0.03469053228285962 + ], + [ + 0.09759079664945602, + -0.005075554363429546, + 0.9952136874198914, + 0.06528138447486397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9946458339691162, + 0.017915215343236923, + -0.1017778068780899, + -0.21879091007368906 + ], + [ + -0.017567895352840424, + 0.9998363852500916, + 0.004307905212044716, + 0.044052888838840384 + ], + [ + 0.10183833539485931, + -0.002496818546205759, + 0.9947978258132935, + 0.03937387612781355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9944194555282593, + 0.02022327296435833, + -0.10354237258434296, + -0.21226019598543644 + ], + [ + -0.020202593877911568, + 0.999795138835907, + 0.0012485581682994962, + 0.0582112536940258 + ], + [ + 0.10354641079902649, + 0.0008502340642735362, + 0.9946242570877075, + 0.030399647394993477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9945304989814758, + 0.02305944450199604, + -0.10186926275491714, + -0.20876580492726393 + ], + [ + -0.02217739261686802, + 0.9997062087059021, + 0.009782880544662476, + 0.04305483411964295 + ], + [ + 0.10206491500139236, + -0.007470178883522749, + 0.9947496652603149, + 0.03637685579513865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9942171573638916, + 0.014444018714129925, + -0.10641220211982727, + -0.19963975325226785 + ], + [ + -0.014387913979589939, + 0.9998956322669983, + 0.0012949600350111723, + 0.05454023969650734 + ], + [ + 0.10641980171203613, + 0.00024357804795727134, + 0.9943212866783142, + 0.017998005822300912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9946256279945374, + 0.01696351170539856, + -0.10213781148195267, + -0.20052120557853154 + ], + [ + -0.016582518815994263, + 0.9998520016670227, + 0.0045781806111335754, + 0.049757342892033714 + ], + [ + 0.10220035165548325, + -0.0028598736971616745, + 0.994759738445282, + 0.03406390462602888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9946163296699524, + 0.015923423692584038, + -0.10239560157060623, + -0.1979224459667291 + ], + [ + -0.01568802259862423, + 0.999872088432312, + 0.0031039013992995024, + 0.05472826445059452 + ], + [ + 0.10243193060159683, + -0.001480806851759553, + 0.9947389364242554, + 0.03035757875269545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9947681427001953, + 0.01422614324837923, + -0.10116278380155563, + -0.19762600532599858 + ], + [ + -0.01417273748666048, + 0.9998987913131714, + 0.0012466523330658674, + 0.05880168769924369 + ], + [ + 0.10117027908563614, + 0.00019362347666174173, + 0.9948691129684448, + 0.027307993033900857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949952363967896, + 0.01861332170665264, + -0.09817326813936234, + -0.19814454205334187 + ], + [ + -0.018187785521149635, + 0.9998209476470947, + 0.005227767396718264, + 0.05745426744272533 + ], + [ + 0.09825298935174942, + -0.003416049759835005, + 0.9951556324958801, + 0.0345975469565019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9952532649040222, + 0.015842288732528687, + -0.09602067619562149, + -0.19728921598621776 + ], + [ + -0.015520483255386353, + 0.9998711347579956, + 0.004097406752407551, + 0.059074619359203745 + ], + [ + 0.096073217689991, + -0.002587670460343361, + 0.9953709244728088, + 0.03376184306772692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9954195618629456, + 0.01510812807828188, + -0.09440119564533234, + -0.19506831523030996 + ], + [ + -0.014936831779778004, + 0.9998852610588074, + 0.002520930487662554, + 0.06370612694923433 + ], + [ + 0.09442844986915588, + -0.001099328976124525, + 0.9955310225486755, + 0.035267709927367316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9955585598945618, + 0.015541225671768188, + -0.09285259246826172, + -0.19450404681265354 + ], + [ + -0.01538245938718319, + 0.9998787641525269, + 0.0024253693409264088, + 0.06561042153043672 + ], + [ + 0.0928790271282196, + -0.0009862962178885937, + 0.9956769347190857, + 0.035257902927696705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9957451820373535, + 0.016847755759954453, + -0.09059640020132065, + -0.19495300714458738 + ], + [ + -0.016652807593345642, + 0.9998571276664734, + 0.0029073581099510193, + 0.06699697487721486 + ], + [ + 0.09063243120908737, + -0.0013863035710528493, + 0.9958834648132324, + 0.03915018186172736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9958940148353577, + 0.016624007374048233, + -0.08898746222257614, + -0.1941770572747503 + ], + [ + -0.016437146812677383, + 0.9998608827590942, + 0.00283231632784009, + 0.06829478720735227 + ], + [ + 0.08902216702699661, + -0.0013579874066635966, + 0.99602872133255, + 0.038147310140941824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9959496855735779, + 0.01695217750966549, + -0.0882997140288353, + -0.19114213859928506 + ], + [ + -0.016644613817334175, + 0.9998525977134705, + 0.00421835808083415, + 0.06584269208916729 + ], + [ + 0.08835820108652115, + -0.002731557935476303, + 0.9960850477218628, + 0.04153858823369124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9959126114845276, + 0.013698362745344639, + -0.08927696198225021, + -0.18602810145488807 + ], + [ + -0.013527334667742252, + 0.9999053478240967, + 0.0025205041747540236, + 0.06649441205913068 + ], + [ + 0.08930303901433945, + -0.0013025228399783373, + 0.9960036277770996, + 0.037600560067221525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9958646297454834, + 0.011794793419539928, + -0.09008052945137024, + -0.1819019408098289 + ], + [ + -0.011653958819806576, + 0.9999299049377441, + 0.0020892489701509476, + 0.06650578001322824 + ], + [ + 0.09009885787963867, + -0.0010308142518624663, + 0.9959322810173035, + 0.03511960059404373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9959360957145691, + 0.011463133618235588, + -0.0893300473690033, + -0.18110757693648338 + ], + [ + -0.011309400200843811, + 0.9999335408210754, + 0.002226929645985365, + 0.06639081183820963 + ], + [ + 0.0893496423959732, + -0.0012076104758307338, + 0.9959995746612549, + 0.034543728003544466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9958791732788086, + 0.011566673405468464, + -0.08994904905557632, + -0.17652815580368042 + ], + [ + -0.011366567574441433, + 0.9999316334724426, + 0.002736593596637249, + 0.06624701860419009 + ], + [ + 0.08997455984354019, + -0.0017029047012329102, + 0.9959425926208496, + 0.03292134983930737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9965335726737976, + 0.01979604735970497, + -0.080802321434021, + -0.19360257796943187 + ], + [ + -0.01932418718934059, + 0.9997913837432861, + 0.006617577746510506, + 0.06914117594049977 + ], + [ + 0.08091646432876587, + -0.005033198744058609, + 0.9967081546783447, + 0.04692575723997184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9965062737464905, + 0.020632188767194748, + -0.08092904835939407, + -0.1917497951803463 + ], + [ + -0.01988305151462555, + 0.9997518062591553, + 0.010051790624856949, + 0.061964216449164916 + ], + [ + 0.08111635595560074, + -0.008407555520534515, + 0.9966691732406616, + 0.041482030723377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9965483546257019, + 0.017819412052631378, + -0.08107908070087433, + -0.1892669860805784 + ], + [ + -0.017160259187221527, + 0.9998138546943665, + 0.008819364942610264, + 0.061414998290794234 + ], + [ + 0.08122114837169647, + -0.0073975855484604836, + 0.9966686367988586, + 0.03819794739995684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9966121912002563, + 0.017840994521975517, + -0.08028606325387955, + -0.1881802863840546 + ], + [ + -0.01714789681136608, + 0.9998095631599426, + 0.009314112365245819, + 0.06137372743521285 + ], + [ + 0.08043695241212845, + -0.00790582038462162, + 0.9967283606529236, + 0.03867186664137989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9967845678329468, + 0.016843946650624275, + -0.07833774387836456, + -0.188954018588577 + ], + [ + -0.016316348686814308, + 0.999839723110199, + 0.007370145060122013, + 0.0656817523047461 + ], + [ + 0.0784493237733841, + -0.006068261340260506, + 0.9968996047973633, + 0.042575946277273555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9968114495277405, + 0.021736696362495422, + -0.07677500694990158, + -0.1896126175299287 + ], + [ + -0.02087249979376793, + 0.9997096657752991, + 0.012040856294333935, + 0.0608809782541357 + ], + [ + 0.07701443880796432, + -0.010399977676570415, + 0.9969757199287415, + 0.0424795987982569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.996864378452301, + 0.016162043437361717, + -0.07746078819036484, + -0.18481363877654078 + ], + [ + -0.015681086108088493, + 0.9998538494110107, + 0.006813297048211098, + 0.06697869666386395 + ], + [ + 0.07755958288908005, + -0.005577264353632927, + 0.9969721436500549, + 0.039427890162914994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9968461990356445, + 0.01647915691137314, + -0.07762819528579712, + -0.1812081847872053 + ], + [ + -0.01590864732861519, + 0.9998417496681213, + 0.007961971685290337, + 0.06439139744699267 + ], + [ + 0.07774712145328522, + -0.006701902020722628, + 0.9969505667686462, + 0.04113461765726762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.997064471244812, + 0.021117670461535454, + -0.07359712570905685, + -0.18861828201583453 + ], + [ + -0.020262377336621284, + 0.999718427658081, + 0.012348704040050507, + 0.06126865425779085 + ], + [ + 0.07383718341588974, + -0.010821200907230377, + 0.9972115755081177, + 0.045160221621128066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9970395565032959, + 0.016500312834978104, + -0.07509934902191162, + -0.1831129798931735 + ], + [ + -0.01588905230164528, + 0.9998356699943542, + 0.008729587309062481, + 0.06578444219693276 + ], + [ + 0.07523104548454285, + -0.0075104860588908195, + 0.9971378445625305, + 0.04224542175818767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.997036337852478, + 0.015346040017902851, + -0.0753859281539917, + -0.18384486734867095 + ], + [ + -0.014478717930614948, + 0.999822735786438, + 0.012038211338222027, + 0.05615455622319132 + ], + [ + 0.07555730640888214, + -0.010911042802035809, + 0.9970817565917969, + 0.032055262210113664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.997204601764679, + 0.018176307901740074, + -0.07247501611709595, + -0.18486050338085208 + ], + [ + -0.017430609092116356, + 0.9997885823249817, + 0.010908323340117931, + 0.06416800036344544 + ], + [ + 0.07265797257423401, + -0.009614546783268452, + 0.9973105788230896, + 0.04542001425953848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9971070289611816, + 0.015908166766166687, + -0.07432664930820465, + -0.1777692117861339 + ], + [ + -0.015167475678026676, + 0.9998296499252319, + 0.01051922794431448, + 0.06284359314096426 + ], + [ + 0.07448132336139679, + -0.0093614486977458, + 0.9971784949302673, + 0.04112925613299012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9973818063735962, + 0.023457694798707962, + -0.0684051662683487, + -0.18853879906237125 + ], + [ + -0.022286031395196915, + 0.9995924234390259, + 0.017841512337327003, + 0.05674512094119564 + ], + [ + 0.06879580020904541, + -0.016270318999886513, + 0.997498095035553, + 0.048391996696591374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.997377336025238, + 0.024339638650417328, + -0.0681614801287651, + -0.18663800028817995 + ], + [ + -0.0231335312128067, + 0.9995625019073486, + 0.01842876523733139, + 0.056320726206260066 + ], + [ + 0.06858020275831223, + -0.016803618520498276, + 0.9975040555000305, + 0.04544041815346905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973924160003662, + 0.023590322583913803, + -0.06820439547300339, + -0.18530240559152195 + ], + [ + -0.022321626543998718, + 0.9995644688606262, + 0.019304150715470314, + 0.053107032598927614 + ], + [ + 0.06863007694482803, + -0.017731381580233574, + 0.997484564781189, + 0.0437602552152904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9978054761886597, + 0.025309337303042412, + -0.061185870319604874, + -0.1994620916034494 + ], + [ + -0.024268465116620064, + 0.9995488524436951, + 0.017695436254143715, + 0.05716397997623841 + ], + [ + 0.06160612776875496, + -0.016171714290976524, + 0.9979695081710815, + 0.05059160783421248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9975317716598511, + 0.023455826565623283, + -0.06618264317512512, + -0.18430103281778948 + ], + [ + -0.022049827501177788, + 0.9995170831680298, + 0.021895399317145348, + 0.04662919465668632 + ], + [ + 0.06666426360607147, + -0.020382041111588478, + 0.9975672364234924, + 0.03758954652585089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9975511431694031, + 0.015440588817000389, + -0.06821534782648087, + -0.17270727498190744 + ], + [ + -0.01450423151254654, + 0.9997939467430115, + 0.014200546778738499, + 0.0575254676597459 + ], + [ + 0.06842055171728134, + -0.013176360167562962, + 0.9975695610046387, + 0.04004620462656021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977785348892212, + 0.02272852323949337, + -0.06262128800153732, + -0.18634742184409073 + ], + [ + -0.021499028429389, + 0.999563992023468, + 0.02023824118077755, + 0.053259940095345626 + ], + [ + 0.06305397301912308, + -0.018846986815333366, + 0.9978321194648743, + 0.04515817063927118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9980905055999756, + 0.023285837844014168, + -0.05721140280365944, + -0.19499952346086502 + ], + [ + -0.021970441564917564, + 0.9994820356369019, + 0.023514362052083015, + 0.0484844483085908 + ], + [ + 0.057729322463274, + -0.022212499752640724, + 0.9980851411819458, + 0.056045680795796214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9946548938751221, + 0.039727769792079926, + -0.09530650079250336, + -0.24522086498992784 + ], + [ + -0.04139016568660736, + 0.999022364616394, + -0.015528826043009758, + 0.04288943599510406 + ], + [ + 0.09459640085697174, + 0.019390573725104332, + 0.995326817035675, + 0.042558878108060784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9946045279502869, + 0.039806924760341644, + -0.09579773247241974, + -0.24608220106789044 + ], + [ + -0.04132373631000519, + 0.9990491271018982, + -0.013901187106966972, + 0.04174004987414394 + ], + [ + 0.09515327215194702, + 0.017784902825951576, + 0.995303750038147, + 0.04145497562629836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9945985078811646, + 0.03973943740129471, + -0.09588811546564102, + -0.24764583137418542 + ], + [ + -0.04118870198726654, + 0.9990644454956055, + -0.013181641697883606, + 0.04270221683462816 + ], + [ + 0.09527457505464554, + 0.017059948295354843, + 0.9953048229217529, + 0.04080121659208089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9946054816246033, + 0.03978746011853218, + -0.09579590708017349, + -0.24888311651136194 + ], + [ + -0.04125744476914406, + 0.9990585446357727, + -0.013412689790129662, + 0.046245415731599286 + ], + [ + 0.09517205506563187, + 0.017292629927396774, + 0.9953106045722961, + 0.04330869719519147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9945728778839111, + 0.038458481431007385, + -0.09667355567216873, + -0.24862853150282588 + ], + [ + -0.04010387510061264, + 0.9990808963775635, + -0.015134318731725216, + 0.050606789642811886 + ], + [ + 0.09600266069173813, + 0.018929166719317436, + 0.995201051235199, + 0.04347939178281064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9946970343589783, + 0.03972727805376053, + -0.09486575424671173, + -0.2554457913552012 + ], + [ + -0.04122079908847809, + 0.9990542531013489, + -0.013835319317877293, + 0.05228228084743023 + ], + [ + 0.09422639012336731, + 0.01767239347100258, + 0.9953939318656921, + 0.0430367009980338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9945297837257385, + 0.03905880078673363, + -0.09687553346157074, + -0.2540479628369212 + ], + [ + -0.04062054678797722, + 0.9990737438201904, + -0.014200970530509949, + 0.05618166836211458 + ], + [ + 0.0962311327457428, + 0.018058426678180695, + 0.995195209980011, + 0.046983000356704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9944732785224915, + 0.0389300175011158, + -0.09750551730394363, + -0.2555698182433844 + ], + [ + -0.04028015211224556, + 0.999117374420166, + -0.011916047893464565, + 0.05427422997475202 + ], + [ + 0.0969555601477623, + 0.015777727589011192, + 0.99516361951828, + 0.04581569071992168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9944483637809753, + 0.04014831408858299, + -0.09726545214653015, + -0.2589714682794043 + ], + [ + -0.0413333885371685, + 0.9990933537483215, + -0.010198928415775299, + 0.05555817093866478 + ], + [ + 0.09676779806613922, + 0.014162618666887283, + 0.9952062368392944, + 0.048636974906548856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9944525361061096, + 0.03874902427196503, + -0.09778892993927002, + -0.2611656119780881 + ], + [ + -0.04001564532518387, + 0.9991382360458374, + -0.011024068109691143, + 0.058085499105176755 + ], + [ + 0.09727749228477478, + 0.01487599965184927, + 0.9951460957527161, + 0.04840537336255823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945011138916016, + 0.04093387722969055, + -0.09639488905668259, + -0.2677693707602365 + ], + [ + -0.042136311531066895, + 0.9990569949150085, + -0.010470818728208542, + 0.061709584668278694 + ], + [ + 0.09587537497282028, + 0.014474965631961823, + 0.995288074016571, + 0.053223873771327944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9942319989204407, + 0.039773277938365936, + -0.09960360825061798, + -0.2686212358197996 + ], + [ + -0.04110310971736908, + 0.9990906119346619, + -0.01133408211171627, + 0.06376832065039448 + ], + [ + 0.0990622341632843, + 0.015362724661827087, + 0.9949626326560974, + 0.04844550375959703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.994101345539093, + 0.04117410257458687, + -0.10033561289310455, + -0.27277338512774024 + ], + [ + -0.042462121695280075, + 0.999040424823761, + -0.010734586976468563, + 0.06638992728964825 + ], + [ + 0.0997973382472992, + 0.01493172999471426, + 0.9948957562446594, + 0.049368423369846176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9938545823097229, + 0.043411266058683395, + -0.10182585567235947, + -0.27448981404304507 + ], + [ + -0.04468996450304985, + 0.9989477396011353, + -0.010309208184480667, + 0.07107030060142279 + ], + [ + 0.10127117484807968, + 0.01479644700884819, + 0.9947488307952881, + 0.05461882539093495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9937043786048889, + 0.04401043429970741, + -0.10302768647670746, + -0.27752118262329273 + ], + [ + -0.04527400806546211, + 0.998924970626831, + -0.00995713472366333, + 0.07330964864397954 + ], + [ + 0.10247871279716492, + 0.014558924362063408, + 0.9946286678314209, + 0.0533113711779671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9935451745986938, + 0.04621761664748192, + -0.1035948395729065, + -0.28189827895590236 + ], + [ + -0.04733210429549217, + 0.9988445043563843, + -0.00832449272274971, + 0.07529071364219167 + ], + [ + 0.10309040546417236, + 0.013174120336771011, + 0.9945847392082214, + 0.05531101620623043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9934014081954956, + 0.04876402020454407, + -0.1038062795996666, + -0.28514168970286846 + ], + [ + -0.04985944926738739, + 0.9987243413925171, + -0.007982466369867325, + 0.08107781879204724 + ], + [ + 0.10328460484743118, + 0.013105517253279686, + 0.994565486907959, + 0.05881541769485921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931538701057434, + 0.04845524951815605, + -0.1062898188829422, + -0.2866133188562734 + ], + [ + -0.0495990626513958, + 0.9987360239028931, + -0.00814279355108738, + 0.08286218573339284 + ], + [ + 0.10576090216636658, + 0.013358920812606812, + 0.9943018555641174, + 0.05575518240886075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.993095874786377, + 0.05263610556721687, + -0.10483326017856598, + -0.2967559420636722 + ], + [ + -0.05364173278212547, + 0.9985371232032776, + -0.006794390268623829, + 0.08774697236949577 + ], + [ + 0.10432226955890656, + 0.01237091887742281, + 0.9944666028022766, + 0.05765312808299703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9928365349769592, + 0.050890304148197174, + -0.1081007570028305, + -0.29692202524415084 + ], + [ + -0.052018798887729645, + 0.9986168742179871, + -0.007643335498869419, + 0.09104804411929633 + ], + [ + 0.10756227374076843, + 0.013211854733526707, + 0.9941105842590332, + 0.05669877973518201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.992465615272522, + 0.04960649460554123, + -0.11203228682279587, + -0.29731415398418903 + ], + [ + -0.05063933879137039, + 0.9986965656280518, + -0.006390697322785854, + 0.09486098980996757 + ], + [ + 0.11156923323869705, + 0.012015786953270435, + 0.9936839938163757, + 0.05420606227125972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9921673536300659, + 0.047976501286029816, + -0.11533529311418533, + -0.2993446205343519 + ], + [ + -0.049125783145427704, + 0.998767077922821, + -0.007141312584280968, + 0.10318397690675088 + ], + [ + 0.1148504838347435, + 0.012751312926411629, + 0.9933009743690491, + 0.052650943265429566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9919195175170898, + 0.04764078930020332, + -0.11758407950401306, + -0.3039277591875621 + ], + [ + -0.048521120101213455, + 0.9988114237785339, + -0.004633978940546513, + 0.10803478655039465 + ], + [ + 0.11722356081008911, + 0.010301846079528332, + 0.9930521249771118, + 0.05433517787605524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9911925196647644, + 0.045752160251140594, + -0.12427420914173126, + -0.29964495721672263 + ], + [ + -0.0461127907037735, + 0.9989362359046936, + -2.544233575463295e-05, + 0.10853998997647847 + ], + [ + 0.12414084374904633, + 0.005755848251283169, + 0.9922479391098022, + 0.052462178535227263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9906643033027649, + 0.04561739042401314, + -0.1284652054309845, + -0.3003420033359102 + ], + [ + -0.04537003114819527, + 0.9989584684371948, + 0.004852726589888334, + 0.10981136363365554 + ], + [ + 0.12855276465415955, + 0.0010210474720224738, + 0.991702139377594, + 0.050852378763790645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9908685088157654, + 0.04998753219842911, + -0.12522296607494354, + -0.3146691008337906 + ], + [ + -0.04914408177137375, + 0.99874347448349, + 0.009817632846534252, + 0.11664383934278573 + ], + [ + 0.1255563646554947, + -0.0035740165039896965, + 0.99208003282547, + 0.05919643132282155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9904139637947083, + 0.049922775477170944, + -0.12879416346549988, + -0.318659505274679 + ], + [ + -0.04859558120369911, + 0.9987282752990723, + 0.013428769074380398, + 0.12195500412989142 + ], + [ + 0.1293007731437683, + -0.0070412131026387215, + 0.9915804266929626, + 0.055427039973437786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9903194308280945, + 0.051056139171123505, + -0.12907621264457703, + -0.32350150756537915 + ], + [ + -0.04996834695339203, + 0.9986827969551086, + 0.011654038913547993, + 0.14129674723371863 + ], + [ + 0.12950119376182556, + -0.005091496743261814, + 0.9915661811828613, + 0.06304810736328363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9898748397827148, + 0.05325969308614731, + -0.13157226145267487, + -0.32940528350217 + ], + [ + -0.05132486671209335, + 0.9985187649726868, + 0.018055567517876625, + 0.14342943641822786 + ], + [ + 0.1323390156030655, + -0.011119823902845383, + 0.9911421537399292, + 0.05906430121644267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9894037246704102, + 0.04670748859643936, + -0.13747252523899078, + -0.32127233913966585 + ], + [ + -0.04575568437576294, + 0.9989018440246582, + 0.01007731445133686, + 0.16549129102911267 + ], + [ + 0.13779224455356598, + -0.0036803828552365303, + 0.9904543161392212, + 0.0644912030015673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9890732169151306, + 0.05269836261868477, + -0.13768470287322998, + -0.33012333871530636 + ], + [ + -0.05036573484539986, + 0.9985229969024658, + 0.020373553037643433, + 0.1648069180764391 + ], + [ + 0.13855499029159546, + -0.013216343708336353, + 0.9902665615081787, + 0.06986954640597105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9886603951454163, + 0.043121498078107834, + -0.1438443958759308, + -0.3243043478578329 + ], + [ + -0.04151264205574989, + 0.999037504196167, + 0.014168722555041313, + 0.17799391951744578 + ], + [ + 0.1443169116973877, + -0.008036693558096886, + 0.9894988536834717, + 0.06902932907853808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9879354238510132, + 0.03897721320390701, + -0.1498812884092331, + -0.32463989688881806 + ], + [ + -0.03735818713903427, + 0.9992093443870544, + 0.013603542000055313, + 0.1850073123384001 + ], + [ + 0.1502930074930191, + -0.007840128615498543, + 0.9886103868484497, + 0.057728372760383145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9876646399497986, + 0.03972150757908821, + -0.15146197378635406, + -0.3281046108475753 + ], + [ + -0.03785310313105583, + 0.9991676807403564, + 0.01520034484565258, + 0.19485619660866046 + ], + [ + 0.15193970501422882, + -0.009279537945985794, + 0.9883462190628052, + 0.06807578001171351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9877361059188843, + 0.03928206488490105, + -0.15111039578914642, + -0.33558839894831183 + ], + [ + -0.03744402155280113, + 0.9991862773895264, + 0.014990963973104954, + 0.20553042037645355 + ], + [ + 0.15157629549503326, + -0.009148935787379742, + 0.9884032011032104, + 0.0777211903128773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9871538877487183, + 0.04029477760195732, + -0.15460774302482605, + -0.33856559959905486 + ], + [ + -0.037817541509866714, + 0.9991053342819214, + 0.01893174648284912, + 0.20869094639950034 + ], + [ + 0.1552322804927826, + -0.0128416633233428, + 0.9877945184707642, + 0.07821063013481243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9864243865013123, + 0.03630470484495163, + -0.1601525992155075, + -0.3376708739836301 + ], + [ + -0.034228190779685974, + 0.9992906451225281, + 0.01570644974708557, + 0.22071342426352203 + ], + [ + 0.1606092005968094, + -0.010011491365730762, + 0.9869673252105713, + 0.07894922636582383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.986010730266571, + 0.036110181361436844, + -0.16272327303886414, + -0.34298607600586756 + ], + [ + -0.03331797197461128, + 0.9992475509643555, + 0.019856592640280724, + 0.22271741880103946 + ], + [ + 0.16331785917282104, + -0.014157203957438469, + 0.986471951007843, + 0.0800851108772414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9860256314277649, + 0.03614966571331024, + -0.16262421011924744, + -0.3488162650859782 + ], + [ + -0.032949648797512054, + 0.9992074966430664, + 0.022332563996315002, + 0.2287752389475437 + ], + [ + 0.16330263018608093, + -0.016662072390317917, + 0.9864352941513062, + 0.08813897415197322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9855204224586487, + 0.035859305411577225, + -0.16572143137454987, + -0.3509809258260897 + ], + [ + -0.03250085189938545, + 0.9992085695266724, + 0.02293410710990429, + 0.23716266522782722 + ], + [ + 0.16641266644001007, + -0.017215942963957787, + 0.9859058856964111, + 0.0937658310867846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9846513867378235, + 0.03125649318099022, + -0.17171114683151245, + -0.34969630494181597 + ], + [ + -0.02798687107861042, + 0.9993785619735718, + 0.02142992615699768, + 0.24435648289093348 + ], + [ + 0.17227426171302795, + -0.01629534736275673, + 0.984914243221283, + 0.08719439944252372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.985007107257843, + 0.03484990447759628, + -0.16895712912082672, + -0.3583950586616993 + ], + [ + -0.03065349906682968, + 0.9991549253463745, + 0.02738291025161743, + 0.24619643529877067 + ], + [ + 0.16976864635944366, + -0.02179323509335518, + 0.9852429628372192, + 0.1064923582598567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9843167662620544, + 0.039446212351322174, + -0.17194333672523499, + -0.36214365371103796 + ], + [ + -0.03456167131662369, + 0.99891197681427, + 0.03131066635251045, + 0.25152006149624606 + ], + [ + 0.1729913353919983, + -0.02487696334719658, + 0.9846091270446777, + 0.10313151103577443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9836912751197815, + 0.04000692069530487, + -0.17535947263240814, + -0.36253094199512687 + ], + [ + -0.03435441851615906, + 0.9987912774085999, + 0.035153042525053024, + 0.2522365055180022 + ], + [ + 0.1765538901090622, + -0.02855536714196205, + 0.9838767051696777, + 0.10245860286855271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9840283393859863, + 0.040694382041692734, + -0.17329806089401245, + -0.36889386836971555 + ], + [ + -0.03497931733727455, + 0.9987427592277527, + 0.03590680658817291, + 0.25953131556078524 + ], + [ + 0.1745413839817047, + -0.02927146852016449, + 0.9842146635055542, + 0.11936882070398756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9835222959518433, + 0.03956824913620949, + -0.1764037162065506, + -0.3713690655572074 + ], + [ + -0.03350288048386574, + 0.9987449049949646, + 0.03723142296075821, + 0.26247406242681404 + ], + [ + 0.17765550315380096, + -0.03070790320634842, + 0.9836134910583496, + 0.11733381545969418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.984245777130127, + 0.036179088056087494, + -0.17306450009346008, + -0.3798862493463925 + ], + [ + -0.03082851879298687, + 0.998962938785553, + 0.03350617364048958, + 0.269477727802171 + ], + [ + 0.1740972399711609, + -0.02764298766851425, + 0.9843403697013855, + 0.12360519290502582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9832988977432251, + 0.039637189358472824, + -0.17762930691242218, + -0.3753851393503802 + ], + [ + -0.033830676227808, + 0.9987933039665222, + 0.03560049086809158, + 0.27049913114003304 + ], + [ + 0.17882607877254486, + -0.028996603563427925, + 0.9834533333778381, + 0.12611521813752397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9838452935218811, + 0.039371855556964874, + -0.17463745176792145, + -0.38366218749433756 + ], + [ + -0.03354644775390625, + 0.9987818598747253, + 0.03618570417165756, + 0.2720208644866943 + ], + [ + 0.17584942281246185, + -0.02974267117679119, + 0.983967661857605, + 0.13522728928364813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9833954572677612, + 0.036547139286994934, + -0.1777573823928833, + -0.38360319031136375 + ], + [ + -0.03167446702718735, + 0.9990426898002625, + 0.030173849314451218, + 0.2804651246406138 + ], + [ + 0.17868998646736145, + -0.024042457342147827, + 0.9836116433143616, + 0.13468658088573388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9831177592277527, + 0.040422290563583374, + -0.17845310270786285, + -0.38651610248323 + ], + [ + -0.034584179520606995, + 0.9987637400627136, + 0.03570682927966118, + 0.2751035634760878 + ], + [ + 0.17967583239078522, + -0.028932364657521248, + 0.9833003282546997, + 0.132435251100521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9833177924156189, + 0.03684435784816742, + -0.17812539637088776, + -0.38806684341813835 + ], + [ + -0.03191686421632767, + 0.9990265369415283, + 0.030450869351625443, + 0.28137715317175854 + ], + [ + 0.17907394468784332, + -0.024257678538560867, + 0.9835365414619446, + 0.13976465331922686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9827612042427063, + 0.038814742118120193, + -0.18075890839099884, + -0.38881949513618436 + ], + [ + -0.03342975303530693, + 0.9989045262336731, + 0.03274393454194069, + 0.2801944524665097 + ], + [ + 0.18183185160160065, + -0.026136742904782295, + 0.9829822182655334, + 0.13943473702695752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9812502861022949, + 0.036835409700870514, + -0.1891852170228958, + -0.3814152930464063 + ], + [ + -0.031185925006866455, + 0.9989767670631409, + 0.032753728330135345, + 0.2793198966554233 + ], + [ + 0.1901981383562088, + -0.02623968943953514, + 0.9813950061798096, + 0.1300867753901652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9813196659088135, + 0.03504137322306633, + -0.18916600942611694, + -0.3850819861250264 + ], + [ + -0.029543237760663033, + 0.9990572929382324, + 0.03180793300271034, + 0.28157051737902555 + ], + [ + 0.19010227918624878, + -0.02562517672777176, + 0.9814298152923584, + 0.13434280319405453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9819334745407104, + 0.030313855037093163, + -0.1867826282978058, + -0.3936081565916538 + ], + [ + -0.02600204013288021, + 0.9993367791175842, + 0.02549208328127861, + 0.2909959928249009 + ], + [ + 0.18743151426315308, + -0.020174801349639893, + 0.9820704460144043, + 0.14371814988553525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9819741249084473, + 0.03294249624013901, + -0.18612243235111237, + -0.39731095837695257 + ], + [ + -0.027720853686332703, + 0.9991475939750671, + 0.030588757246732712, + 0.28809844186928657 + ], + [ + 0.18697144091129303, + -0.024877898395061493, + 0.9820502996444702, + 0.15033480368687638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9818066358566284, + 0.03714270144701004, + -0.18621531128883362, + -0.40086840923343386 + ], + [ + -0.030587561428546906, + 0.9988112449645996, + 0.037953250110149384, + 0.28175365401964103 + ], + [ + 0.18740364909172058, + -0.03156688064336777, + 0.9817756414413452, + 0.15278037440563952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9814580082893372, + 0.03658453747630119, + -0.18815356492996216, + -0.4032682776717203 + ], + [ + -0.030216116458177567, + 0.9988728761672974, + 0.03660549223423004, + 0.2854114606727048 + ], + [ + 0.1892806887626648, + -0.030241481959819794, + 0.9814572334289551, + 0.15203729295837026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9809152483940125, + 0.038246944546699524, + -0.19063688814640045, + -0.4035864862480334 + ], + [ + -0.031209716573357582, + 0.9987208247184753, + 0.0397820919752121, + 0.28361853107510665 + ], + [ + 0.19191457331180573, + -0.03307313472032547, + 0.9808542132377625, + 0.15552679620949286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.981278657913208, + 0.04430675506591797, + -0.1874275505542755, + -0.4152312469269548 + ], + [ + -0.036954790353775024, + 0.9984110593795776, + 0.0425412580370903, + 0.2872015727816948 + ], + [ + 0.18901461362838745, + -0.034818485379219055, + 0.9813567996025085, + 0.15909498980534928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9798880815505981, + 0.03704782947897911, + -0.19607873260974884, + -0.40516218543052673 + ], + [ + -0.030533496290445328, + 0.9988800287246704, + 0.036143288016319275, + 0.2918417158403567 + ], + [ + 0.19719816744327545, + -0.02942940592765808, + 0.979921817779541, + 0.15314916521310806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9813386797904968, + 0.04823989421129227, + -0.1861378699541092, + -0.42541664335876705 + ], + [ + -0.04032207280397415, + 0.9981229901313782, + 0.046093448996543884, + 0.2875914199044928 + ], + [ + 0.1880120187997818, + -0.03772781789302826, + 0.981441855430603, + 0.16706272219307722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9813615083694458, + 0.04768792912364006, + -0.18615961074829102, + -0.4278093679675034 + ], + [ + -0.040376562625169754, + 0.9982643127441406, + 0.04287264496088028, + 0.29392093373795175 + ], + [ + 0.1878809928894043, + -0.03455708175897598, + 0.9815837144851685, + 0.17586516908236913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9782460331916809, + 0.0362817719578743, + -0.2042505443096161, + -0.4212830900879843 + ], + [ + -0.02979928068816662, + 0.9989525079727173, + 0.03472568094730377, + 0.3106721469841432 + ], + [ + 0.20529651641845703, + -0.0278837401419878, + 0.978302538394928, + 0.1993505584342139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9768620133399963, + 0.03369762375950813, + -0.21119923889636993, + -0.4183168863611562 + ], + [ + -0.02592857927083969, + 0.9988851547241211, + 0.03944811224937439, + 0.3109761119287993 + ], + [ + 0.2122931033372879, + -0.033059269189834595, + 0.9766466617584229, + 0.21453953457197972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9721911549568176, + 0.03843916580080986, + -0.23101243376731873, + -0.40053912638021366 + ], + [ + -0.02466186322271824, + 0.997756838798523, + 0.062234293669462204, + 0.28840364015611286 + ], + [ + 0.23288646340370178, + -0.054806437343358994, + 0.9709583520889282, + 0.21083741495385766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9801905155181885, + 0.05378718674182892, + -0.19061337411403656, + -0.44153911960976466 + ], + [ + -0.0450008362531662, + 0.9977283477783203, + 0.05013084411621094, + 0.2987514471502176 + ], + [ + 0.19287677109241486, + -0.04056002199649811, + 0.980384349822998, + 0.19147170091580068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9796887040138245, + 0.051700081676244736, + -0.19374513626098633, + -0.44261240807494945 + ], + [ + -0.04271036013960838, + 0.9978207349777222, + 0.05029575526714325, + 0.29882017833213986 + ], + [ + 0.19592320919036865, + -0.04099925607442856, + 0.9797617793083191, + 0.19016981013119222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9806210994720459, + 0.05302557349205017, + -0.18860165774822235, + -0.45400058627128603 + ], + [ + -0.04425550997257233, + 0.9977473616600037, + 0.05041441321372986, + 0.303978581354022 + ], + [ + 0.19085006415843964, + -0.041090771555900574, + 0.980758786201477, + 0.20044540129601957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9814570546150208, + 0.051852207630872726, + -0.18453557789325714, + -0.4629793000274471 + ], + [ + -0.043721120804548264, + 0.9978964924812317, + 0.04786466807126999, + 0.30970474274529675 + ], + [ + 0.1866293102502823, + -0.03890901803970337, + 0.9816595911979675, + 0.2058138793533934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9810110330581665, + 0.04894094169139862, + -0.18767571449279785, + -0.4640220259981496 + ], + [ + -0.04083140939474106, + 0.9980676174163818, + 0.046837735921144485, + 0.31224247477283434 + ], + [ + 0.18960535526275635, + -0.0382852740585804, + 0.9811136722564697, + 0.20781579773340905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9813628792762756, + 0.03824065998196602, + -0.18832038342952728, + -0.4686087962506073 + ], + [ + -0.033928196877241135, + 0.9990841746330261, + 0.0260713379830122, + 0.34022053484306003 + ], + [ + 0.18914489448070526, + -0.019196072593331337, + 0.9817615151405334, + 0.22177279920849416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9802757501602173, + 0.04170132800936699, + -0.19318518042564392, + -0.4657422148755619 + ], + [ + -0.03515664115548134, + 0.9986898303031921, + 0.037184473127126694, + 0.33043349153096124 + ], + [ + 0.1944827139377594, + -0.029659295454621315, + 0.9804574251174927, + 0.21112893782556058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9800023436546326, + 0.039918769150972366, + -0.19494085013866425, + -0.46645665602492437 + ], + [ + -0.032624658197164536, + 0.9986473321914673, + 0.04048681631684303, + 0.3295235983012909 + ], + [ + 0.19629333913326263, + -0.03331729397177696, + 0.9799790382385254, + 0.21240635522907333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9804461598396301, + 0.02876748889684677, + -0.19467346370220184, + -0.4728432903864554 + ], + [ + -0.024507202208042145, + 0.9994053244590759, + 0.024257993325591087, + 0.3506511762937797 + ], + [ + 0.19525553286075592, + -0.019012754783034325, + 0.9805681109428406, + 0.22535315742716194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9799361824989319, + 0.039951007813215256, + -0.19526657462120056, + -0.4728035004809499 + ], + [ + -0.03236104175448418, + 0.998597264289856, + 0.04190791770815849, + 0.33646877197315916 + ], + [ + 0.1966669261455536, + -0.034748051315546036, + 0.9798544049263, + 0.2195128039456904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9816285967826843, + 0.03504381701350212, + -0.18755590915679932, + -0.4869283714464733 + ], + [ + -0.030307400971651077, + 0.9991466403007507, + 0.02806256338953972, + 0.35718274199004685 + ], + [ + 0.18837925791740417, + -0.021862681955099106, + 0.9818530082702637, + 0.2299983120390347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9800726175308228, + 0.04077933356165886, + -0.19440858066082, + -0.482398535790188 + ], + [ + -0.03350183740258217, + 0.9986146092414856, + 0.040577441453933716, + 0.34909304227580185 + ], + [ + 0.1957939714193344, + -0.033255793154239655, + 0.9800810217857361, + 0.22929197545163332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9788609743118286, + 0.039842281490564346, + -0.20060868561267853, + -0.47892443292907305 + ], + [ + -0.0328047089278698, + 0.9987282156944275, + 0.038285307586193085, + 0.35472192722705326 + ], + [ + 0.20187892019748688, + -0.030895084142684937, + 0.9789230823516846, + 0.22941482938559993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.978499710559845, + 0.04232272505760193, + -0.20185905694961548, + -0.4797354829896774 + ], + [ + -0.033581241965293884, + 0.9983519911766052, + 0.04653614014387131, + 0.3481525883943375 + ], + [ + 0.20349591970443726, + -0.038756921887397766, + 0.978308379650116, + 0.2263170766777226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9785603284835815, + 0.04276402294635773, + -0.20147177577018738, + -0.4837214850953647 + ], + [ + -0.03396274894475937, + 0.9983200430870056, + 0.04694247990846634, + 0.35206270397507716 + ], + [ + 0.2031407654285431, + -0.039093516767024994, + 0.9783688187599182, + 0.23280402352767332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9782780408859253, + 0.03912702947854996, + -0.20357105135917664, + -0.4839463175939662 + ], + [ + -0.030536524951457977, + 0.9985124468803406, + 0.045171529054641724, + 0.3553510674242196 + ], + [ + 0.20503565669059753, + -0.03797396272420883, + 0.9780175685882568, + 0.23122668698696153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9774669408798218, + 0.04221084341406822, + -0.20682522654533386, + -0.48459547087550164 + ], + [ + -0.03241746500134468, + 0.998197078704834, + 0.0505148284137249, + 0.35199712684843687 + ], + [ + 0.20858460664749146, + -0.04267182573676109, + 0.9770729541778564, + 0.22909385822713374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9779177308082581, + 0.04341774061322212, + -0.20443041622638702, + -0.4894339929467865 + ], + [ + -0.03369125351309776, + 0.9981392621994019, + 0.05082254856824875, + 0.3559289594596651 + ], + [ + 0.20625661313533783, + -0.042812757194042206, + 0.9775608777999878, + 0.23299082926740605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9779651165008545, + 0.04133177921175957, + -0.2046360820531845, + -0.4916334186281477 + ], + [ + -0.031611453741788864, + 0.9982213973999023, + 0.05054517462849617, + 0.3571832861884364 + ], + [ + 0.20636121928691864, + -0.04296257719397545, + 0.9775322079658508, + 0.23323829360306264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9777652621269226, + 0.046346161514520645, + -0.20451679825782776, + -0.4941863075696996 + ], + [ + -0.035835232585668564, + 0.9978538751602173, + 0.05480358004570007, + 0.35724216422698063 + ], + [ + 0.2066178321838379, + -0.046256132423877716, + 0.9773277044296265, + 0.23546335420438222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9776152968406677, + 0.04622408747673035, + -0.2052600383758545, + -0.49558674113026685 + ], + [ + -0.036020562052726746, + 0.99793541431427, + 0.053173549473285675, + 0.3604028843210212 + ], + [ + 0.20729416608810425, + -0.04458969086408615, + 0.9772619605064392, + 0.237935830067311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9775484800338745, + 0.043984659016132355, + -0.2060687094926834, + -0.49765359700790474 + ], + [ + -0.03426015377044678, + 0.998134970664978, + 0.05052521079778671, + 0.3638813913400684 + ], + [ + 0.20790670812129974, + -0.042330898344516754, + 0.9772322773933411, + 0.23689975096578045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9767021536827087, + 0.04886986315250397, + -0.20896080136299133, + -0.49568604582122394 + ], + [ + -0.038086146116256714, + 0.9977417588233948, + 0.055324651300907135, + 0.3607444546584572 + ], + [ + 0.21119263768196106, + -0.046077191829681396, + 0.9763578176498413, + 0.23435319837714944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9775208234786987, + 0.05245504900813103, + -0.20420949161052704, + -0.5026719022542239 + ], + [ + -0.0405970998108387, + 0.9972605109214783, + 0.06183278560638428, + 0.3570850697229616 + ], + [ + 0.20689351856708527, + -0.052152521908283234, + 0.9769724607467651, + 0.23616043743677437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9761684536933899, + 0.04609309136867523, + -0.21206262707710266, + -0.4964273888617754 + ], + [ + -0.03493694216012955, + 0.9978160262107849, + 0.05605929344892502, + 0.3613005354667881 + ], + [ + 0.21418341994285583, + -0.04731449484825134, + 0.9756468534469604, + 0.2365857691371015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9763355255126953, + 0.051222868263721466, + -0.2101074904203415, + -0.5006891114371164 + ], + [ + -0.038054510951042175, + 0.9970772862434387, + 0.06624792516231537, + 0.3533743117337248 + ], + [ + 0.21288679540157318, + -0.05668466538190842, + 0.9754312038421631, + 0.23682390152742822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9761223793029785, + 0.047249503433704376, + -0.21202023327350616, + -0.5007879401956286 + ], + [ + -0.035780541598796844, + 0.9976977705955505, + 0.057610251009464264, + 0.3608640792114394 + ], + [ + 0.21425415575504303, + -0.04864846169948578, + 0.9755657315254211, + 0.23330533121313368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9754644632339478, + 0.04893382638692856, + -0.21464987099170685, + -0.4995404416429145 + ], + [ + -0.036298684775829315, + 0.9973897933959961, + 0.06241801381111145, + 0.3562411122789074 + ], + [ + 0.2171439379453659, + -0.053095050156116486, + 0.974694550037384, + 0.23357098829666417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9762403964996338, + 0.04768259823322296, + -0.211378812789917, + -0.5046190263969558 + ], + [ + -0.03587944060564041, + 0.9975934624671936, + 0.05932897329330444, + 0.360023783845827 + ], + [ + 0.213699072599411, + -0.05033519119024277, + 0.9756019115447998, + 0.23879218295748744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9764856100082397, + 0.04553608596324921, + -0.21071845293045044, + -0.506810809086476 + ], + [ + -0.034361034631729126, + 0.9978170394897461, + 0.056395772844552994, + 0.3619326269919319 + ], + [ + 0.21282649040222168, + -0.04782916232943535, + 0.9759186506271362, + 0.24207755231431552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9751425385475159, + 0.04521111398935318, + -0.2169169783592224, + -0.5020835392177105 + ], + [ + -0.033771492540836334, + 0.9978504776954651, + 0.05615934357047081, + 0.3618244986049831 + ], + [ + 0.21898972988128662, + -0.04743775352835655, + 0.9745733141899109, + 0.23862130492925643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9751710295677185, + 0.046018123626708984, + -0.21661913394927979, + -0.5044799552166036 + ], + [ + -0.034438394010066986, + 0.9977838397026062, + 0.056933194398880005, + 0.36171321394919814 + ], + [ + 0.21875903010368347, + -0.04805958271026611, + 0.9745946526527405, + 0.23906236148572393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.975213885307312, + 0.05068529024720192, + -0.21538092195987701, + -0.5091522690440927 + ], + [ + -0.038428183645009995, + 0.9974146485328674, + 0.06072290241718292, + 0.36050045255105945 + ], + [ + 0.21790184080600739, + -0.050941117107868195, + 0.9746403694152832, + 0.24036211420648865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9744794368743896, + 0.050179317593574524, + -0.21879629790782928, + -0.5056126178375312 + ], + [ + -0.037934236228466034, + 0.9974884390830994, + 0.05981434881687164, + 0.36018178250441063 + ], + [ + 0.22124822437763214, + -0.04998798668384552, + 0.9739355444908142, + 0.23764099817323897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9739938974380493, + 0.049837321043014526, + -0.2210252434015274, + -0.5047132947615215 + ], + [ + -0.03738419711589813, + 0.9974875450134277, + 0.06017472222447395, + 0.3592525270900556 + ], + [ + 0.22346888482570648, + -0.05034695938229561, + 0.97340989112854, + 0.23798500134476594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9736804366111755, + 0.049320828169584274, + -0.22251705825328827, + -0.5049536293904696 + ], + [ + -0.03734184429049492, + 0.9976338148117065, + 0.05772639438509941, + 0.3619346908609649 + ], + [ + 0.22483764588832855, + -0.04789786413311958, + 0.9732182621955872, + 0.2378591847273388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9732658863067627, + 0.04618198052048683, + -0.22499050199985504, + -0.5036730538521494 + ], + [ + -0.034166332334280014, + 0.9977887868881226, + 0.057011015713214874, + 0.3614947971322441 + ], + [ + 0.2271258682012558, + -0.04779978096485138, + 0.9726916551589966, + 0.23709031754572477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9736862182617188, + 0.04760148003697395, + -0.22286587953567505, + -0.507893192768097 + ], + [ + -0.03630353882908821, + 0.9978524446487427, + 0.05452154949307442, + 0.36480770577909427 + ], + [ + 0.22498255968093872, + -0.04499606415629387, + 0.9733232855796814, + 0.24073312263935803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.973693311214447, + 0.045935481786727905, + -0.2231845110654831, + -0.5101469981883253 + ], + [ + -0.03520573675632477, + 0.9980356097221375, + 0.05182107165455818, + 0.3662593201601079 + ], + [ + 0.22512651979923248, + -0.04260045662522316, + 0.9733977913856506, + 0.2378853592755539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9737008810043335, + 0.05108634755015373, + -0.222028911113739, + -0.5129077910844769 + ], + [ + -0.03848285600543022, + 0.9974122643470764, + 0.06072795391082764, + 0.3613071530375497 + ], + [ + 0.22455671429634094, + -0.05058655887842178, + 0.9731470942497253, + 0.2443440130113491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9741619825363159, + 0.05366671457886696, + -0.21938173472881317, + -0.5180459074676037 + ], + [ + -0.0404033400118351, + 0.997098982334137, + 0.064506895840168, + 0.35876831427948286 + ], + [ + 0.222207173705101, + -0.05397640913724899, + 0.9735042452812195, + 0.2432148760849876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.973824679851532, + 0.05242420732975006, + -0.2211722433567047, + -0.5168023372601186 + ], + [ + -0.03936917334794998, + 0.9972348213195801, + 0.06303039193153381, + 0.36084462704602627 + ], + [ + 0.22386497259140015, + -0.052673183381557465, + 0.9731957912445068, + 0.24362692085227797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9735780954360962, + 0.04936404898762703, + -0.22295495867729187, + -0.5160016162054879 + ], + [ + -0.03669549152255058, + 0.9974865913391113, + 0.06061336025595665, + 0.362353076439883 + ], + [ + 0.22538670897483826, + -0.05083039775490761, + 0.9729424715042114, + 0.24359614104032518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9732796549797058, + 0.05226244777441025, + -0.22359639406204224, + -0.5162804623533572 + ], + [ + -0.038958609104156494, + 0.9972208142280579, + 0.0635053813457489, + 0.36205791237631013 + ], + [ + 0.2262939214706421, + -0.05309749394655228, + 0.9726107716560364, + 0.24738424063793252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9716777801513672, + 0.05356193333864212, + -0.23015956580638885, + -0.5120694637298584 + ], + [ + -0.038797102868556976, + 0.9969165325164795, + 0.06820700317621231, + 0.35761684575118124 + ], + [ + 0.2331031709909439, + -0.05734570696949959, + 0.9707596898078918, + 0.24401530111208558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9730092287063599, + 0.05760304629802704, + -0.22346125543117523, + -0.5193354999912636 + ], + [ + -0.04270080476999283, + 0.9965647459030151, + 0.07096035778522491, + 0.3578552830398881 + ], + [ + 0.22678114473819733, + -0.05950310826301575, + 0.9721263647079468, + 0.2492303281822907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9732639789581299, + 0.05660118907690048, + -0.22260621190071106, + -0.5216250440904072 + ], + [ + -0.042556583881378174, + 0.9968184232711792, + 0.06739399582147598, + 0.361023974525077 + ], + [ + 0.22571256756782532, + -0.056118786334991455, + 0.9725762009620667, + 0.24903641529381276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9733157157897949, + 0.05558507889509201, + -0.22263599932193756, + -0.5221840830785888 + ], + [ + -0.04060353338718414, + 0.9966269731521606, + 0.07131612300872803, + 0.3573356972009476 + ], + [ + 0.22584916651248932, + -0.06037329509854317, + 0.9722896814346313, + 0.24594412815224911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9730719923973083, + 0.056108225136995316, + -0.22356832027435303, + -0.5219432101185832 + ], + [ + -0.0415382944047451, + 0.9967271089553833, + 0.0693516880273819, + 0.35981706063196595 + ], + [ + 0.22672781348228455, + -0.058197539299726486, + 0.972217857837677, + 0.2501675113769514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9747859239578247, + 0.05415768176317215, + -0.2164701372385025, + -0.5316980829728502 + ], + [ + -0.04181217402219772, + 0.9972485899925232, + 0.06121284142136574, + 0.36737258394714445 + ], + [ + 0.21918968856334686, + -0.050618331879377365, + 0.9743683338165283, + 0.25011643551156987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9725808501243591, + 0.051635805517435074, + -0.22676043212413788, + -0.5204689317515918 + ], + [ + -0.03932473435997963, + 0.9975137114524841, + 0.05847998335957527, + 0.3688424332200417 + ], + [ + 0.2292162925004959, + -0.04795921966433525, + 0.9721933007240295, + 0.2490173996027027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9749566316604614, + 0.05663636699318886, + -0.21506257355213165, + -0.5327011343091727 + ], + [ + -0.044533971697092056, + 0.997161328792572, + 0.06071212515234947, + 0.3695330466958694 + ], + [ + 0.21789060533046722, + -0.04961409792304039, + 0.9747112989425659, + 0.2501925508957356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9730164408683777, + 0.05251527577638626, + -0.22467999160289764, + -0.5228832567908934 + ], + [ + -0.040386803448200226, + 0.9974851012229919, + 0.05824362859129906, + 0.37124492949806154 + ], + [ + 0.22717364132404327, + -0.04759790375828743, + 0.9726904034614563, + 0.25056769399504575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9740945100784302, + 0.0508735328912735, + -0.22034470736980438, + -0.5271234152040312 + ], + [ + -0.04041891545057297, + 0.9978443384170532, + 0.051700908690690994, + 0.37750908933646443 + ], + [ + 0.22249992191791534, + -0.0414554737508297, + 0.9740509390830994, + 0.25407725610504195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9745395183563232, + 0.060229115188121796, + -0.2159750759601593, + -0.5314370670488903 + ], + [ + -0.04752165079116821, + 0.9968459010124207, + 0.06356023252010345, + 0.36521156930497717 + ], + [ + 0.219122052192688, + -0.05167846381664276, + 0.9743279218673706, + 0.24712410249880382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.973020613193512, + 0.05692782253026962, + -0.22358457744121552, + -0.5253761069316949 + ], + [ + -0.04324537515640259, + 0.9969066977500916, + 0.06562654674053192, + 0.3643540739214846 + ], + [ + 0.22662894427776337, + -0.05418698862195015, + 0.9724726676940918, + 0.25031706457292396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9749944806098938, + 0.05978137254714966, + -0.21403729915618896, + -0.5354947279074362 + ], + [ + -0.04703809320926666, + 0.9968311786651611, + 0.06414798647165298, + 0.36768735709733197 + ], + [ + 0.21719390153884888, + -0.052476029843091965, + 0.9747169017791748, + 0.24815723837486336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9743273854255676, + 0.06118094176054001, + -0.21666352450847626, + -0.5333460006064602 + ], + [ + -0.04694730043411255, + 0.9964241981506348, + 0.07024778425693512, + 0.3612813873748694 + ], + [ + 0.22018660604953766, + -0.05827257037162781, + 0.9737156629562378, + 0.2505755326111934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9746309518814087, + 0.05679415538907051, + -0.21649222075939178, + -0.5377845108509064 + ], + [ + -0.04365858808159828, + 0.996930718421936, + 0.06498537957668304, + 0.3701127741485834 + ], + [ + 0.2195185273885727, + -0.053885020315647125, + 0.9741191267967224, + 0.2558738008141518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/move_right/transforms.json b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..196b3d7ed00af1416763292b5b9b5a40181bfb2e --- /dev/null +++ b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/move_right/transforms.json @@ -0,0 +1,7888 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 225, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 5.429926386568695e-05, + 6.081355968490243e-05, + -9.924238838721067e-06 + ], + [ + -5.429988959804177e-05, + 1.0, + 1.0281693903380074e-05, + -4.616683509084396e-05 + ], + [ + -6.081299943616614e-05, + -1.028499536914751e-05, + 1.0, + -0.00013104858226142824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + -0.000524801725987345, + -0.0033989716321229935, + -0.004821092169731855 + ], + [ + 0.0005185141344554722, + 0.999998152256012, + -0.0018504558829590678, + -9.414883022275587e-05 + ], + [ + 0.003399936482310295, + 0.0018486824119463563, + 0.9999924898147583, + 0.001770239678444341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999714493751526, + -0.000941636273637414, + -0.007498056627810001, + -0.008153575765235083 + ], + [ + 0.0009150825208052993, + 0.9999933242797852, + -0.003544056788086891, + -0.00016297729712927582 + ], + [ + 0.007501343265175819, + 0.003537094220519066, + 0.9999656081199646, + 0.000365215986468164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999345541000366, + -0.0008186700870282948, + -0.011413106694817543, + -0.013241760459329401 + ], + [ + 0.0007583763799630105, + 0.9999857544898987, + -0.005286171566694975, + 0.00036940891267087344 + ], + [ + 0.011417271569371223, + 0.005277170334011316, + 0.9999209046363831, + 0.0032262313869848313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998676776885986, + -0.0019139857031404972, + -0.01615421660244465, + -0.017208246141672136 + ], + [ + 0.0017907950095832348, + 0.9999692440032959, + -0.00763694616034627, + 0.001030746301070654 + ], + [ + 0.01616833545267582, + 0.007607006933540106, + 0.9998403191566467, + 0.0029220337547095757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997848868370056, + -0.0023734024725854397, + -0.020604988560080528, + -0.0220632352201002 + ], + [ + 0.002175173256546259, + 0.999951183795929, + -0.009637533687055111, + 0.0012075762133463286 + ], + [ + 0.0206268560141325, + 0.009590641595423222, + 0.99974125623703, + 0.00204508362055224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999688982963562, + -0.0010817669099196792, + -0.024916311725974083, + -0.027695417723485403 + ], + [ + 0.0008171632653102279, + 0.999943196773529, + -0.01062743365764618, + 0.001147027931645945 + ], + [ + 0.02492639236152172, + 0.01060376688838005, + 0.9996330738067627, + 0.0019970042880491485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995627403259277, + -0.0005323534714989364, + -0.02956518903374672, + -0.03320290520787239 + ], + [ + 0.000184318792889826, + 0.9999306797981262, + -0.011773251928389072, + 0.0017917342216151155 + ], + [ + 0.029569406062364578, + 0.011762653477489948, + 0.9994935393333435, + -0.0008777591050602495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9994422197341919, + -0.0002050281473202631, + -0.033395010977983475, + -0.03935885312301772 + ], + [ + -0.00021745330013800412, + 0.9999200105667114, + -0.012646914459764957, + 0.0011501308640228152 + ], + [ + 0.03339492902159691, + 0.012647121213376522, + 0.9993622303009033, + -0.00013920796752375152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9992830753326416, + -0.0006102025508880615, + -0.03785432502627373, + -0.04404478860752923 + ], + [ + 0.00011476478539407253, + 0.9999143481254578, + -0.013088801875710487, + -0.0006202831990127119 + ], + [ + 0.03785907104611397, + 0.013075074180960655, + 0.9991975426673889, + -0.001143227908427694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9990656971931458, + 7.511320291087031e-05, + -0.04321671277284622, + -0.047699477789657455 + ], + [ + -0.0006541114416904747, + 0.9999102354049683, + -0.01338357012718916, + -0.0019855072971820065 + ], + [ + 0.04321182519197464, + 0.01339933555573225, + 0.9989760518074036, + -0.005184411104502422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9990081787109375, + 0.0005726817180402577, + -0.04452284798026085, + -0.055416202545166014 + ], + [ + -0.0012013160157948732, + 0.9998999834060669, + -0.01409388892352581, + -0.002003014875871096 + ], + [ + 0.04451032355427742, + 0.014133397489786148, + 0.9989089369773865, + -0.00043123491673863364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9988492727279663, + 0.0012008092598989606, + -0.047944359481334686, + -0.06041577351944787 + ], + [ + -0.0019254976650699973, + 0.9998845458030701, + -0.015071873553097248, + -0.0018480647823058201 + ], + [ + 0.047920726239681244, + 0.015146846882998943, + 0.9987362623214722, + -0.001750539948365518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9986376166343689, + 0.0035616722889244556, + -0.05205990746617317, + -0.06316286360046694 + ], + [ + -0.004335870500653982, + 0.9998815655708313, + -0.014765923842787743, + -0.0026618085234076717 + ], + [ + 0.05200115218758583, + 0.014971531927585602, + 0.9985347986221313, + -0.003504596768678831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.998422384262085, + 0.00528716342523694, + -0.055899716913700104, + -0.06606036871671676 + ], + [ + -0.0061421445570886135, + 0.9998666048049927, + -0.015134178102016449, + -0.0027021788846468553 + ], + [ + 0.05581224709749222, + 0.015453645959496498, + 0.9983216524124146, + -0.004742747033014893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981784820556641, + 0.0062154619954526424, + -0.060008704662323, + -0.06855787123952593 + ], + [ + -0.007152061443775892, + 0.9998557567596436, + -0.015405572019517422, + -0.002153505809214299 + ], + [ + 0.05990429222583771, + 0.01580669730901718, + 0.9980789422988892, + -0.005979097481550915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997832179069519, + 0.00663546659052372, + -0.06547434628009796, + -0.06960930100509098 + ], + [ + -0.007689968682825565, + 0.9998445510864258, + -0.015866728499531746, + -0.0028689572254994087 + ], + [ + 0.06535889208316803, + 0.016335828229784966, + 0.9977281093597412, + -0.011938929052225182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9975054860115051, + 0.006460017058998346, + -0.07029300183057785, + -0.0715199877907123 + ], + [ + -0.007616034243255854, + 0.9998399019241333, + -0.01619013398885727, + -0.004195989162170528 + ], + [ + 0.07017716020345688, + 0.01668510213494301, + 0.9973949790000916, + -0.01808471138522561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9973834156990051, + 0.004202523734420538, + -0.07217133790254593, + -0.07705700221870626 + ], + [ + -0.0053828260861337185, + 0.9998548030853271, + -0.016167467460036278, + -0.007179087069068503 + ], + [ + 0.07209291309118271, + 0.016513647511601448, + 0.9972612261772156, + -0.012274286689768944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9971669316291809, + 0.003244871972128749, + -0.07515043020248413, + -0.08129485230892897 + ], + [ + -0.004402914084494114, + 0.9998740553855896, + -0.015249108895659447, + -0.011399369797852289 + ], + [ + 0.07509148120880127, + 0.015536786988377571, + 0.9970555901527405, + -0.011547090911439488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9968822002410889, + 0.003172739874571562, + -0.07884043455123901, + -0.08527475382600512 + ], + [ + -0.004221676383167505, + 0.9999047517776489, + -0.013141436502337456, + -0.016486232289545506 + ], + [ + 0.07879123091697693, + 0.0134333036839962, + 0.9968006014823914, + -0.012226982042193413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9964529871940613, + 0.007055305875837803, + -0.08385535329580307, + -0.08632080983370542 + ], + [ + -0.00770771037787199, + 0.9999424815177917, + -0.007458925247192383, + -0.023697093458031303 + ], + [ + 0.08379790931940079, + 0.0080788005143404, + 0.9964500069618225, + -0.015278805629350245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996464192867279, + 0.005916144698858261, + -0.08381001651287079, + -0.09467846980052336 + ], + [ + -0.006354592740535736, + 0.9999674558639526, + -0.004965651780366898, + -0.029541845892422966 + ], + [ + 0.08377791941165924, + 0.005480672232806683, + 0.9964693784713745, + -0.005892916103558881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9962736964225769, + 0.005605824291706085, + -0.08606579899787903, + -0.10128649970782655 + ], + [ + -0.005895278416574001, + 0.9999777674674988, + -0.003109376411885023, + -0.03443249651006356 + ], + [ + 0.08604645729064941, + 0.003605171572417021, + 0.9962846040725708, + -0.0033817951833563192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9960087537765503, + 0.005215528886765242, + -0.08910275995731354, + -0.10725226636443819 + ], + [ + -0.005348358768969774, + 0.9999849200248718, + -0.0012520585441961884, + -0.039085180995919344 + ], + [ + 0.08909489214420319, + 0.0017236148705706, + 0.9960216283798218, + -0.0065185979939997194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9956978559494019, + 0.002971149981021881, + -0.09261176735162735, + -0.11297132633626461 + ], + [ + -0.0030042272992432117, + 0.9999954700469971, + -0.00021774844208266586, + -0.04256887159863254 + ], + [ + 0.09261069446802139, + 0.0004950384027324617, + 0.9957022666931152, + -0.011719951256444412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9954857230186462, + 0.00293578184209764, + -0.09486605226993561, + -0.11895194931754044 + ], + [ + -0.002805527066811919, + 0.9999949336051941, + 0.001506383647210896, + -0.046140929212352993 + ], + [ + 0.09487000107765198, + -0.0012334341881796718, + 0.9954888820648193, + -0.014993481417851789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.995131254196167, + 0.0033743365202099085, + -0.09850090742111206, + -0.12224627807736396 + ], + [ + -0.002973983297124505, + 0.9999867081642151, + 0.00421100901439786, + -0.05135445534449121 + ], + [ + 0.09851381182670593, + -0.0038975668139755726, + 0.9951280355453491, + -0.02172625297680497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9949544072151184, + 0.0022510988637804985, + -0.100302554666996, + -0.126202043145895 + ], + [ + -0.0017347722314298153, + 0.9999848008155823, + 0.005234616342931986, + -0.05483688387903385 + ], + [ + 0.10031280666589737, + -0.005034202244132757, + 0.9949432015419006, + -0.01980901723727584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9945237040519714, + 0.0020090490579605103, + -0.10449186712503433, + -0.12880268397607975 + ], + [ + -0.0013550854055210948, + 0.9999790787696838, + 0.0063291285187006, + -0.058870666853441174 + ], + [ + 0.10450238734483719, + -0.0061528729274868965, + 0.9945055842399597, + -0.02744500858908785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9941442608833313, + 0.0022488199174404144, + -0.1080377921462059, + -0.13224005087145738 + ], + [ + -0.0013999015791341662, + 0.9999675750732422, + 0.007932805456221104, + -0.06272086058171615 + ], + [ + 0.10805212706327438, + -0.007735110353678465, + 0.9941151142120361, + -0.037223029449316006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.993832528591156, + 0.000539722794201225, + -0.11089025437831879, + -0.13702565769531896 + ], + [ + 0.0003340734983794391, + 0.9999690651893616, + 0.00786109920591116, + -0.06457833547888835 + ], + [ + 0.11089105904102325, + -0.007849660702049732, + 0.9938015937805176, + -0.0419263866131327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9934127330780029, + -0.0003444814938120544, + -0.11459057033061981, + -0.1429797581263951 + ], + [ + 0.00118216872215271, + 0.9999730587005615, + 0.007242387626320124, + -0.064401889698846 + ], + [ + 0.11458499729633331, + -0.007330145221203566, + 0.9933863878250122, + -0.04878472291997501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9931498765945435, + -0.0006783365970477462, + -0.11684539914131165, + -0.1512606002922569 + ], + [ + 0.0013714333763346076, + 0.9999819397926331, + 0.005851445719599724, + -0.062308320735142586 + ], + [ + 0.11683931946754456, + -0.005971608683466911, + 0.9931328892707825, + -0.05564965226554445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9928338527679443, + -0.001985865645110607, + -0.11948620527982712, + -0.15918323206050056 + ], + [ + 0.0024133059196174145, + 0.9999911785125732, + 0.003432728350162506, + -0.057981692497768175 + ], + [ + 0.11947833746671677, + -0.0036964858882129192, + 0.9928299188613892, + -0.06678943145088852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9927089810371399, + 0.004223942756652832, + -0.12046174705028534, + -0.17029887717217207 + ], + [ + -0.0034181056544184685, + 0.9999703764915466, + 0.006895413156598806, + -0.0547406434052391 + ], + [ + 0.12048730254173279, + -0.006433387752622366, + 0.9926940202713013, + -0.06664609024301171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9928902983665466, + 0.005899191368371248, + -0.11888688802719116, + -0.18253256008028984 + ], + [ + -0.0050647989846765995, + 0.9999603629112244, + 0.007319290190935135, + -0.04912907726414103 + ], + [ + 0.11892536282539368, + -0.006665114313364029, + 0.9928808212280273, + -0.06140657210988658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9930081963539124, + 0.0072663226164877415, + -0.11782153695821762, + -0.19362735373101064 + ], + [ + -0.0066042267717421055, + 0.9999601244926453, + 0.006008932366967201, + -0.0428316928431741 + ], + [ + 0.11786050349473953, + -0.0051887985318899155, + 0.9930166006088257, + -0.060602296366622406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9934129118919373, + 0.011571774259209633, + -0.11400401592254639, + -0.20497420659022672 + ], + [ + -0.01056690327823162, + 0.9998998641967773, + 0.009414730593562126, + -0.04112905908675332 + ], + [ + 0.11410154402256012, + -0.00814804621040821, + 0.9934356808662415, + -0.04465927030625088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9932152628898621, + 0.014665169641375542, + -0.11536205559968948, + -0.21403055071298566 + ], + [ + -0.013468045741319656, + 0.9998471140861511, + 0.01114975567907095, + -0.03892365832912869 + ], + [ + 0.11550793796777725, + -0.00952040683478117, + 0.99326092004776, + -0.055188592433530304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9932880401611328, + 0.015775708481669426, + -0.11458612233400345, + -0.22258443917546955 + ], + [ + -0.014470522291958332, + 0.9998207092285156, + 0.012213376350700855, + -0.03709742914153529 + ], + [ + 0.11475824564695358, + -0.01047328021377325, + 0.9933382272720337, + -0.05579632321106536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9932069778442383, + 0.01807323284447193, + -0.11494898796081543, + -0.23079224228858947 + ], + [ + -0.016652198508381844, + 0.9997727274894714, + 0.013310663402080536, + -0.034449203705714485 + ], + [ + 0.11516343057155609, + -0.011306090280413628, + 0.9932821989059448, + -0.05737801397086254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9928529262542725, + 0.01824348233640194, + -0.11794166266918182, + -0.24057110995054246 + ], + [ + -0.016831854358315468, + 0.9997743964195251, + 0.012953964062035084, + -0.03200729003874585 + ], + [ + 0.11815138161182404, + -0.010876203887164593, + 0.9929360151290894, + -0.06263938779011369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9933094382286072, + 0.021204473450779915, + -0.11351996660232544, + -0.25349310942526376 + ], + [ + -0.019827144220471382, + 0.9997156262397766, + 0.013248386792838573, + -0.03130671871809422 + ], + [ + 0.11376860737800598, + -0.010908971540629864, + 0.9934473633766174, + -0.06539734502189926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9938482046127319, + 0.03586491197347641, + -0.10478276759386063, + -0.2642685104693685 + ], + [ + -0.03347736597061157, + 0.999140202999115, + 0.024456825107336044, + -0.035377333951847896 + ], + [ + 0.10556981712579727, + -0.020798519253730774, + 0.9941943883895874, + -0.03353899463212916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9939356446266174, + 0.034998804330825806, + -0.10424481332302094, + -0.2752463316012706 + ], + [ + -0.0330176055431366, + 0.9992409944534302, + 0.020671160891652107, + -0.03615911777264306 + ], + [ + 0.1048891544342041, + -0.01710388995707035, + 0.9943368434906006, + -0.05509872255580766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9952325820922852, + 0.022283431142568588, + -0.09495047479867935, + -0.2844453700951167 + ], + [ + -0.01989760622382164, + 0.9994639158248901, + 0.02600027248263359, + -0.04395464371690261 + ], + [ + 0.09547894448041916, + -0.02398703247308731, + 0.99514240026474, + -0.060862299048208765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9946903586387634, + 0.02808489464223385, + -0.09900665283203125, + -0.2817593614703843 + ], + [ + -0.025564825162291527, + 0.9993183612823486, + 0.0266311913728714, + -0.044518675918724125 + ], + [ + 0.09968709945678711, + -0.023958701640367508, + 0.9947303533554077, + -0.06537675580808094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9949796199798584, + 0.019916994497179985, + -0.09807608276605606, + -0.2764990993908473 + ], + [ + -0.0169504564255476, + 0.9993759989738464, + 0.030988262966275215, + -0.049424611843590226 + ], + [ + 0.0986320748925209, + -0.02917025424540043, + 0.994696319103241, + -0.06023499641035284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9944373965263367, + 0.02012706734240055, + -0.10338827222585678, + -0.26513411905616524 + ], + [ + -0.01702454872429371, + 0.9993804693222046, + 0.030803797766566277, + -0.04962171459919773 + ], + [ + 0.10394420474767685, + -0.028872309252619743, + 0.994163990020752, + -0.06361873063724488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9934733510017395, + 0.02524719387292862, + -0.11123543977737427, + -0.25276277932737556 + ], + [ + -0.02238023281097412, + 0.9993863105773926, + 0.02694767341017723, + -0.0449670526598181 + ], + [ + 0.11184751987457275, + -0.024282321333885193, + 0.993428647518158, + -0.07274467870593071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9930144548416138, + 0.026521842926740646, + -0.11497350037097931, + -0.2403235489236457 + ], + [ + -0.02351594716310501, + 0.9993472695350647, + 0.027422450482845306, + -0.043450304929033984 + ], + [ + 0.11562575399875641, + -0.024527177214622498, + 0.9929899573326111, + -0.07498530323084976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9924052357673645, + 0.02515990659594536, + -0.12041106820106506, + -0.2230871233556952 + ], + [ + -0.02175479382276535, + 0.9993277192115784, + 0.029510753229260445, + -0.041831943432667426 + ], + [ + 0.12107260525226593, + -0.02666710875928402, + 0.9922853708267212, + -0.06985706663025278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9923263192176819, + 0.02479124814271927, + -0.12113559246063232, + -0.20992785615048237 + ], + [ + -0.02117912843823433, + 0.9992944598197937, + 0.03101605735719204, + -0.03767627320817805 + ], + [ + 0.12181904911994934, + -0.02821250446140766, + 0.9921512603759766, + -0.061509019069905795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9920835494995117, + 0.022380176931619644, + -0.12356916815042496, + -0.19548070856503078 + ], + [ + -0.018947362899780273, + 0.9994031190872192, + 0.028886251151561737, + -0.03500262424349785 + ], + [ + 0.12414189428091049, + -0.026316266506910324, + 0.9919154644012451, + -0.06544399819602924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9922812581062317, + 0.020047249272465706, + -0.12237676233053207, + -0.18754751035677536 + ], + [ + -0.017011811956763268, + 0.9995223879814148, + 0.025798799470067024, + -0.03072278085580495 + ], + [ + 0.12283550947904587, + -0.02351781539618969, + 0.9921483397483826, + -0.07712486803731215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9928100109100342, + 0.012904680334031582, + -0.11900295317173004, + -0.18116444647312163 + ], + [ + -0.010300095193088055, + 0.9996943473815918, + 0.022475900128483772, + -0.02517963673453778 + ], + [ + 0.11925661563873291, + -0.021088557317852974, + 0.9926394820213318, + -0.05835386887192726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9935962557792664, + 0.020664729177951813, + -0.11108306795358658, + -0.17052779551595448 + ], + [ + -0.019686654210090637, + 0.9997572302818298, + 0.009894650429487228, + 0.024127041568447437 + ], + [ + 0.11126057058572769, + -0.007644433528184891, + 0.9937618970870972, + 0.008547427921023752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9942190051078796, + 0.013682366348803043, + -0.10649557411670685, + -0.16745707483163902 + ], + [ + -0.013351223431527615, + 0.9999035596847534, + 0.0038218130357563496, + 0.03192985619701046 + ], + [ + 0.1065375953912735, + -0.0023778732866048813, + 0.9943058490753174, + 0.035960506820785144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9950547218322754, + 0.019083619117736816, + -0.09747787564992905, + -0.17175541413681847 + ], + [ + -0.018497522920370102, + 0.9998050332069397, + 0.006912839598953724, + 0.033716109200447264 + ], + [ + 0.09759079664945602, + -0.005075554363429546, + 0.9952136874198914, + 0.07042232822693352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9946458339691162, + 0.017915215343236923, + -0.1017778068780899, + -0.16550631182534353 + ], + [ + -0.017567895352840424, + 0.9998363852500916, + 0.004307905212044716, + 0.04311175158779536 + ], + [ + 0.10183833539485931, + -0.002496818546205759, + 0.9947978258132935, + 0.04482950123825243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9944194555282593, + 0.02022327296435833, + -0.10354237258434296, + -0.1580998506397009 + ], + [ + -0.020202593877911568, + 0.999795138835907, + 0.0012485581682994962, + 0.057110933848889545 + ], + [ + 0.10354641079902649, + 0.0008502340642735362, + 0.9946242570877075, + 0.03603922869744045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9945304989814758, + 0.02305944450199604, + -0.10186926275491714, + -0.15371143801936082 + ], + [ + -0.02217739261686802, + 0.9997062087059021, + 0.009782880544662476, + 0.04182715702835205 + ], + [ + 0.10206491500139236, + -0.007470178883522749, + 0.9947496652603149, + 0.04202687787557287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9942171573638916, + 0.014444018714129925, + -0.10641220211982727, + -0.14371503815054892 + ], + [ + -0.014387913979589939, + 0.9998956322669983, + 0.0012949600350111723, + 0.05373091953515541 + ], + [ + 0.10641980171203613, + 0.00024357804795727134, + 0.9943212866783142, + 0.023984119668602942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9946256279945374, + 0.01696351170539856, + -0.10213781148195267, + -0.14368545540741512 + ], + [ + -0.016582518815994263, + 0.9998520016670227, + 0.0045781806111335754, + 0.04880977038826261 + ], + [ + 0.10220035165548325, + -0.0028598736971616745, + 0.994759738445282, + 0.03990392472062792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9946163296699524, + 0.015923423692584038, + -0.10239560157060623, + -0.14019917683409794 + ], + [ + -0.01568802259862423, + 0.999872088432312, + 0.0031039013992995024, + 0.05381779885335293 + ], + [ + 0.10243193060159683, + -0.001480806851759553, + 0.9947389364242554, + 0.036302289010823836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9947681427001953, + 0.01422614324837923, + -0.10116278380155563, + -0.13900573977402278 + ], + [ + -0.01417273748666048, + 0.9998987913131714, + 0.0012466523330658674, + 0.05796650852592263 + ], + [ + 0.10117027908563614, + 0.00019362347666174173, + 0.9948691129684448, + 0.03326981305144727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949952363967896, + 0.01861332170665264, + -0.09817326813936234, + -0.13862250559031963 + ], + [ + -0.018187785521149635, + 0.9998209476470947, + 0.005227767396718264, + 0.05636624813029942 + ], + [ + 0.09825298935174942, + -0.003416049759835005, + 0.9951556324958801, + 0.040475181140936914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9952532649040222, + 0.015842288732528687, + -0.09602067619562149, + -0.1368631249027593 + ], + [ + -0.015520483255386353, + 0.9998711347579956, + 0.004097406752407551, + 0.058132304304412435 + ], + [ + 0.096073217689991, + -0.002587670460343361, + 0.9953709244728088, + 0.0395948598560478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9954195618629456, + 0.01510812807828188, + -0.09440119564533234, + -0.13374336007982493 + ], + [ + -0.014936831779778004, + 0.9998852610588074, + 0.002520930487662554, + 0.06278591141994444 + ], + [ + 0.09442844986915588, + -0.001099328976124525, + 0.9955310225486755, + 0.04108517692823495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9955585598945618, + 0.015541225671768188, + -0.09285259246826172, + -0.13228163681924343 + ], + [ + -0.01538245938718319, + 0.9998787641525269, + 0.0024253693409264088, + 0.06464901781873778 + ], + [ + 0.0928790271282196, + -0.0009862962178885937, + 0.9956769347190857, + 0.04106284212321043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9957451820373535, + 0.016847755759954453, + -0.09059640020132065, + -0.13182987506900515 + ], + [ + -0.016652807593345642, + 0.9998571276664734, + 0.0029073581099510193, + 0.06594130582442241 + ], + [ + 0.09063243120908737, + -0.0013863035710528493, + 0.9958834648132324, + 0.04489563062587487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9958940148353577, + 0.016624007374048233, + -0.08898746222257614, + -0.1301552991781916 + ], + [ + -0.016437146812677383, + 0.9998608827590942, + 0.00283231632784009, + 0.06723811348368014 + ], + [ + 0.08902216702699661, + -0.0013579874066635966, + 0.99602872133255, + 0.04387016373553446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9959496855735779, + 0.01695217750966549, + -0.0882997140288353, + -0.12622756087886436 + ], + [ + -0.016644613817334175, + 0.9998525977134705, + 0.00421835808083415, + 0.06475781993857319 + ], + [ + 0.08835820108652115, + -0.002731557935476303, + 0.9960850477218628, + 0.04729764955450914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9959126114845276, + 0.013698362745344639, + -0.08927696198225021, + -0.12022673248180321 + ], + [ + -0.013527334667742252, + 0.9999053478240967, + 0.0025205041747540236, + 0.06560064173286914 + ], + [ + 0.08930303901433945, + -0.0013025228399783373, + 0.9960036277770996, + 0.04350093943066895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9958646297454834, + 0.011794793419539928, + -0.09008052945137024, + -0.11521457721080099 + ], + [ + -0.011653958819806576, + 0.9999299049377441, + 0.0020892489701509476, + 0.06572538098511618 + ], + [ + 0.09009885787963867, + -0.0010308142518624663, + 0.9959322810173035, + 0.04115300625562668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9959360957145691, + 0.011463133618235588, + -0.0893300473690033, + -0.11352619901299477 + ], + [ + -0.011309400200843811, + 0.9999335408210754, + 0.002226929645985365, + 0.06562338825315236 + ], + [ + 0.0893496423959732, + -0.0012076104758307338, + 0.9959995746612549, + 0.04060673945184265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9958791732788086, + 0.011566673405468464, + -0.08994904905557632, + -0.10806146264076233 + ], + [ + -0.011366567574441433, + 0.9999316334724426, + 0.002736593596637249, + 0.06546556708344724 + ], + [ + 0.08997455984354019, + -0.0017029047012329102, + 0.9959425926208496, + 0.039107100828550755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9965335726737976, + 0.01979604735970497, + -0.080802321434021, + -0.12420113272964954 + ], + [ + -0.01932418718934059, + 0.9997913837432861, + 0.006617577746510506, + 0.0677953843326707 + ], + [ + 0.08091646432876587, + -0.005033198744058609, + 0.9967081546783447, + 0.05256101100572518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9965062737464905, + 0.020632188767194748, + -0.08092904835939407, + -0.12146051337144204 + ], + [ + -0.01988305151462555, + 0.9997518062591553, + 0.010051790624856949, + 0.060561751208401154 + ], + [ + 0.08111635595560074, + -0.008407555520534515, + 0.9966691732406616, + 0.04720363083095955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9965483546257019, + 0.017819412052631378, + -0.08107908070087433, + -0.11808496075017111 + ], + [ + -0.017160259187221527, + 0.9998138546943665, + 0.008819364942610264, + 0.060189265491706986 + ], + [ + 0.08122114837169647, + -0.0073975855484604836, + 0.9966686367988586, + 0.04399945799793516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9966121912002563, + 0.017840994521975517, + -0.08028606325387955, + -0.11610386898475034 + ], + [ + -0.01714789681136608, + 0.9998095631599426, + 0.009314112365245819, + 0.06013356704081941 + ], + [ + 0.08043695241212845, + -0.00790582038462162, + 0.9967283606529236, + 0.04448918194975704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9967845678329468, + 0.016843946650624275, + -0.07833774387836456, + -0.11597514844366483 + ], + [ + -0.016316348686814308, + 0.999839723110199, + 0.007370145060122013, + 0.06448716249017578 + ], + [ + 0.0784493237733841, + -0.006068261340260506, + 0.9968996047973633, + 0.0483195574821106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9968114495277405, + 0.021736696362495422, + -0.07677500694990158, + -0.11574176903814078 + ], + [ + -0.02087249979376793, + 0.9997096657752991, + 0.012040856294333935, + 0.05933417693013325 + ], + [ + 0.07701443880796432, + -0.010399977676570415, + 0.9969757199287415, + 0.0481869188170614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.996864378452301, + 0.016162043437361717, + -0.07746078819036484, + -0.11004881039261817 + ], + [ + -0.015681086108088493, + 0.9998538494110107, + 0.006813297048211098, + 0.06580261520575732 + ], + [ + 0.07755958288908005, + -0.005577264353632927, + 0.9969721436500549, + 0.04524485887959599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9968461990356445, + 0.01647915691137314, + -0.07762819528579712, + -0.10555467861039297 + ], + [ + -0.01590864732861519, + 0.9998417496681213, + 0.007961971685290337, + 0.06318404474794599 + ], + [ + 0.07774712145328522, + -0.006701902020722628, + 0.9969505667686462, + 0.04703506883899016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.997064471244812, + 0.021117670461535454, + -0.07359712570905685, + -0.11205797440239361 + ], + [ + -0.020262377336621284, + 0.999718427658081, + 0.012348704040050507, + 0.05971279314087172 + ], + [ + 0.07383718341588974, + -0.010821200907230377, + 0.9972115755081177, + 0.050829862490562455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9970395565032959, + 0.016500312834978104, + -0.07509934902191162, + -0.10566437148622104 + ], + [ + -0.01588905230164528, + 0.9998356699943542, + 0.008729587309062481, + 0.06455020331278709 + ], + [ + 0.07523104548454285, + -0.0075104860588908195, + 0.9971378445625305, + 0.048089261898504834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.997036337852478, + 0.015346040017902851, + -0.0753859281539917, + -0.10550629794597627 + ], + [ + -0.014478717930614948, + 0.999822735786438, + 0.012038211338222027, + 0.055016942671500146 + ], + [ + 0.07555730640888214, + -0.010911042802035809, + 0.9970817565917969, + 0.037991907713668685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.997204601764679, + 0.018176307901740074, + -0.07247501611709595, + -0.10561835199062314 + ], + [ + -0.017430609092116356, + 0.9997885823249817, + 0.010908323340117931, + 0.06278288946237548 + ], + [ + 0.07265797257423401, + -0.009614546783268452, + 0.9973105788230896, + 0.051193728151598145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9971070289611816, + 0.015908166766166687, + -0.07432664930820465, + -0.09764453981603896 + ], + [ + -0.015167475678026676, + 0.9998296499252319, + 0.01051922794431448, + 0.06162477813112283 + ], + [ + 0.07448132336139679, + -0.0093614486977458, + 0.9971784949302673, + 0.047114362474530935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9973818063735962, + 0.023457694798707962, + -0.0684051662683487, + -0.10750152729451656 + ], + [ + -0.022286031395196915, + 0.9995924234390259, + 0.017841512337327003, + 0.054934380890335886 + ], + [ + 0.06879580020904541, + -0.016270318999886513, + 0.997498095035553, + 0.05398165546357632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.997377336025238, + 0.024339638650417328, + -0.0681614801287651, + -0.10471057625753538 + ], + [ + -0.0231335312128067, + 0.9995625019073486, + 0.01842876523733139, + 0.05442047185663666 + ], + [ + 0.06858020275831223, + -0.016803618520498276, + 0.9975040555000305, + 0.05107379195147327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973924160003662, + 0.023590322583913803, + -0.06820439547300339, + -0.10248321390577725 + ], + [ + -0.022321626543998718, + 0.9995644688606262, + 0.019304150715470314, + 0.051253540394827726 + ], + [ + 0.06863007694482803, + -0.017731381580233574, + 0.997484564781189, + 0.04945900267588773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9978054761886597, + 0.025309337303042412, + -0.061185870319604874, + -0.11571770342332977 + ], + [ + -0.024268465116620064, + 0.9995488524436951, + 0.017695436254143715, + 0.05512716236823638 + ], + [ + 0.06160612776875496, + -0.016171714290976524, + 0.9979695081710815, + 0.05576212212909013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9975317716598511, + 0.023455826565623283, + -0.06618264317512512, + -0.09968896290021284 + ], + [ + -0.022049827501177788, + 0.9995170831680298, + 0.021895399317145348, + 0.044758896788282855 + ], + [ + 0.06666426360607147, + -0.020382041111588478, + 0.9975672364234924, + 0.04324410459958017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9975511431694031, + 0.015440588817000389, + -0.06821534782648087, + -0.08720289128167288 + ], + [ + -0.01450423151254654, + 0.9997939467430115, + 0.014200546778738499, + 0.056282247815813334 + ], + [ + 0.06842055171728134, + -0.013176360167562962, + 0.9975695610046387, + 0.04591082334518433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977785348892212, + 0.02272852323949337, + -0.06262128800153732, + -0.09993267373314926 + ], + [ + -0.021499028429389, + 0.999563992023468, + 0.02023824118077755, + 0.05139797066887175 + ], + [ + 0.06305397301912308, + -0.018846986815333366, + 0.9978321194648743, + 0.05061909508824881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9980905055999756, + 0.023285837844014168, + -0.05721140280365944, + -0.10766660422086716 + ], + [ + -0.021970441564917564, + 0.9994820356369019, + 0.023514362052083015, + 0.046562034671660514 + ], + [ + 0.057729322463274, + -0.022212499752640724, + 0.9980851411819458, + 0.06109699651133269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9946548938751221, + 0.039727769792079926, + -0.09530650079250336, + -0.15730047704918043 + ], + [ + -0.04139016568660736, + 0.999022364616394, + -0.015528826043009758, + 0.039230840992448585 + ], + [ + 0.09459640085697174, + 0.019390573725104332, + 0.995326817035675, + 0.05092052425523954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9946045279502869, + 0.039806924760341644, + -0.09579773247241974, + -0.1572782253580434 + ], + [ + -0.04132373631000519, + 0.9990491271018982, + -0.013901187106966972, + 0.03805043056075062 + ], + [ + 0.09515327215194702, + 0.017784902825951576, + 0.995303750038147, + 0.049950803497007916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9945985078811646, + 0.03973943740129471, + -0.09588811546564102, + -0.15795435878847328 + ], + [ + -0.04118870198726654, + 0.9990644454956055, + -0.013181641697883606, + 0.038987878530419295 + ], + [ + 0.09527457505464554, + 0.017059948295354843, + 0.9953048229217529, + 0.04939294166397303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9946054816246033, + 0.03978746011853218, + -0.09579590708017349, + -0.15830297443483557 + ], + [ + -0.04125744476914406, + 0.9990585446357727, + -0.013412689790129662, + 0.04248804129726653 + ], + [ + 0.09517205506563187, + 0.017292629927396774, + 0.9953106045722961, + 0.05197615221009723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9945728778839111, + 0.038458481431007385, + -0.09667355567216873, + -0.15716334719743047 + ], + [ + -0.04010387510061264, + 0.9990808963775635, + -0.015134318731725216, + 0.046918665414809116 + ], + [ + 0.09600266069173813, + 0.018929166719317436, + 0.995201051235199, + 0.05230820789999728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9946970343589783, + 0.03972727805376053, + -0.09486575424671173, + -0.1630810667361532 + ], + [ + -0.04122079908847809, + 0.9990542531013489, + -0.013835319317877293, + 0.048454635217785834 + ], + [ + 0.09422639012336731, + 0.01767239347100258, + 0.9953939318656921, + 0.051786294366632186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9945297837257385, + 0.03905880078673363, + -0.09687553346157074, + -0.16081079561263323 + ], + [ + -0.04062054678797722, + 0.9990737438201904, + -0.014200970530509949, + 0.052373492100741714 + ], + [ + 0.0962311327457428, + 0.018058426678180695, + 0.995195209980011, + 0.056004669051617384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9944732785224915, + 0.0389300175011158, + -0.09750551730394363, + -0.1614500258117914 + ], + [ + -0.04028015211224556, + 0.999117374420166, + -0.011916047893464565, + 0.05046200129270022 + ], + [ + 0.0969555601477623, + 0.015777727589011192, + 0.99516361951828, + 0.05499184194819203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9944483637809753, + 0.04014831408858299, + -0.09726545214653015, + -0.163966133525329 + ], + [ + -0.0413333885371685, + 0.9990933537483215, + -0.010198928415775299, + 0.05160935614091743 + ], + [ + 0.09676779806613922, + 0.014162618666887283, + 0.9952062368392944, + 0.05788175561465323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9944525361061096, + 0.03874902427196503, + -0.09778892993927002, + -0.1652719745678561 + ], + [ + -0.04001564532518387, + 0.9991382360458374, + -0.011024068109691143, + 0.05422684759167688 + ], + [ + 0.09727749228477478, + 0.01487599965184927, + 0.9951460957527161, + 0.05778570297573294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945011138916016, + 0.04093387722969055, + -0.09639488905668259, + -0.17098310164042882 + ], + [ + -0.042136311531066895, + 0.9990569949150085, + -0.010470818728208542, + 0.057608818635344505 + ], + [ + 0.09587537497282028, + 0.014474965631961823, + 0.995288074016571, + 0.0625546022285042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9942319989204407, + 0.039773277938365936, + -0.09960360825061798, + -0.17097345021154198 + ], + [ + -0.04110310971736908, + 0.9990906119346619, + -0.01133408211171627, + 0.059731408088867156 + ], + [ + 0.0990622341632843, + 0.015362724661827087, + 0.9949626326560974, + 0.058174830329205306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.994101345539093, + 0.04117410257458687, + -0.10033561289310455, + -0.17425084106091943 + ], + [ + -0.042462121695280075, + 0.999040424823761, + -0.010734586976468563, + 0.06218162772877674 + ], + [ + 0.0997973382472992, + 0.01493172999471426, + 0.9948957562446594, + 0.05925905242828386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9938545823097229, + 0.043411266058683395, + -0.10182585567235947, + -0.17510435581207276 + ], + [ + -0.04468996450304985, + 0.9989477396011353, + -0.010309208184480667, + 0.0666013041511178 + ], + [ + 0.10127117484807968, + 0.01479644700884819, + 0.9947488307952881, + 0.06474594287574291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9937043786048889, + 0.04401043429970741, + -0.10302768647670746, + -0.17726350871047802 + ], + [ + -0.04527400806546211, + 0.998924970626831, + -0.00995713472366333, + 0.0687418246159463 + ], + [ + 0.10247871279716492, + 0.014558924362063408, + 0.9946286678314209, + 0.06365074130839535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9935451745986938, + 0.04621761664748192, + -0.1035948395729065, + -0.18076957368424962 + ], + [ + -0.04733210429549217, + 0.9988445043563843, + -0.00832449272274971, + 0.07047298159782908 + ], + [ + 0.10309040546417236, + 0.013174120336771011, + 0.9945847392082214, + 0.06580414676240512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9934014081954956, + 0.04876402020454407, + -0.1038062795996666, + -0.18314065225422382 + ], + [ + -0.04985944926738739, + 0.9987243413925171, + -0.007982466369867325, + 0.07595832176905658 + ], + [ + 0.10328460484743118, + 0.013105517253279686, + 0.994565486907959, + 0.06942053337115794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931538701057434, + 0.04845524951815605, + -0.1062898188829422, + -0.1837509537381785 + ], + [ + -0.0495990626513958, + 0.9987360239028931, + -0.00814279355108738, + 0.07772513995878398 + ], + [ + 0.10576090216636658, + 0.013358920812606812, + 0.9943018555641174, + 0.06670899013323443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.993095874786377, + 0.05263610556721687, + -0.10483326017856598, + -0.1930128908583096 + ], + [ + -0.05364173278212547, + 0.9985371232032776, + -0.006794390268623829, + 0.08214332706993446 + ], + [ + 0.10432226955890656, + 0.01237091887742281, + 0.9944666028022766, + 0.06855107945656137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9928365349769592, + 0.050890304148197174, + -0.1081007570028305, + -0.19231960459479264 + ], + [ + -0.052018798887729645, + 0.9986168742179871, + -0.007643335498869419, + 0.08556749209362481 + ], + [ + 0.10756227374076843, + 0.013211854733526707, + 0.9941105842590332, + 0.06803123357572725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.992465615272522, + 0.04960649460554123, + -0.11203228682279587, + -0.19186468236148357 + ], + [ + -0.05063933879137039, + 0.9986965656280518, + -0.006390697322785854, + 0.08948056006338448 + ], + [ + 0.11156923323869705, + 0.012015786953270435, + 0.9936839938163757, + 0.06606029330287129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9921673536300659, + 0.047976501286029816, + -0.11533529311418533, + -0.1930409755025591 + ], + [ + -0.049125783145427704, + 0.998767077922821, + -0.007141312584280968, + 0.09792050014116935 + ], + [ + 0.1148504838347435, + 0.012751312926411629, + 0.9933009743690491, + 0.06495635224772352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9919195175170898, + 0.04764078930020332, + -0.11758407950401306, + -0.19676502559866224 + ], + [ + -0.048521120101213455, + 0.9988114237785339, + -0.004633978940546513, + 0.10279277268231714 + ], + [ + 0.11722356081008911, + 0.010301846079528332, + 0.9930521249771118, + 0.06699950899928808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9911925196647644, + 0.045752160251140594, + -0.12427420914173126, + -0.19167577203895364 + ], + [ + -0.0461127907037735, + 0.9989362359046936, + -2.544233575463295e-05, + 0.10351698956053172 + ], + [ + 0.12414084374904633, + 0.005755848251283169, + 0.9922479391098022, + 0.06598466330074838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9906643033027649, + 0.04561739042401314, + -0.1284652054309845, + -0.19154583431248154 + ], + [ + -0.04537003114819527, + 0.9989584684371948, + 0.004852726589888334, + 0.10482876199863053 + ], + [ + 0.12855276465415955, + 0.0010210474720224738, + 0.991702139377594, + 0.06497022702491709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9908685088157654, + 0.04998753219842911, + -0.12522296607494354, + -0.20496580164347378 + ], + [ + -0.04914408177137375, + 0.99874347448349, + 0.009817632846534252, + 0.11120288743238364 + ], + [ + 0.1255563646554947, + -0.0035740165039896965, + 0.99208003282547, + 0.07309731455253703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9904139637947083, + 0.049922775477170944, + -0.12879416346549988, + -0.20812223252973386 + ], + [ + -0.04859558120369911, + 0.9987282752990723, + 0.013428769074380398, + 0.11653139015626428 + ], + [ + 0.1293007731437683, + -0.0070412131026387215, + 0.9915804266929626, + 0.06985792983323336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9903194308280945, + 0.051056139171123505, + -0.12907621264457703, + -0.2120905715972185 + ], + [ + -0.04996834695339203, + 0.9986827969551086, + 0.011654038913547993, + 0.13567530820146204 + ], + [ + 0.12950119376182556, + -0.005091496743261814, + 0.9915661811828613, + 0.07761699166148901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9898748397827148, + 0.05325969308614731, + -0.13157226145267487, + -0.21716054720538003 + ], + [ + -0.05132486671209335, + 0.9985187649726868, + 0.018055567517876625, + 0.13760956313926725 + ], + [ + 0.1323390156030655, + -0.011119823902845383, + 0.9911421537399292, + 0.07407060030714742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9894037246704102, + 0.04670748859643936, + -0.13747252523899078, + -0.20819762774876185 + ], + [ + -0.04575568437576294, + 0.9989018440246582, + 0.01007731445133686, + 0.16026206995759693 + ], + [ + 0.13779224455356598, + -0.0036803828552365303, + 0.9904543161392212, + 0.0802388880934034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9890732169151306, + 0.05269836261868477, + -0.13768470287322998, + -0.21620329855276005 + ], + [ + -0.05036573484539986, + 0.9985229969024658, + 0.020373553037643433, + 0.1590058646879957 + ], + [ + 0.13855499029159546, + -0.013216343708336353, + 0.9902665615081787, + 0.0858281122520566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9886603951454163, + 0.043121498078107834, + -0.1438443958759308, + -0.20954912342131138 + ], + [ + -0.04151264205574989, + 0.999037504196167, + 0.014168722555041313, + 0.17317548785026052 + ], + [ + 0.1443169116973877, + -0.008036693558096886, + 0.9894988536834717, + 0.08578039918627058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9879354238510132, + 0.03897721320390701, + -0.1498812884092331, + -0.2090867357062442 + ], + [ + -0.03735818713903427, + 0.9992093443870544, + 0.013603542000055313, + 0.18063773866410235 + ], + [ + 0.1502930074930191, + -0.007840128615498543, + 0.9886103868484497, + 0.07530728702965592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9876646399497986, + 0.03972150757908821, + -0.15146197378635406, + -0.21170127828206334 + ], + [ + -0.03785310313105583, + 0.9991676807403564, + 0.01520034484565258, + 0.19039493802535748 + ], + [ + 0.15193970501422882, + -0.009279537945985794, + 0.9883462190628052, + 0.08598295953124761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9877361059188843, + 0.03928206488490105, + -0.15111039578914642, + -0.2182947363704443 + ], + [ + -0.03744402155280113, + 0.9991862773895264, + 0.014990963973104954, + 0.2010839428170584 + ], + [ + 0.15157629549503326, + -0.009148935787379742, + 0.9884032011032104, + 0.09572087540291249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9871538877487183, + 0.04029477760195732, + -0.15460774302482605, + -0.22045968802911894 + ], + [ + -0.037817541509866714, + 0.9991053342819214, + 0.01893174648284912, + 0.20416634768314126 + ], + [ + 0.1552322804927826, + -0.0128416633233428, + 0.9877945184707642, + 0.09678306369377034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9864243865013123, + 0.03630470484495163, + -0.1601525992155075, + -0.21877150596784695 + ], + [ + -0.034228190779685974, + 0.9992906451225281, + 0.01570644974708557, + 0.21658770483918488 + ], + [ + 0.1606092005968094, + -0.010011491365730762, + 0.9869673252105713, + 0.09830837108061782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.986010730266571, + 0.036110181361436844, + -0.16272327303886414, + -0.22325620161635534 + ], + [ + -0.03331797197461128, + 0.9992475509643555, + 0.019856592640280724, + 0.21867166506126523 + ], + [ + 0.16331785917282104, + -0.014157203957438469, + 0.986471951007843, + 0.09991656520536968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9860256314277649, + 0.03614966571331024, + -0.16262421011924744, + -0.22820420124168908 + ], + [ + -0.032949648797512054, + 0.9992074966430664, + 0.022332563996315002, + 0.2247447908357052 + ], + [ + 0.16330263018608093, + -0.016662072390317917, + 0.9864352941513062, + 0.10811438516580632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9855204224586487, + 0.035859305411577225, + -0.16572143137454987, + -0.22955073091600622 + ], + [ + -0.03250085189938545, + 0.9992085695266724, + 0.02293410710990429, + 0.23315809597593865 + ], + [ + 0.16641266644001007, + -0.017215942963957787, + 0.9859058856964111, + 0.11427024891600013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9846513867378235, + 0.03125649318099022, + -0.17171114683151245, + -0.2274940346234611 + ], + [ + -0.02798687107861042, + 0.9993785619735718, + 0.02142992615699768, + 0.24088311228385595 + ], + [ + 0.17227426171302795, + -0.01629534736275673, + 0.984914243221283, + 0.1085748658515513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.985007107257843, + 0.03484990447759628, + -0.16895712912082672, + -0.23526917025446892 + ], + [ + -0.03065349906682968, + 0.9991549253463745, + 0.02738291025161743, + 0.24236474791541696 + ], + [ + 0.16976864635944366, + -0.02179323509335518, + 0.9852429628372192, + 0.12771343905478716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9843167662620544, + 0.039446212351322174, + -0.17194333672523499, + -0.23822520367269007 + ], + [ + -0.03456167131662369, + 0.99891197681427, + 0.03131066635251045, + 0.247168993946564 + ], + [ + 0.1729913353919983, + -0.02487696334719658, + 0.9846091270446777, + 0.12490988450923136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9836912751197815, + 0.04000692069530487, + -0.17535947263240814, + -0.23781294104244027 + ], + [ + -0.03435441851615906, + 0.9987912774085999, + 0.035153042525053024, + 0.24788085602756058 + ], + [ + 0.1765538901090622, + -0.02855536714196205, + 0.9838767051696777, + 0.12484311393595168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9840283393859863, + 0.040694382041692734, + -0.17329806089401245, + -0.24325453575168338 + ], + [ + -0.03497931733727455, + 0.9987427592277527, + 0.03590680658817291, + 0.2550652062936154 + ], + [ + 0.1745413839817047, + -0.02927146852016449, + 0.9842146635055542, + 0.14165401526593735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9835222959518433, + 0.03956824913620949, + -0.1764037162065506, + -0.24491619893482752 + ], + [ + -0.03350288048386574, + 0.9987449049949646, + 0.03723142296075821, + 0.25816654922174553 + ], + [ + 0.17765550315380096, + -0.03070790320634842, + 0.9836134910583496, + 0.1401752372937543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.984245777130127, + 0.036179088056087494, + -0.17306450009346008, + -0.2524615728429386 + ], + [ + -0.03082851879298687, + 0.998962938785553, + 0.03350617364048958, + 0.26548653563700747 + ], + [ + 0.1740972399711609, + -0.02764298766851425, + 0.9843403697013855, + 0.14614456772272075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9832988977432251, + 0.039637189358472824, + -0.17762930691242218, + -0.24720510446599553 + ], + [ + -0.033830676227808, + 0.9987933039665222, + 0.03560049086809158, + 0.26608906084605094 + ], + [ + 0.17882607877254486, + -0.028996603563427925, + 0.9834533333778381, + 0.14942647483465926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9838452935218811, + 0.039371855556964874, + -0.17463745176792145, + -0.25453249271959066 + ], + [ + -0.03354644775390625, + 0.9987818598747253, + 0.03618570417165756, + 0.26761789321899415 + ], + [ + 0.17584942281246185, + -0.02974267117679119, + 0.983967661857605, + 0.15830752602778375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9833954572677612, + 0.036547139286994934, + -0.1777573823928833, + -0.25365450488669533 + ], + [ + -0.03167446702718735, + 0.9990426898002625, + 0.030173849314451218, + 0.27627957006916404 + ], + [ + 0.17868998646736145, + -0.024042457342147827, + 0.9836116433143616, + 0.1582991862403495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9831177592277527, + 0.040422290563583374, + -0.17845310270786285, + -0.255726329157395 + ], + [ + -0.034584179520606995, + 0.9987637400627136, + 0.03570682927966118, + 0.2705026324505785 + ], + [ + 0.17967583239078522, + -0.028932364657521248, + 0.9833003282546997, + 0.15633855380250938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9833177924156189, + 0.03684435784816742, + -0.17812539637088776, + -0.256372496219618 + ], + [ + -0.03191686421632767, + 0.9990265369415283, + 0.030450869351625443, + 0.27710257314278613 + ], + [ + 0.17907394468784332, + -0.024257678538560867, + 0.9835365414619446, + 0.1637477709113487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9827612042427063, + 0.038814742118120193, + -0.18075890839099884, + -0.2563222256356052 + ], + [ + -0.03342975303530693, + 0.9989045262336731, + 0.03274393454194069, + 0.2756874054054996 + ], + [ + 0.18183185160160065, + -0.026136742904782295, + 0.9829822182655334, + 0.16394956701967334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9812502861022949, + 0.036835409700870514, + -0.1891852170228958, + -0.2482456113610949 + ], + [ + -0.031185925006866455, + 0.9989767670631409, + 0.032753728330135345, + 0.27508752111877716 + ], + [ + 0.1901981383562088, + -0.02623968943953514, + 0.9813950061798096, + 0.15589937988136496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9813196659088135, + 0.03504137322306633, + -0.18916600942611694, + -0.25102671033569746 + ], + [ + -0.029543237760663033, + 0.9990572929382324, + 0.03180793300271034, + 0.2775347000777921 + ], + [ + 0.19010227918624878, + -0.02562517672777176, + 0.9814298152923584, + 0.16031213240431888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9819334745407104, + 0.030313855037093163, + -0.1867826282978058, + -0.25859230384230614 + ], + [ + -0.02600204013288021, + 0.9993367791175842, + 0.02549208328127861, + 0.28742071230662986 + ], + [ + 0.18743151426315308, + -0.020174801349639893, + 0.9820704460144043, + 0.16948998309671878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9819741249084473, + 0.03294249624013901, + -0.18612243235111237, + -0.2614127535905157 + ], + [ + -0.027720853686332703, + 0.9991475939750671, + 0.030588757246732712, + 0.28426207372519585 + ], + [ + 0.18697144091129303, + -0.024877898395061493, + 0.9820502996444702, + 0.17621031559870712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9818066358566284, + 0.03714270144701004, + -0.18621531128883362, + -0.2641167706676892 + ], + [ + -0.030587561428546906, + 0.9988112449645996, + 0.037953250110149384, + 0.2774932436778077 + ], + [ + 0.18740364909172058, + -0.03156688064336777, + 0.9817756414413452, + 0.17888302552912916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9814580082893372, + 0.03658453747630119, + -0.18815356492996216, + -0.26568889615259 + ], + [ + -0.030216116458177567, + 0.9988728761672974, + 0.03660549223423004, + 0.2811758086334781 + ], + [ + 0.1892806887626648, + -0.030241481959819794, + 0.9814572334289551, + 0.1785703895081367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9809152483940125, + 0.038246944546699524, + -0.19063688814640045, + -0.26520737084959234 + ], + [ + -0.031209716573357582, + 0.9987208247184753, + 0.0397820919752121, + 0.27921573177279374 + ], + [ + 0.19191457331180573, + -0.03307313472032547, + 0.9808542132377625, + 0.18260045923026544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.981278657913208, + 0.04430675506591797, + -0.1874275505542755, + -0.27592472316963335 + ], + [ + -0.036954790353775024, + 0.9984110593795776, + 0.0425412580370903, + 0.28195531236539995 + ], + [ + 0.18901461362838745, + -0.034818485379219055, + 0.9813567996025085, + 0.185928314418665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9798880815505981, + 0.03704782947897911, + -0.19607873260974884, + -0.2651781737804413 + ], + [ + -0.030533496290445328, + 0.9988800287246704, + 0.036143288016319275, + 0.2874797877988645 + ], + [ + 0.19719816744327545, + -0.02942940592765808, + 0.979921817779541, + 0.18132033199071884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9813386797904968, + 0.04823989421129227, + -0.1861378699541092, + -0.2843492081388831 + ], + [ + -0.04032207280397415, + 0.9981229901313782, + 0.046093448996543884, + 0.28179512193892153 + ], + [ + 0.1880120187997818, + -0.03772781789302826, + 0.981441855430603, + 0.19408944989554583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9813615083694458, + 0.04768792912364006, + -0.18615961074829102, + -0.28586243550692286 + ], + [ + -0.040376562625169754, + 0.9982643127441406, + 0.04287264496088028, + 0.28808075235823966 + ], + [ + 0.1878809928894043, + -0.03455708175897598, + 0.9815837144851685, + 0.20304081269672938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9782460331916809, + 0.0362817719578743, + -0.2042505443096161, + -0.2789133549002664 + ], + [ + -0.02979928068816662, + 0.9989525079727173, + 0.03472568094730377, + 0.30633528738399035 + ], + [ + 0.20529651641845703, + -0.0278837401419878, + 0.978302538394928, + 0.22922853359154294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9768620133399963, + 0.03369762375950813, + -0.21119923889636993, + -0.2752763772649424 + ], + [ + -0.02592857927083969, + 0.9988851547241211, + 0.03944811224937439, + 0.3071794271069978 + ], + [ + 0.2122931033372879, + -0.033059269189834595, + 0.9766466617584229, + 0.2456253104177969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9721911549568176, + 0.03843916580080986, + -0.23101243376731873, + -0.2573145365874682 + ], + [ + -0.02466186322271824, + 0.997756838798523, + 0.062234293669462204, + 0.28477041923490887 + ], + [ + 0.23288646340370178, + -0.054806437343358994, + 0.9709583520889282, + 0.24514658143743873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9801905155181885, + 0.05378718674182892, + -0.19061337411403656, + -0.29626088248831883 + ], + [ + -0.0450008362531662, + 0.9977283477783203, + 0.05013084411621094, + 0.2920816803484091 + ], + [ + 0.19287677109241486, + -0.04056002199649811, + 0.980384349822998, + 0.22005879377414073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9796887040138245, + 0.051700081676244736, + -0.19374513626098633, + -0.296533824530031 + ], + [ + -0.04271036013960838, + 0.9978207349777222, + 0.05029575526714325, + 0.29245175856132327 + ], + [ + 0.19592320919036865, + -0.04099925607442856, + 0.9797617793083191, + 0.21938336007297038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9806210994720459, + 0.05302557349205017, + -0.18860165774822235, + -0.3069074213504791 + ], + [ + -0.04425550997257233, + 0.9977473616600037, + 0.05041441321372986, + 0.2973402548581362 + ], + [ + 0.19085006415843964, + -0.041090771555900574, + 0.980758786201477, + 0.2290729109197855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9814570546150208, + 0.051852207630872726, + -0.18453557789325714, + -0.3148844408935734 + ], + [ + -0.043721120804548264, + 0.9978964924812317, + 0.04786466807126999, + 0.3031075379096105 + ], + [ + 0.1866293102502823, + -0.03890901803970337, + 0.9816595911979675, + 0.2339749092036592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9810110330581665, + 0.04894094169139862, + -0.18767571449279785, + -0.3151185656232493 + ], + [ + -0.04083140939474106, + 0.9980676174163818, + 0.046837735921144485, + 0.30604485013256116 + ], + [ + 0.18960535526275635, + -0.0382852740585804, + 0.9811136722564697, + 0.23659518201436316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9813628792762756, + 0.03824065998196602, + -0.18832038342952728, + -0.3187757137896759 + ], + [ + -0.033928196877241135, + 0.9990841746330261, + 0.0260713379830122, + 0.3350404262126956 + ], + [ + 0.18914489448070526, + -0.019196072593331337, + 0.9817615151405334, + 0.2506511714908161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9802757501602173, + 0.04170132800936699, + -0.19318518042564392, + -0.31519986752952844 + ], + [ + -0.03515664115548134, + 0.9986898303031921, + 0.037184473127126694, + 0.32503443592494086 + ], + [ + 0.1944827139377594, + -0.029659295454621315, + 0.9804574251174927, + 0.24099592603743075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9800023436546326, + 0.039918769150972366, + -0.19494085013866425, + -0.31508129401398555 + ], + [ + -0.032624658197164536, + 0.9986473321914673, + 0.04048681631684303, + 0.3244842537761932 + ], + [ + 0.19629333913326263, + -0.03331729397177696, + 0.9799790382385254, + 0.2427266656487648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9804461598396301, + 0.02876748889684677, + -0.19467346370220184, + -0.32052397626851287 + ], + [ + -0.024507202208042145, + 0.9994053244590759, + 0.024257993325591087, + 0.346843807379316 + ], + [ + 0.19525553286075592, + -0.019012754783034325, + 0.9805681109428406, + 0.25568749913945793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9799361824989319, + 0.039951007813215256, + -0.19526657462120056, + -0.31968847196549177 + ], + [ + -0.03236104175448418, + 0.998597264289856, + 0.04190791770815849, + 0.331412359199021 + ], + [ + 0.1966669261455536, + -0.034748051315546036, + 0.9798544049263, + 0.25024201115593314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9816285967826843, + 0.03504381701350212, + -0.18755590915679932, + -0.33267244909490856 + ], + [ + -0.030307400971651077, + 0.9991466403007507, + 0.02806256338953972, + 0.3524201504087874 + ], + [ + 0.18837925791740417, + -0.021862681955099106, + 0.9818530082702637, + 0.2596007668546268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9800726175308228, + 0.04077933356165886, + -0.19440858066082, + -0.3275120596268347 + ], + [ + -0.03350183740258217, + 0.9986146092414856, + 0.040577441453933716, + 0.3437985554720009 + ], + [ + 0.1957939714193344, + -0.033255793154239655, + 0.9800810217857361, + 0.2602344155777246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9788609743118286, + 0.039842281490564346, + -0.20060868561267853, + -0.3233554566545146 + ], + [ + -0.0328047089278698, + 0.9987282156944275, + 0.038285307586193085, + 0.3495083217010168 + ], + [ + 0.20187892019748688, + -0.030895084142684937, + 0.9789230823516846, + 0.2614991577741291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.978499710559845, + 0.04232272505760193, + -0.20185905694961548, + -0.32335026139127354 + ], + [ + -0.033581241965293884, + 0.9983519911766052, + 0.04653614014387131, + 0.34278558633024137 + ], + [ + 0.20349591970443726, + -0.038756921887397766, + 0.978308379650116, + 0.25884008527334246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9785603284835815, + 0.04276402294635773, + -0.20147177577018738, + -0.3264528608747891 + ], + [ + -0.03396274894475937, + 0.9983200430870056, + 0.04694247990846634, + 0.3466044050375266 + ], + [ + 0.2031407654285431, + -0.039093516767024994, + 0.9783688187599182, + 0.2654516465429749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9782780408859253, + 0.03912702947854996, + -0.20357105135917664, + -0.32584959848650863 + ], + [ + -0.030536524951457977, + 0.9985124468803406, + 0.045171529054641724, + 0.35041614687402867 + ], + [ + 0.20503565669059753, + -0.03797396272420883, + 0.9780175685882568, + 0.26436191364856704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9774669408798218, + 0.04221084341406822, + -0.20682522654533386, + -0.3257570929825306 + ], + [ + -0.03241746500134468, + 0.998197078704834, + 0.0505148284137249, + 0.3467292887857184 + ], + [ + 0.20858460664749146, + -0.04267182573676109, + 0.9770729541778564, + 0.2629888568073511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9779177308082581, + 0.04341774061322212, + -0.20443041622638702, + -0.3296492208593658 + ], + [ + -0.03369125351309776, + 0.9981392621994019, + 0.05082254856824875, + 0.35042404928743576 + ], + [ + 0.20625661313533783, + -0.042812757194042206, + 0.9775608777999878, + 0.26669168659219783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9779651165008545, + 0.04133177921175957, + -0.2046360820531845, + -0.330967720917293 + ], + [ + -0.031611453741788864, + 0.9982213973999023, + 0.05054517462849617, + 0.3519899759308568 + ], + [ + 0.20636121928691864, + -0.04296257719397545, + 0.9775322079658508, + 0.26714049391448497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9777652621269226, + 0.046346161514520645, + -0.20451679825782776, + -0.3326804383790919 + ], + [ + -0.035835232585668564, + 0.9978538751602173, + 0.05480358004570007, + 0.3513229517016693 + ], + [ + 0.2066178321838379, + -0.046256132423877716, + 0.9773277044296265, + 0.2695921925561769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9776152968406677, + 0.04622408747673035, + -0.2052600383758545, + -0.333232772190656 + ], + [ + -0.036020562052726746, + 0.99793541431427, + 0.053173549473285675, + 0.35442089812297906 + ], + [ + 0.20729416608810425, + -0.04458969086408615, + 0.9772619605064392, + 0.2723614683640855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9775484800338745, + 0.043984659016132355, + -0.2060687094926834, + -0.3344379132879632 + ], + [ + -0.03426015377044678, + 0.998134970664978, + 0.05052521079778671, + 0.35816116923732416 + ], + [ + 0.20790670812129974, + -0.042330898344516754, + 0.9772322773933411, + 0.27161274598246177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9767021536827087, + 0.04886986315250397, + -0.20896080136299133, + -0.3317396128816264 + ], + [ + -0.038086146116256714, + 0.9977417588233948, + 0.055324651300907135, + 0.3543514229889427 + ], + [ + 0.21119263768196106, + -0.046077191829681396, + 0.9763578176498413, + 0.2698033911309072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9775208234786987, + 0.05245504900813103, + -0.20420949161052704, + -0.3377152632921934 + ], + [ + -0.0405970998108387, + 0.9972605109214783, + 0.06183278560638428, + 0.3502343091298826 + ], + [ + 0.20689351856708527, + -0.052152521908283234, + 0.9769724607467651, + 0.27107371869497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9761684536933899, + 0.04609309136867523, + -0.21206262707710266, + -0.3308273833245039 + ], + [ + -0.03493694216012955, + 0.9978160262107849, + 0.05605929344892502, + 0.35537373277890894 + ], + [ + 0.21418341994285583, + -0.04731449484825134, + 0.9756468534469604, + 0.272920456448836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9763355255126953, + 0.051222868263721466, + -0.2101074904203415, + -0.3341890352112906 + ], + [ + -0.038054510951042175, + 0.9970772862434387, + 0.06624792516231537, + 0.3468846585268953 + ], + [ + 0.21288679540157318, + -0.05668466538190842, + 0.9754312038421631, + 0.2731287032432322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9761223793029785, + 0.047249503433704376, + -0.21202023327350616, + -0.33345267517226085 + ], + [ + -0.035780541598796844, + 0.9976977705955505, + 0.057610251009464264, + 0.35473027208021707 + ], + [ + 0.21425415575504303, + -0.04864846169948578, + 0.9755657315254211, + 0.27003461505685533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9754644632339478, + 0.04893382638692856, + -0.21464987099170685, + -0.33144701181777886 + ], + [ + -0.036298684775829315, + 0.9973897933959961, + 0.06241801381111145, + 0.34998607106307256 + ], + [ + 0.2171439379453659, + -0.053095050156116486, + 0.974694550037384, + 0.2709895418890353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9762403964996338, + 0.04768259823322296, + -0.211378812789917, + -0.3355202434318406 + ], + [ + -0.03587944060564041, + 0.9975934624671936, + 0.05932897329330444, + 0.3538089521694928 + ], + [ + 0.213699072599411, + -0.05033519119024277, + 0.9756019115447998, + 0.2758079151755997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9764856100082397, + 0.04553608596324921, + -0.21071845293045044, + -0.3367976894868272 + ], + [ + -0.034361034631729126, + 0.9978170394897461, + 0.056395772844552994, + 0.35595012542658616 + ], + [ + 0.21282649040222168, + -0.04782916232943535, + 0.9759186506271362, + 0.27913216448255945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9751425385475159, + 0.04521111398935318, + -0.2169169783592224, + -0.33143359497189523 + ], + [ + -0.033771492540836334, + 0.9978504776954651, + 0.05615934357047081, + 0.3559144874103367 + ], + [ + 0.21898972988128662, + -0.04743775352835655, + 0.9745733141899109, + 0.2769445076584816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9751710295677185, + 0.046018123626708984, + -0.21661913394927979, + -0.332954336622996 + ], + [ + -0.034438394010066986, + 0.9977838397026062, + 0.056933194398880005, + 0.35565574643135606 + ], + [ + 0.21875903010368347, + -0.04805958271026611, + 0.9745946526527405, + 0.2775405123164611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.975213885307312, + 0.05068529024720192, + -0.21538092195987701, + -0.3367483857486929 + ], + [ + -0.038428183645009995, + 0.9974146485328674, + 0.06072290241718292, + 0.3537068986566737 + ], + [ + 0.21790184080600739, + -0.050941117107868195, + 0.9746403694152832, + 0.2788840467775507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9744794368743896, + 0.050179317593574524, + -0.21879629790782928, + -0.33246850360717095 + ], + [ + -0.037934236228466034, + 0.9974884390830994, + 0.05981434881687164, + 0.3534416816031028 + ], + [ + 0.22124822437763214, + -0.04998798668384552, + 0.9739355444908142, + 0.2769520666117647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9739938974380493, + 0.049837321043014526, + -0.2210252434015274, + -0.3307858130761555 + ], + [ + -0.03738419711589813, + 0.9974875450134277, + 0.06017472222447395, + 0.3525767776050738 + ], + [ + 0.22346888482570648, + -0.05034695938229561, + 0.97340989112854, + 0.2778901593493564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9736804366111755, + 0.049320828169584274, + -0.22251705825328827, + -0.33021276532007116 + ], + [ + -0.03734184429049492, + 0.9976338148117065, + 0.05772639438509941, + 0.3552331634481171 + ], + [ + 0.22483764588832855, + -0.04789786413311958, + 0.9732182621955872, + 0.2782095122483692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9732658863067627, + 0.04618198052048683, + -0.22499050199985504, + -0.32813759935753684 + ], + [ + -0.034166332334280014, + 0.9977887868881226, + 0.057011015713214874, + 0.3553326550505257 + ], + [ + 0.2271258682012558, + -0.04779978096485138, + 0.9726916551589966, + 0.2780540902034513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9736862182617188, + 0.04760148003697395, + -0.22286587953567505, + -0.33141256570816036 + ], + [ + -0.03630353882908821, + 0.9978524446487427, + 0.05452154949307442, + 0.358227689366322 + ], + [ + 0.22498255968093872, + -0.04499606415629387, + 0.9733232855796814, + 0.2815112115815282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.973693311214447, + 0.045935481786727905, + -0.2231845110654831, + -0.3327957165028368 + ], + [ + -0.03520573675632477, + 0.9980356097221375, + 0.05182107165455818, + 0.3598468466794917 + ], + [ + 0.22512651979923248, + -0.04260045662522316, + 0.9733977913856506, + 0.2788905468104141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9737008810043335, + 0.05108634755015373, + -0.222028911113739, + -0.3346857548292194 + ], + [ + -0.03848285600543022, + 0.9974122643470764, + 0.06072795391082764, + 0.35426341600084144 + ], + [ + 0.22455671429634094, + -0.05058655887842178, + 0.9731470942497253, + 0.2854459116102329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9741619825363159, + 0.05366671457886696, + -0.21938173472881317, + -0.3388696856796741 + ], + [ + -0.0404033400118351, + 0.997098982334137, + 0.064506895840168, + 0.35133698567016314 + ], + [ + 0.222207173705101, + -0.05397640913724899, + 0.9735042452812195, + 0.28408512410574727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.973824679851532, + 0.05242420732975006, + -0.2211722433567047, + -0.33681866875184435 + ], + [ + -0.03936917334794998, + 0.9972348213195801, + 0.06303039193153381, + 0.353568360186182 + ], + [ + 0.22386497259140015, + -0.052673183381557465, + 0.9731957912445068, + 0.28500196489372426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9735780954360962, + 0.04936404898762703, + -0.22295495867729187, + -0.3351942556244986 + ], + [ + -0.03669549152255058, + 0.9974865913391113, + 0.06061336025595665, + 0.35553819944283793 + ], + [ + 0.22538670897483826, + -0.05083039775490761, + 0.9729424715042114, + 0.28545367270708083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9732796549797058, + 0.05226244777441025, + -0.22359639406204224, + -0.3346595267366086 + ], + [ + -0.038958609104156494, + 0.9972208142280579, + 0.0635053813457489, + 0.35478795764169524 + ], + [ + 0.2262939214706421, + -0.05309749394655228, + 0.9726107716560364, + 0.28961230276950767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9716777801513672, + 0.05356193333864212, + -0.23015956580638885, + -0.32987987995147705 + ], + [ + -0.038797102868556976, + 0.9969165325164795, + 0.06820700317621231, + 0.3503423889633268 + ], + [ + 0.2331031709909439, + -0.05734570696949959, + 0.9707596898078918, + 0.28772214567288756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9730092287063599, + 0.05760304629802704, + -0.22346125543117523, + -0.3360275113689048 + ], + [ + -0.04270080476999283, + 0.9965647459030151, + 0.07096035778522491, + 0.3498107564269698 + ], + [ + 0.22678114473819733, + -0.05950310826301575, + 0.9721263647079468, + 0.29195427598564755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9732639789581299, + 0.05660118907690048, + -0.22260621190071106, + -0.33740007664476124 + ], + [ + -0.042556583881378174, + 0.9968184232711792, + 0.06739399582147598, + 0.3529686211475304 + ], + [ + 0.22571256756782532, + -0.056118786334991455, + 0.9725762009620667, + 0.2917605798691511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9733157157897949, + 0.05558507889509201, + -0.22263599932193756, + -0.3370802907007081 + ], + [ + -0.04060353338718414, + 0.9966269731521606, + 0.07131612300872803, + 0.34961377522642056 + ], + [ + 0.22584916651248932, + -0.06037329509854317, + 0.9722896814346313, + 0.28889579999792786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9730719923973083, + 0.056108225136995316, + -0.22356832027435303, + -0.3360169544283833 + ], + [ + -0.0415382944047451, + 0.9967271089553833, + 0.0693516880273819, + 0.35188027937963073 + ], + [ + 0.22672781348228455, + -0.058197539299726486, + 0.972217857837677, + 0.29348871859588793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9747859239578247, + 0.05415768176317215, + -0.2164701372385025, + -0.3445739993559463 + ], + [ + -0.04181217402219772, + 0.9972485899925232, + 0.06121284142136574, + 0.35934613982681185 + ], + [ + 0.21918968856334686, + -0.050618331879377365, + 0.9743683338165283, + 0.29219302751256954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9725808501243591, + 0.051635805517435074, + -0.22676043212413788, + -0.33289976779903685 + ], + [ + -0.03932473435997963, + 0.9975137114524841, + 0.05847998335957527, + 0.36125837730775984 + ], + [ + 0.2292162925004959, + -0.04795921966433525, + 0.9721933007240295, + 0.29322339887065546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9749566316604614, + 0.05663636699318886, + -0.21506257355213165, + -0.3438032869249582 + ], + [ + -0.044533971697092056, + 0.997161328792572, + 0.06071212515234947, + 0.36090458967955785 + ], + [ + 0.21789060533046722, + -0.04961409792304039, + 0.9747112989425659, + 0.29240885567851366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9730164408683777, + 0.05251527577638626, + -0.22467999160289764, + -0.33349255669329847 + ], + [ + -0.040386803448200226, + 0.9974851012229919, + 0.05824362859129906, + 0.36338392668403685 + ], + [ + 0.22717364132404327, + -0.04759790375828743, + 0.9726904034614563, + 0.2947854206099042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9740945100784302, + 0.0508735328912735, + -0.22034470736980438, + -0.3366531493940524 + ], + [ + -0.04041891545057297, + 0.9978443384170532, + 0.051700908690690994, + 0.3696057478331828 + ], + [ + 0.22249992191791534, + -0.0414554737508297, + 0.9740509390830994, + 0.29758393726577714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9745395183563232, + 0.060229115188121796, + -0.2159750759601593, + -0.3400096616574696 + ], + [ + -0.04752165079116821, + 0.9968459010124207, + 0.06356023252010345, + 0.3558769593281405 + ], + [ + 0.219122052192688, + -0.05167846381664276, + 0.9743279218673706, + 0.29016593417951037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.973020613193512, + 0.05692782253026962, + -0.22358457744121552, + -0.33337828950690374 + ], + [ + -0.04324537515640259, + 0.9969066977500916, + 0.06562654674053192, + 0.3558208347165159 + ], + [ + 0.22662894427776337, + -0.05418698862195015, + 0.9724726676940918, + 0.2950358116134469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9749944806098938, + 0.05978137254714966, + -0.21403729915618896, + -0.34223689335797514 + ], + [ + -0.04703809320926666, + 0.9968311786651611, + 0.06414798647165298, + 0.3583637350504952 + ], + [ + 0.21719390153884888, + -0.052476029843091965, + 0.9747169017791748, + 0.29120817242988517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9743273854255676, + 0.06118094176054001, + -0.21666352450847626, + -0.3393504586869053 + ], + [ + -0.04694730043411255, + 0.9964241981506348, + 0.07024778425693512, + 0.35193384452057735 + ], + [ + 0.22018660604953766, + -0.05827257037162781, + 0.9737156629562378, + 0.2944162586371281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9746309518814087, + 0.05679415538907051, + -0.21649222075939178, + -0.3428583204746246 + ], + [ + -0.04365858808159828, + 0.996930718421936, + 0.06498537957668304, + 0.36138105653226377 + ], + [ + 0.2195185273885727, + -0.053885020315647125, + 0.9741191267967224, + 0.2997775062918663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/orbit_left/transforms.json b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..648388707d0a1f4c687f6f4ad255022029b029ce --- /dev/null +++ b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/orbit_left/transforms.json @@ -0,0 +1,7888 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 225, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 5.429926386568695e-05, + 6.081355968490243e-05, + -9.924238838721067e-06 + ], + [ + -5.429988959804177e-05, + 1.0, + 1.0281693903380074e-05, + -4.616683509084396e-05 + ], + [ + -6.081299943616614e-05, + -1.028499536914751e-05, + 1.0, + -0.00013104858226142824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999973886970893, + -0.000524801725987345, + -0.0022302292064070323, + -0.006423470495229453 + ], + [ + 0.0005206764950815633, + 0.999998152256012, + -0.00184984860728588, + -9.526090835578192e-05 + ], + [ + 0.002231195936829601, + 0.0018486824119463563, + 0.9999957805004454, + 0.0019169091241835522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999862441644692, + -0.0009416362736374142, + -0.005160610475154962, + -0.011359506932008354 + ], + [ + 0.0009233642266816458, + 0.9999933242797854, + -0.0035419081074969695, + -0.00016698720644127622 + ], + [ + 0.005163910757431526, + 0.0035370942205190667, + 0.999980410607729, + 0.0006454068526167399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999684246726156, + -0.0008186700870282948, + -0.007907031391981073, + -0.0180522665403199 + ], + [ + 0.0007769062760672084, + 0.9999857544898987, + -0.0052834800278251815, + 0.00036335210262557004 + ], + [ + 0.007911244099155817, + 0.005277170334011316, + 0.9999547898958907, + 0.003627678852871985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999322719040185, + -0.0019139857031404976, + -0.011479686637642017, + -0.023624710550953807 + ], + [ + 0.001826477949999792, + 0.9999692440032961, + -0.007628490789175827, + 0.0010146249799027668 + ], + [ + 0.01149393323395794, + 0.0076070069335401076, + 0.9999049796762637, + 0.0034268056481044076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998882253663959, + -0.0023734024725854397, + -0.014762190721050023, + -0.030086537817472832 + ], + [ + 0.002231455001621881, + 0.999951183795929, + -0.0096246580635809, + 0.0011828243252248077 + ], + [ + 0.014784312765995672, + 0.009590641595423222, + 0.9998447232983029, + 0.0026402632735108874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999839127043657, + -0.0010817669099196794, + -0.017905453954737888, + -0.037326394035998314 + ], + [ + 0.0008916672668843336, + 0.9999431967735293, + -0.010621442060050527, + 0.001129474321919958 + ], + [ + 0.017915926401261266, + 0.010603766888380052, + 0.9997832899512284, + 0.0026697973246314404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997711658155992, + -0.0005323534714989364, + -0.021386637281188094, + -0.04444257887633304 + ], + [ + 0.0002806312420803517, + 0.9999306797981262, + -0.01177134998599132, + 0.0017771310677210635 + ], + [ + 0.02139142031165959, + 0.011762653477489948, + 0.9997020016390009, + -0.0001450450289773766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997107714610669, + -0.0002050281473202631, + -0.02404892451123432, + -0.052207310634635885 + ], + [ + -9.919714432595766e-05, + 0.9999200105667114, + -0.012648394807915764, + 0.0011375270506406932 + ], + [ + 0.02404959044698535, + 0.012647121213376522, + 0.9996307847578954, + 0.0006489958072127211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996259656194981, + -0.0006102025508880616, + -0.027341240438995686, + -0.05850311398039359 + ], + [ + 0.0002524334103977036, + 0.999914348125458, + -0.013086870629408848, + -0.0006398569896171174 + ], + [ + 0.02734688587430796, + 0.013075074180960659, + 0.999540487607181, + -0.00032108293399757686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995025459230729, + 7.511320291087031e-05, + -0.031537473966897496, + -0.0637689587378613 + ], + [ + -0.0004976502183421825, + 0.9999102354049683, + -0.013390300795266865, + -0.0019953879422930903 + ], + [ + 0.03153363442397982, + 0.01339933555573225, + 0.9994128495377398, + -0.004356997815670959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994980003759818, + 0.0005726817180402577, + -0.0316760535425684, + -0.07309380361614534 + ], + [ + -0.001020027594533572, + 0.9998999834060669, + -0.014108168161206431, + -0.0020054300905660875 + ], + [ + 0.03166480599001139, + 0.014133397489786148, + 0.9993986058314338, + 0.00045592710690071773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994234336850077, + 0.0012008092598989606, + -0.03393127519754812, + -0.07970362030560979 + ], + [ + -0.0017139326932302892, + 0.9998845458030701, + -0.015097395417151221, + -0.0018385642325238496 + ], + [ + 0.03390922919546723, + 0.015146846882998943, + 0.9993101029483152, + -0.000848598323518728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993133045612852, + 0.0035616722889244556, + -0.03688146755978226, + -0.08406176193238446 + ], + [ + -0.004111029445622813, + 0.9998815655708313, + -0.014830094970251239, + -0.002600716865536033 + ], + [ + 0.03682428119027807, + 0.014971531927585602, + 0.9992096057399549, + -0.0026128638340259572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9992033495207258, + 0.00528716342523694, + -0.03955631495956583, + -0.08857022516636756 + ], + [ + -0.005893700996285781, + 0.9998666048049927, + -0.015232648330152818, + -0.0025966642701946117 + ], + [ + 0.03947050499974094, + 0.015453645959496498, + 0.9991011999975732, + -0.003868341520818838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9990770655108995, + 0.0062154619954526424, + -0.042501104036595246, + -0.09267908977523547 + ], + [ + -0.006880897934220493, + 0.9998557567596436, + -0.015528582541974782, + -0.002016807345777184 + ], + [ + 0.04239845260782313, + 0.01580669730901718, + 0.998975710667687, + -0.005141112147414897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988820150578406, + 0.0066354665905237215, + -0.046804568168278736, + -0.09534302771330885 + ], + [ + -0.007391934338811918, + 0.999844551086426, + -0.016007748072461164, + -0.002710481400033514 + ], + [ + 0.04669108014285785, + 0.01633582822978497, + 0.9987758046809085, + -0.011185732933056452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9987051410980334, + 0.006460017058998346, + -0.050461290845158005, + -0.09886563695505873 + ], + [ + -0.0072928752109819375, + 0.9998399019241333, + -0.01633824921246589, + -0.00403045828786789 + ], + [ + 0.05034766756900852, + 0.01668510213494301, + 0.9985923544265575, + -0.017416512105176345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9986809046668508, + 0.004202523734420538, + -0.05117451103682966, + -0.10601284232354236 + ], + [ + -0.005041537766064494, + 0.9998548030853271, + -0.01627712252513444, + -0.007068148615556691 + ], + [ + 0.05109867394567823, + 0.016513647511601448, + 0.998557092446621, + -0.011622385991580393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9985897508197106, + 0.0032448719721287498, + -0.05299043547851598, + -0.11186137161935358 + ], + [ + -0.004063231654021277, + 0.9998740553855898, + -0.015343113213193609, + -0.011309437993395321 + ], + [ + 0.052933973286241574, + 0.015536786988377575, + 0.9984771278687825, + -0.010950830893058965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9984525934012114, + 0.003172739874571562, + -0.055518951792500736, + -0.1174521414896258 + ], + [ + -0.003913370711471521, + 0.9999047517776489, + -0.013236518972288691, + -0.01639096137005013 + ], + [ + 0.05547166879260132, + 0.0134333036839962, + 0.9983698669062652, + -0.011718646094872848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9982107875723086, + 0.007055305875837803, + -0.059375917160099136, + -0.12010864838645419 + ], + [ + -0.0075223377705844335, + 0.9999424815177917, + -0.007645835440133296, + -0.02346163878023645 + ], + [ + 0.05931856362330898, + 0.0080788005143404, + 0.9982063984919081, + -0.014914593926734505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9982895376127703, + 0.005916144698858261, + -0.05816361085254902, + -0.13007549622439418 + ], + [ + -0.006224827297130275, + 0.9999674558639526, + -0.005127384481666281, + -0.029334520601386853 + ], + [ + 0.0581313910410821, + 0.005480672232806683, + 0.9982938962989318, + -0.005510591690946446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9982270375276339, + 0.005605824291706085, + -0.059256910900348035, + -0.13829335569052664 + ], + [ + -0.005809574922640235, + 0.9999777674674988, + -0.0032667060623723008, + -0.03422617534478982 + ], + [ + 0.05923728300556947, + 0.003605171572417021, + 0.9982374213715035, + -0.0030663186584463722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9981159490512165, + 0.0052155288867652425, + -0.06113339252092318, + -0.14586901774280558 + ], + [ + -0.005311139310933177, + 0.999984920024872, + -0.001401567458087846, + -0.038884134910989035 + ], + [ + 0.06112516671838013, + 0.0017236148705706005, + 0.9981285979272558, + -0.006307561937296431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9979784656791969, + 0.002971149981021881, + -0.06348339810394454, + -0.15319800304729222 + ], + [ + -0.0029965835717818594, + 0.9999954700469971, + -0.0003054225709974043, + -0.04244939008383962 + ], + [ + 0.0634821968205035, + 0.0004950384027324617, + 0.9979828431964648, + -0.011642133059527793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9979084364899019, + 0.00293578184209764, + -0.06457665978911149, + -0.16078777383168125 + ], + [ + -0.002849999942076826, + 0.9999949336051941, + 0.001420448571881707, + -0.046018125023285936 + ], + [ + 0.06458051079329366, + -0.0012334341881796718, + 0.9979117140533099, + -0.015007491483120937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9977436194563911, + 0.0033743365202099085, + -0.06705454253724279, + -0.1656907707208342 + ], + [ + -0.003105363974761768, + 0.9999867081642151, + 0.004115080576995713, + -0.05120853378428603 + ], + [ + 0.06706754206977261, + -0.0038975668139755726, + 0.9977408095541109, + -0.021899880616155398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9977035037584354, + 0.0022510988637804985, + -0.06769485576951215, + -0.17125533276950086 + ], + [ + -0.0019051152583160692, + 0.9999848008155823, + 0.00517505350746849, + -0.054736779561267455 + ], + [ + 0.067705468918715, + -0.005034202244132757, + 0.9976926395208766, + -0.020070551989471067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9974934486990357, + 0.0020090490579605107, + -0.07073024826079494, + -0.1754634923497177 + ], + [ + -0.00156878346010986, + 0.9999790787696841, + 0.006279573450304667, + -0.0587797971302315 + ], + [ + 0.07074137646782463, + -0.006152872927486898, + 0.9974756957944748, + -0.027912438202121793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9973205264700693, + 0.0022488199174404144, + -0.07312142955765935, + -0.1805077999180525 + ], + [ + -0.0016771275206407571, + 0.9999675750732422, + 0.00787885588883456, + -0.06261738533988677 + ], + [ + 0.07313677740754122, + -0.007735110353678465, + 0.9972919002268832, + -0.03787894596232718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9971971034783925, + 0.000539722794201225, + -0.07481764642304398, + -0.18690030284458053 + ], + [ + 4.909977803933395e-05, + 0.9999690651893616, + 0.007868041372495003, + -0.0645578549239206 + ], + [ + 0.07481957111670724, + -0.007849660702049732, + 0.9971662181170443, + -0.04274662111768494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9970027225880848, + -0.0003444814938120544, + -0.07736554919439773, + -0.19445975630851145 + ], + [ + 0.0009105405144658113, + 0.9999730587005615, + 0.007281525759689884, + -0.06442723345284197 + ], + [ + 0.07736096513778025, + -0.007330145221203566, + 0.9969761873757956, + -0.04982278848742084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9969167455671142, + -0.0006783365970477462, + -0.07846353986485044, + -0.20434677228378884 + ], + [ + 0.0011447869992083587, + 0.9999819397926331, + 0.005899975359405325, + -0.062351443667321496 + ], + [ + 0.07845811972829556, + -0.005971608683466911, + 0.9968995364497225, + -0.056840597287891675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9967969055391692, + -0.0019858656451106076, + -0.0799496188968396, + -0.2138745223111886 + ], + [ + 0.002275028963768297, + 0.9999911785125735, + 0.00352589174559929, + -0.0580953758606226 + ], + [ + 0.07994191357690111, + -0.00369648588821292, + 0.9967926621739281, + -0.06816176310510605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9968047928825833, + 0.004223942756652832, + -0.07976439318714536, + -0.22659692766200906 + ], + [ + -0.003697232449680781, + 0.9999703764915466, + 0.006749862300668871, + -0.05451229388763214 + ], + [ + 0.07979053911713645, + -0.006433387752622366, + 0.9967908897173862, + -0.06811607623621103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9970122508458633, + 0.005899191368371248, + -0.07701823419467137, + -0.24044095813447353 + ], + [ + -0.005368184105598042, + 0.9999603629112244, + 0.007099774437452569, + -0.04879692180152458 + ], + [ + 0.07705707357401137, + -0.006665114313364029, + 0.9970044004405411, + -0.0628274618233923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9971733171903994, + 0.007266322616487743, + -0.07478347465010149, + -0.25314530997895685 + ], + [ + -0.006857819920841793, + 0.9999601244926455, + 0.005717812988957114, + -0.042406445277463595 + ], + [ + 0.07482204144094338, + -0.005188798531889916, + 0.9971833981185967, + -0.06199877764954708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9974948660333958, + 0.011571774259209633, + -0.06978625507292906, + -0.26610332477341864 + ], + [ + -0.010974476889673656, + 0.9998998641967773, + 0.008936299795713866, + -0.04043141890029103 + ], + [ + 0.06988267611126255, + -0.00814804621040821, + 0.9975219425887499, + -0.04586225990534071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974401830886884, + 0.014665169641375542, + -0.06998602338729575, + -0.27676403883087936 + ], + [ + -0.013962099932220017, + 0.9998471140861511, + 0.010524498718511738, + -0.03801612310171137 + ], + [ + 0.07012967385114667, + -0.00952040683478117, + 0.9974924400080545, + -0.05651213802309058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975577339800439, + 0.015775708481669426, + -0.06804173377631645, + -0.28692642016112 + ], + [ + -0.01502547817996335, + 0.9998207092285156, + 0.011523783352240148, + -0.03609591848112351 + ], + [ + 0.06821132364386942, + -0.01047328021377325, + 0.9976159100729419, + -0.057105299070155394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9975729883411006, + 0.01807323284447193, + -0.06724212670571397, + -0.29673971201037075 + ], + [ + -0.017270668603469087, + 0.9997727274894714, + 0.01249773904973167, + -0.033272526434246524 + ], + [ + 0.06745272005089978, + -0.011306090280413628, + 0.9976583949239206, + -0.05874667487245037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997444114516262, + 0.01824348233640194, + -0.06908261273079339, + -0.30812235438067004 + ], + [ + -0.01744720054243773, + 0.9997743964195251, + 0.012112460497025385, + -0.030792105251898898 + ], + [ + 0.06928800207993485, + -0.010876203887164593, + 0.9975373937276683, + -0.06424466747714169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9977579851541458, + 0.02120447345077992, + -0.06347775951121744, + -0.32265523914250305 + ], + [ + -0.02046764343622535, + 0.9997156262397768, + 0.012235643535162861, + -0.02985435824515432 + ], + [ + 0.06371915769255218, + -0.010908971540629865, + 0.9979082266258936, + -0.06673561348741391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979204358937612, + 0.03586491197347641, + -0.05355824700440825, + -0.3350185560013311 + ], + [ + -0.03469024500516369, + 0.999140202999115, + 0.022703683140468636, + -0.03285407879881709 + ], + [ + 0.0543264614685944, + -0.020798519253730774, + 0.998306618117711, + -0.03432551598004641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.99804138955333, + 0.03499880433082581, + -0.051850086813232124, + -0.3476069533196461 + ], + [ + -0.034058621433518316, + 0.9992409944534304, + 0.01890686315756846, + -0.033637571215136386 + ], + [ + 0.052472446200081097, + -0.017103889957070354, + 0.9984759062844498, + -0.05585307923283274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9988969261006042, + 0.022283431142568588, + -0.0413329910523772, + -0.3584445358618167 + ], + [ + -0.021266020294912057, + 0.9994639158248901, + 0.024893478732910108, + -0.042306533976529954 + ], + [ + 0.0418655432294324, + -0.02398703247308731, + 0.9988352726720595, + -0.06093438118623471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9986258444523229, + 0.028084894642233856, + -0.044245334960868445, + -0.3573553814868545 + ], + [ + -0.026988410480162893, + 0.9993183612823489, + 0.02518742422859607, + -0.04240355380392954 + ], + [ + 0.04492255939440208, + -0.023958701640367515, + 0.9987031377452152, + -0.06577017412985202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9989135028080922, + 0.01991699449717999, + -0.04213283866137535, + -0.35371899195199735 + ], + [ + -0.018661315985680535, + 0.9993759989738467, + 0.02998909302369774, + -0.047895030548451706 + ], + [ + 0.04270384091623125, + -0.029170254245400436, + 0.9986618223433505, + -0.06055591321663852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9987247841346688, + 0.02012706734240055, + -0.04629984880197608, + -0.3439597949587651 + ], + [ + -0.01875976544154902, + 0.9993804693222046, + 0.029778858552460125, + -0.04805582635206499 + ], + [ + 0.04687051898345121, + -0.028872309252619743, + 0.9984836459375942, + -0.064367258968141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9982741217390788, + 0.02524719387292862, + -0.05302263742178504, + -0.33317961299680227 + ], + [ + -0.02391588513054537, + 0.9993863105773926, + 0.025594576795046533, + -0.0429695809028338 + ], + [ + 0.05363628357955087, + -0.024282321333885193, + 0.9982652425561171, + -0.07414708048573646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.998100008122664, + 0.026521842926740653, + -0.055614630246737226, + -0.32234022927916445 + ], + [ + -0.025107762657560477, + 0.9993472695350649, + 0.025972886166032102, + -0.04131641778885092 + ], + [ + 0.05626718486208064, + -0.024527177214622504, + 0.9981144094035005, + -0.0767278207635563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9978864955626724, + 0.025159906595945365, + -0.059912597151592105, + -0.30670423919848205 + ], + [ + -0.02350703757187905, + 0.9993277192115786, + 0.028134939044248918, + -0.039786396014615734 + ], + [ + 0.06058019314874532, + -0.026667108759284026, + 0.997807031994341, + -0.07209303239111428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9979219224426592, + 0.02479124814271927, + -0.05947429933381711, + -0.2951521347582011 + ], + [ + -0.023058527168204564, + 0.9992944598197937, + 0.029645499156212982, + -0.03562812578883882 + ], + [ + 0.06016728203973531, + -0.02821250446140766, + 0.9977895080456992, + -0.06385243784583508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9979019516489495, + 0.022380176931619644, + -0.06075198268497772, + -0.2823119827457771 + ], + [ + -0.020731509380609536, + 0.9994031190872192, + 0.027633721885565298, + -0.03312637741610801 + ], + [ + 0.06133416976648587, + -0.026316266506910324, + 0.9977703232974242, + -0.06803449779699554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9980929776881066, + 0.020047249272465706, + -0.05838300298099014, + -0.2759942136204141 + ], + [ + -0.018633910497693612, + 0.9995223879814148, + 0.024652731688657708, + -0.029008147287476242 + ], + [ + 0.05884934092577566, + -0.02351781539618969, + 0.9979898023161612, + -0.07964629524141693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9984674939922523, + 0.012904680334031582, + -0.0538152772696278, + -0.27123796331848393 + ], + [ + -0.011748036099296977, + 0.9996943473815918, + 0.021754119044030896, + -0.024064207222803672 + ], + [ + 0.054079549748762605, + -0.021088557317852974, + 0.9983139205381009, + -0.06059591257265835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9987869878740804, + 0.020664729177951813, + -0.04469362748736916, + -0.2622128867560757 + ], + [ + -0.020301665554796573, + 0.9997572302818298, + 0.00856217477108576, + 0.026010356812379926 + ], + [ + 0.044859709752779954, + -0.007644433528184891, + 0.9989640779878445, + 0.007005171748570832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991491244266445, + 0.013682366348803043, + -0.03890712764544341, + -0.2607680607164344 + ], + [ + -0.013579432095460897, + 0.9999035596847534, + 0.0029086845761642235, + 0.03320401738052603 + ], + [ + 0.03894316999630798, + -0.0023778732866048813, + 0.9992386152705376, + 0.034834797243497626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9994063126882793, + 0.01908361911773682, + -0.028685498788545243, + -0.2666732611352484 + ], + [ + -0.018929867721985356, + 0.9998050332069399, + 0.005621904796296084, + 0.03552635900265443 + ], + [ + 0.02878719846778743, + -0.005075554363429547, + 0.9995726809106726, + 0.07013092290731442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9993325581786873, + 0.017915215343236927, + -0.03183543888614479, + -0.2620328822802044 + ], + [ + -0.017826561671877603, + 0.9998363852500918, + 0.0030663811574979842, + 0.04483955973390946 + ], + [ + 0.031885168969763567, + -0.0024968185462057595, + 0.9994884175410046, + 0.04412112079078967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992689755225905, + 0.020223272964358333, + -0.032443659034505676, + -0.25622945053027174 + ], + [ + -0.020240211799822026, + 0.9997951388359072, + -0.00019370904419433753, + 0.05909659796022279 + ], + [ + 0.032433098319653, + 0.0008502340642735364, + 0.9994735444773029, + 0.035150528266418964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9992958321472694, + 0.02305944450199604, + -0.029598985652720098, + -0.25344496875747013 + ], + [ + -0.022827463795279647, + 0.9997062087059021, + 0.008151588293642204, + 0.04412199137473001 + ], + [ + 0.029778257054786855, + -0.007470178883522749, + 0.9995285882937661, + 0.04127192755561527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993514501158495, + 0.014444018714129925, + -0.03298472234349107, + -0.24506908908831868 + ], + [ + -0.01444419247321357, + 0.9998956322669983, + 0.0002330106716788566, + 0.05519532704250535 + ], + [ + 0.03298464111670219, + 0.00024357804795727134, + 0.999455856348068, + 0.022773401591977136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9994772212206277, + 0.016963511705398563, + -0.027523747182090993, + -0.2466485638652395 + ], + [ + -0.016878278595663414, + 0.9998520016670229, + 0.003326165906585766, + 0.05055437647065502 + ], + [ + 0.027576090394076994, + -0.002859873697161675, + 0.9996156303043727, + 0.03911083430298883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.999519000496725, + 0.015923423692584038, + -0.02661334464439923, + -0.2447726646291667 + ], + [ + -0.015878347035375412, + 0.999872088432312, + 0.0019042983946070211, + 0.05548195095446909 + ], + [ + 0.02664026359075327, + -0.001480806851759553, + 0.99964401083638, + 0.03547248850353753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996057817248324, + 0.01422614324837923, + -0.02420429094113449, + -0.2451917235231667 + ], + [ + -0.01422666140215049, + 0.9998987913131714, + 0.00015078214049157055, + 0.05947741552348518 + ], + [ + 0.02420398308291224, + 0.00019362347666174173, + 0.99970702934, + 0.03256193949200001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996259274570656, + 0.01861332170665264, + -0.02003786877558957, + -0.2464112721575198 + ], + [ + -0.018540999383357105, + 0.9998209476470947, + 0.0037889887811766044, + 0.05837153889400853 + ], + [ + 0.020104798538356162, + -0.003416049759835005, + 0.9997920683224899, + 0.04007260149325266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997349811692284, + 0.015842288732528687, + -0.016703262727461626, + -0.24626651906214297 + ], + [ + -0.015796791397705522, + 0.9998711347579956, + 0.0028522840168503385, + 0.05986529059765253 + ], + [ + 0.01674629724501733, + -0.002587670460343361, + 0.9998564406812329, + 0.03942593497121594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9997891175913453, + 0.01510812807828188, + -0.013907200458974454, + -0.24475701016377563 + ], + [ + -0.015091364651499564, + 0.9998852610588074, + 0.0013094835227990271, + 0.06446332555128571 + ], + [ + 0.013925387261356755, + -0.001099328976124525, + 0.9999024115338079, + 0.04109724292878158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9998166683506194, + 0.015541225671768188, + -0.01118390788938172, + -0.2449032765599563 + ], + [ + -0.015529212529408181, + 0.9998787641525269, + 0.001160185956956021, + 0.06639969339526067 + ], + [ + 0.011200580413917626, + -0.0009862962178885937, + 0.9999368075084897, + 0.04125037493864394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9998280302067969, + 0.016847755759954456, + -0.007751470366116562, + -0.24605725289583902 + ], + [ + -0.016836484936951415, + 0.9998571276664736, + 0.0015170718138230652, + 0.06786667696030681 + ], + [ + 0.007775915706623259, + -0.0013863035710528495, + 0.9999688236191179, + 0.0453435847622273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.999849480917564, + 0.016624007374048233, + -0.004967164843235765, + -0.24599105714432198 + ], + [ + -0.016617041546111804, + 0.9998608827590942, + 0.001440743341908622, + 0.0691649074643532 + ], + [ + 0.004990424692701255, + -0.0013579874066635966, + 0.9999866277120527, + 0.04451173731966325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9998514651181226, + 0.01695217750966549, + -0.0031085998176967463, + -0.24367102164124876 + ], + [ + -0.01694353807870379, + 0.9998525977134705, + 0.0027846420599145624, + 0.06675102676736866 + ], + [ + 0.003155339237227545, + -0.002731557935476303, + 0.9999913188766241, + 0.04802640125649526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999018940895842, + 0.013698362745344639, + -0.0029168220332936347, + -0.23928561360562398 + ], + [ + -0.013694493540137532, + 0.9999053478240967, + 0.0013425986694411926, + 0.06723252323285123 + ], + [ + 0.002934939654029856, + -0.0013025228399783373, + 0.9999948227123815, + 0.04412675790827176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999271700561441, + 0.011794793419539932, + -0.0025528705136932985, + -0.23588576530404265 + ], + [ + -0.011792116273863673, + 0.9999299049377444, + 0.0010609953895771081, + 0.06714932690288004 + ], + [ + 0.0025652061211933323, + -0.0010308142518624666, + 0.9999961661332011, + 0.04169085783994867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999340812157376, + 0.011463133618235588, + -0.0006303438480222157, + -0.2358063604698294 + ], + [ + -0.011462361381970015, + 0.9999335408210754, + 0.001214915676142584, + 0.06702596451027057 + ], + [ + 0.0006442305322605139, + -0.0012076104758307338, + 0.9999990481439022, + 0.04124375148767641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999330738904135, + 0.011566673405468464, + -8.328597958889767e-05, + -0.231950802911902 + ], + [ + -0.011566514094701842, + 0.9999316334724426, + 0.0017039819936146732, + 0.06689961923895243 + ], + [ + 0.00010299390300050766, + -0.0017029047012329102, + 0.9999985293027357, + 0.03967474732434756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9997514882105893, + 0.01979604735970497, + 0.010253703518336734, + -0.24967266303814944 + ], + [ + -0.019846383627956595, + 0.9997913837432861, + 0.004830900811625368, + 0.07028838094557541 + ], + [ + -0.010155927850798684, + -0.005033198744058609, + 0.9999357364007295, + 0.054276885069882264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9997233229722606, + 0.020632188767194748, + 0.011293448976006358, + -0.24853872133072408 + ], + [ + -0.020725134119580428, + 0.9997518062591553, + 0.008175759782712474, + 0.06319870208977034 + ], + [ + -0.01112195853076026, + -0.008407555520534515, + 0.9999027983410087, + 0.04891573898835555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9997653456256356, + 0.017819412052631378, + 0.012316416708858762, + -0.24677897206638783 + ], + [ + -0.017908712265047606, + 0.9998138546943665, + 0.007178698933044712, + 0.06249567277325884 + ], + [ + -0.012186199556126268, + -0.0073975855484604836, + 0.9998983663661476, + 0.04571980276995641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9997388570498184, + 0.017840994521975517, + 0.014280381875326898, + -0.24640506719921818 + ], + [ + -0.01795155017789526, + 0.9998095631599426, + 0.007651463939416613, + 0.06247329638906702 + ], + [ + -0.014141149527944265, + -0.00790582038462162, + 0.9998687694558941, + 0.04633351754212252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9997066337872582, + 0.016843946650624275, + 0.017404687518466546, + -0.24788334316265595 + ], + [ + -0.01694672882353056, + 0.999839723110199, + 0.005775002585165343, + 0.06672230247763157 + ], + [ + -0.01730462761021608, + -0.006068261340260506, + 0.9998318200122018, + 0.05044988045798323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9995610073886539, + 0.021736696362495422, + 0.020131073243417053, + -0.24924244369614346 + ], + [ + -0.021940574455519186, + 0.9997096657752991, + 0.00996266332380365, + 0.06226131001912442 + ], + [ + -0.01990867728718103, + -0.010399977676570415, + 0.9997476954117038, + 0.05053495786778901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9996566889453959, + 0.016162043437361717, + 0.020622002349258227, + -0.24517381166470192 + ], + [ + -0.01627339728528272, + 0.9998538494110107, + 0.005243473943084015, + 0.06799967638474719 + ], + [ + -0.020534246210531563, + -0.005577264353632927, + 0.9997736187981153, + 0.0475477888309269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9996304179765684, + 0.01647915691137314, + 0.02162194929078121, + -0.24228800012093737 + ], + [ + -0.016619879464517723, + 0.9998417496681213, + 0.006344892396922296, + 0.06545309821320075 + ], + [ + -0.02151396070183754, + -0.006701902020722628, + 0.9997460662435821, + 0.04933960056972979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9994171451665805, + 0.021117670461535454, + 0.02682287602800188, + -0.2503772579481186 + ], + [ + -0.021399218320737767, + 0.999718427658081, + 0.010253188872823164, + 0.06266570249160347 + ], + [ + -0.026598790817135808, + -0.010821200907230377, + 0.9995875951157259, + 0.053703557406409315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9995128118812038, + 0.016500312834978104, + 0.026493930269648275, + -0.2456084272793239 + ], + [ + -0.016693088886641068, + 0.9998356699943542, + 0.007071666073399133, + 0.06688007420676167 + ], + [ + -0.02637289084419725, + -0.0075104860588908195, + 0.9996239602430639, + 0.05080114364720552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9995073855433533, + 0.015346040017902855, + 0.027376694581533457, + -0.24706228861784102 + ], + [ + -0.015638152405249208, + 0.9998227357864382, + 0.010488088218937078, + 0.05721907661118852 + ], + [ + -0.027210885028952657, + -0.01091104280203581, + 0.999570159426486, + 0.040688218458722884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9993398179053701, + 0.018176307901740074, + 0.031457496573743964, + -0.24876751317217094 + ], + [ + -0.018469018256635227, + 0.9997885823249817, + 0.009039525211580848, + 0.065415591554694 + ], + [ + -0.031286532712389556, + -0.009614546783268452, + 0.9994642187101451, + 0.05433712454261263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9993997452509628, + 0.015908166766166687, + 0.030773806938533814, + -0.24241340144151563 + ], + [ + -0.016188093221929725, + 0.9998296499252319, + 0.008868602642248116, + 0.063955461981889 + ], + [ + -0.03062749123559089, + -0.0093614486977458, + 0.9994870559750495, + 0.0500284001251987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9990077220560601, + 0.023457694798707962, + 0.03785902441452865, + -0.2538370172785416 + ], + [ + -0.024054081380506343, + 0.9995924234390259, + 0.015374912252454399, + 0.058429994478928486 + ], + [ + -0.03748294243255645, + -0.016270318999886513, + 0.9991648216148113, + 0.05776127547515095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9989321957662788, + 0.024339638650417335, + 0.03926838488791786, + -0.25265007941783524 + ], + [ + -0.02497766227196027, + 0.9995625019073489, + 0.015839698291775273, + 0.05808761507333094 + ], + [ + -0.038865679712492905, + -0.01680361852049828, + 0.9991031197478394, + 0.05492680271485214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9989052651261616, + 0.023590322583913803, + 0.04039483085888937, + -0.2520336087854548 + ], + [ + -0.02428400592291959, + 0.9995644688606262, + 0.016768789543403172, + 0.05485197515689044 + ], + [ + -0.03998165773446237, + -0.017731381580233574, + 0.9990430478627912, + 0.05334618830244782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9984984207354413, + 0.025309337303042412, + 0.0485837712376806, + -0.2668380061776714 + ], + [ + -0.026062307637627274, + 0.9995488524436951, + 0.014927926310869297, + 0.05903443386697746 + ], + [ + -0.04818403212408971, + -0.016171714290976524, + 0.9987075414084723, + 0.06075567676065923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9987225949062224, + 0.023455826565623283, + 0.044754398133243986, + -0.2524474855851596 + ], + [ + -0.02434012921117392, + 0.9995170831680298, + 0.019317388904101486, + 0.04843080187936678 + ], + [ + -0.0442796729356511, + -0.020382041111588478, + 0.9988112062809746, + 0.04751523330404584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9989164466419949, + 0.015440588817000389, + 0.04390386709392956, + -0.24160206138648616 + ], + [ + -0.0160029887295978, + 0.9997939467430115, + 0.01248729803860924, + 0.05872007627253053 + ], + [ + -0.043702015625396634, + -0.013176360167562962, + 0.998957724215876, + 0.04995686397853892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9984575514214394, + 0.02272852323949337, + 0.050655191305096464, + -0.2558929587623304 + ], + [ + -0.023650486316554843, + 0.999563992023468, + 0.017676230550924852, + 0.05503714313822219 + ], + [ + -0.05023134563197235, + -0.018846986815333366, + 0.9985597398579922, + 0.05554502295736527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9980893136366161, + 0.023285837844014168, + 0.05723219359736411, + -0.265203053843278 + ], + [ + -0.024513871448807997, + 0.9994820356369019, + 0.0208493556702651, + 0.05036156699919064 + ], + [ + -0.056717054378754087, + -0.022212499752640724, + 0.9981431758334327, + 0.06691336043806528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9990071043580375, + 0.039727769792079926, + 0.020161657799168828, + -0.316473299993689 + ], + [ + -0.03932063996441798, + 0.999022364616394, + -0.020203403837657726, + 0.04556085140944204 + ], + [ + -0.020944581840266, + 0.019390573725104332, + 0.9995925551228347, + 0.05090812655471121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.998990117800755, + 0.039806924760341644, + 0.020835477016470046, + -0.31805825908623264 + ], + [ + -0.0394208213222681, + 0.9990491271018982, + -0.018625064614104254, + 0.044458498479747706 + ], + [ + -0.02155707624626571, + 0.017784902825951576, + 0.9996094199760891, + 0.0498487260961149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9989697502910516, + 0.03973943740129471, + 0.02191256649561834, + -0.320342607499686 + ], + [ + -0.03934967231707939, + 0.9990644454956055, + -0.017940683871740054, + 0.04544923502093049 + ], + [ + -0.022605019637343352, + 0.017059948295354843, + 0.999598893692035, + 0.04927023450405635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9989394156630388, + 0.03978746011853218, + 0.02317247776584514, + -0.32229873633657546 + ], + [ + -0.039369453647902786, + 0.9990585446357727, + -0.018224245272462032, + 0.049021018630242615 + ], + [ + -0.023875762386749478, + 0.017292629927396774, + 0.9995653393400237, + 0.05186907066000035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.998984680047, + 0.038458481431007385, + 0.0234647569767572, + -0.3227752823367563 + ], + [ + -0.03799615483621901, + 0.9990808963775635, + -0.019840882521225157, + 0.05329838644424782 + ], + [ + -0.02420623426776067, + 0.018929166719317436, + 0.9995277392159321, + 0.05206131619204665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.998860616761046, + 0.03972727805376053, + 0.026441818679636058, + -0.33029296884034764 + ], + [ + -0.039239127653757394, + 0.9990542531013489, + -0.0187312893067305, + 0.0551029191111998 + ], + [ + -0.027160964790399263, + 0.01767239347100258, + 0.9994748491995074, + 0.05183597406055256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9989090563579921, + 0.039058800786733634, + 0.025594077967656618, + -0.32963447424294323 + ], + [ + -0.03857671098015286, + 0.9990737438201907, + -0.019066561182248157, + 0.058978901228843514 + ], + [ + -0.02631508776727739, + 0.018058426678180698, + 0.9994905967704187, + 0.05571446184857896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9989002364300427, + 0.038930017501115806, + 0.02612939455838416, + -0.3318821126156443 + ], + [ + -0.03849896397215851, + 0.9991173744201662, + -0.01680216130905257, + 0.05710936361659681 + ], + [ + -0.026760442543129766, + 0.015777727589011196, + 0.9995173279994632, + 0.05457535495025687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9988143519819768, + 0.040148314088583, + 0.027531921159847837, + -0.335997892392623 + ], + [ + -0.03973848832548736, + 0.9990933537483218, + -0.015274805871098557, + 0.058527903030900275 + ], + [ + -0.028120218604026418, + 0.014162618666887287, + 0.9995042340540939, + 0.057494215607530035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9988515315963529, + 0.038749024271965034, + 0.028180475761794145, + -0.3389208287207229 + ], + [ + -0.0383094725847215, + 0.9991382360458376, + -0.01597392433807332, + 0.06096852562900308 + ], + [ + -0.028775156615161956, + 0.014875999651849273, + 0.9994751886659626, + 0.05730537492496071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9986889859694165, + 0.04093387722969056, + 0.030736777177598262, + -0.3462251832009867 + ], + [ + -0.040464548031353256, + 0.9990569949150088, + -0.015739350269322726, + 0.0647923695116446 + ], + [ + -0.03135206395506896, + 0.014474965631961826, + 0.9994035650784681, + 0.062316995965358536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.998796870893194, + 0.039773277938365936, + 0.02868722969967494, + -0.3478295287044202 + ], + [ + -0.039310772445735276, + 0.9990906119346619, + -0.016510306340974647, + 0.0667843621096181 + ], + [ + -0.029317809304663878, + 0.015362724661827087, + 0.9994520662227624, + 0.057368055616749764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9987278026540413, + 0.04117410257458687, + 0.029111795257258075, + -0.3527038307910465 + ], + [ + -0.040716596167874944, + 0.999040424823761, + -0.016137593777336662, + 0.06955046469931134 + ], + [ + -0.02974831745094156, + 0.01493172999471426, + 0.9994459025498663, + 0.058313107063041415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9986429597942512, + 0.0434112660586834, + 0.02876933288798595, + -0.35514614785686455 + ], + [ + -0.04296201397240272, + 0.9989477396011355, + -0.016054222376368558, + 0.07444347047019267 + ], + [ + -0.02943599119064009, + 0.014796447008848194, + 0.9994571574841655, + 0.06352455197767615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9986180208995674, + 0.04401043429970742, + 0.028725329831047256, + -0.35890628668829244 + ], + [ + -0.04356854154328728, + 0.9989249706268313, + -0.015832325350609792, + 0.07676578067856529 + ], + [ + -0.02939123773517716, + 0.014558924362063411, + 0.9994619695581545, + 0.06219780150217715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9985013157326609, + 0.04621761664748192, + 0.029309166392626016, + -0.3640005722946816 + ], + [ + -0.04580674882834049, + 0.9988445043563843, + -0.014538467522672018, + 0.07897209395970346 + ], + [ + -0.029947228951445158, + 0.013174120336771011, + 0.9994646560248057, + 0.06422588410695679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9983522422887015, + 0.04876402020454407, + 0.03024734378817071, + -0.36795615519168257 + ], + [ + -0.048340108970639145, + 0.9987243413925171, + -0.014591720779262896, + 0.08500354615932128 + ], + [ + -0.030920302056868087, + 0.013105517253279686, + 0.9994359170390404, + 0.0677923150519841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9984066168317933, + 0.048455249518156066, + 0.02891993725230963, + -0.3701713746460814 + ], + [ + -0.04804335488283476, + 0.9987360239028933, + -0.014771870372932273, + 0.08679780515095284 + ], + [ + -0.02959916195369416, + 0.013358920812606815, + 0.999472579922496, + 0.06460182332018485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9981161262087519, + 0.05263610556721687, + 0.03152185843857234, + -0.3810035915899196 + ], + [ + -0.05221480120721044, + 0.9985371232032776, + -0.01404328201962847, + 0.09207587602408493 + ], + [ + -0.03221493350435875, + 0.01237091887742281, + 0.9994044016684798, + 0.06669830643613005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9982709264962496, + 0.050890304148197174, + 0.02941625676320925, + -0.3819266937228981 + ], + [ + -0.0504741189744908, + 0.9986168742179871, + -0.01472206945436979, + 0.0952629280647194 + ], + [ + -0.030124777679175912, + 0.013211854733526707, + 0.9994588506976665, + 0.06554380642044849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9984135661568597, + 0.04960649460554124, + 0.026637974828294945, + -0.3830790737213987 + ], + [ + -0.04926439528792013, + 0.998696565628052, + -0.013349269733367678, + 0.0990178795884952 + ], + [ + -0.027265464527196446, + 0.012015786953270439, + 0.9995559853337133, + 0.0627802470483154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9985481465243603, + 0.04797650128602983, + 0.024492580913172, + -0.38586517044399266 + ], + [ + -0.04764513672708803, + 0.9987670779228213, + -0.013938502836929304, + 0.10723332100150954 + ], + [ + -0.0251310991390702, + 0.012751312926411632, + 0.9996028647296082, + 0.061011014216693256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9985904377722145, + 0.04764078930020332, + 0.023398345540643545, + -0.3911894431335198 + ], + [ + -0.04738358931477365, + 0.9988114237785339, + -0.011426649567860119, + 0.11211215107702306 + ], + [ + -0.023914903408787644, + 0.010301846079528332, + 0.999660924276578, + 0.06255674792476784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9987934864888546, + 0.045752160251140594, + 0.01783988353732435, + -0.387689084172403 + ], + [ + -0.04564120701793965, + 0.9989362359046936, + -0.006578019135579023, + 0.11252825845916663 + ], + [ + -0.018121875343783334, + 0.005755848251283169, + 0.9998192433577178, + 0.06013842854527095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9988495937842438, + 0.04561739042401314, + 0.014783769540572903, + -0.3891401535161954 + ], + [ + -0.045597242649665845, + 0.9989584684371948, + -0.001697098845651574, + 0.11385882012320417 + ], + [ + -0.014845795231844391, + 0.0010210474720224738, + 0.9998892683243774, + 0.058196578976272874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9985654605445958, + 0.04998753219842911, + 0.019188903114670378, + -0.404145983766261 + ], + [ + -0.05004673572331685, + 0.99874347448349, + 0.002617428375581312, + 0.12114965826883564 + ], + [ + -0.019033965352080993, + -0.0035740165039896965, + 0.9998124326089693, + 0.06687090504439087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9986125231443665, + 0.049922775477170944, + 0.01675663574723963, + -0.40888559605869446 + ], + [ + -0.050032791630324876, + 0.9987282752990723, + 0.0062114501571567705, + 0.12651721284258 + ], + [ + -0.016425229810386337, + -0.0070412131026387215, + 0.999840309430386, + 0.06282205023336236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9985401322590827, + 0.051056139171123505, + 0.01763088240453549, + -0.41444636786411115 + ], + [ + -0.051137517707171766, + 0.9986827969551086, + 0.004196022283275808, + 0.1459840748620793 + ], + [ + -0.017393437337256956, + -0.005091496743261814, + 0.9998357461047768, + 0.07048409994675757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9984482736056873, + 0.05325969308614731, + 0.01626355903389132, + -0.4210801160938337 + ], + [ + -0.05343069027931552, + 0.9985187649726868, + 0.010266781271781725, + 0.14839978261416922 + ], + [ + -0.01569265443789162, + -0.011119823902845383, + 0.9998150451797105, + 0.06629558700448332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.998842119234642, + 0.04670748859643937, + 0.01152590257269959, + -0.41374114912738336 + ], + [ + -0.04674657696857904, + 0.9989018440246584, + 0.00314522828524037, + 0.16984000546552727 + ], + [ + -0.011366336792045023, + -0.003680382855236531, + 0.9999286281559561, + 0.07127113426918988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9985330763409663, + 0.05269836261868477, + 0.01243387619289823, + -0.4232884957089108 + ], + [ + -0.052854447857156345, + 0.9985229969024658, + 0.012577609137269914, + 0.1698132985988307 + ], + [ + -0.011752699152483002, + -0.013216343708336353, + 0.9998435988886295, + 0.07662899873820625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9990420858621115, + 0.043121498078107834, + 0.007449686589611323, + -0.4182754739587817 + ], + [ + -0.04317888772643843, + 0.999037504196167, + 0.007722422158764458, + 0.18210040228081775 + ], + [ + -0.007109517692759888, + -0.008036693558096886, + 0.999942401941708, + 0.07529491221917683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9992368829879237, + 0.03897721320390701, + 0.0025404707184711103, + -0.41938684091653367 + ], + [ + -0.03899583218558107, + 0.9992093443870544, + 0.007746971886897093, + 0.18874825188768726 + ], + [ + -0.0022365053964374802, + -0.007840128615498543, + 0.9999667410116947, + 0.0634693834991976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9992085569672984, + 0.03972150757908821, + 0.002104802544839594, + -0.4235812106319273 + ], + [ + -0.03973926794644359, + 0.9991676807403564, + 0.00920317788363708, + 0.19870407491540842 + ], + [ + -0.0017374789700635408, + -0.009279537945985794, + 0.9999554509388816, + 0.07370119684055658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9992215881870008, + 0.03928206488490105, + 0.0036310263565183173, + -0.43178793249794817 + ], + [ + -0.03931343175631274, + 0.9991862773895264, + 0.009013203339063601, + 0.20936463727358579 + ], + [ + -0.003274022456724704, + -0.009148935787379742, + 0.9999527699266721, + 0.0834246458548313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9991870600754033, + 0.04029477760195732, + 0.001253506486742142, + -0.435504411360333 + ], + [ + -0.04030754214991752, + 0.9991053342819214, + 0.01280154352310631, + 0.21266980687347356 + ], + [ + -0.0007365334109828249, + -0.0128416633233428, + 0.9999172611503481, + 0.0835972144523179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.999335719788119, + 0.03630470484495163, + -0.0031693020581108964, + -0.43537715207803696 + ], + [ + -0.0362709298072966, + 0.9992906451225281, + 0.010133176136950743, + 0.22431218246779844 + ], + [ + 0.0035349213659189834, + -0.010011491365730762, + 0.9999436587531283, + 0.08384436024405825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.999337188894168, + 0.03611018136143685, + -0.004605071378353612, + -0.44142939897515077 + ], + [ + -0.036040892937582246, + 0.9992475509643557, + 0.014332674699607471, + 0.22634092355717417 + ], + [ + 0.005119159652834216, + -0.014157203957438472, + 0.9998867073096146, + 0.08474507205649098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9993408049735322, + 0.03614966571331025, + -0.0033369243750393427, + -0.4479828189684729 + ], + [ + -0.03608876451634962, + 0.9992074966430666, + 0.016793565619378083, + 0.23244120936281254 + ], + [ + 0.003941351770696843, + -0.01666207239031792, + 0.9998533914126039, + 0.09283391508800551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9993427493050931, + 0.035859305411577225, + -0.005307100078281041, + -0.45088690881921045 + ], + [ + -0.03576199621435113, + 0.9992085695266724, + 0.017417183178662525, + 0.24082411019134536 + ], + [ + 0.0059274628205347474, + -0.017215942963957787, + 0.9998342143510643, + 0.09817963025470346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9994594661717888, + 0.03125649318099022, + -0.010190526508231084, + -0.45036724634345965 + ], + [ + -0.03108449307078812, + 0.9993785619735718, + 0.01662110039670234, + 0.2475677894452065 + ], + [ + 0.010703711886974665, + -0.01629534736275673, + 0.9998099410891861, + 0.09104153798239617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9993730459636938, + 0.03484990447759628, + -0.006247225821466875, + -0.4597669103874807 + ], + [ + -0.034704622587716324, + 0.9991549253463745, + 0.022023849571145213, + 0.249822316230939 + ], + [ + 0.007009484087564967, + -0.02179323509335518, + 0.9997379437831728, + 0.11062288673487798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9991885592616997, + 0.039446212351322174, + -0.008138207992211955, + -0.46423462567015245 + ], + [ + -0.039229907089673374, + 0.99891197681427, + 0.025216687755773032, + 0.25564678952085984 + ], + [ + 0.009124047313414464, + -0.02487696334719658, + 0.9996488818285209, + 0.1069557732971111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9991448416163097, + 0.04000692069530487, + -0.010442933506318816, + -0.46535677955495053 + ], + [ + -0.039689712641963075, + 0.9987912774085999, + 0.028994640552177826, + 0.2564546325207621 + ], + [ + 0.01159030624597453, + -0.02855536714196205, + 0.9995250431526508, + 0.10593548905010824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9991458081840603, + 0.040694382041692734, + -0.007186418620412028, + -0.4724331648462573 + ], + [ + -0.040465156060902896, + 0.9987427592277527, + 0.029587540379507508, + 0.26385890192524775 + ], + [ + 0.008381421651073813, + -0.02927146852016449, + 0.9995363676988982, + 0.12308158937985872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9991748479241174, + 0.03956824913620949, + -0.009165206036057392, + -0.47564877589609866 + ], + [ + -0.039266013954341296, + 0.9987449049949646, + 0.03109343989552362, + 0.26671018593687923 + ], + [ + 0.010384030760836178, + -0.03070790320634842, + 0.9994744366405687, + 0.12074143376796509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9993348076555261, + 0.036179088056087494, + -0.004584015617276037, + -0.48489085035022916 + ], + [ + -0.03603798280724413, + 0.998962938785553, + 0.02782669650139879, + 0.2733861582001981 + ], + [ + 0.005586007228728976, + -0.02764298766851425, + 0.999602225344, + 0.12741832221037902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.999181505933089, + 0.039637189358472824, + -0.008075343863483339, + -0.48111727293107065 + ], + [ + -0.03938467349949169, + 0.9987933039665222, + 0.029338662161357706, + 0.2747918003299491 + ], + [ + 0.00922850999247681, + -0.028996603563427925, + 0.9995369227719726, + 0.1294454342384705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9992171198792249, + 0.03937185555696488, + -0.0038663271222763224, + -0.4901085604689722 + ], + [ + -0.03923894128480064, + 0.9987818598747256, + 0.02991780122522787, + 0.2763263978661238 + ], + [ + 0.005039534773884953, + -0.029742671176791198, + 0.9995448875234475, + 0.13890205803635391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9993148143622098, + 0.036547139286994934, + -0.005849287671246492, + -0.4907967250627333 + ], + [ + -0.036395115118591774, + 0.9990426898002625, + 0.02427197230164947, + 0.2844681662628802 + ], + [ + 0.006730766146168885, + -0.024042457342147827, + 0.9996882878749607, + 0.13808026117494127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9991680138672111, + 0.040422290563583374, + -0.005414650470095441, + -0.49442034979999694 + ], + [ + -0.04024783111516579, + 0.9987637400627136, + 0.029174564621353538, + 0.2795664507686242 + ], + [ + 0.006587254036997226, + -0.028932364657521248, + 0.9995596772456229, + 0.13574065783236294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.999313469867771, + 0.03684435784816742, + -0.003889299968862158, + -0.49670907680343135 + ], + [ + -0.03673874957763509, + 0.9990265369415283, + 0.02441732878807748, + 0.2854663902986158 + ], + [ + 0.004785155868959337, + -0.024257678538560867, + 0.9996943074461803, + 0.1431616457746454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9992317455263001, + 0.038814742118120193, + -0.0054116780893976564, + -0.4981869119949228 + ], + [ + -0.03865923690451287, + 0.9989045262336731, + 0.026366210179873405, + 0.2845255935346568 + ], + [ + 0.006429153368185654, + -0.026136742904782295, + 0.9996376992040986, + 0.1425463790748211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9992393179333863, + 0.03683540970087052, + -0.012804523101506267, + -0.4915389967778593 + ], + [ + -0.03648324251137344, + 0.9989767670631411, + 0.026727170705380016, + 0.28343812973119437 + ], + [ + 0.013775928398772098, + -0.026239689439535148, + 0.999560760427093, + 0.13228068992253764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9993184578356621, + 0.03504137322306634, + -0.011605414707864704, + -0.4959372671296639 + ], + [ + -0.03472973536379714, + 0.9990572929382326, + 0.02604597820870997, + 0.28551563456773316 + ], + [ + 0.012507163307848363, + -0.025625176727771766, + 0.9995933822122826, + 0.13656236023224894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9995085668718489, + 0.03031385503709317, + -0.007982694232621863, + -0.5051991694378513 + ], + [ + -0.030145516067106793, + 0.9993367791175845, + 0.020425480707669138, + 0.2944322834151893 + ], + [ + 0.008596577894625831, + -0.020174801349639896, + 0.9997594872380114, + 0.14625883697436076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9994382538788931, + 0.03294249624013901, + -0.0061577997299939935, + -0.5096154893740074 + ], + [ + -0.032778305223189856, + 0.9991475939750671, + 0.02509383401742375, + 0.29186610861788964 + ], + [ + 0.0069791910626019705, + -0.024877898395061493, + 0.9996661450906251, + 0.15294207446088334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9992968957361144, + 0.03714270144701004, + -0.005111412982019204, + -0.5138811643158588 + ], + [ + -0.03696210402076182, + 0.9988112449645996, + 0.031778152470322556, + 0.2860374648138289 + ], + [ + 0.006285673715096135, + -0.03156688064336777, + 0.9994818798389518, + 0.1553501437094287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9993130764137441, + 0.03658453747630119, + -0.005912811482237099, + -0.5170129560094737 + ], + [ + -0.036388091018800736, + 0.9988728761672974, + 0.030477575158334002, + 0.28964919672721345 + ], + [ + 0.00702115486446715, + -0.030241481959819794, + 0.9995179756126732, + 0.15440698788927984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9992417461909187, + 0.038246944546699524, + -0.007285624431289082, + -0.51805453610508 + ], + [ + -0.03798366334125226, + 0.9987208247184753, + 0.033375178946216215, + 0.2880709141504213 + ], + [ + 0.00855279377923475, + -0.03307313472032547, + 0.9994163500735277, + 0.15760203280068572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9990137643141999, + 0.044306755065917976, + -0.002896531286725006, + -0.5303871235200998 + ], + [ + -0.04417859797592925, + 0.9984110593795779, + 0.03498094690472208, + 0.29239653061391735 + ], + [ + 0.0044418323306175565, + -0.03481848537921906, + 0.9993837913518079, + 0.16152243827326543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9992584887624496, + 0.03704782947897911, + -0.010487820695557077, + -0.5210951212985059 + ], + [ + -0.03672064652885058, + 0.9988800287246704, + 0.02983665166959022, + 0.2961851825538154 + ], + [ + 0.01158146787540741, + -0.02942940592765808, + 0.9994997527789573, + 0.15462859492228237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9988355206296041, + 0.04823989421129228, + 0.0007168072236968989, + -0.541996287787341 + ], + [ + -0.04823256222127208, + 0.9981229901313784, + 0.03773719037206007, + 0.2933230984547581 + ], + [ + 0.001104960098390614, + -0.037727817893028266, + 0.9992874530721455, + 0.16963723508174872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9988605130760384, + 0.04768792912364006, + 0.0018671370015192386, + -0.5451162674184884 + ], + [ + -0.04772396997930003, + 0.9982643127441406, + 0.03450729176247853, + 0.2996151014421674 + ], + [ + -0.00021833823186823384, + -0.03455708175897598, + 0.9994027258117849, + 0.17847421821953005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9992241559288825, + 0.036281771957874305, + -0.015319024585345304, + -0.5394026187096491 + ], + [ + -0.03583567071207144, + 0.9989525079727175, + 0.028454784332376557, + 0.3149770513444997 + ], + [ + 0.01633537400231845, + -0.027883740141987808, + 0.9994776995209638, + 0.19988165750273945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9992064512761167, + 0.03369762375950814, + -0.021236274279327276, + -0.5371734935055058 + ], + [ + -0.03296872449879341, + 0.9988851547241213, + 0.03378621002666798, + 0.31497515970077333 + ], + [ + 0.022351131480372644, + -0.0330592691898346, + 0.999203428021539, + 0.21421903175369844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9984435165956378, + 0.03843916580080986, + -0.04040953475984784, + -0.5200713350097389 + ], + [ + -0.03613193180334992, + 0.997756838798523, + 0.056354221761204346, + 0.2928507994892557 + ], + [ + 0.042485093030832484, + -0.054806437343358994, + 0.9975927241104421, + 0.20796302495525518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.998550518715172, + 0.05378718674182892, + 0.0019407927788898142, + -0.5617171279837805 + ], + [ + -0.05382164552909071, + 0.9977283477783203, + 0.04051428473796652, + 0.3053137509489537 + ], + [ + 0.00024276904236754488, + -0.04056002199649811, + 0.9991770930461178, + 0.1935269009930811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.998662671166128, + 0.05170008167624475, + -6.17770968838021e-05, + -0.563534520989832 + ], + [ + -0.05165395725281708, + 0.9978207349777224, + 0.041057356968898576, + 0.30515499896092185 + ], + [ + 0.0021843216242153534, + -0.040999256074428565, + 0.9991567829084176, + 0.1918608611271597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9985730981578911, + 0.05302557349205017, + 0.0063319562927068255, + -0.5756264004766487 + ], + [ + -0.05324051686595803, + 0.9977473616600037, + 0.040811892708655255, + 0.3105384168348333 + ], + [ + -0.004153613729583503, + -0.041090771555900574, + 0.9991467816060164, + 0.20277634152263463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9985868038321253, + 0.05185220763087274, + 0.01165009761037548, + -0.5853247145616087 + ], + [ + -0.05226382744722588, + 0.9978964924812319, + 0.038354337362876655, + 0.3161740443902874 + ], + [ + -0.009636819596330346, + -0.038909018039703376, + 0.9991962690800666, + 0.20868759654215624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9987550666040611, + 0.04894094169139862, + 0.009650788825295957, + -0.5871188213927419 + ], + [ + -0.049273059069719384, + 0.9980676174163818, + 0.037856877173002006, + 0.31837519638910816 + ], + [ + -0.007779369858874443, + -0.0382852740585804, + 0.9992365636011776, + 0.2103336921932837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9992159327608204, + 0.03824065998196602, + 0.010256088600903527, + -0.5924891178592007 + ], + [ + -0.03842875378127156, + 0.9990841746330261, + 0.018816697116755023, + 0.3450122015177385 + ], + [ + -0.009527129636783663, + -0.019196072593331337, + 0.9997703223841148, + 0.22437818336407425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9991093966972617, + 0.04170132800936699, + 0.006440009277868754, + -0.5903416900697327 + ], + [ + -0.04187342274461276, + 0.9986898303031921, + 0.029415827826669065, + 0.3356937539967179 + ], + [ + -0.005204880464221658, + -0.029659295454621315, + 0.9995464960210572, + 0.21306448891900054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9991859215767176, + 0.03991876915097237, + 0.005832901871590805, + -0.5917932134885877 + ], + [ + -0.04009054248425891, + 0.9986473321914675, + 0.033110406540443366, + 0.33459077747172167 + ], + [ + -0.0045032849716136955, + -0.03331729397177697, + 0.9994346956152043, + 0.21411848008198608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9995590902514878, + 0.02876748889684677, + 0.007352204411474371, + -0.5989520122260599 + ], + [ + -0.028901407153806125, + 0.9994053244590759, + 0.01880855828553087, + 0.3543166583761059 + ], + [ + -0.006806759524837161, + -0.019012754783034325, + 0.9997960848770713, + 0.22721880319049365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.999170932540705, + 0.039951007813215256, + 0.007836102386700815, + -0.5995894973164743 + ], + [ + -0.04019834324112177, + 0.998597264289856, + 0.03446162780163195, + 0.341599652768332 + ], + [ + -0.0064483295771963845, + -0.034748051315546036, + 0.9993752817328824, + 0.22119505065756193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9992429083899768, + 0.03504381701350213, + 0.016897665919182722, + -0.6144436156729169 + ], + [ + -0.03540030501403748, + 0.999146640300751, + 0.021280611423581914, + 0.3617160000298487 + ], + [ + -0.016137511203428975, + -0.02186268195509911, + 0.999630759528256, + 0.23277786754840757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9991071836469175, + 0.04077933356165886, + 0.011039359283833884, + -0.6106275362019733 + ], + [ + -0.04112198547719227, + 0.9986146092414856, + 0.0328311464117545, + 0.35438990367192635 + ], + [ + -0.009685232699209774, + -0.033255793154239655, + 0.9993999623655635, + 0.23110910123500575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9991886484343104, + 0.03984228149056435, + 0.005890383176438644, + -0.6078928552349088 + ], + [ + -0.04000481504240569, + 0.9987282156944277, + 0.03068433604030868, + 0.3598986700516714 + ], + [ + -0.0046603648644587044, + -0.030895084142684943, + 0.9995117711064521, + 0.23044292069344208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9990873757410205, + 0.04232272505760193, + 0.005760041077047637, + -0.6094166440263479 + ], + [ + -0.04251380960946554, + 0.9983519911766052, + 0.03854721966512968, + 0.35368162774104994 + ], + [ + -0.004119132008456061, + -0.038756921887397766, + 0.9992401652162942, + 0.2271289871322757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9990583683716565, + 0.04276402294635773, + 0.007319118830229004, + -0.6141242539412336 + ], + [ + -0.04301678270526571, + 0.9983200430870056, + 0.0388152179116577, + 0.3576824466662894 + ], + [ + -0.005646933519063864, + -0.039093516767024994, + 0.9992196096166265, + 0.2336674503377852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9992139197780479, + 0.03912702947854996, + 0.006375010029291353, + -0.615095119555253 + ], + [ + -0.039340426954302524, + 0.9985124468803406, + 0.03775284360546295, + 0.36051357872467427 + ], + [ + -0.004888362507934821, + -0.03797396272420883, + 0.9992667756379281, + 0.23184206542602365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9990999611174223, + 0.04221084341406822, + 0.00419076886155431, + -0.6164542798298773 + ], + [ + -0.042351103206446715, + 0.998197078704834, + 0.042532622585238905, + 0.3575788083714723 + ], + [ + -0.002387866567962226, + -0.04267182573676109, + 0.9990862795621738, + 0.2292285264605656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9990265916614547, + 0.04341774061322213, + 0.007794386503361608, + -0.622009125361724 + ], + [ + -0.04371086362729696, + 0.9981392621994021, + 0.042513437960387, + 0.3617151490931808 + ], + [ + -0.005934056861750056, + -0.04281275719404221, + 0.9990654869608423, + 0.23344187591858812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9991069820987274, + 0.04133177921175957, + 0.008771173934031698, + -0.6249449436686425 + ], + [ + -0.041669437480881415, + 0.9982213973999023, + 0.04263515762749501, + 0.3627220032254588 + ], + [ + -0.006993392942661988, + -0.04296257719397545, + 0.9990521822664344, + 0.23367735577396012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9988752566805296, + 0.04634616151452065, + 0.01001250134428318, + -0.6281927805276017 + ], + [ + -0.046758257603542054, + 0.9978538751602175, + 0.04583952035280497, + 0.36348484397451203 + ], + [ + -0.0078665158770019, + -0.04625613242387772, + 0.9988986376755097, + 0.23586538824661646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9988767378025893, + 0.046224087476730354, + 0.010421835144608455, + -0.6303188255379514 + ], + [ + -0.046641204964540904, + 0.9979354143142702, + 0.044153202076836776, + 0.36665762923949463 + ], + [ + -0.008359374769161234, + -0.04458969086408616, + 0.9989704357990383, + 0.23824898455806975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9989739837808064, + 0.04398465901613236, + 0.010785340867307822, + -0.6331241918558324 + ], + [ + -0.044400033378173664, + 0.9981349706649782, + 0.04189501281241608, + 0.3698610249872359 + ], + [ + -0.008922506224063905, + -0.04233089834451676, + 0.9990638178534408, + 0.23713253050389918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9987650800688552, + 0.04886986315250398, + 0.008945856569308814, + -0.6318509796063743 + ], + [ + -0.04922906340396451, + 0.997741758823395, + 0.045693225799064194, + 0.3674033031482235 + ], + [ + -0.006692627354121903, + -0.0460771918296814, + 0.9989154754212811, + 0.23412421843366504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9985117024888532, + 0.05245504900813103, + 0.014928388764871223, + -0.6395342217219869 + ], + [ + -0.053158316767534707, + 0.9972605109214783, + 0.05143550570703783, + 0.3643029237854348 + ], + [ + -0.012189430991654046, + -0.052152521908283234, + 0.9985647374380683, + 0.2365240078618377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9989039959978124, + 0.04609309136867523, + 0.008137233472639942, + -0.6340586392582394 + ], + [ + -0.046425658645273635, + 0.9978160262107849, + 0.046988216914940005, + 0.3676272181462312 + ], + [ + -0.005953637860073735, + -0.04731449484825134, + 0.9988622899156837, + 0.2359309088032811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9986238989444951, + 0.051222868263721466, + 0.011248305018071664, + -0.6390105568064719 + ], + [ + -0.05177633073972356, + 0.9970772862434387, + 0.05617957784787532, + 0.36045250262926937 + ], + [ + -0.008337762108995457, + -0.05668466538190842, + 0.998357302176098, + 0.23633491997356212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9988278936134632, + 0.047249503433704376, + 0.010503220132515933, + -0.6398604302895371 + ], + [ + -0.047702935577733585, + 0.9976977705955505, + 0.04820392220290076, + 0.36741749619749553 + ], + [ + -0.008201440968268402, + -0.04864846169948578, + 0.9987822966748461, + 0.2326315790212765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9987618319916267, + 0.04893382638692856, + 0.008960418839537257, + -0.6393244409896894 + ], + [ + -0.049339563648805186, + 0.9973897933959961, + 0.05271821718841244, + 0.3630407131140596 + ], + [ + -0.006357334686357852, + -0.053095050156116486, + 0.9985692464494814, + 0.23247271364481653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9987714194187366, + 0.04768259823322296, + 0.01348947762217791, + -0.6451374926201169 + ], + [ + -0.048298216671834475, + 0.9975934624671936, + 0.049744784616398134, + 0.3667097896589976 + ], + [ + -0.011085073697386755, + -0.05033519119024277, + 0.9986708689958065, + 0.23818883114181508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9988446438779123, + 0.04553608596324921, + 0.015355466615285928, + -0.6480679118315066 + ], + [ + -0.04621445903594228, + 0.9978170394897461, + 0.047174014793236775, + 0.3683561586148587 + ], + [ + -0.013173841782746845, + -0.04782916232943535, + 0.9987686306405005, + 0.24160112696586045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9989255666400059, + 0.04521111398935318, + 0.010181271940775812, + -0.6440632036285842 + ], + [ + -0.04564173301380266, + 0.9978504776954651, + 0.047023587551341735, + 0.3681919956021509 + ], + [ + -0.008033409609722363, + -0.04743775352835655, + 0.9988418848119196, + 0.2372458404671544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9988727518655518, + 0.046018123626708984, + 0.011645242875954524, + -0.64717905966391 + ], + [ + -0.046522566914216835, + 0.9977838397026062, + 0.047571444945108586, + 0.368229538093214 + ], + [ + -0.009430279145702313, + -0.04805958271026611, + 0.9987999399611788, + 0.23771274194577732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9986161861783582, + 0.05068529024720193, + 0.014027699136375088, + -0.6525444568425453 + ], + [ + -0.051330747438498435, + 0.9974146485328677, + 0.05029066060041786, + 0.36772410260030286 + ], + [ + -0.011442442030111022, + -0.05094111710786821, + 0.9986361361582077, + 0.23912735701055016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9986716443608731, + 0.050179317593574524, + 0.011702120267253332, + -0.6497287702617809 + ], + [ + -0.05069942957774993, + 0.9974884390830994, + 0.04946039267044122, + 0.3673447197080341 + ], + [ + -0.009190850894570581, + -0.04998798668384552, + 0.9987075397095527, + 0.23590651523926337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9987012335209101, + 0.049837321043014526, + 0.010588514110975675, + -0.6495526101766627 + ], + [ + -0.05030559304617627, + 0.9974875450134277, + 0.04987908075601862, + 0.3663844256846584 + ], + [ + -0.008076056684418, + -0.05034695938229561, + 0.9986991218282667, + 0.2359109145805776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9987305649573083, + 0.049320828169584274, + 0.010231933985436377, + -0.6505180825016582 + ], + [ + -0.049752783982899514, + 0.9976338148117065, + 0.04744902980747385, + 0.3690213543598755 + ], + [ + -0.007867507734802853, + -0.04789786413311958, + 0.998821232854832, + 0.23557380387120358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.998893411631776, + 0.04618198052048683, + 0.008897394970797758, + -0.6499783390164144 + ], + [ + -0.04655345348976597, + 0.9977887868881226, + 0.04743806642354953, + 0.3681399366002109 + ], + [ + -0.006686949758929054, + -0.04779978096485138, + 0.9988345712504368, + 0.23444966435684036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9987915246947006, + 0.04760148003697397, + 0.012228740411546058, + -0.6549176520528819 + ], + [ + -0.048101086562880986, + 0.9978524446487429, + 0.04446157624411342, + 0.3717164755745234 + ], + [ + -0.010086053301486191, + -0.044996064156293876, + 0.9989362551940004, + 0.23840738736055145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.998858694357938, + 0.045935481786727905, + 0.013088123962137366, + -0.6579066295308371 + ], + [ + -0.0464484943120067, + 0.9980356097221375, + 0.0420405131287663, + 0.3729595377717495 + ], + [ + -0.01113125867413624, + -0.04260045662522316, + 0.9990301823627284, + 0.23552965700982081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9985758365172809, + 0.05108634755015373, + 0.015379914264410986, + -0.6613567984222432 + ], + [ + -0.05179477389398604, + 0.9974122643470764, + 0.04986096659513476, + 0.368794288686321 + ], + [ + -0.012792901078957718, + -0.05058655887842178, + 0.9986377354497658, + 0.2420517654263896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9983737812951105, + 0.05366671457886696, + 0.019227755308718796, + -0.6672034512132679 + ], + [ + -0.05461916500014988, + 0.997098982334137, + 0.05301241656190219, + 0.3666908894809688 + ], + [ + -0.01632697904191896, + -0.05397640913724899, + 0.9984087206059102, + 0.24126580489556407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9984521131741563, + 0.05242420732975006, + 0.018575414327490693, + -0.6666908221200848 + ], + [ + -0.05332329976842642, + 0.9972348213195801, + 0.051762803430168196, + 0.3686073886065505 + ], + [ + -0.015810437232033715, + -0.052673183381557465, + 0.9984866569583701, + 0.241415367290743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9986195084040176, + 0.04936404898762703, + 0.017952686336245745, + -0.6666342406869507 + ], + [ + -0.05020688585752568, + 0.9974865913391113, + 0.04999807148370179, + 0.3696825628803595 + ], + [ + -0.015439435488719861, + -0.05083039775490761, + 0.9985879256585377, + 0.24114147072073402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9984633918594256, + 0.05226244777441025, + 0.018425236810806402, + -0.6676134508754336 + ], + [ + -0.05316064721235661, + 0.9972208142280579, + 0.05219820180008905, + 0.36984993854071946 + ], + [ + -0.015646019702914987, + -0.05309749394655228, + 0.9984667516263963, + 0.24477278924510354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.998482027487617, + 0.053561933338642134, + 0.012836469775299753, + -0.6640976833087615 + ], + [ + -0.05420735221832253, + 0.9969165325164797, + 0.056735997732938075, + 0.3655722983494845 + ], + [ + -0.00975800299239078, + -0.0573457069694996, + 0.9983066888784972, + 0.2403183741823352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9981223611098191, + 0.05760304629802704, + 0.020824122530901754, + -0.6720718573092066 + ], + [ + -0.05873135857909695, + 0.9965647459030151, + 0.05838971334460982, + 0.36652099331600185 + ], + [ + -0.017389151907204355, + -0.05950310826301575, + 0.9980766373205031, + 0.24650544947028916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9981346147945077, + 0.05660118907690048, + 0.02288206859563274, + -0.675095988031927 + ], + [ + -0.05778510537561056, + 0.9968184232711792, + 0.05489895355257224, + 0.36959406575694687 + ], + [ + -0.01970190358576548, + -0.056118786334991455, + 0.9982296653731363, + 0.24647374790821955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9981646707128695, + 0.05558507889509201, + 0.024032497542858744, + -0.6763877249968282 + ], + [ + -0.05692271749866643, + 0.9966269731521606, + 0.05911379328961406, + 0.3657783443150538 + ], + [ + -0.02066558736480028, + -0.06037329509854317, + 0.9979619251942987, + 0.24333946006736132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9981305221898419, + 0.05610822513699533, + 0.024235447002211162, + -0.6768641827613743 + ], + [ + -0.057411221359171795, + 0.9967271089553835, + 0.05691254867207021, + 0.368377226594259 + ], + [ + -0.020962853397366966, + -0.0581975392997265, + 0.998084977986534, + 0.2474149605832099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9979966956268493, + 0.05415768176317215, + 0.03270341542187923, + -0.6873721066183797 + ], + [ + -0.05571929658277798, + 0.9972485899925232, + 0.04889406753032766, + 0.37574831835302125 + ], + [ + -0.029965440651530752, + -0.050618331879377365, + 0.9982684217601268, + 0.24857045001448663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9983928848477259, + 0.051635805517435074, + 0.023354894373181098, + -0.6768674309991358 + ], + [ + -0.05268520307412333, + 0.9975137114524841, + 0.04680398020743054, + 0.3767863865961973 + ], + [ + -0.02088007539658297, + -0.04795921966433525, + 0.9986310355540676, + 0.2458572142184297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9977296030956966, + 0.05663636699318886, + 0.03644150474503552, + -0.6898030900324607 + ], + [ + -0.0583425300631358, + 0.997161328792572, + 0.04759607086161669, + 0.37838893135552665 + ], + [ + -0.033642383114408855, + -0.04961409792304039, + 0.9982016941660462, + 0.24884337688093053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9982327414300632, + 0.05251527577638626, + 0.02781163001091102, + -0.6807282268867938 + ], + [ + -0.05376267476303192, + 0.9974851012229919, + 0.04618429350514304, + 0.37941875879578635 + ], + [ + -0.025316308511957982, + -0.04759790375828743, + 0.998545726955838, + 0.2477104545984214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.998144938451352, + 0.05087353289127351, + 0.033445275821386074, + -0.6857154170104477 + ], + [ + -0.0521912609763887, + 0.9978443384170534, + 0.03978372736858904, + 0.38550743793749004 + ], + [ + -0.03134924342356787, + -0.041455473750829704, + 0.9986484226788306, + 0.25197794143103414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9974243467767285, + 0.060229115188121796, + 0.0389509785652123, + -0.6906764141677044 + ], + [ + -0.06212278954325518, + 0.9968459010124207, + 0.049385923817336655, + 0.3747512265949598 + ], + [ + -0.0358536493110335, + -0.05167846381664276, + 0.9980199842280743, + 0.24555136155958035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9978533228549913, + 0.05692782253026962, + 0.03237163938229783, + -0.685357083845556 + ], + [ + -0.05857384651324977, + 0.9969066977500916, + 0.05240334544804827, + 0.3733365000758987 + ], + [ + -0.02928830010503636, + -0.05418698862195015, + 0.9981011788759065, + 0.24749853523749282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.997273151120623, + 0.05978137254714967, + 0.04327198520724331, + -0.6961878783699912 + ], + [ + -0.06192148146629829, + 0.9968311786651614, + 0.049932719875347385, + 0.37725747450457353 + ], + [ + -0.04014982430529791, + -0.05247602984309198, + 0.9978147228257933, + 0.24688682849463334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9972540820434486, + 0.06118094176054002, + 0.041728080357677465, + -0.6947466066142418 + ], + [ + -0.06346392795908713, + 0.996424198150635, + 0.055777504955524186, + 0.3710871758578715 + ], + [ + -0.03816634679256525, + -0.05827257037162782, + 0.9975708815630245, + 0.24879225947916914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9974535173720207, + 0.05679415538907051, + 0.04313762507113615, + -0.6999512614932935 + ], + [ + -0.05899041165499384, + 0.996930718421936, + 0.05147138238651275, + 0.37926091253059385 + ], + [ + -0.0400819672600625, + -0.053885020315647125, + 0.9977423980961316, + 0.2542023822535997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/orbit_right/transforms.json b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2f89815433d48d4bc38a8e1434387591e857300c --- /dev/null +++ b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/orbit_right/transforms.json @@ -0,0 +1,7888 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 225, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 5.429926386568695e-05, + 6.081355968490243e-05, + -9.924238838721067e-06 + ], + [ + -5.429988959804177e-05, + 1.0, + 1.0281693903380074e-05, + -4.616683509084396e-05 + ], + [ + -6.081299943616614e-05, + -1.028499536914751e-05, + 1.0, + -0.00013104858226142824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999894436212872, + -0.000524801725987345, + -0.004567709414945611, + -0.004112599800161474 + ], + [ + 0.0005163510655546194, + 0.999998152256012, + -0.001851060630964999, + -9.406268216692544e-05 + ], + [ + 0.00456867238357969, + 0.0018486824119463563, + 0.9999878331693115, + 0.001924765984127845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999511908636253, + -0.0009416362736374142, + -0.009835461811996831, + -0.006737870223846558 + ], + [ + 0.0009067958150295089, + 0.9999933242797854, + -0.003546186104382161, + -0.00016275790672297557 + ], + [ + 0.009838734786494116, + 0.0035370942205190667, + 0.9999453419419053, + 0.0006800763258467226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998883906130595, + -0.0008186700870282948, + -0.014919041688127714, + -0.011120067260216695 + ], + [ + 0.0007398371605927225, + 0.9999857544898987, + -0.005288798118857091, + 0.0003686096629065611 + ], + [ + 0.014923158678858534, + 0.005277170334011316, + 0.9998747266302799, + 0.0037068308347986143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997812308821681, + -0.0019139857031404976, + -0.020828393509041292, + -0.014382396352088163 + ], + [ + 0.0017550729304768274, + 0.9999692440032961, + -0.007645234622369895, + 0.0010311782604154342 + ], + [ + 0.020842384304613416, + 0.0076070069335401076, + 0.9997538066439531, + 0.0035762582603457932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996474064963787, + -0.0023734024725854397, + -0.026447082756118213, + -0.01853460166929937 + ], + [ + 0.0021188172311372277, + 0.999951183795929, + -0.009650080196876713, + 0.0012079571942065863 + ], + [ + 0.026468694872521382, + 0.009590641595423222, + 0.9996036488544687, + 0.002878594665343252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994896794528937, + -0.0010817669099196794, + -0.031925944244439355, + -0.023465400394740855 + ], + [ + 0.0007426190799574743, + 0.9999431967735293, + -0.010632902654116911, + 0.0011408045406353393 + ], + [ + 0.031935632573298775, + 0.010603766888380052, + 0.9994337009810409, + 0.0030154093818917883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9992874119377955, + -0.0005323534714989364, + -0.03774176192418884, + -0.02827346175313207 + ], + [ + 8.799400684340561e-05, + 0.9999306797981262, + -0.011774365861543842, + 0.0017801126435942006 + ], + [ + 0.03774541266869821, + 0.011762653477489948, + 0.9992181787609975, + 0.0003332753111044914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990862953150246, + -0.0002050281473202631, + -0.04273817800430809, + -0.033730547709868226 + ], + [ + -0.00033569044586632014, + 0.9999200105667114, + -0.012644328499960248, + 0.0011335069752481139 + ], + [ + 0.04273734816294867, + 0.012647121213376522, + 0.9990063101444115, + 0.0012663703529724474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9988296218042356, + -0.0006102025508880616, + -0.04836322131397491, + -0.037720065568765546 + ], + [ + -2.2916537479663717e-05, + 0.999914348125458, + -0.01308928494341379, + -0.0006374701163179762 + ], + [ + 0.04836706739323132, + 0.013075074180960659, + 0.9987440439496008, + 0.00046630847269539945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9984923806222283, + 7.511320291087031e-05, + -0.0548900483719254, + -0.04068170608230647 + ], + [ + -0.0008104833163838534, + 0.9999102354049683, + -0.013375011324159837, + -0.002010503701108176 + ], + [ + 0.05488411342072127, + 0.01339933555573225, + 0.9984027984812299, + -0.003358422518052752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9983532408596819, + 0.0005726817180402577, + -0.05736228367653914, + -0.04769928779918726 + ], + [ + -0.001382405883407476, + 0.9998999834060669, + -0.01407728024626949, + -0.0020359672165019653 + ], + [ + 0.057348484447167856, + 0.014133397489786148, + 0.998254168339813, + 0.00158736740899666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99807864163408, + 0.0012008092598989606, + -0.06194801327833468, + -0.052004918701809844 + ], + [ + -0.002136683898295102, + 0.9998845458030701, + -0.01504338710455557, + -0.0018919594611331943 + ], + [ + 0.06192279744568415, + 0.015146846882998943, + 0.9979659737865334, + 0.00048027274140701555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9977313986876766, + 0.0035616722889244556, + -0.06722632962829148, + -0.054061193660688574 + ], + [ + -0.0045597106437471144, + 0.9998815655708313, + -0.01469834408274443, + -0.0027309729031670766 + ], + [ + 0.06716601900395497, + 0.014971531927585602, + 0.9976294852195062, + -0.0010506714126466386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9973741171884487, + 0.00528716342523694, + -0.07222815316191242, + -0.056268884153405696 + ], + [ + -0.0063889437172710735, + 0.9998666048049927, + -0.015031656088444477, + -0.002795377268838027 + ], + [ + 0.07213904690710643, + 0.015453645959496498, + 0.9972748299806125, + -0.0020626824584689795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9969731229998281, + 0.0062154619954526424, + -0.077497862487745, + -0.058078964565298326 + ], + [ + -0.00742102687154092, + 0.9998557567596436, + -0.015277826819150405, + -0.0022647211466779826 + ], + [ + 0.0773917211331863, + 0.01580669730901718, + 0.9968754289215835, + -0.00306463379320503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9964334229463563, + 0.0066354665905237215, + -0.08412122944203293, + -0.05844903174768879 + ], + [ + -0.007985314012628187, + 0.999844551086426, + -0.015720160677945214, + -0.0029948114502274 + ], + [ + 0.08400384944540676, + 0.01633582822978497, + 0.9963315302946387, + -0.008769143499067274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9959120632465224, + 0.006460017058998346, + -0.09009696448525609, + -0.05967860038935873 + ], + [ + -0.007936186827780809, + 0.9998399019241333, + -0.016035627671100235, + -0.004329654449253862 + ], + [ + 0.08997895023592323, + 0.01668510213494301, + 0.9958038795180786, + -0.014659600006411071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9956445267075558, + 0.004202523734420538, + -0.09313622476429555, + -0.06452576358656445 + ], + [ + -0.005721732193380797, + 0.9998548030853271, + -0.016050657352648313, + -0.007292052207844095 + ], + [ + 0.09305524694024929, + 0.016513647511601448, + 0.9955240139601584, + -0.008623615092932708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9952524144408095, + 0.0032448719721287498, + -0.09727336862735586, + -0.06807896029801941 + ], + [ + -0.0047404254601802875, + 0.9998740553855898, + -0.015147585319237891, + -0.011502755871621454 + ], + [ + 0.0972119618997168, + 0.015536786988377575, + 0.9951424093407786, + -0.0076538040736471745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9947671473402568, + 0.003172739874571562, + -0.10211884179851793, + -0.07137855235639393 + ], + [ + -0.004527675486280302, + 0.9999047517776489, + -0.013039174035194792, + -0.016586077486161428 + ], + [ + 0.10206774441294786, + 0.0134333036839962, + 0.9946867209003661, + -0.008077097675518532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.994094960796105, + 0.007055305875837803, + -0.10828427810223522, + -0.07175220889236895 + ], + [ + -0.00788844014863777, + 0.9999424815177917, + -0.007267522076589738, + -0.023835682950222876 + ], + [ + 0.10822677828832422, + 0.0080788005143404, + 0.9940933912072086, + -0.010848001138302955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9939800924789561, + 0.005916144698858261, + -0.10940101594615613, + -0.07941579944502998 + ], + [ + -0.006480157206268653, + 0.9999674558639526, + -0.0048006363207365385, + -0.02965758463489274 + ], + [ + 0.1093690627743734, + 0.005480672232806683, + 0.9939861015728182, + -0.001251367902896136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9936004930649638, + 0.005605824291706085, + -0.1128124998469088, + -0.08534107037192354 + ], + [ + -0.005976722249316632, + 0.9999777674674988, + -0.002949800066823813, + -0.03453951139478086 + ], + [ + 0.1127934583026698, + 0.003605171572417021, + 0.9936119166397082, + 0.0015070797695864533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9931179513699163, + 0.0052155288867652425, + -0.11700202604377517, + -0.09062915319290593 + ], + [ + -0.005381370420539012, + 0.999984920024872, + -0.0011015645767082113, + -0.0391807614344427 + ], + [ + 0.11699452241007773, + 0.0017236148705706005, + 0.9931310415713615, + -0.0013662501712375574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9925672482112032, + 0.002971149981021881, + -0.12166107665423419, + -0.09567443869741467 + ], + [ + -0.003009306406116209, + 0.9999954700469971, + -0.00012988842771984957, + -0.042622950628674675 + ], + [ + 0.12166013308635253, + 0.0004950384027324617, + 0.9925716884160397, + -0.006291817990667393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.992143852906373, + 0.00293578184209764, + -0.12506785257345895, + -0.10097601248912016 + ], + [ + -0.002758463778871685, + 0.9999949336051941, + 0.0015909278411831373, + -0.046186689485317005 + ], + [ + 0.12507189553867748, + -0.0012334341881796718, + 0.9921468905184856, + -0.009307417909168992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.991528027166916, + 0.0033743365202099085, + -0.12984919400328346, + -0.10360067370303425 + ], + [ + -0.002839641395690462, + 0.9999867081642151, + 0.004302744509588816, + -0.051394092132161395 + ], + [ + 0.12986199043290053, + -0.0038975668139755726, + 0.9915244029724022, + -0.0157532219637203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9911398885716651, + 0.0022510988637804985, + -0.13280284707663742, + -0.10687704537051049 + ], + [ + -0.0015625715669868403, + 0.9999848008155823, + 0.005288573820102629, + -0.054849027584369714 + ], + [ + 0.1328127269471401, + -0.005034202244132757, + 0.9911283534621039, + -0.013579835781265735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9904115789211845, + 0.0020090490579605107, + -0.13813345921743808, + -0.10881484425130661 + ], + [ + -0.0011398308036979726, + 0.9999790787696841, + 0.006371413501055065, + -0.058870609053534986 + ], + [ + 0.13814335936574326, + -0.006152872927486898, + 0.9903931130154234, + -0.020909143246744914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9897459462323397, + 0.0022488199174404144, + -0.14282134957961432, + -0.11158722805305916 + ], + [ + -0.001120954812509792, + 0.9999675750732422, + 0.00797700364459142, + -0.06271443565862311 + ], + [ + 0.14283465394271253, + -0.007735110353678465, + 0.9897163149614001, + -0.030388066940591575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9891634950959532, + 0.000539722794201225, + -0.14681731291485156, + -0.11570471027944318 + ], + [ + 0.0006186087292979188, + 0.9999690651893616, + 0.007843838924119552, + -0.06453392276232076 + ], + [ + 0.14681699649043417, + -0.007849660702049732, + 0.9891325514396261, + -0.03480267238238537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9884333660331505, + -0.0003444814938120544, + -0.15165532619258815, + -0.12099857488910173 + ], + [ + 0.0014521435599861962, + 0.9999730587005615, + 0.007193120358975069, + -0.06433981408717979 + ], + [ + 0.151648771975025, + -0.007330145221203566, + 0.9884072475856768, + -0.04134942289218887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9879058390715187, + -0.0006783365970477462, + -0.15505346758021202, + -0.12860997416567954 + ], + [ + 0.0015960399422497724, + 0.9999819397926331, + 0.0057942128902802505, + -0.06224685927859656 + ], + [ + 0.15504673741187885, + -0.005971608683466911, + 0.9878890988076056, + -0.04793052625096666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9873032605492817, + -0.0019858656451106076, + -0.15883414042003258, + -0.13586749971796444 + ], + [ + 0.00254777261837549, + 0.9999911785125735, + 0.003334145178711623, + -0.05790576225219142 + ], + [ + 0.15882612253587655, + -0.00369648588821292, + 0.9872996423124756, + -0.05877434209384302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9869522875060551, + 0.004223942756652832, + -0.1609575587562393, + -0.14630568061928126 + ], + [ + -0.0031332600944532526, + 0.9999703764915466, + 0.007029427433686915, + -0.054788753525612174 + ], + [ + 0.16098248105275775, + -0.006433387752622366, + 0.9869362941701354, + -0.058370948551576714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9870108941182535, + 0.005899191368371248, + -0.16054510776440836, + -0.157840591340435 + ], + [ + -0.004752448986215539, + 0.9999603629112244, + 0.007525850535834424, + -0.049218271727655014 + ], + [ + 0.16058314987968786, + -0.006665114313364029, + 0.9869998070214153, + -0.052933842551804694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9869864264709716, + 0.007266322616487743, + -0.16063930577324034, + -0.16824040795311798 + ], + [ + -0.006338285556047055, + 0.9999601244926455, + 0.006288816713292455, + -0.042971124631642196 + ], + [ + 0.1606785991988605, + -0.005188798531889916, + 0.9869931383389825, + -0.051921383989877445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9873718116531502, + 0.011571774259209633, + -0.15799694526433777, + -0.17886815613557347 + ], + [ + -0.010138490288651275, + 0.9998998641967773, + 0.009874594255349462, + -0.04135933676648906 + ], + [ + 0.15809538808728293, + -0.00814804621040821, + 0.9873902281428738, + -0.0358425920356228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9869271555524194, + 0.014665169641375542, + -0.16049844841235725, + -0.18725102087575682 + ], + [ + -0.01294601463565166, + 0.9998471140861511, + 0.011751851464630857, + -0.03922992384089397 + ], + [ + 0.1606462596460186, + -0.00952040683478117, + 0.9869661181061052, + -0.04610204414758459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9868478587556058, + 0.015775708481669426, + -0.16088012253899864, + -0.19511146942317054 + ], + [ + -0.013883946080606372, + 0.9998207092285156, + 0.012876281237870537, + -0.03743350661031615 + ], + [ + 0.16105440318135641, + -0.01047328021377325, + 0.9868899472179307, + -0.04649757780016074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9865608059523976, + 0.01807323284447193, + -0.16239195432735198, + -0.2026370678551292 + ], + [ + -0.015995499019998607, + 0.9997727274894714, + 0.01409302971214012, + -0.034850259923431146 + ], + [ + 0.16260975389562576, + -0.011306090280413628, + 0.9866256688037478, + -0.04783537081547104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9858698683292908, + 0.01824348233640194, + -0.16651658081173062, + -0.21175888701802972 + ], + [ + -0.016175958762747703, + 0.9997743964195251, + 0.013764260392986095, + -0.03242575692902037 + ], + [ + 0.16673012411657157, + -0.010876203887164593, + 0.9859425666991413, + -0.052777232064773257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9863526386483958, + 0.02120447345077992, + -0.1632755190552812, + -0.22395204081547695 + ], + [ + -0.019136578544849413, + 0.9997156262397768, + 0.014227675922259422, + -0.03182454243241193 + ], + [ + 0.163530774570722, + -0.010908971540629865, + 0.9864778991913523, + -0.05543065152365123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9871483027634758, + 0.03586491197347641, + -0.1557302493023392, + -0.23396515327840467 + ], + [ + -0.03217597493910212, + 0.999140202999115, + 0.0261453048056311, + -0.03625802089966261 + ], + [ + 0.15653405299381398, + -0.020798519253730774, + 0.9874535728056534, + -0.023591291984988827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9870812183270616, + 0.03499880433082581, + -0.15635125579938608, + -0.2442477894839061 + ], + [ + -0.03188528104759222, + 0.9992409944534304, + 0.02237829352132975, + -0.03707106524389606 + ], + [ + 0.15701579674045218, + -0.017103889957070354, + 0.9874479898276844, + -0.044945677575223636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9886923177183091, + 0.022283431142568588, + -0.14829358046581106, + -0.25265063638508545 + ], + [ + -0.018471694104539707, + 0.9994639158248901, + 0.02703193332926397, + -0.044421663033343106 + ], + [ + 0.1488164405351096, + -0.02398703247308731, + 0.9885738680898981, + -0.050784904534987754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9877542208067277, + 0.028084894642233856, + -0.15346930035811343, + -0.2493205063672855 + ], + [ + -0.0240641192173235, + 0.9993183612823489, + 0.02799462101567864, + -0.04518018943719478 + ], + [ + 0.1541509164915453, + -0.023958701640367515, + 0.987756796296284, + -0.054943002390111434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.987915163160163, + 0.01991699449717999, + -0.15371074322969894, + -0.24335341689214482 + ], + [ + -0.015186264458435017, + 0.9993759989738467, + 0.03188993236900771, + -0.04977521666821404 + ], + [ + 0.15424997587084557, + -0.029170254245400436, + 0.9876011332410389, + -0.04961540202799742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.986889449452259, + 0.02012706734240055, + -0.16013770637717933, + -0.23135633485362245 + ], + [ + -0.015233511948694916, + 0.9993804693222046, + 0.03172773754648026, + -0.049983572733868824 + ], + [ + 0.1606770784488372, + -0.028872309252619743, + 0.9865846710829006, + -0.0525973102983196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9852809082060913, + 0.02524719387292862, + -0.16906848948775544, + -0.21838951297846673 + ], + [ + -0.020768175411984398, + 0.9993863105773926, + 0.02820877191499166, + -0.04555548736948935 + ], + [ + 0.169676913911252, + -0.024282321333885193, + 0.9852005330375146, + -0.06122374642724444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9844018764465282, + 0.026521842926740653, + -0.17392400340521597, + -0.20530841051371407 + ], + [ + -0.02184060686614521, + 0.9993472695350649, + 0.028774614735571014, + -0.044087892114397745 + ], + [ + 0.1745736393471001, + -0.024527177214622504, + 0.9843385671588363, + -0.06310073585998423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9832595726228041, + 0.025159906595945365, + -0.18046492780986795, + -0.18745088629888684 + ], + [ + -0.019922221658934248, + 0.9993277192115786, + 0.03077760053353131, + -0.04240058224772054 + ], + [ + 0.1811179632248739, + -0.026667108759284026, + 0.9830997489047427, + -0.057544223497076545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.982924367082278, + 0.02479124814271927, + -0.18233223568202137, + -0.17361511360095974 + ], + [ + -0.019218491157100594, + 0.9992944598197937, + 0.03226764467748303, + -0.03822207913990877 + ], + [ + 0.1830035447029683, + -0.02821250446140766, + 0.982707335283642, + -0.04893242205715933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9823148223785748, + 0.022380176931619644, + -0.18589432008613746, + -0.1585121049337889 + ], + [ + -0.017087770917566757, + 0.9994031190872192, + 0.030023759783142277, + -0.03549077627448596 + ], + [ + 0.1864553047577377, + -0.026316266506910324, + 0.9821109498227223, + -0.05254310964619036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9823707847004498, + 0.020047249272465706, + -0.1858650276797974, + -0.1498766169838958 + ], + [ + -0.015319443793445372, + 0.9995223879814148, + 0.026838301772065837, + -0.031170325420835362 + ], + [ + 0.18631428911402725, + -0.02351781539618969, + 0.9822086723942033, + -0.06403406926157179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9829011629421337, + 0.012904680334031582, + -0.18368104015868522, + -0.14275889382250478 + ], + [ + -0.00880804769796295, + 0.9996943473815918, + 0.02310143595802352, + -0.02539713762397373 + ], + [ + 0.18392300639192946, + -0.021088557317852974, + 0.9827144088497618, + -0.04516297088177076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9839975372391999, + 0.020664729177951813, + -0.17697969994252927, + -0.13133598366786955 + ], + [ + -0.018984305071581935, + 0.9997572302818298, + 0.011183229500396543, + 0.02341722270967106 + ], + [ + 0.17716783546943518, + -0.007644433528184891, + 0.9841509948906636, + 0.02166045937610565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9847220756667575, + 0.013682366348803043, + -0.17359484761565352, + -0.12751160371252035 + ], + [ + -0.013061687734013496, + 0.9999035596847534, + 0.0047173865156430175, + 0.031414535664714374 + ], + [ + 0.1736426547948982, + -0.0023778732866048813, + 0.9848058738517569, + 0.04911416871660397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9859735778204972, + 0.01908361911773682, + -0.16580693448037143, + -0.13100533557423366 + ], + [ + -0.017977258312956677, + 0.9998050332069399, + 0.008170917271623187, + 0.03300436648549623 + ], + [ + 0.16593054008008334, + -0.005075554363429547, + 0.9861243852006221, + 0.08343666443567854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9850699502315657, + 0.017915215343236927, + -0.17121988831854043, + -0.12412219390712201 + ], + [ + -0.01722287443398741, + 0.9998363852500918, + 0.005528253854104117, + 0.04240371728765062 + ], + [ + 0.17129091774187927, + -0.0024968185462057595, + 0.9852173274450651, + 0.05824131760600095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9845176656749393, + 0.020223272964358333, + -0.1741150264264504, + -0.11605216188221144 + ], + [ + -0.020062334203011126, + 0.9997951388359072, + 0.0026844819280724226, + 0.0562487606439676 + ], + [ + 0.17413364305402576, + 0.0008502340642735364, + 0.9847216593197128, + 0.04974683874119254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.984545380263709, + 0.02305944450199604, + -0.17360487982762002, + -0.11095378203919715 + ], + [ + -0.021410923566615836, + 0.9997062087059021, + 0.011362827423594103, + 0.04094452925010848 + ], + [ + 0.17381588603921705, + -0.007470178883522749, + 0.9847498063823886, + 0.05589526075227669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9836951156946, + 0.014444018714129925, + -0.1792630249530442, + -0.1003252754857446 + ], + [ + -0.014253666133504355, + 0.9998956322669983, + 0.002349891897715033, + 0.053100652329072094 + ], + [ + 0.1792782641814022, + 0.00024357804795727134, + 0.9837984038054498, + 0.03826660428772583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9842116847991099, + 0.016963511705398563, + -0.17618067970906653, + -0.09954681799550169 + ], + [ + -0.016194022864612283, + 0.9998520016670229, + 0.00580459227262155, + 0.04810187836474061 + ], + [ + 0.17625306709412267, + -0.002859873697161675, + 0.9843407466168133, + 0.054225918545625404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9839762653369158, + 0.015923423692584038, + -0.17758719469812403, + -0.0953738506581326 + ], + [ + -0.015407202604643122, + 0.999872088432312, + 0.004285599707275076, + 0.05312549258970146 + ], + [ + 0.1776327242515911, + -0.001480806851759553, + 0.9840957612550658, + 0.05085853082773701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9840144023723733, + 0.01422614324837923, + -0.17751963970619564, + -0.09347131198498103 + ], + [ + -0.014034525235913838, + 0.9998987913131714, + 0.0023351084145768063, + 0.05731581276220048 + ], + [ + 0.17753489355650331, + 0.00019362347666174173, + 0.9841144948016805, + 0.04799226513214457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9842665106055875, + 0.01861332170665264, + -0.1757069922620251, + -0.09235690575835141 + ], + [ + -0.01772310404208377, + 0.9998209476470947, + 0.006634506555200976, + 0.05555553769905676 + ], + [ + 0.17579901633604333, + -0.003416049759835005, + 0.9844201789175747, + 0.05528503816402669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9844885922039974, + 0.015842288732528687, + -0.17473191860496337, + -0.0898722871271563 + ], + [ + -0.015146195509704283, + 0.9998711347579956, + 0.005316662877897836, + 0.05742639977098436 + ], + [ + 0.17479363538578024, + -0.002587670460343361, + 0.9846017090538617, + 0.05452289332341777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9845799180801665, + 0.01510812807828188, + -0.17428159625141001, + -0.08603634683374115 + ], + [ + -0.014685211588727749, + 0.9998852610588074, + 0.0037159917566255292, + 0.06208163250549249 + ], + [ + 0.17431774074802842, + -0.001099328976124525, + 0.9846888210302819, + 0.056153955469581456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9846406411654153, + 0.015541225671768188, + -0.17390013764448464, + -0.08385982917523684 + ], + [ + -0.015132804953985435, + 0.9998787641525269, + 0.003674328164832297, + 0.06391139748906126 + ], + [ + 0.17393615760464148, + -0.0009862962178885937, + 0.9847564597856733, + 0.056274663133254514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9848097098187923, + 0.016847755759954456, + -0.1728178541895085, + -0.08268256521901411 + ], + [ + -0.016354527204846394, + 0.9998571276664736, + 0.00427763624288316, + 0.06513440439842656 + ], + [ + 0.17286522290255182, + -0.0013863035710528495, + 0.9849445303092607, + 0.06021390039044844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9848905950937057, + 0.016624007374048233, + -0.17237799428485104, + -0.08029055418096301 + ], + [ + -0.01614092619787053, + 0.9998608827590942, + 0.004203844977797906, + 0.06643003462289579 + ], + [ + 0.17242389843791733, + -0.0013579874066635966, + 0.9850219079741362, + 0.0593235723458032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9848025309213025, + 0.01695217750966549, + -0.17284846190429312, + -0.07565973145292225 + ], + [ + -0.016224602645273433, + 0.9998525977134705, + 0.005621386219547352, + 0.06394317102661783 + ], + [ + 0.1729182711161181, + -0.002731557935476303, + 0.9849324167213325, + 0.06293194877390476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9844784924713891, + 0.013698362745344639, + -0.17496972171199493, + -0.06897913876509937 + ], + [ + -0.013259053676320286, + 0.9999053478240967, + 0.003679567925247664, + 0.06491927540901142 + ], + [ + 0.17500356321942004, + -0.0013025228399783373, + 0.9845669160513401, + 0.05939806343417258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.98415517984983, + 0.011794793419539932, + -0.17691649029725035, + -0.06328616763299261 + ], + [ + -0.011426314535169839, + 0.9999299049377444, + 0.003101459910492282, + 0.0651295055903311 + ], + [ + 0.17694067080845033, + -0.0010308142518624666, + 0.9842209668450477, + 0.05730646076041908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9840854950875229, + 0.011463133618235588, + -0.17732541405132213, + -0.06089288346113042 + ], + [ + -0.011067268271249018, + 0.9999335408210754, + 0.00322138503802624, + 0.06503972611553384 + ], + [ + 0.17735056292094495, + -0.0012076104758307338, + 0.9841469855429691, + 0.05693597982261828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9837652513468143, + 0.011566673405468464, + -0.17908682095292533, + -0.054745961454364556 + ], + [ + -0.011074627186402853, + 0.9999316334724426, + 0.003747056927734911, + 0.06487707387502667 + ], + [ + 0.17911792813712643, + -0.0017029047012329102, + 0.9838261213422022, + 0.055684648967127034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9850396364739755, + 0.01979604735970497, + -0.17118729856606843, + -0.070048505181196 + ], + [ + -0.01864150707324431, + 0.9997913837432861, + 0.008349296964293965, + 0.06680521595712234 + ], + [ + 0.17131686075311725, + -0.005033198744058609, + 0.9852031024227831, + 0.06886199505550888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.984800022206695, + 0.020632188767194748, + -0.17246211394438365, + -0.06661667334349831 + ], + [ + -0.018871585884822017, + 0.9997518062591553, + 0.011842190612002573, + 0.05956885494573079 + ], + [ + 0.1726636430246484, + -0.008407555520534515, + 0.9849449580911599, + 0.0637243297513855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9846256745370724, + 0.017819412052631378, + -0.1737662840625537, + -0.06254633382159329 + ], + [ + -0.016261896794436518, + 0.9998138546943665, + 0.01038298637245851, + 0.05932324284715281 + ], + [ + 0.17391896117072317, + -0.0073975855484604836, + 0.9847321673767995, + 0.06073521710116543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9845604256696873, + 0.017840994521975517, + -0.1741335114413834, + -0.05985757194223179 + ], + [ + -0.01619067650103227, + 0.9998095631599426, + 0.010893348825985773, + 0.05926352509855826 + ], + [ + 0.1742947061318467, + -0.00790582038462162, + 0.9846618118204995, + 0.06138983747386701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.984714256747623, + 0.016843946650624275, + -0.1733612106090715, + -0.059000128326985674 + ], + [ + -0.015536221089867448, + 0.999839723110199, + 0.00889764614511646, + 0.06363047652666866 + ], + [ + 0.17348328643785582, + -0.006068261340260506, + 0.9848180886703702, + 0.06531544013274387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9846890813718142, + 0.021736696362495422, + -0.1729591877550454, + -0.058050619020568156 + ], + [ + -0.019608165366900247, + 0.9997096657752991, + 0.014005831602798067, + 0.058257893602708145 + ], + [ + 0.17321340418707817, + -0.010399977676570415, + 0.9848293895504245, + 0.06530658904140382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9844717190532093, + 0.016162043437361717, + -0.17479758899534056, + -0.05166819676889513 + ], + [ + -0.014937757499519744, + 0.9998538494110107, + 0.008317504378236881, + 0.06495575358524779 + ], + [ + 0.17490647080708902, + -0.005577264353632927, + 0.984569281758233, + 0.06260321171735303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9842320592650683, + 0.01647915691137314, + -0.17611284663528948, + -0.04648231784753522 + ], + [ + -0.015040539694869123, + 0.9998417496681213, + 0.009500537807444719, + 0.062328239486508605 + ], + [ + 0.17624153764794334, + -0.006701902020722628, + 0.9843241172917006, + 0.06461109197500446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9846472163092082, + 0.021117670461535454, + -0.17327422239288523, + -0.05222460085545837 + ], + [ + -0.018921003602498453, + 0.999718427658081, + 0.014319568760078784, + 0.05863883760567195 + ], + [ + 0.17352782940209205, + -0.010821200907230377, + 0.9847694899849266, + 0.06837766776542166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9842667595140246, + 0.016500312834978104, + -0.17591684277397882, + -0.04515667855525898 + ], + [ + -0.014920879846333716, + 0.9998356699943542, + 0.010297330830959845, + 0.06368562891253188 + ], + [ + 0.17605783583308546, + -0.0075104860588908195, + 0.9843511719428574, + 0.06592611489569222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9840278606917116, + 0.015346040017902855, + -0.1773518157347521, + -0.04430715134281109 + ], + [ + -0.013166261481538991, + 0.9998227357864382, + 0.013461105591211704, + 0.054274716079744545 + ], + [ + 0.17752695143773303, + -0.01091104280203581, + 0.9840554442678391, + 0.05605338766214574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9842895066475332, + 0.018176307901740074, + -0.17562406681711037, + -0.04367373362528651 + ], + [ + -0.016203773343758634, + 0.9997885823249817, + 0.01265920142974383, + 0.06183066074693381 + ], + [ + 0.17581703809289148, + -0.009614546783268452, + 0.9843759143372449, + 0.06928059570499304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9837921315351327, + 0.015908166766166687, + -0.17860548684388017, + -0.03503549055698878 + ], + [ + -0.013979194423561565, + 0.9998296499252319, + 0.012053572012322432, + 0.06080093661185123 + ], + [ + 0.17876680945551196, + -0.0093614486977458, + 0.9838469627529246, + 0.06551899520674505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9844845383997426, + 0.023457694798707962, + -0.17389631424818636, + -0.04409712431184544 + ], + [ + -0.020266128298644607, + 0.9995924234390259, + 0.02010648655567577, + 0.053743454370004384 + ], + [ + 0.17429708561674848, + -0.016270318999886513, + 0.9845587019936739, + 0.07222837692035071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9843023325148209, + 0.024339638650417335, + -0.1748040502849631, + -0.040606302864627936 + ], + [ + -0.02102219776611247, + 0.9995625019073489, + 0.020804971896857538, + 0.053169394911116524 + ], + [ + 0.17523395393941182, + -0.01680361852049828, + 0.9843833838175752, + 0.06950704698590227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9841076940855056, + 0.023590322583913803, + -0.1759986292520322, + -0.03768176770278413 + ], + [ + -0.020095792837668085, + 0.9995644688606262, + 0.021611671768765814, + 0.05005478433318943 + ], + [ + 0.1764317949021766, + -0.017731381580233574, + 0.9841531213107884, + 0.06809563206276997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9850814147719367, + 0.025309337303042412, + -0.17021775850294008, + -0.050091580362937496 + ], + [ + -0.022182003696398726, + 0.9995488524436951, + 0.020249582103194674, + 0.05376276198346657 + ], + [ + 0.1706534670008817, + -0.016171714290976524, + 0.9851983802354071, + 0.0741379524855509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9840561238884173, + 0.023455826565623283, + -0.17630463058635534, + -0.0334553341830105 + ], + [ + -0.01948797728580509, + 0.9995170831680298, + 0.024203763042074476, + 0.04359011479579212 + ], + [ + 0.17678721498846386, + -0.020382041111588478, + 0.984038005284535, + 0.06215030651523945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9836410552788011, + 0.015440588817000389, + -0.17947671516850658, + -0.0203004319727437 + ], + [ + -0.012823075168673858, + 0.9997939467430115, + 0.015735215403775964, + 0.05550238654393923 + ], + [ + 0.17968269092358571, + -0.013176360167562962, + 0.9836363817604267, + 0.06513561414498555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9842893850927773, + 0.02272852323949337, + -0.17509379426562996, + -0.032235132873843164 + ], + [ + -0.019071551957335058, + 0.999563992023468, + 0.022540420036850826, + 0.05021801164852164 + ], + [ + 0.17552976353449495, + -0.018846986815333366, + 0.9842936778537105, + 0.06967893546997925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9850122784607641, + 0.023285837844014168, + -0.17090527569712868, + -0.03916882620615991 + ], + [ + -0.01913910130467969, + 0.9994820356369019, + 0.02587122584113686, + 0.045385994381167034 + ], + [ + 0.17141918874962786, + -0.022212499752640724, + 0.9849477577255927, + 0.07998712753813035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9770012191214132, + 0.039727769792079926, + -0.2095001308789903, + -0.08891859147501478 + ], + [ + -0.04290618303776997, + 0.999022364616394, + -0.010646582126121414, + 0.03609171075940061 + ], + [ + 0.20887235117575054, + 0.019390573725104332, + 0.9777506290868725, + 0.07254965926769097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9766483949189577, + 0.039806924760341644, + -0.2111238623848424, + -0.08821665714093208 + ], + [ + -0.042662823633348744, + 0.9990491271018982, + -0.008987639580642172, + 0.03490906100490493 + ], + [ + 0.2105653340933312, + 0.017784902825951576, + 0.9774179966213966, + 0.07183754666463919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9763843549645342, + 0.03973943740129471, + -0.21235421810616634, + -0.08820399461495665 + ], + [ + -0.042454463639272855, + 0.9990644454956055, + -0.008239136262309134, + 0.03583582009009997 + ], + [ + 0.21182812973591783, + 0.017059948295354843, + 0.9771580110891627, + 0.07150725529296145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.976153390349861, + 0.03978746011853218, + -0.2134044947968385, + -0.08786007756160331 + ], + [ + -0.0425597975612384, + 0.9990585446357727, + -0.00841074478459705, + 0.039296217998376314 + ], + [ + 0.21286893080017322, + 0.017292629927396774, + 0.9769277035377164, + 0.07430209496426998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.975765542807909, + 0.038458481431007385, + -0.2154126070065814, + -0.08604596571627124 + ], + [ + -0.04163112844620736, + 0.9990808963775635, + -0.010208699518272218, + 0.043752818535136344 + ], + [ + 0.21482200492806058, + 0.018929166719317436, + 0.9764697381067303, + 0.07491197376040654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9758555510446113, + 0.03972727805376053, + -0.2147734736571585, + -0.0912354705697548 + ], + [ + -0.04259421013471136, + 0.9990542531013489, + -0.008735193250315465, + 0.04519624324264582 + ], + [ + 0.2142233260755998, + 0.01767239347100258, + 0.9766248300938445, + 0.0744815880675124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9751918574353617, + 0.039058800786733634, + -0.21788804669553963, + -0.08831892835240064 + ], + [ + -0.042053411762400655, + 0.9990737438201907, + -0.009121784063692868, + 0.04912261579333739 + ], + [ + 0.2173299474500804, + 0.018058426678180698, + 0.9759311609012352, + 0.07906425861706683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9748026158080457, + 0.038930017501115806, + -0.21964582357462278, + -0.08828216459172089 + ], + [ + -0.041443909134134906, + 0.9991173744201662, + -0.006847280282458998, + 0.0472425897445859 + ], + [ + 0.21918538722167305, + 0.015777727589011196, + 0.9755556243929794, + 0.07832498193642945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9745504628484556, + 0.040148314088583, + -0.220543673157471, + -0.09010599218567199 + ], + [ + -0.04228271819230878, + 0.9990933537483218, + -0.0049637577564222825, + 0.04830761827850355 + ], + [ + 0.22014443511165552, + 0.014162618666887287, + 0.9753644899604298, + 0.08142146875806783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9742302761108217, + 0.038749024271965034, + -0.2222023638388512, + -0.09072983206148684 + ], + [ + -0.04108510779810575, + 0.9991382360458376, + -0.005898802056015245, + 0.05098160062792875 + ], + [ + 0.22178230714042765, + 0.014875999651849273, + 0.9749827027371089, + 0.08158345445724847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9741952082228961, + 0.04093387722969056, + -0.22196426839343952, + -0.09572388567474469 + ], + [ + -0.04312516530331291, + 0.9990569949150088, + -0.005032585006143569, + 0.05417880602331582 + ], + [ + 0.22154894684841017, + 0.014474965631961826, + 0.9750417949791459, + 0.0864666982593313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.973256844190838, + 0.039773277938365936, + -0.22625044019751342, + -0.09509846242937127 + ], + [ + -0.042217020169729086, + 0.9990906119346619, + -0.005970783344075939, + 0.05633606356624938 + ], + [ + 0.2258072072704818, + 0.015362724661827087, + 0.974050856867381, + 0.08254940573911575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.972767496976693, + 0.04117410257458687, + -0.22809672782170717, + -0.09770872302659067 + ], + [ + -0.043494006413289, + 0.999040424823761, + -0.005151169046043728, + 0.05865858396081013 + ], + [ + 0.22766574725133376, + 0.01493172999471426, + 0.9736248672067547, + 0.08391193874672227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.972061077373328, + 0.0434112660586834, + -0.2306787756106901, + -0.09791765389269746 + ], + [ + -0.04565325735065083, + 0.9989477396011355, + -0.0043878005823038205, + 0.06287685653184777 + ], + [ + 0.23024556300747467, + 0.014796447008848194, + 0.9730200758150237, + 0.08973546074826655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9714836497565689, + 0.04401043429970742, + -0.23298629679645877, + -0.09942033242514642 + ], + [ + -0.046190949153826044, + 0.9989249706268313, + -0.003908523312629498, + 0.06494338214724618 + ], + [ + 0.23256381867100165, + 0.014558924362063411, + 0.9724721814498513, + 0.08895806054336679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9709775487171287, + 0.04621761664748192, + -0.23466253352796093, + -0.10226022298604737 + ], + [ + -0.04801845550377008, + 0.9988445043563843, + -0.001962958777690983, + 0.06650288588688603 + ], + [ + 0.23430066941906644, + 0.013174120336771011, + 0.9720749104232815, + 0.09138410441380894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9705318213238296, + 0.04876402020454407, + -0.2359874684956131, + -0.10395804407243589 + ], + [ + -0.050479435951666554, + 0.9987243413925171, + -0.001229226014544972, + 0.07175331285036485 + ], + [ + 0.2356264871125326, + 0.013105517253279686, + 0.9717553066065362, + 0.09524037417739824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9696744076522763, + 0.048455249518156066, + -0.239548906172397, + -0.10394398347755995 + ], + [ + -0.050244510648027346, + 0.9987360239028933, + -0.0013642772639691808, + 0.07350215233063083 + ], + [ + 0.23918000430975367, + 0.013358920812606815, + 0.9708833472378015, + 0.09295236387477497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9695348740632985, + 0.05263610556721687, + -0.23923117884684306, + -0.11249681709998105 + ], + [ + -0.05406719214794221, + 0.9985371232032776, + 0.0005813503494640556, + 0.07757257476882803 + ], + [ + 0.23891181268773887, + 0.01237091887742281, + 0.970962463627344, + 0.09490428011692632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9685485332506177, + 0.050890304148197174, + -0.24356497611051714, + -0.1111957074441072 + ], + [ + -0.052575660441029716, + 0.9986168742179871, + -0.00041945733976583974, + 0.08107821564552951 + ], + [ + 0.24320675610664422, + 0.013211854733526707, + 0.9698845138737928, + 0.09487435523723163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9673508282041935, + 0.04960649460554124, + -0.24853894254557374, + -0.11015575820185883 + ], + [ + -0.05103631802467989, + 0.998696565628052, + 0.0006912944252544956, + 0.08509230269597684 + ], + [ + 0.24824926772583064, + 0.012015786953270439, + 0.9686216363709428, + 0.09346125460857914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9663026269546436, + 0.04797650128602983, + -0.2528982415667977, + -0.11073109146353333 + ], + [ + -0.04964170974885958, + 0.9987670779228213, + -0.0002038830252359962, + 0.09361044069763835 + ], + [ + 0.2525766617969134, + 0.012751312926411632, + 0.9674928884674578, + 0.09285975624062626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9654440700867416, + 0.04764078930020332, + -0.2562188371655941, + -0.11383187935297087 + ], + [ + -0.048689884949846, + 0.9988114237785339, + 0.0022512130660088175, + 0.0985448208395231 + ], + [ + 0.2560215557120085, + 0.010301846079528332, + 0.9666161850193472, + 0.09533444880654042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.963473638156426, + 0.045752160251140594, + -0.2638659483048308, + -0.10824427009032903 + ], + [ + -0.045648437958665675, + 0.9989362359046936, + 0.006527650858947569, + 0.09952777674711759 + ], + [ + 0.26388391620025425, + 0.005755848251283169, + 0.9645372986697778, + 0.09513719448952654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9620414122999353, + 0.04561739042401314, + -0.26906391780527406, + -0.10755494774163299 + ], + [ + -0.044206826930365886, + 0.9989584684371948, + 0.011302439316054517, + 0.10096289815016983 + ], + [ + 0.26929925557880313, + 0.0010210474720224738, + 0.963055999145962, + 0.09473625903474317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.962396589714155, + 0.04998753219842911, + -0.2670093577048368, + -0.12021295235592153 + ], + [ + -0.047211052258716, + 0.99874347448349, + 0.016811996683487786, + 0.10706743848984558 + ], + [ + 0.267514226927992, + -0.0035740165039896965, + 0.9635472643454539, + 0.10284903828035694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9611142886462019, + 0.049922775477170944, + -0.27160095799247286, + -0.12279408225785857 + ], + [ + -0.04612302492798743, + 0.9987282752990723, + 0.020359983371078676, + 0.11247986694599137 + ], + [ + 0.27227197791582386, + -0.0070412131026387215, + 0.9621945762567877, + 0.10017194156828174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9606613044146027, + 0.051056139171123505, + -0.27298919749100475, + -0.12609364725153702 + ], + [ + -0.04771751238895947, + 0.9986827969551086, + 0.018859780795718494, + 0.13143472003777235 + ], + [ + 0.2735925151004479, + -0.005091496743261814, + 0.96183220289836, + 0.1081911471694638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9595327586660273, + 0.05325969308614731, + -0.2765146351739627, + -0.13056936143263936 + ], + [ + -0.04809034194351755, + 0.9985187649726868, + 0.025447288129824493, + 0.13333684216738667 + ], + [ + 0.2774603769483365, + -0.011119823902845383, + 0.960672745108708, + 0.10513474701627361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9578636858374809, + 0.04670748859643937, + -0.28340004400335184, + -0.1210822608530144 + ], + [ + -0.043742685402984725, + 0.9989018440246584, + 0.016784290064851347, + 0.15630578542193035 + ], + [ + 0.2838727748506803, + -0.003680382855236531, + 0.9588548913764259, + 0.11202914244963211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9571731815919258, + 0.05269836261868477, + -0.28467947988101433, + -0.1284417355798004 + ], + [ + -0.04673431982756124, + 0.9985229969024658, + 0.02770726006212111, + 0.15479906761297416 + ], + [ + 0.2857191325235685, + -0.013216343708336353, + 0.9582222735283891, + 0.11793280647310188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9554994540980056, + 0.043121498078107834, + -0.29182422855619006, + -0.12126709786692214 + ], + [ + -0.03888992349515843, + 0.999037504196167, + 0.02028856820555052, + 0.1696293834508914 + ], + [ + 0.29241820429167226, + -0.008036693558096886, + 0.9562567365731914, + 0.11864987191646388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9535205651507019, + 0.03897721320390701, + -0.2987964761331343, + -0.1203132525580193 + ], + [ + -0.03484652271281695, + 0.9992093443870544, + 0.01914184829339913, + 0.17743896302881867 + ], + [ + 0.2993063165396877, + -0.007840128615498543, + 0.9541248419181749, + 0.10896696155032015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9526602350762012, + 0.03972150757908821, + -0.30143099876253726, + -0.12230721681835766 + ], + [ + -0.03506779479022316, + 0.9991676807403564, + 0.020836450480537796, + 0.18715748805054935 + ], + [ + 0.3020077898568059, + -0.009279537945985794, + 0.9532603094440474, + 0.12004838787780892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9524323228073852, + 0.03928206488490105, + -0.3022079368962415, + -0.12820959504813878 + ], + [ + -0.03467168498587484, + 0.9991862773895264, + 0.020607232010384793, + 0.19785630651366143 + ], + [ + 0.30277149768743816, + -0.009148935787379742, + 0.9530192450812192, + 0.1300112589263212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9509578843678813, + 0.04029477760195732, + -0.30668461725232143, + -0.12982381882539726 + ], + [ + -0.034401870741047814, + 0.9991053342819214, + 0.024598551995139887, + 0.20095928368107216 + ], + [ + 0.30740143214099847, + -0.0128416633233428, + 0.9514932638466453, + 0.1316662096419129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9490071116298184, + 0.03630470484495163, + -0.31315719278982335, + -0.127642943146655 + ], + [ + -0.03133511384957116, + 0.9992906451225281, + 0.020889524832861037, + 0.2136340348501198 + ], + [ + 0.3136934328036713, + -0.010011491365730762, + 0.9494715617465878, + 0.13394951373490316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9478251309808186, + 0.03611018136143685, + -0.31673892225378925, + -0.13154568137776781 + ], + [ + -0.029755043772025973, + 0.9992475509643557, + 0.0248798894271629, + 0.21586974236069098 + ], + [ + 0.31739901563922635, + -0.014157203957438472, + 0.9481864258263056, + 0.1360726527784951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9474848006202046, + 0.03614966571331025, + -0.3177510537246464, + -0.13581582704824127 + ], + [ + -0.028967576748767574, + 0.9992074966430666, + 0.027300224684664285, + 0.22200964204639947 + ], + [ + 0.3184861103295697, + -0.01666207239031792, + 0.9477810591588162, + 0.14453408312931212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9461167519336432, + 0.035859305411577225, + -0.32183409951469744, + -0.13660243788680268 + ], + [ + -0.028396076703377245, + 0.9992085695266724, + 0.02785572599969826, + 0.2304595222931382 + ], + [ + 0.32257826438145465, + -0.017215942963957787, + 0.9463862078195917, + 0.15124896868411009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9439135800383212, + 0.03125649318099022, + -0.3287099401754558, + -0.13408449721189242 + ], + [ + -0.024152245164173133, + 0.9993785619735718, + 0.02567441803419912, + 0.23857804480709677 + ], + [ + 0.32930815553955034, + -0.01629534736275673, + 0.9440818960471917, + 0.14637825698070656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9443283429006384, + 0.03484990447759628, + -0.3271536238890684, + -0.14109366173789173 + ], + [ + -0.02578351833099881, + 0.9991549253463745, + 0.03201048205452882, + 0.23990517953402918 + ], + [ + 0.32799272176767696, + -0.02179323509335518, + 0.9444288557506126, + 0.1655470854087514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9427744668022894, + 0.039446212351322174, + -0.3310895832466712, + -0.1435100765750561 + ], + [ + -0.02895697148066567, + 0.99891197681427, + 0.03655626833122432, + 0.24438539803700704 + ], + [ + 0.3321713452627367, + -0.02487696334719658, + 0.9428909441535289, + 0.163322351559973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9412056160398271, + 0.04000692069530487, + -0.33545708775309463, + -0.1425628404182544 + ], + [ + -0.028075056017007414, + 0.9987912774085999, + 0.040345429728700304, + 0.2451813821015884 + ], + [ + 0.33666572706323167, + -0.02855536714196205, + 0.9411911789371856, + 0.1638708668456183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9414882002284839, + 0.040694382041692734, + -0.3345802735591221, + -0.14725464389108658 + ], + [ + -0.028518683223773125, + 0.9987427592277527, + 0.04122543035462814, + 0.2522997605667235 + ], + [ + 0.33583726806841496, + -0.02927146852016449, + 0.9414650965160333, + 0.18075991714433606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9400774073667577, + 0.03956824913620949, + -0.3386574166978504, + -0.148364673999291 + ], + [ + -0.026793023857505587, + 0.9987449049949646, + 0.042317321854888235, + 0.2555615213918561 + ], + [ + 0.33990679291837866, + -0.03070790320634842, + 0.939957631875377, + 0.17985938364671816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9409572641247531, + 0.036179088056087494, + -0.33658653877115546, + -0.15509151939901364 + ], + [ + -0.024735791374622087, + 0.998962938785553, + 0.038225670276233935, + 0.2630561927501154 + ], + [ + 0.33762043803520814, + -0.02764298766851425, + 0.9408763214208073, + 0.18575451688561506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9388549584038274, + 0.039637189358472824, + -0.34202377118816835, + -0.1493629306312282 + ], + [ + -0.02729401829315323, + 0.9987933039665222, + 0.040828252099408595, + 0.26337769850671466 + ], + [ + 0.3432293868189565, + -0.028996603563427925, + 0.938803927028977, + 0.1897794062233935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9395044226741652, + 0.03937185555696488, + -0.3402664263791439, + -0.15589631750917268 + ], + [ + -0.02686618862218446, + 0.9987818598747256, + 0.04138812936364102, + 0.2649306696749238 + ], + [ + 0.34148147467435214, + -0.029742671176791198, + 0.9394177886005929, + 0.19863810638492685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9381259906285412, + 0.036547139286994934, + -0.3443601865449274, + -0.15446477832332786 + ], + [ + -0.026008472818765956, + 0.9990426898002625, + 0.03517516717150181, + 0.27363515388880905 + ], + [ + 0.34531608201295033, + -0.024042457342147827, + 0.9381784369886732, + 0.19919418087758411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9373288383859052, + 0.040422290563583374, + -0.3460934658516254, + -0.15591150738631954 + ], + [ + -0.027874379221080523, + 0.9987637400627136, + 0.04115898581549156, + 0.26765836502257534 + ], + [ + 0.34732933488112505, + -0.028932364657521248, + 0.9372967904682897, + 0.19760695763361433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9371778266630324, + 0.03684435784816742, + -0.3469009353180924, + -0.1558590249302226 + ], + [ + -0.02611654526620124, + 0.9990265369415283, + 0.035550917414768936, + 0.27440296308548623 + ], + [ + 0.3478730976459691, + -0.024257678538560867, + 0.9372277812736808, + 0.2052345217123899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.935761448507075, + 0.038814742118120193, + -0.35049091145880074, + -0.1552587442866105 + ], + [ + -0.027161782812460303, + 0.9989045262336731, + 0.038104477318777724, + 0.2728604973690291 + ], + [ + 0.3515859919068118, + -0.026136742904782295, + 0.9357906571333136, + 0.2059954279704745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9323749662871734, + 0.03683540970087052, + -0.3596110295261094, + -0.1468704982738698 + ], + [ + -0.024906984898572505, + 0.9989767670631411, + 0.037749314448351126, + 0.27248393578209407 + ], + [ + 0.3606335837149508, + -0.026239689439535148, + 0.932338408672381, + 0.19908862638275127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.932025725086897, + 0.03504137322306634, + -0.3606939334086884, + -0.14897668242217202 + ], + [ + -0.023414580271528783, + 0.9990572929382326, + 0.036555504783768365, + 0.27507017076659845 + ], + [ + 0.36163486586126703, + -0.025625176727771766, + 0.9319675867164603, + 0.20377593011378511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9326340871541026, + 0.03031385503709317, + -0.3595479914220945, + -0.15575242861496402 + ], + [ + -0.021018490594272753, + 0.9993367791175845, + 0.029735087930423645, + 0.2851787765180637 + ], + [ + 0.36021091549070866, + -0.020174801349639896, + 0.9326526844625793, + 0.21296124959696033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9323721599749495, + 0.03294249624013901, + -0.3599956904153889, + -0.15788505343428325 + ], + [ + -0.02175616006851931, + 0.9991475939750671, + 0.0350825782700128, + 0.28193685722073686 + ], + [ + 0.3608445300353134, + -0.024877898395061493, + 0.9322941252050411, + 0.21991282730647266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9317692259494303, + 0.03714270144701004, + -0.3611461227039642, + -0.159941879217948 + ], + [ + -0.023199033073312402, + 0.9988112449645996, + 0.04287018745622699, + 0.2750107114496469 + ], + [ + 0.3623091438637429, + -0.03156688064336777, + 0.9315232804891025, + 0.22290877609368703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9306500620705112, + 0.03658453747630119, + -0.3640769808698154, + -0.16093131450370682 + ], + [ + -0.02302962268865966, + 0.9988728761672974, + 0.04150436403972957, + 0.27868652256542154 + ], + [ + 0.3651850414816948, + -0.030241481959819794, + 0.930443639167091, + 0.2230796950155151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9292344066891536, + 0.038246944546699524, + -0.36750587080900765, + -0.15990303100951966 + ], + [ + -0.023374536817636654, + 0.9987208247184753, + 0.044836283064885005, + 0.2766756310383945 + ], + [ + 0.3687506262949422, + -0.03307313472032547, + 0.9289398078900538, + 0.22767382890532362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9297543705703188, + 0.044306755065917976, + -0.36550472170426596, + -0.16983530896588414 + ], + [ + -0.02845848782116487, + 0.9984110593795779, + 0.048636710789303754, + 0.2788182095008715 + ], + [ + 0.3670788981510065, + -0.03481848537921906, + 0.9295379361937898, + 0.23097219280670883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9263518641425581, + 0.03704782947897911, + -0.37483295685727064, + -0.1587898390495534 + ], + [ + -0.023281733002318526, + 0.9988800287246704, + 0.04118971440490938, + 0.28489568204876625 + ], + [ + 0.3759391479502057, + -0.02942940592765808, + 0.9261768963010356, + 0.22754093977033313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9291976758910941, + 0.04823989421129228, + -0.36642132880414807, + -0.17688689900062038 + ], + [ + -0.030988094744153538, + 0.9981229901313784, + 0.05282247229857146, + 0.2783211754089697 + ], + [ + 0.36828169616613227, + -0.037727817893028266, + 0.9289484523229645, + 0.23958755364373646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9287871162604602, + 0.04768792912364006, + -0.3675327243276271, + -0.17773057227169378 + ], + [ + -0.03158603409298564, + 0.9982643127441406, + 0.04970566311440476, + 0.2844995997629414 + ], + [ + 0.3692651649638425, + -0.03455708175897598, + 0.928681373763809, + 0.24880995952268142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.921872198233661, + 0.036281771957874305, + -0.3857917008307354, + -0.1709226295818104 + ], + [ + -0.022684668286825325, + 0.9989525079727175, + 0.039740104070105024, + 0.3037524327399472 + ], + [ + 0.3868294493979821, + -0.027883740141987808, + 0.9217296205297775, + 0.27721154750090676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9187382544798015, + 0.03369762375950814, + -0.3934266531038345, + -0.16695741375290107 + ], + [ + -0.01793875338567141, + 0.9988851547241213, + 0.043665156704305125, + 0.3051486162994343 + ], + [ + 0.39445946004022453, + -0.0330592691898346, + 0.9183184622086297, + 0.29467493996055244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.909896330827201, + 0.03843916580080986, + -0.4130509090639649, + -0.14937881935615277 + ], + [ + -0.012277494737560627, + 0.997756838798523, + 0.06580712673504366, + 0.2834473317945304 + ], + [ + 0.4146539333558097, + -0.054806437343358994, + 0.9083272218096773, + 0.29676168203069375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9250510649374337, + 0.05378718674182892, + -0.37601520230047786, + -0.18570938192427877 + ], + [ + -0.034491471678046566, + 0.9977283477783203, + 0.05786635617326037, + 0.2880511242019478 + ], + [ + 0.37827350554842215, + -0.04056002199649811, + 0.9248048860192112, + 0.26751574175160775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9235112969206574, + 0.05170008167624475, + -0.3800710710604018, + -0.18545532595958616 + ], + [ + -0.032144847501808564, + 0.9978207349777224, + 0.05762418450818103, + 0.2886723157219742 + ], + [ + 0.38222196060279096, + -0.040999256074428565, + 0.9231605607508454, + 0.267471092127018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9249843818721384, + 0.05302557349205017, + -0.3762874158509156, + -0.19492127561754033 + ], + [ + -0.0335697886497166, + 0.9977473616600037, + 0.05807953609172948, + 0.2933571635873939 + ], + [ + 0.378519481110803, + -0.041090771555900574, + 0.924680780659079, + 0.2768697885674979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9261615798576561, + 0.05185220763087274, + -0.3735452550328554, + -0.2020270143053936 + ], + [ + -0.0334782396212806, + 0.9978964924812319, + 0.05551369493952708, + 0.29909922183110677 + ], + [ + 0.37563802317856193, + -0.038909018039703376, + 0.9259493117757361, + 0.28157370509165003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9246673130244575, + 0.04894094169139862, + -0.37761777105475713, + -0.2017283071258146 + ], + [ + -0.03078317269027806, + 0.9980676174163818, + 0.053975677656703254, + 0.30233456347611454 + ], + [ + 0.37952970835703287, + -0.0382852740585804, + 0.9243870558955902, + 0.28482021977563404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9244421998236853, + 0.03824065998196602, + -0.37939990356036163, + -0.20469256458614565 + ], + [ + -0.028076973330563932, + 0.9990841746330261, + 0.03228809031454309, + 0.33160509382535586 + ], + [ + 0.3802871432751382, + -0.019196072593331337, + 0.9246692124099231, + 0.29912091074633096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9219615386330948, + 0.04170132800936699, + -0.38502984503744847, + -0.20070942419380924 + ], + [ + -0.027023927308773437, + 0.9986898303031921, + 0.043455515321848624, + 0.32171996983266193 + ], + [ + 0.3863375251398995, + -0.029659295454621315, + 0.9218804722725162, + 0.2903659426098454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9208904988716626, + 0.03991876915097237, + -0.387772120850969, + -0.200004947011392 + ], + [ + -0.023829546416711624, + 0.9986473321914675, + 0.04621367043991842, + 0.3215479940924375 + ], + [ + 0.38909237743778374, + -0.03331729397177697, + 0.920596063534276, + 0.2925932179823516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9209253351501475, + 0.02876748889684677, + -0.388675902124995, + -0.20472061791929208 + ], + [ + -0.019102962773464502, + 0.9994053244590759, + 0.02870766471738719, + 0.3444624625081607 + ], + [ + 0.3892706062840663, + -0.019012754783034325, + 0.9209272166648048, + 0.3057298567483938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9198506293869522, + 0.039951007813215256, + -0.3902291333963994, + -0.20329864260431327 + ], + [ + -0.0231746988022197, + 0.998597264289856, + 0.04760718354928854, + 0.3285126935098657 + ], + [ + 0.39158368689089856, + -0.034748051315546036, + 0.9194861341281579, + 0.30072809132668715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9226255761066937, + 0.03504381701350213, + -0.38410150662938997, + -0.2151999104285114 + ], + [ + -0.02393663664121344, + 0.999146640300751, + 0.033661304846290346, + 0.34938950597709995 + ], + [ + 0.3849533343272926, + -0.02186268195509911, + 0.9226770860128577, + 0.3093946584290282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9192457133550459, + 0.04077933356165886, + -0.39156653374189904, + -0.2097518376030391 + ], + [ + -0.02445310119143515, + 0.9986146092414856, + 0.04659342986321038, + 0.34068676348324983 + ], + [ + 0.39292411272636996, + -0.033255793154239655, + 0.9189693847712896, + 0.31119402930077433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9163213578282767, + 0.03984228149056435, + -0.39845679936687284, + -0.20525071636532954 + ], + [ + -0.02418994790443997, + 0.9987282156944277, + 0.04423528145261602, + 0.34640486601377163 + ], + [ + 0.39971247322298836, + -0.030895084142684943, + 0.9161197729178148, + 0.3134832730561903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9152419690605821, + 0.04232272505760193, + -0.40067555516701636, + -0.2046619068038982 + ], + [ + -0.023184275157738302, + 0.9983519911766052, + 0.05249572874846033, + 0.3397908042481239 + ], + [ + 0.4022369918642455, + -0.038756921887397766, + 0.9147148612578637, + 0.3113047274180698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9149132115211538, + 0.04276402294635773, + -0.4013788837220217, + -0.20708310248766823 + ], + [ + -0.023411146532409915, + 0.9983200430870056, + 0.05299983918729896, + 0.3435553294772799 + ], + [ + 0.40297108455062375, + -0.039093516767024994, + 0.9143773953443217, + 0.3181657164746595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9137266986265857, + 0.03912702947854996, + -0.4044411186415709, + -0.20591070082291696 + ], + [ + -0.020371185167411387, + 0.9985124468803406, + 0.05057629096840135, + 0.3477410644801019 + ], + [ + 0.40581838394592784, + -0.03797396272420883, + 0.9131645110457074, + 0.31760234266414683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9117735718314621, + 0.04221084341406822, + -0.40851835767586175, + -0.20535030691095627 + ], + [ + -0.021022575519310267, + 0.998197078704834, + 0.0562200253051915, + 0.3439446401999971 + ], + [ + 0.41015490968093243, + -0.04267182573676109, + 0.9110170393471017, + 0.31695523812339715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9122443206089541, + 0.04341774061322213, + -0.4073391496337845, + -0.2084557040258226 + ], + [ + -0.022136304093335814, + 0.9981392621994021, + 0.056815632068500224, + 0.3474673931516652 + ], + [ + 0.40904799245136436, + -0.04281275719404221, + 0.9115079813905372, + 0.3206661130379772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9117700271322465, + 0.04133177921175957, + -0.408616094633912, + -0.20911151904610592 + ], + [ + -0.020097182988858014, + 0.9982213973999023, + 0.05612665963521067, + 0.34928072720757997 + ], + [ + 0.4102091139114781, + -0.04296257719397545, + 0.9109789532695777, + 0.32142270688872726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9111222254983037, + 0.04634616151452065, + -0.40952206142622094, + -0.21018483210394456 + ], + [ + -0.02324341525506584, + 0.9978538751602175, + 0.06121552031613381, + 0.3481647946389125 + ], + [ + 0.41148030185455214, + -0.04625613242387772, + 0.910244105505616, + 0.32419732177331423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9103362386021945, + 0.046224087476730354, + -0.41128005623727104, + -0.21011583344240745 + ], + [ + -0.023704384666375002, + 0.9979354143142702, + 0.059690949077484304, + 0.3511751096835574 + ], + [ + 0.41319010226228853, + -0.04458969086408616, + 0.9095524999358374, + 0.3273490928682291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9096143711539849, + 0.04398465901613236, + -0.4131186750059351, + -0.2106909177943293 + ], + [ + -0.02249028649863093, + 0.9981349706649782, + 0.056751582143099256, + 0.3550560007631699 + ], + [ + 0.41484439157075165, + -0.04233089834451676, + 0.9089071757025051, + 0.3269763727325593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9076745776181654, + 0.04886986315250398, + -0.4168195948613629, + -0.2075263873924635 + ], + [ + -0.025111859354031187, + 0.997741758823395, + 0.06229579510158916, + 0.3508569196280843 + ], + [ + 0.4189227206023997, + -0.0460771918296814, + 0.9068520675722744, + 0.32587606880594383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9090265967615125, + 0.05245504900813103, + -0.41342366064182373, + -0.21259502392724716 + ], + [ + -0.026063036750109424, + 0.9972605109214783, + 0.0692252555376918, + 0.34657185063616786 + ], + [ + 0.41592232450579597, + -0.052152521908283234, + 0.9079034844411348, + 0.326886229028257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9054940395148418, + 0.04609309136867523, + -0.4218482573059658, + -0.20545428623695178 + ], + [ + -0.021732499677539697, + 0.9978160262107849, + 0.06237734177775341, + 0.35228752402435193 + ], + [ + 0.4238020969403475, + -0.04731449484825134, + 0.9045181604856458, + 0.329971999544499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.905596144278507, + 0.051222868263721466, + -0.4210366247451477, + -0.2080766494238206 + ], + [ + -0.02244422212807382, + 0.9970772862434387, + 0.0730286949431551, + 0.3436560441688881 + ], + [ + 0.4235467677715871, + -0.05668466538190842, + 0.9040989749997309, + 0.33029866110076955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9044700129621507, + 0.047249503433704376, + -0.4239121068638011, + -0.20676489523628436 + ], + [ + -0.022063961857566206, + 0.9976977705955505, + 0.06412776127095482, + 0.3515420351520356 + ], + [ + 0.4259661544613551, + -0.04864846169948578, + 0.9034302269895785, + 0.32769396073859136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9027445546558557, + 0.04893382638692856, + -0.4273847858642736, + -0.20426663103619763 + ], + [ + -0.021418709491473682, + 0.9973897933959961, + 0.06895536127306548, + 0.3468514751684667 + ], + [ + 0.42964347209828635, + -0.053095050156116486, + 0.9014363219564256, + 0.3293190567437663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9037358380537496, + 0.04768259823322296, + -0.42542666732531464, + -0.20747763726982188 + ], + [ + -0.021624003706503966, + 0.9975934624671936, + 0.06587612461212645, + 0.3506246216595806 + ], + [ + 0.42754400941985626, + -0.05033519119024277, + 0.9025921024742625, + 0.33399259580643936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9036260776951969, + 0.04553608596324921, + -0.42589473425690594, + -0.2080415791346889 + ], + [ + -0.020730574951064135, + 0.9978170394897461, + 0.06270093426652924, + 0.35287230519018764 + ], + [ + 0.4278201638744472, + -0.04782916232943535, + 0.9025974933719119, + 0.3375055203461519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9004121729709653, + 0.04521111398935318, + -0.43268217521766833, + -0.20238864746358104 + ], + [ + -0.020136825268910728, + 0.9978504776954651, + 0.062360996197874385, + 0.35289576106271514 + ], + [ + 0.4345715228688157, + -0.04743775352835655, + 0.8993871458032209, + 0.33643358782363814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9000015735372995, + 0.046018123626708984, + -0.4334507512180422, + -0.20323809151374295 + ], + [ + -0.02053662599762756, + 0.9977838397026062, + 0.06329011454474424, + 0.3525516585061396 + ], + [ + 0.43540264001254836, + -0.04805958271026611, + 0.8989520517254096, + 0.337301524498999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8998200644272776, + 0.05068529024720193, + -0.43330695274200276, + -0.20633037237772725 + ], + [ + -0.02347690037675832, + 0.9974146485328677, + 0.06791782774000579, + 0.3501410912823287 + ], + [ + 0.4356291357311191, + -0.05094111710786821, + 0.8986836584820962, + 0.3388294550460098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8978111420693508, + 0.050179317593574524, + -0.437512452446016, + -0.20159882715954458 + ], + [ + -0.023126269868935144, + 0.9974884390830994, + 0.06694727959053036, + 0.34990005491632287 + ], + [ + 0.4397729988424669, + -0.04998798668384552, + 0.8967167507646868, + 0.337651047191454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.8963105693039416, + 0.049837321043014526, + -0.4406173326383224, + -0.19939516290773687 + ], + [ + -0.022429456896232353, + 0.9974875450134277, + 0.06719743188644177, + 0.34910631461419206 + ], + [ + 0.44285924723901415, + -0.05034695938229561, + 0.8951764327589365, + 0.33919306347471073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8951428958849968, + 0.049320828169584274, + -0.44304246952143095, + -0.19825544671075918 + ], + [ + -0.022879596438352943, + 0.9976338148117065, + 0.06483266160306633, + 0.3516765251026593 + ], + [ + 0.445191741164182, + -0.04789786413311958, + 0.8941532678902471, + 0.3400081362568741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.8936428907030312, + 0.04618198052048683, + -0.44639623131761014, + -0.1956591518770885 + ], + [ + -0.01988370943765222, + 0.9977887868881226, + 0.06342107123683674, + 0.3521911393064468 + ], + [ + 0.4483380512901968, + -0.04779978096485138, + 0.8925851263534651, + 0.34047170958753553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.8940284760991557, + 0.04760148003697397, + -0.4454740574015946, + -0.19815217830541337 + ], + [ + -0.022472023240368007, + 0.9978524446487429, + 0.061526859680348066, + 0.35468613992739717 + ], + [ + 0.44744613995664406, + -0.044996064156293876, + 0.893178214160037, + 0.3439488477717328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.8934388595003883, + 0.045935481786727905, + -0.4468299392587052, + -0.1988877357953738 + ], + [ + -0.021971128970278676, + 0.9980356097221375, + 0.05866972694459956, + 0.35636283514176603 + ], + [ + 0.44864721756820086, + -0.04260045662522316, + 0.8926930515914685, + 0.3416588918300439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.8931976041846778, + 0.05108634755015373, + -0.44675304466530463, + -0.20008422602411746 + ], + [ + -0.022972381331692295, + 0.9974122643470764, + 0.06812550395029454, + 0.3505637557483802 + ], + [ + 0.4490772223983968, + -0.05058655887842178, + 0.8920597700295609, + 0.34843130689902707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.8937538544164635, + 0.05366671457886696, + -0.4453357850739416, + -0.20346126493097388 + ], + [ + -0.02385677389083887, + 0.997098982334137, + 0.07228017594449829, + 0.3474571957358972 + ], + [ + 0.44792289610503433, + -0.05397640913724899, + 0.8924413833812529, + 0.3470457905539261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.8924763140014237, + 0.05242420732975006, + -0.44803760697714673, + -0.2008588099464832 + ], + [ + -0.02312196864415016, + 0.9972348213195801, + 0.070626741983208, + 0.34977502420079026 + ], + [ + 0.450501248915404, + -0.052673183381557465, + 0.8912206229520451, + 0.34850186118956167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.891283606752152, + 0.04936404898762703, + -0.45075132151402997, + -0.1986703565561627 + ], + [ + -0.02102615036807952, + 0.9974865913391113, + 0.06766416732879284, + 0.352044363311696 + ], + [ + 0.45295856764990866, + -0.05083039775490761, + 0.8900813206846747, + 0.3494767344841163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.8903114738697341, + 0.05226244777441025, + -0.4523429160834345, + -0.1975438796059007 + ], + [ + -0.02244356510546106, + 0.9972208142280579, + 0.07104219217166928, + 0.35103391111720367 + ], + [ + 0.45479859928699073, + -0.05309749394655228, + 0.8890100596295314, + 0.35406705641934555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.8866336020754301, + 0.053561933338642134, + -0.45936041388306686, + -0.19255634229729796 + ], + [ + -0.021061452413485407, + 0.9969165325164797, + 0.07558985180239289, + 0.34674461875476414 + ], + [ + 0.46199272515232565, + -0.0573457069694996, + 0.8850277880316955, + 0.35344001191904595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.8890224376966269, + 0.05760304629802704, + -0.4542257116220625, + -0.19763587156017995 + ], + [ + -0.024086562617475906, + 0.9965647459030151, + 0.07923741923035217, + 0.34570022635342856 + ], + [ + 0.4572296437893381, + -0.05950310826301575, + 0.8873558527498029, + 0.35708316320503664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.8889476227350276, + 0.05660118907690048, + -0.4544979893772232, + -0.19828668644867634 + ], + [ + -0.024728760614224205, + 0.9968184232711792, + 0.07577269892858703, + 0.34874527706554714 + ], + [ + 0.45734080346613615, + -0.056118786334991455, + 0.8875190247655627, + 0.35705202269013975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.8884586253731621, + 0.05558507889509201, + -0.4555782499170806, + -0.19730385711584497 + ], + [ + -0.021781007047185347, + 0.9966269731521606, + 0.07912157769237585, + 0.34579253959702133 + ], + [ + 0.45843957172744254, + -0.06037329509854317, + 0.8866725605955122, + 0.35450656699391536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.8874586619926971, + 0.05610822513699533, + -0.4574593090893387, + -0.1956516231891276 + ], + [ + -0.023080416742562233, + 0.9967271089553835, + 0.07747503402575721, + 0.347835325145089 + ], + [ + 0.46030908491545164, + -0.0581975392997265, + 0.8858490903360678, + 0.3595384954341456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.8903484317721866, + 0.05415768176317215, + -0.4520471080575279, + -0.20305934024426672 + ], + [ + -0.02527881094036034, + 0.9972485899925232, + 0.06968681057977423, + 0.35497435232508895 + ], + [ + 0.4545774197557924, + -0.050618331879377365, + 0.8892677543715733, + 0.35747268364315743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.8851140406004347, + 0.051635805517435074, + -0.46250074458071855, + -0.1914027119503516 + ], + [ + -0.023471354500457856, + 0.9975137114524841, + 0.06644876751402543, + 0.35715740550398833 + ], + [ + 0.4647819621086564, + -0.04795921966433525, + 0.884125358995422, + 0.3602707594017724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.8898077586381266, + 0.05663636699318886, + -0.45280735067904127, + -0.20089948521341994 + ], + [ + -0.027876213124953496, + 0.997161328792572, + 0.0699439312409884, + 0.35605684129882753 + ], + [ + 0.45548336042188675, + -0.04961409792304039, + 0.8888606980603694, + 0.3581072137972864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.8849764116845976, + 0.05251527577638626, + -0.46266493663200475, + -0.19054902538121973 + ], + [ + -0.024403319894587435, + 0.9974851012229919, + 0.06654240860058479, + 0.3590729863770454 + ], + [ + 0.4649959097178917, + -0.04759790375828743, + 0.88403240225914, + 0.36215435238904115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.8865755807444181, + 0.05087353289127351, + -0.45977782053783295, + -0.19274209383682764 + ], + [ + -0.02601301851103007, + 0.9978443384170534, + 0.06024944442555916, + 0.3650520849275052 + ], + [ + 0.4618517911942019, + -0.041455473750829704, + 0.8859877934558996, + 0.36458151816704737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.8875791896460667, + 0.060229115188121796, + -0.45670087407558413, + -0.19522583146909825 + ], + [ + -0.02979598656660023, + 0.9968459010124207, + 0.07355548678684912, + 0.35059147818886666 + ], + [ + 0.4596905851267181, + -0.05167846381664276, + 0.8865742715832553, + 0.3569518193102193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.8836325963572191, + 0.05692782253026962, + -0.4647070169731084, + -0.18843016616903024 + ], + [ + -0.02504777806957829, + 0.9969066977500916, + 0.07449573761821797, + 0.35125085184928473 + ], + [ + 0.4675104320546081, + -0.05418698862195015, + 0.8823252029249934, + 0.36323916930958605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.8874461208193507, + 0.05978137254714967, + -0.4570181454740272, + -0.19599979640326656 + ], + [ + -0.02900580330290133, + 0.9968311786651614, + 0.07406895271221561, + 0.35312616495398247 + ], + [ + 0.4599978748522496, + -0.05247602984309198, + 0.8863679735928386, + 0.35831084492355675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.8855900584330683, + 0.06118094176054002, + -0.4604206611862382, + -0.19264919747658943 + ], + [ + -0.027259632576933753, + 0.996424198150635, + 0.07997319952853142, + 0.3468939547018439 + ], + [ + 0.46366712529188225, + -0.05827257037162782, + 0.8840911325725884, + 0.3622604079455057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.8853888976738808, + 0.05679415538907051, + -0.4613684795154779, + -0.19544515690667938 + ], + [ + -0.025351503879669928, + 0.996930718421936, + 0.07407073054211986, + 0.35666156437498675 + ], + [ + 0.46415919716719556, + -0.053885020315647125, + 0.8841112468140878, + 0.3678335335356436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/pan_right/transforms.json b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..83d732f5ee44ff149d4d01ed65eae40ed213d48e --- /dev/null +++ b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/pan_right/transforms.json @@ -0,0 +1,7888 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 225, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 5.429926386568695e-05, + 6.081355968490243e-05, + -9.924238838721067e-06 + ], + [ + -5.429988959804177e-05, + 1.0, + 1.0281693903380074e-05, + -4.616683509084396e-05 + ], + [ + -6.081299943616614e-05, + -1.028499536914751e-05, + 1.0, + -0.00013104858226142824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999973886970893, + -0.000524801725987345, + -0.0022302292064070323, + -0.0052675181068480015 + ], + [ + 0.0005206764950815633, + 0.999998152256012, + -0.00184984860728588, + -9.438030974706635e-05 + ], + [ + 0.002231195936829601, + 0.0018486824119463563, + 0.9999957805004454, + 0.0017687218496575952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999862441644692, + -0.0009416362736374142, + -0.005160610475154962, + -0.009046407416462898 + ], + [ + 0.0009233642266816458, + 0.9999933242797854, + -0.0035419081074969695, + -0.00016379433509428054 + ], + [ + 0.005163910757431526, + 0.0035370942205190667, + 0.999980410607729, + 0.00035851835855282843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999684246726156, + -0.0008186700870282948, + -0.007907031391981073, + -0.014580958522856236 + ], + [ + 0.0007769062760672084, + 0.9999857544898987, + -0.0052834800278251815, + 0.00036839323001913726 + ], + [ + 0.007911244099155817, + 0.005277170334011316, + 0.9999547898958907, + 0.003210940398275852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999322719040185, + -0.0019139857031404976, + -0.011479686637642017, + -0.018993724137544632 + ], + [ + 0.001826477949999792, + 0.9999692440032961, + -0.007628490789175827, + 0.0010275484528392553 + ], + [ + 0.01149393323395794, + 0.0076070069335401076, + 0.9999049796762637, + 0.002893161727115512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998882253663959, + -0.0023734024725854397, + -0.014762190721050023, + -0.0242948979139328 + ], + [ + 0.002231455001621881, + 0.999951183795929, + -0.0096246580635809, + 0.0012027209158986807 + ], + [ + 0.014784312765995672, + 0.009590641595423222, + 0.9998447232983029, + 0.0019990415312349796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999839127043657, + -0.0010817669099196794, + -0.017905453954737888, + -0.03037315607070923 + ], + [ + 0.0008916672668843336, + 0.9999431967735293, + -0.010621442060050527, + 0.0011448391014710069 + ], + [ + 0.017915926401261266, + 0.010603766888380052, + 0.9997832899512284, + 0.0019302371656522155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997711658155992, + -0.0005323534714989364, + -0.021386637281188094, + -0.036326538771390915 + ], + [ + 0.0002806312420803517, + 0.9999306797981262, + -0.01177134998599132, + 0.0017911582253873348 + ], + [ + 0.02139142031165959, + 0.011762653477489948, + 0.9997020016390009, + -0.0009701634990051389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997107714610669, + -0.0002050281473202631, + -0.02404892451123432, + -0.042928289622068405 + ], + [ + -9.919714432595766e-05, + 0.9999200105667114, + -0.012648394807915764, + 0.0011509074829518795 + ], + [ + 0.02404959044698535, + 0.012647121213376522, + 0.9996307847578954, + -0.0002584755711723119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996259656194981, + -0.0006102025508880616, + -0.027341240438995686, + -0.04805976524949074 + ], + [ + 0.0002524334103977036, + 0.999914348125458, + -0.013086870629408848, + -0.000620744307525456 + ], + [ + 0.02734688587430796, + 0.013075074180960659, + 0.999540487607181, + -0.001295340247452259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995025459230729, + 7.511320291087031e-05, + -0.031537473966897496, + -0.052159592509269714 + ], + [ + -0.0004976502183421825, + 0.9999102354049683, + -0.013390300795266865, + -0.001982587156817317 + ], + [ + 0.03153363442397982, + 0.01339933555573225, + 0.9994128495377398, + -0.005377321038395166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994980003759818, + 0.0005726817180402577, + -0.0316760535425684, + -0.06032204627990723 + ], + [ + -0.001020027594533572, + 0.9998999834060669, + -0.014108168161206431, + -0.001997115556150675 + ], + [ + 0.03166480599001139, + 0.014133397489786148, + 0.9993986058314338, + -0.0006498123984783888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994234336850077, + 0.0012008092598989606, + -0.03393127519754812, + -0.06576675176620483 + ], + [ + -0.0017139326932302892, + 0.9998845458030701, + -0.015097395417151221, + -0.0018377496162429452 + ], + [ + 0.03390922919546723, + 0.015146846882998943, + 0.9993101029483152, + -0.0020072581246495247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993133045612852, + 0.0035616722889244556, + -0.03688146755978226, + -0.06895852833986282 + ], + [ + -0.004111029445622813, + 0.9998815655708313, + -0.014830094970251239, + -0.0026366449892520905 + ], + [ + 0.03682428119027807, + 0.014971531927585602, + 0.9992096057399549, + -0.003806389169767499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9992033495207258, + 0.00528716342523694, + -0.03955631495956583, + -0.0723005086183548 + ], + [ + -0.005893700996285781, + 0.9998666048049927, + -0.015232648330152818, + -0.0026637904811650515 + ], + [ + 0.03947050499974094, + 0.015453645959496498, + 0.9991011999975732, + -0.00509157357737422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9990770655108995, + 0.0062154619954526424, + -0.042501104036595246, + -0.07524210214614868 + ], + [ + -0.006880897934220493, + 0.9998557567596436, + -0.015528582541974782, + -0.002105612540617585 + ], + [ + 0.04239845260782313, + 0.01580669730901718, + 0.998975710667687, + -0.006380242295563221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988820150578406, + 0.0066354665905237215, + -0.046804568168278736, + -0.07673667371273041 + ], + [ + -0.007391934338811918, + 0.999844551086426, + -0.016007748072461164, + -0.0028140288777649403 + ], + [ + 0.04669108014285785, + 0.01633582822978497, + 0.9987758046809085, + -0.012405778281390667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9987051410980334, + 0.006460017058998346, + -0.050461290845158005, + -0.07909034192562103 + ], + [ + -0.0072928752109819375, + 0.9998399019241333, + -0.01633824921246589, + -0.004138188902288675 + ], + [ + 0.05034766756900852, + 0.01668510213494301, + 0.9985923544265575, + -0.018617305904626846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9986809046668508, + 0.004202523734420538, + -0.05117451103682966, + -0.08507169038057327 + ], + [ + -0.005041537766064494, + 0.9998548030853271, + -0.01627712252513444, + -0.007135832216590643 + ], + [ + 0.05109867394567823, + 0.016513647511601448, + 0.998557092446621, + -0.01285360474139452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9985897508197106, + 0.0032448719721287498, + -0.05299043547851598, + -0.08975296467542648 + ], + [ + -0.004063231654021277, + 0.9998740553855898, + -0.015343113213193609, + -0.011362023651599884 + ], + [ + 0.052933973286241574, + 0.015536786988377575, + 0.9984771278687825, + -0.012184027582406998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9984525934012114, + 0.003172739874571562, + -0.055518951792500736, + -0.09417548775672913 + ], + [ + -0.003913370711471521, + 0.9999047517776489, + -0.013236518972288691, + -0.01644853875041008 + ], + [ + 0.05547166879260132, + 0.0134333036839962, + 0.9983698669062652, + -0.012930475175380707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9982107875723086, + 0.007055305875837803, + -0.059375917160099136, + -0.09566255658864975 + ], + [ + -0.0075223377705844335, + 0.9999424815177917, + -0.007645835440133296, + -0.023624833673238754 + ], + [ + 0.05931856362330898, + 0.0080788005143404, + 0.9982063984919081, + -0.016064411029219627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9982895376127703, + 0.005916144698858261, + -0.05816361085254902, + -0.10446517169475555 + ], + [ + -0.006224827297130275, + 0.9999674558639526, + -0.005127384481666281, + -0.029479434713721275 + ], + [ + 0.0581313910410821, + 0.005480672232806683, + 0.9982938962989318, + -0.006715734954923391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9982270375276339, + 0.005605824291706085, + -0.059256910900348035, + -0.11151609569787979 + ], + [ + -0.005809574922640235, + 0.9999777674674988, + -0.0032667060623723008, + -0.03437196463346481 + ], + [ + 0.05923728300556947, + 0.003605171572417021, + 0.9982374213715035, + -0.004265307914465666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9981159490512165, + 0.0052155288867652425, + -0.06113339252092318, + -0.1179237887263298 + ], + [ + -0.005311139310933177, + 0.999984920024872, + -0.001401567458087846, + -0.039027877151966095 + ], + [ + 0.06112516671838013, + 0.0017236148705706005, + 0.9981285979272558, + -0.007473186124116182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9979784656791969, + 0.002971149981021881, + -0.06348339810394454, + -0.12408402562141418 + ], + [ + -0.0029965835717818594, + 0.9999954700469971, + -0.0003054225709974043, + -0.042535342276096344 + ], + [ + 0.0634821968205035, + 0.0004950384027324617, + 0.9979828431964648, + -0.012753552757203579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9979084364899019, + 0.00293578184209764, + -0.06457665978911149, + -0.130506694316864 + ], + [ + -0.002849999942076826, + 0.9999949336051941, + 0.001420448571881707, + -0.046108365058898926 + ], + [ + 0.06458051079329366, + -0.0012334341881796718, + 0.9979117140533099, + -0.016094651073217392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9977436194563911, + 0.0033743365202099085, + -0.06705454253724279, + -0.13424116373062134 + ], + [ + -0.003105363974761768, + 0.9999867081642151, + 0.004115080576995713, + -0.05131860822439194 + ], + [ + 0.06706754206977261, + -0.0038975668139755726, + 0.9977408095541109, + -0.022913696244359016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9977035037584354, + 0.0022510988637804985, + -0.06769485576951215, + -0.13863897323608398 + ], + [ + -0.0019051152583160692, + 0.9999848008155823, + 0.00517505350746849, + -0.054815199226140976 + ], + [ + 0.067705468918715, + -0.005034202244132757, + 0.9976926395208766, + -0.021062927320599556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9974934486990357, + 0.0020090490579605107, + -0.07073024826079494, + -0.14167821407318115 + ], + [ + -0.00156878346010986, + 0.9999790787696841, + 0.006279573450304667, + -0.05885312333703041 + ], + [ + 0.07074137646782463, + -0.006152872927486898, + 0.9974756957944748, + -0.028797941282391548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9973205264700693, + 0.0022488199174404144, + -0.07312142955765935, + -0.14555448293685913 + ], + [ + -0.0016771275206407571, + 0.9999675750732422, + 0.00787885588883456, + -0.06270211189985275 + ], + [ + 0.07313677740754122, + -0.007735110353678465, + 0.9972919002268832, + -0.03867015615105629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9971971034783925, + 0.000539722794201225, + -0.07481764642304398, + -0.150779590010643 + ], + [ + 4.909977803933395e-05, + 0.9999690651893616, + 0.007868041372495003, + -0.064582958817482 + ], + [ + 0.07481957111670724, + -0.007849660702049732, + 0.9971662181170443, + -0.043461039662361145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9970027225880848, + -0.0003444814938120544, + -0.07736554919439773, + -0.157171368598938 + ], + [ + 0.0009105405144658113, + 0.9999730587005615, + 0.007281525759689884, + -0.06441877782344818 + ], + [ + 0.07736096513778025, + -0.007330145221203566, + 0.9969761873757956, + -0.05042165145277977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9969167455671142, + -0.0006783365970477462, + -0.07846353986485044, + -0.1658918261528015 + ], + [ + 0.0011447869992083587, + 0.9999819397926331, + 0.005899975359405325, + -0.0623285248875618 + ], + [ + 0.07845811972829556, + -0.005971608683466911, + 0.9968995364497225, + -0.05737094581127167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9967969055391692, + -0.0019858656451106076, + -0.0799496188968396, + -0.17425303161144257 + ], + [ + 0.002275028963768297, + 0.9999911785125735, + 0.00352589174559929, + -0.05801832303404808 + ], + [ + 0.07994191357690111, + -0.00369648588821292, + 0.9967926621739281, + -0.06860294193029404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9968047928825833, + 0.004223942756652832, + -0.07976439318714536, + -0.18580995500087738 + ], + [ + -0.003697232449680781, + 0.9999703764915466, + 0.006749862300668871, + -0.05468723550438881 + ], + [ + 0.07979053911713645, + -0.006433387752622366, + 0.9967908897173862, + -0.06852870434522629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9970122508458633, + 0.005899191368371248, + -0.07701823419467137, + -0.1984897255897522 + ], + [ + -0.005368184105598042, + 0.9999603629112244, + 0.007099774437452569, + -0.04904767870903015 + ], + [ + 0.07705707357401137, + -0.006665114313364029, + 0.9970044004405411, + -0.06331787258386612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9971733171903994, + 0.007266322616487743, + -0.07478347465010149, + -0.2100297212600708 + ], + [ + -0.006857819920841793, + 0.9999601244926455, + 0.005717812988957114, + -0.04272260516881943 + ], + [ + 0.07482204144094338, + -0.005188798531889916, + 0.9971833981185967, + -0.06254909932613373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9974948660333958, + 0.011571774259209633, + -0.06978625507292906, + -0.22182674705982208 + ], + [ + -0.010974476889673656, + 0.9998998641967773, + 0.008936299795713866, + -0.04094979912042618 + ], + [ + 0.06988267611126255, + -0.00814804621040821, + 0.9975219425887499, + -0.04659492149949074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974401830886884, + 0.014665169641375542, + -0.06998602338729575, + -0.23132313787937164 + ], + [ + -0.013962099932220017, + 0.9998471140861511, + 0.010524498718511738, + -0.03868917003273964 + ], + [ + 0.07012967385114667, + -0.00952040683478117, + 0.9974924400080545, + -0.057199668139219284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975577339800439, + 0.015775708481669426, + -0.06804173377631645, + -0.24032172560691833 + ], + [ + -0.01502547817996335, + 0.9998207092285156, + 0.011523783352240148, + -0.03683902695775032 + ], + [ + 0.06821132364386942, + -0.01047328021377325, + 0.9976159100729419, + -0.0578455775976181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9975729883411006, + 0.01807323284447193, + -0.06724212670571397, + -0.24897147715091705 + ], + [ + -0.017270668603469087, + 0.9997727274894714, + 0.01249773904973167, + -0.034144409000873566 + ], + [ + 0.06745272005089978, + -0.011306090280413628, + 0.9976583949239206, + -0.059485916048288345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997444114516262, + 0.01824348233640194, + -0.06908261273079339, + -0.25918710231781006 + ], + [ + -0.01744720054243773, + 0.9997743964195251, + 0.012112460497025385, + -0.031691692769527435 + ], + [ + 0.06928800207993485, + -0.010876203887164593, + 0.9975373937276683, + -0.06485472619533539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9977579851541458, + 0.02120447345077992, + -0.06347775951121744, + -0.27256110310554504 + ], + [ + -0.02046764343622535, + 0.9997156262397768, + 0.012235643535162861, + -0.030926108360290527 + ], + [ + 0.06371915769255218, + -0.010908971540629865, + 0.9979082266258936, + -0.06758129596710205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979204358937612, + 0.03586491197347641, + -0.05355824700440825, + -0.2837905287742615 + ], + [ + -0.03469024500516369, + 0.999140202999115, + 0.022703683140468636, + -0.034719742834568024 + ], + [ + 0.0543264614685944, + -0.020798519253730774, + 0.998306618117711, + -0.03561268746852875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.99804138955333, + 0.03499880433082581, + -0.051850086813232124, + -0.2952137887477875 + ], + [ + -0.034058621433518316, + 0.9992409944534304, + 0.01890686315756846, + -0.0354958176612854 + ], + [ + 0.052472446200081097, + -0.017103889957070354, + 0.9984759062844498, + -0.05720587074756622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9988969261006042, + 0.022283431142568588, + -0.0413329910523772, + -0.3048831820487976 + ], + [ + -0.021266020294912057, + 0.9994639158248901, + 0.024893478732910108, + -0.043546032160520554 + ], + [ + 0.0418655432294324, + -0.02398703247308731, + 0.9988352726720595, + -0.06282302737236023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9986258444523229, + 0.028084894642233856, + -0.044245334960868445, + -0.30263009667396545 + ], + [ + -0.026988410480162893, + 0.9993183612823489, + 0.02518742422859607, + -0.04398227110505104 + ], + [ + 0.04492255939440208, + -0.023958701640367515, + 0.9987031377452152, + -0.06746840476989746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9989135028080922, + 0.01991699449717999, + -0.04213283866137535, + -0.2978200912475586 + ], + [ + -0.018661315985680535, + 0.9993759989738467, + 0.02998909302369774, + -0.04906138777732849 + ], + [ + 0.04270384091623125, + -0.029170254245400436, + 0.9986618223433505, + -0.062348540872335434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9987247841346688, + 0.02012706734240055, + -0.04629984880197608, + -0.28688743710517883 + ], + [ + -0.01875976544154902, + 0.9993804693222046, + 0.029778858552460125, + -0.049249302595853806 + ], + [ + 0.04687051898345121, + -0.028872309252619743, + 0.9984836459375942, + -0.06589251011610031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9982741217390788, + 0.02524719387292862, + -0.05302263742178504, + -0.27493852376937866 + ], + [ + -0.02391588513054537, + 0.9993863105773926, + 0.025594576795046533, + -0.044467493891716 + ], + [ + 0.05363628357955087, + -0.024282321333885193, + 0.9982652425561171, + -0.07524127513170242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.998100008122664, + 0.026521842926740653, + -0.055614630246737226, + -0.26293236017227173 + ], + [ + -0.025107762657560477, + 0.9993472695350649, + 0.025972886166032102, + -0.042914897203445435 + ], + [ + 0.05626718486208064, + -0.024527177214622504, + 0.9981144094035005, + -0.07761785387992859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9978864955626724, + 0.025159906595945365, + -0.059912597151592105, + -0.24612510204315186 + ], + [ + -0.02350703757187905, + 0.9993277192115786, + 0.028134939044248918, + -0.04132692143321037 + ], + [ + 0.06058019314874532, + -0.026667108759284026, + 0.997807031994341, + -0.0726676806807518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9979219224426592, + 0.02479124814271927, + -0.05947429933381711, + -0.23340700566768646 + ], + [ + -0.023058527168204564, + 0.9992944598197937, + 0.029645499156212982, + -0.03717515990138054 + ], + [ + 0.06016728203973531, + -0.02821250446140766, + 0.9977895080456992, + -0.06439134478569031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9979019516489495, + 0.022380176931619644, + -0.06075198268497772, + -0.21939700841903687 + ], + [ + -0.020731509380609536, + 0.9994031190872192, + 0.027633721885565298, + -0.03454585745930672 + ], + [ + 0.06133416976648587, + -0.026316266506910324, + 0.9977703232974242, + -0.06843670457601547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9980929776881066, + 0.020047249272465706, + -0.05838300298099014, + -0.21191155910491943 + ], + [ + -0.018633910497693612, + 0.9995223879814148, + 0.024652731688657708, + -0.030305080115795135 + ], + [ + 0.05884934092577566, + -0.02351781539618969, + 0.9979898023161612, + -0.08014091849327087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9984674939922523, + 0.012904680334031582, + -0.0538152772696278, + -0.2059846967458725 + ], + [ + -0.011748036099296977, + 0.9996943473815918, + 0.021754119044030896, + -0.02492213435471058 + ], + [ + 0.054079549748762605, + -0.021088557317852974, + 0.9983139205381009, + -0.061335284262895584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9987869878740804, + 0.020664729177951813, + -0.04469362748736916, + -0.19581127166748047 + ], + [ + -0.020301665554796573, + 0.9997572302818298, + 0.00856217477108576, + 0.02462799660861492 + ], + [ + 0.044859709752779954, + -0.007644433528184891, + 0.9989640779878445, + 0.005716243758797646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991491244266445, + 0.013682366348803043, + -0.03890712764544341, + -0.1932002454996109 + ], + [ + -0.013579432095460897, + 0.9999035596847534, + 0.0029086845761642235, + 0.03227555751800537 + ], + [ + 0.03894316999630798, + -0.0023778732866048813, + 0.9992386152705376, + 0.03320194408297539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9994063126882793, + 0.01908361911773682, + -0.028685498788545243, + -0.19796444475650787 + ], + [ + -0.018929867721985356, + 0.9998050332069399, + 0.005621904796296084, + 0.03420332074165344 + ], + [ + 0.02878719846778743, + -0.005075554363429547, + 0.9995726809106726, + 0.06785185635089874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9993325581786873, + 0.017915215343236927, + -0.03183543888614479, + -0.1921486109495163 + ], + [ + -0.017826561671877603, + 0.9998363852500918, + 0.0030663811574979842, + 0.04358232021331787 + ], + [ + 0.031885168969763567, + -0.0024968185462057595, + 0.9994884175410046, + 0.04210168868303299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992689755225905, + 0.020223272964358333, + -0.032443659034505676, + -0.18518002331256866 + ], + [ + -0.020240211799822026, + 0.9997951388359072, + -0.00019370904419433753, + 0.05766109377145767 + ], + [ + 0.032433098319653, + 0.0008502340642735364, + 0.9994735444773029, + 0.033219438046216965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9992958321472694, + 0.02305944450199604, + -0.029598985652720098, + -0.18123862147331238 + ], + [ + -0.022827463795279647, + 0.9997062087059021, + 0.008151588293642204, + 0.0424409955739975 + ], + [ + 0.029778257054786855, + -0.007470178883522749, + 0.9995285882937661, + 0.03920186683535576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993514501158495, + 0.014444018714129925, + -0.03298472234349107, + -0.1716773957014084 + ], + [ + -0.01444419247321357, + 0.9998956322669983, + 0.0002330106716788566, + 0.054135579615831375 + ], + [ + 0.03298464111670219, + 0.00024357804795727134, + 0.999455856348068, + 0.020991062745451927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9994772212206277, + 0.016963511705398563, + -0.027523747182090993, + -0.17210333049297333 + ], + [ + -0.016878278595663414, + 0.9998520016670229, + 0.003326165906585766, + 0.04928355664014816 + ], + [ + 0.027576090394076994, + -0.002859873697161675, + 0.9996156303043727, + 0.0369839146733284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.999519000496725, + 0.015923423692584038, + -0.02661334464439923, + -0.1690608114004135 + ], + [ + -0.015878347035375412, + 0.999872088432312, + 0.0019042983946070211, + 0.054273031651973724 + ], + [ + 0.02664026359075327, + -0.001480806851759553, + 0.99964401083638, + 0.033329933881759644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996057817248324, + 0.01422614324837923, + -0.02420429094113449, + -0.16831587255001068 + ], + [ + -0.01422666140215049, + 0.9998987913131714, + 0.00015078214049157055, + 0.05838409811258316 + ], + [ + 0.02420398308291224, + 0.00019362347666174173, + 0.99970702934, + 0.030288903042674065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9996259274570656, + 0.01861332170665264, + -0.02003786877558957, + -0.16838352382183075 + ], + [ + -0.018540999383357105, + 0.9998209476470947, + 0.0037889887811766044, + 0.056910257786512375 + ], + [ + 0.020104798538356162, + -0.003416049759835005, + 0.9997920683224899, + 0.037536364048719406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997349811692284, + 0.015842288732528687, + -0.016703262727461626, + -0.16707617044448853 + ], + [ + -0.015796791397705522, + 0.9998711347579956, + 0.0028522840168503385, + 0.05860346183180809 + ], + [ + 0.01674629724501733, + -0.002587670460343361, + 0.9998564406812329, + 0.03667835146188736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9997891175913453, + 0.01510812807828188, + -0.013907200458974454, + -0.16440583765506744 + ], + [ + -0.015091364651499564, + 0.9998852610588074, + 0.0013094835227990271, + 0.06324601918458939 + ], + [ + 0.013925387261356755, + -0.001099328976124525, + 0.9999024115338079, + 0.03817644342780113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9998166683506194, + 0.015541225671768188, + -0.01118390788938172, + -0.1633928418159485 + ], + [ + -0.015529212529408181, + 0.9998787641525269, + 0.001160185956956021, + 0.06512971967458725 + ], + [ + 0.011200580413917626, + -0.0009862962178885937, + 0.9999368075084897, + 0.03816037252545357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9998280302067969, + 0.016847755759954456, + -0.007751470366116562, + -0.16339144110679626 + ], + [ + -0.016836484936951415, + 0.9998571276664736, + 0.0015170718138230652, + 0.06646914035081863 + ], + [ + 0.007775915706623259, + -0.0013863035710528495, + 0.9999688236191179, + 0.04202290624380112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.999849480917564, + 0.016624007374048233, + -0.004967164843235765, + -0.16216617822647095 + ], + [ + -0.016617041546111804, + 0.9998608827590942, + 0.001440743341908622, + 0.0677664503455162 + ], + [ + 0.004990424692701255, + -0.0013579874066635966, + 0.9999866277120527, + 0.041008736938238144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9998514651181226, + 0.01695217750966549, + -0.0031085998176967463, + -0.1586848497390747 + ], + [ + -0.01694353807870379, + 0.9998525977134705, + 0.0027846420599145624, + 0.06530025601387024 + ], + [ + 0.003155339237227545, + -0.002731557935476303, + 0.9999913188766241, + 0.04441811889410019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999018940895842, + 0.013698362745344639, + -0.0029168220332936347, + -0.15312741696834564 + ], + [ + -0.013694493540137532, + 0.9999053478240967, + 0.0013425986694411926, + 0.06604752689599991 + ], + [ + 0.002934939654029856, + -0.0013025228399783373, + 0.9999948227123815, + 0.040550749748945236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999271700561441, + 0.011794793419539932, + -0.0025528705136932985, + -0.14855825901031494 + ], + [ + -0.011792116273863673, + 0.9999299049377444, + 0.0010609953895771081, + 0.06611558049917221 + ], + [ + 0.0025652061211933323, + -0.0010308142518624666, + 0.9999961661332011, + 0.038136303424835205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999340812157376, + 0.011463133618235588, + -0.0006303438480222157, + -0.14731688797473907 + ], + [ + -0.011462361381970015, + 0.9999335408210754, + 0.001214915676142584, + 0.066007100045681 + ], + [ + 0.0006442305322605139, + -0.0012076104758307338, + 0.9999990481439022, + 0.03757523372769356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9999330738904135, + 0.011566673405468464, + -8.328597958889767e-05, + -0.14229480922222137 + ], + [ + -0.011566514094701842, + 0.9999316334724426, + 0.0017039819936146732, + 0.06585629284381866 + ], + [ + 0.00010299390300050766, + -0.0017029047012329102, + 0.9999985293027357, + 0.03601422533392906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9997514882105893, + 0.01979604735970497, + 0.010253703518336734, + -0.1589018553495407 + ], + [ + -0.019846383627956595, + 0.9997913837432861, + 0.004830900811625368, + 0.06846828013658524 + ], + [ + -0.010155927850798684, + -0.005033198744058609, + 0.9999357364007295, + 0.04974338412284851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9997233229722606, + 0.020632188767194748, + 0.011293448976006358, + -0.15660515427589417 + ], + [ + -0.020725134119580428, + 0.9997518062591553, + 0.008175759782712474, + 0.061262983828783035 + ], + [ + -0.01112195853076026, + -0.008407555520534515, + 0.9999027983410087, + 0.044342830777168274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9997653456256356, + 0.017819412052631378, + 0.012316416708858762, + -0.15367597341537476 + ], + [ + -0.017908712265047606, + 0.9998138546943665, + 0.007178698933044712, + 0.06080213189125061 + ], + [ + -0.012186199556126268, + -0.0073975855484604836, + 0.9998983663661476, + 0.041098702698946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9997388570498184, + 0.017840994521975517, + 0.014280381875326898, + -0.15214207768440247 + ], + [ + -0.01795155017789526, + 0.9998095631599426, + 0.007651463939416613, + 0.06075364723801613 + ], + [ + -0.014141149527944265, + -0.00790582038462162, + 0.9998687694558941, + 0.041580524295568466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9997066337872582, + 0.016843946650624275, + 0.017404687518466546, + -0.1524645835161209 + ], + [ + -0.01694672882353056, + 0.999839723110199, + 0.005775002585165343, + 0.06508445739746094 + ], + [ + -0.01730462761021608, + -0.006068261340260506, + 0.9998318200122018, + 0.04544775187969208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9995610073886539, + 0.021736696362495422, + 0.020131073243417053, + -0.15267719328403473 + ], + [ + -0.021940574455519186, + 0.9997096657752991, + 0.00996266332380365, + 0.060107577592134476 + ], + [ + -0.01990867728718103, + -0.010399977676570415, + 0.9997476954117038, + 0.04533325880765915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9996566889453959, + 0.016162043437361717, + 0.020622002349258227, + -0.14743122458457947 + ], + [ + -0.01627339728528272, + 0.9998538494110107, + 0.005243473943084015, + 0.06639065593481064 + ], + [ + -0.020534246210531563, + -0.005577264353632927, + 0.9997736187981153, + 0.04233637452125549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9996304179765684, + 0.01647915691137314, + 0.02162194929078121, + -0.14338143169879913 + ], + [ + -0.016619879464517723, + 0.9998417496681213, + 0.006344892396922296, + 0.06378772109746933 + ], + [ + -0.02151396070183754, + -0.006701902020722628, + 0.9997460662435821, + 0.04408484324812889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9994171451665805, + 0.021117670461535454, + 0.02682287602800188, + -0.15033812820911407 + ], + [ + -0.021399218320737767, + 0.999718427658081, + 0.010253188872823164, + 0.060490723699331284 + ], + [ + -0.026598790817135808, + -0.010821200907230377, + 0.9995875951157259, + 0.04799504205584526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9995128118812038, + 0.016500312834978104, + 0.026493930269648275, + -0.14438867568969727 + ], + [ + -0.016693088886641068, + 0.9998356699943542, + 0.007071666073399133, + 0.06516732275485992 + ], + [ + -0.02637289084419725, + -0.0075104860588908195, + 0.9996239602430639, + 0.04516734182834625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9995073855433533, + 0.015346040017902855, + 0.027376694581533457, + -0.1446755826473236 + ], + [ + -0.015638152405249208, + 0.9998227357864382, + 0.010488088218937078, + 0.055585749447345734 + ], + [ + -0.027210885028952657, + -0.01091104280203581, + 0.999570159426486, + 0.035023584961891174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9993398179053701, + 0.018176307901740074, + 0.031457496573743964, + -0.1452394276857376 + ], + [ + -0.018469018256635227, + 0.9997885823249817, + 0.009039525211580848, + 0.06347544491291046 + ], + [ + -0.031286532712389556, + -0.009614546783268452, + 0.9994642187101451, + 0.048306871205568314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9993997452509628, + 0.015908166766166687, + 0.030773806938533814, + -0.13770687580108643 + ], + [ + -0.016188093221929725, + 0.9998296499252319, + 0.008868602642248116, + 0.06223418563604355 + ], + [ + -0.03062749123559089, + -0.0093614486977458, + 0.9994870559750495, + 0.04412180930376053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9990077220560601, + 0.023457694798707962, + 0.03785902441452865, + -0.1480201631784439 + ], + [ + -0.024054081380506343, + 0.9995924234390259, + 0.015374912252454399, + 0.05583975091576576 + ], + [ + -0.03748294243255645, + -0.016270318999886513, + 0.9991648216148113, + 0.05118682608008385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9989321957662788, + 0.024339638650417335, + 0.03926838488791786, + -0.14567428827285767 + ], + [ + -0.02497766227196027, + 0.9995625019073489, + 0.015839698291775273, + 0.055370599031448364 + ], + [ + -0.038865679712492905, + -0.01680361852049828, + 0.9991031197478394, + 0.04825710505247116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9989052651261616, + 0.023590322583913803, + 0.04039483085888937, + -0.1438928097486496 + ], + [ + -0.02428400592291959, + 0.9995644688606262, + 0.016768789543403172, + 0.05218028649687767 + ], + [ + -0.03998165773446237, + -0.017731381580233574, + 0.9990430478627912, + 0.046609628945589066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9984984207354413, + 0.025309337303042412, + 0.0485837712376806, + -0.1575898975133896 + ], + [ + -0.026062307637627274, + 0.9995488524436951, + 0.014927926310869297, + 0.056145571172237396 + ], + [ + -0.04818403212408971, + -0.016171714290976524, + 0.9987075414084723, + 0.053176864981651306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9987225949062224, + 0.023455826565623283, + 0.044754398133243986, + -0.14199499785900116 + ], + [ + -0.02434012921117392, + 0.9995170831680298, + 0.019317388904101486, + 0.04569404572248459 + ], + [ + -0.0442796729356511, + -0.020382041111588478, + 0.9988112062809746, + 0.04041682556271553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9989164466419949, + 0.015440588817000389, + 0.04390386709392956, + -0.12995508313179016 + ], + [ + -0.0160029887295978, + 0.9997939467430115, + 0.01248729803860924, + 0.05690385773777962 + ], + [ + -0.043702015625396634, + -0.013176360167562962, + 0.998957724215876, + 0.04297851398587227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9984575514214394, + 0.02272852323949337, + 0.050655191305096464, + -0.14314004778862 + ], + [ + -0.023650486316554843, + 0.999563992023468, + 0.017676230550924852, + 0.05232895538210869 + ], + [ + -0.05023134563197235, + -0.018846986815333366, + 0.9985597398579922, + 0.047888632863759995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9980893136366161, + 0.023285837844014168, + 0.05723219359736411, + -0.1513330638408661 + ], + [ + -0.024513871448807997, + 0.9994820356369019, + 0.0208493556702651, + 0.047523241490125656 + ], + [ + -0.056717054378754087, + -0.022212499752640724, + 0.9981431758334327, + 0.05857133865356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9990071043580375, + 0.039727769792079926, + 0.020161657799168828, + -0.20126067101955414 + ], + [ + -0.03932063996441798, + 0.999022364616394, + -0.020203403837657726, + 0.04106013849377632 + ], + [ + -0.020944581840266, + 0.019390573725104332, + 0.9995925551228347, + 0.04673970118165016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.998990117800755, + 0.039806924760341644, + 0.020835477016470046, + -0.20168021321296692 + ], + [ + -0.0394208213222681, + 0.9990491271018982, + -0.018625064614104254, + 0.03989524021744728 + ], + [ + -0.02155707624626571, + 0.017784902825951576, + 0.9996094199760891, + 0.04570288956165314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9989697502910516, + 0.03973943740129471, + 0.02191256649561834, + -0.20280009508132935 + ], + [ + -0.03934967231707939, + 0.9990644454956055, + -0.017940683871740054, + 0.04084504768252373 + ], + [ + -0.022605019637343352, + 0.017059948295354843, + 0.999598893692035, + 0.04509707912802696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9989394156630388, + 0.03978746011853218, + 0.02317247776584514, + -0.20359304547309875 + ], + [ + -0.039369453647902786, + 0.9990585446357727, + -0.018224245272462032, + 0.04436672851443291 + ], + [ + -0.023875762386749478, + 0.017292629927396774, + 0.9995653393400237, + 0.04764242470264435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.998984680047, + 0.038458481431007385, + 0.0234647569767572, + -0.20289593935012817 + ], + [ + -0.03799615483621901, + 0.9990808963775635, + -0.019840882521225157, + 0.0487627275288105 + ], + [ + -0.02420623426776067, + 0.018929166719317436, + 0.9995277392159321, + 0.04789379984140396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.998860616761046, + 0.03972727805376053, + 0.026441818679636058, + -0.20926342904567719 + ], + [ + -0.039239127653757394, + 0.9990542531013489, + -0.0187312893067305, + 0.05036845803260803 + ], + [ + -0.027160964790399263, + 0.01767239347100258, + 0.9994748491995074, + 0.04741149768233299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9989090563579921, + 0.039058800786733634, + 0.025594077967656618, + -0.20742937922477722 + ], + [ + -0.03857671098015286, + 0.9990737438201907, + -0.019066561182248157, + 0.054277580231428146 + ], + [ + -0.02631508776727739, + 0.018058426678180698, + 0.9994905967704187, + 0.05149383470416069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9989002364300427, + 0.038930017501115806, + 0.02612939455838416, + -0.2085099220275879 + ], + [ + -0.03849896397215851, + 0.9991173744201662, + -0.01680216130905257, + 0.05236811563372612 + ], + [ + -0.026760442543129766, + 0.015777727589011196, + 0.9995173279994632, + 0.050403766334056854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9988143519819768, + 0.040148314088583, + 0.027531921159847837, + -0.21146880090236664 + ], + [ + -0.03973848832548736, + 0.9990933537483218, + -0.015274805871098557, + 0.05358376353979111 + ], + [ + -0.028120218604026418, + 0.014162618666887287, + 0.9995042340540939, + 0.053259365260601044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9988515315963529, + 0.038749024271965034, + 0.028180475761794145, + -0.2132187932729721 + ], + [ + -0.0383094725847215, + 0.9991382360458376, + -0.01597392433807332, + 0.05615617334842682 + ], + [ + -0.028775156615161956, + 0.014875999651849273, + 0.9994751886659626, + 0.053095538169145584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9986889859694165, + 0.04093387722969056, + 0.030736777177598262, + -0.21937623620033264 + ], + [ + -0.040464548031353256, + 0.9990569949150088, + -0.015739350269322726, + 0.0596592016518116 + ], + [ + -0.03135206395506896, + 0.014474965631961826, + 0.9994035650784681, + 0.05788923799991608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.998796870893194, + 0.039773277938365936, + 0.02868722969967494, + -0.21979734301567078 + ], + [ + -0.039310772445735276, + 0.9990906119346619, + -0.016510306340974647, + 0.061749864369630814 + ], + [ + -0.029317809304663878, + 0.015362724661827087, + 0.9994520662227624, + 0.05331016704440117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9987278026540413, + 0.04117410257458687, + 0.029111795257258075, + -0.22351211309432983 + ], + [ + -0.040716596167874944, + 0.999040424823761, + -0.016137593777336662, + 0.0642857775092125 + ], + [ + -0.02974831745094156, + 0.01493172999471426, + 0.9994459025498663, + 0.05431373789906502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9986429597942512, + 0.0434112660586834, + 0.02876933288798595, + -0.2247970849275589 + ], + [ + -0.04296201397240272, + 0.9989477396011355, + -0.016054222376368558, + 0.0688358023762703 + ], + [ + -0.02943599119064009, + 0.014796447008848194, + 0.9994571574841655, + 0.05968238413333893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9986180208995674, + 0.04401043429970742, + 0.028725329831047256, + -0.22739234566688538 + ], + [ + -0.04356854154328728, + 0.9989249706268313, + -0.015832325350609792, + 0.07102573662996292 + ], + [ + -0.02939123773517716, + 0.014558924362063411, + 0.9994619695581545, + 0.05848105624318123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9985013157326609, + 0.04621761664748192, + 0.029309166392626016, + -0.231333926320076 + ], + [ + -0.04580674882834049, + 0.9988445043563843, + -0.014538467522672018, + 0.07288184762001038 + ], + [ + -0.029947228951445158, + 0.013174120336771011, + 0.9994646560248057, + 0.06055758148431778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9983522422887015, + 0.04876402020454407, + 0.03024734378817071, + -0.23414117097854614 + ], + [ + -0.048340108970639145, + 0.9987243413925171, + -0.014591720779262896, + 0.07851807028055191 + ], + [ + -0.030920302056868087, + 0.013105517253279686, + 0.9994359170390404, + 0.06411797553300858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9984066168317933, + 0.048455249518156066, + 0.02891993725230963, + -0.23518213629722595 + ], + [ + -0.04804335488283476, + 0.9987360239028933, + -0.014771870372932273, + 0.08029366284608841 + ], + [ + -0.02959916195369416, + 0.013358920812606815, + 0.999472579922496, + 0.06123208627104759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9981161262087519, + 0.05263610556721687, + 0.03152185843857234, + -0.2448844164609909 + ], + [ + -0.05221480120721044, + 0.9985371232032776, + -0.01404328201962847, + 0.08494514971971512 + ], + [ + -0.03221493350435875, + 0.01237091887742281, + 0.9994044016684798, + 0.0631021037697792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9982709264962496, + 0.050890304148197174, + 0.02941625676320925, + -0.24462081491947174 + ], + [ + -0.0504741189744908, + 0.9986168742179871, + -0.01472206945436979, + 0.08830776810646057 + ], + [ + -0.030124777679175912, + 0.013211854733526707, + 0.9994588506976665, + 0.062365006655454636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9984135661568597, + 0.04960649460554124, + 0.026637974828294945, + -0.2445894181728363 + ], + [ + -0.04926439528792013, + 0.998696565628052, + -0.013349269733367678, + 0.09217077493667603 + ], + [ + -0.027265464527196446, + 0.012015786953270439, + 0.9995559853337133, + 0.060133177787065506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9985481465243603, + 0.04797650128602983, + 0.024492580913172, + -0.2461927980184555 + ], + [ + -0.04764513672708803, + 0.9987670779228213, + -0.013938502836929304, + 0.10055223852396011 + ], + [ + -0.0251310991390702, + 0.012751312926411632, + 0.9996028647296082, + 0.05880364775657654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9985904377722145, + 0.04764078930020332, + 0.023398345540643545, + -0.2503463923931122 + ], + [ + -0.04738358931477365, + 0.9988114237785339, + -0.011426649567860119, + 0.1054137796163559 + ], + [ + -0.023914903408787644, + 0.010301846079528332, + 0.999660924276578, + 0.06066734343767166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9987934864888546, + 0.045752160251140594, + 0.01783988353732435, + -0.24566036462783813 + ], + [ + -0.04564120701793965, + 0.9989362359046936, + -0.006578019135579023, + 0.1060284897685051 + ], + [ + -0.018121875343783334, + 0.005755848251283169, + 0.9998192433577178, + 0.059223420917987823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9988495937842438, + 0.04561739042401314, + 0.014783769540572903, + -0.24594391882419586 + ], + [ + -0.045597242649665845, + 0.9989584684371948, + -0.001697098845651574, + 0.10732006281614304 + ], + [ + -0.014845795231844391, + 0.0010210474720224738, + 0.9998892683243774, + 0.05791130289435387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9985654605445958, + 0.04998753219842911, + 0.019188903114670378, + -0.2598174512386322 + ], + [ + -0.05004673572331685, + 0.99874347448349, + 0.002617428375581312, + 0.11392336338758469 + ], + [ + -0.019033965352080993, + -0.0035740165039896965, + 0.9998124326089693, + 0.06614687293767929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9986125231443665, + 0.049922775477170944, + 0.01675663574723963, + -0.2633908689022064 + ], + [ + -0.050032791630324876, + 0.9987282752990723, + 0.0062114501571567705, + 0.11924319714307785 + ], + [ + -0.016425229810386337, + -0.0070412131026387215, + 0.999840309430386, + 0.06264248490333557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9985401322590827, + 0.051056139171123505, + 0.01763088240453549, + -0.26779603958129883 + ], + [ + -0.051137517707171766, + 0.9986827969551086, + 0.004196022283275808, + 0.13848602771759033 + ], + [ + -0.017393437337256956, + -0.005091496743261814, + 0.9998357461047768, + 0.07033254951238632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9984482736056873, + 0.05325969308614731, + 0.01626355903389132, + -0.273282915353775 + ], + [ + -0.05343069027931552, + 0.9985187649726868, + 0.010266781271781725, + 0.14051949977874756 + ], + [ + -0.01569265443789162, + -0.011119823902845383, + 0.9998150451797105, + 0.06656745076179504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.998842119234642, + 0.04670748859643937, + 0.01152590257269959, + -0.26473498344421387 + ], + [ + -0.04674657696857904, + 0.9989018440246584, + 0.00314522828524037, + 0.1628766804933548 + ], + [ + -0.011366336792045023, + -0.003680382855236531, + 0.9999286281559561, + 0.07236504554748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9985330763409663, + 0.05269836261868477, + 0.01243387619289823, + -0.2731633186340332 + ], + [ + -0.052854447857156345, + 0.9985229969024658, + 0.012577609137269914, + 0.1619063913822174 + ], + [ + -0.011752699152483002, + -0.013216343708336353, + 0.9998435988886295, + 0.07784882932901382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9990420858621115, + 0.043121498078107834, + 0.007449686589611323, + -0.26692673563957214 + ], + [ + -0.04317888772643843, + 0.999037504196167, + 0.007722422158764458, + 0.17558470368385315 + ], + [ + -0.007109517692759888, + -0.008036693558096886, + 0.999942401941708, + 0.07740486413240433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9992368829879237, + 0.03897721320390701, + 0.0025404707184711103, + -0.26686331629753113 + ], + [ + -0.03899583218558107, + 0.9992093443870544, + 0.007746971886897093, + 0.18282252550125122 + ], + [ + -0.0022365053964374802, + -0.007840128615498543, + 0.9999667410116947, + 0.06651782989501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9992085569672984, + 0.03972150757908821, + 0.002104802544839594, + -0.26990294456481934 + ], + [ + -0.03973926794644359, + 0.9991676807403564, + 0.00920317788363708, + 0.19262556731700897 + ], + [ + -0.0017374789700635408, + -0.009279537945985794, + 0.9999554509388816, + 0.07702936977148056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9992215881870008, + 0.03928206488490105, + 0.0036310263565183173, + -0.27694156765937805 + ], + [ + -0.03931343175631274, + 0.9991862773895264, + 0.009013203339063601, + 0.20330718159675598 + ], + [ + -0.003274022456724704, + -0.009148935787379742, + 0.9999527699266721, + 0.0867210328578949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9991870600754033, + 0.04029477760195732, + 0.001253506486742142, + -0.2795126438140869 + ], + [ + -0.04030754214991752, + 0.9991053342819214, + 0.01280154352310631, + 0.2064286470413208 + ], + [ + -0.0007365334109828249, + -0.0128416633233428, + 0.9999172611503481, + 0.08749684691429138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.999335719788119, + 0.03630470484495163, + -0.0031693020581108964, + -0.2782211899757385 + ], + [ + -0.0362709298072966, + 0.9992906451225281, + 0.010133176136950743, + 0.21865056455135345 + ], + [ + 0.0035349213659189834, + -0.010011491365730762, + 0.9999436587531283, + 0.08862879872322083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.999337188894168, + 0.03611018136143685, + -0.004605071378353612, + -0.28312113881111145 + ], + [ + -0.036040892937582246, + 0.9992475509643557, + 0.014332674699607471, + 0.22069454193115234 + ], + [ + 0.005119159652834216, + -0.014157203957438472, + 0.9998867073096146, + 0.09000083804130554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9993408049735322, + 0.03614966571331025, + -0.0033369243750393427, + -0.2885102331638336 + ], + [ + -0.03608876451634962, + 0.9992074966430666, + 0.016793565619378083, + 0.22676001489162445 + ], + [ + 0.003941351770696843, + -0.01666207239031792, + 0.9998533914126039, + 0.09812667965888977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9993427493050931, + 0.035859305411577225, + -0.005307100078281041, + -0.290265828371048 + ], + [ + -0.03576199621435113, + 0.9992085695266724, + 0.017417183178662525, + 0.23516038060188293 + ], + [ + 0.0059274628205347474, + -0.017215942963957787, + 0.9998342143510643, + 0.10401804000139236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9994594661717888, + 0.03125649318099022, + -0.010190526508231084, + -0.28859516978263855 + ], + [ + -0.03108449307078812, + 0.9993785619735718, + 0.01662110039670234, + 0.24261979758739471 + ], + [ + 0.010703711886974665, + -0.01629534736275673, + 0.9998099410891861, + 0.0978846326470375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9993730459636938, + 0.03484990447759628, + -0.006247225821466875, + -0.2968321144580841 + ], + [ + -0.034704622587716324, + 0.9991549253463745, + 0.022023849571145213, + 0.2442805916070938 + ], + [ + 0.007009484087564967, + -0.02179323509335518, + 0.9997379437831728, + 0.11710289865732193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9991885592616997, + 0.039446212351322174, + -0.008138207992211955, + -0.300184428691864 + ], + [ + -0.039229907089673374, + 0.99891197681427, + 0.025216687755773032, + 0.24934452772140503 + ], + [ + 0.009124047313414464, + -0.02487696334719658, + 0.9996488818285209, + 0.1140206977725029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9991448416163097, + 0.04000692069530487, + -0.010442933506318816, + -0.30017194151878357 + ], + [ + -0.039689712641963075, + 0.9987912774085999, + 0.028994640552177826, + 0.25005868077278137 + ], + [ + 0.01159030624597453, + -0.02855536714196205, + 0.9995250431526508, + 0.1136508584022522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9991458081840603, + 0.040694382041692734, + -0.007186418620412028, + -0.30607420206069946 + ], + [ + -0.040465156060902896, + 0.9987427592277527, + 0.029587540379507508, + 0.2572982609272003 + ], + [ + 0.008381421651073813, + -0.02927146852016449, + 0.9995363676988982, + 0.13051141798496246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9991748479241174, + 0.03956824913620949, + -0.009165206036057392, + -0.30814263224601746 + ], + [ + -0.039266013954341296, + 0.9987449049949646, + 0.03109343989552362, + 0.2603203058242798 + ], + [ + 0.010384030760836178, + -0.03070790320634842, + 0.9994744366405687, + 0.12875452637672424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9993348076555261, + 0.036179088056087494, + -0.004584015617276037, + -0.3161739110946655 + ], + [ + -0.03603798280724413, + 0.998962938785553, + 0.02782669650139879, + 0.26748213171958923 + ], + [ + 0.005586007228728976, + -0.02764298766851425, + 0.999602225344, + 0.1348748803138733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.999181505933089, + 0.039637189358472824, + -0.008075343863483339, + -0.31129512190818787 + ], + [ + -0.03938467349949169, + 0.9987933039665222, + 0.029338662161357706, + 0.268294095993042 + ], + [ + 0.00922850999247681, + -0.028996603563427925, + 0.9995369227719726, + 0.1377708464860916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9992171198792249, + 0.03937185555696488, + -0.0038663271222763224, + -0.3190973401069641 + ], + [ + -0.03923894128480064, + 0.9987818598747256, + 0.02991780122522787, + 0.26981937885284424 + ], + [ + 0.005039534773884953, + -0.029742671176791198, + 0.9995448875234475, + 0.14676740765571594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9993148143622098, + 0.036547139286994934, + -0.005849287671246492, + -0.31862884759902954 + ], + [ + -0.036395115118591774, + 0.9990426898002625, + 0.02427197230164947, + 0.2783723473548889 + ], + [ + 0.006730766146168885, + -0.024042457342147827, + 0.9996882878749607, + 0.1464928835630417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9991680138672111, + 0.040422290563583374, + -0.005414650470095441, + -0.3211212158203125 + ], + [ + -0.04024783111516579, + 0.9987637400627136, + 0.029174564621353538, + 0.27280309796333313 + ], + [ + 0.006587254036997226, + -0.028932364657521248, + 0.9995596772456229, + 0.1443869024515152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.999313469867771, + 0.03684435784816742, + -0.003889299968862158, + -0.3222196698188782 + ], + [ + -0.03673874957763509, + 0.9990265369415283, + 0.02441732878807748, + 0.27923986315727234 + ], + [ + 0.004785155868959337, + -0.024257678538560867, + 0.9996943074461803, + 0.15175621211528778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9992317455263001, + 0.038814742118120193, + -0.0054116780893976564, + -0.3225708603858948 + ], + [ + -0.03865923690451287, + 0.9989045262336731, + 0.026366210179873405, + 0.27794092893600464 + ], + [ + 0.006429153368185654, + -0.026136742904782295, + 0.9996376992040986, + 0.15169215202331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9992393179333863, + 0.03683540970087052, + -0.012804523101506267, + -0.3148304522037506 + ], + [ + -0.03648324251137344, + 0.9989767670631411, + 0.026727170705380016, + 0.2772037088871002 + ], + [ + 0.013775928398772098, + -0.026239689439535148, + 0.999560760427093, + 0.14299307763576508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9993184578356621, + 0.03504137322306634, + -0.011605414707864704, + -0.31805434823036194 + ], + [ + -0.03472973536379714, + 0.9990572929382326, + 0.02604597820870997, + 0.2795526087284088 + ], + [ + 0.012507163307848363, + -0.025625176727771766, + 0.9995933822122826, + 0.1473274677991867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9995085668718489, + 0.03031385503709317, + -0.007982694232621863, + -0.32610023021698 + ], + [ + -0.030145516067106793, + 0.9993367791175845, + 0.020425480707669138, + 0.2892083525657654 + ], + [ + 0.008596577894625831, + -0.020174801349639896, + 0.9997594872380114, + 0.15660406649112701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9994382538788931, + 0.03294249624013901, + -0.0061577997299939935, + -0.32936185598373413 + ], + [ + -0.032778305223189856, + 0.9991475939750671, + 0.02509383401742375, + 0.2861802577972412 + ], + [ + 0.0069791910626019705, + -0.024877898395061493, + 0.9996661450906251, + 0.16327255964279175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9992968957361144, + 0.03714270144701004, + -0.005111412982019204, + -0.3324925899505615 + ], + [ + -0.03696210402076182, + 0.9988112449645996, + 0.031778152470322556, + 0.27962344884872437 + ], + [ + 0.006285673715096135, + -0.03156688064336777, + 0.9994818798389518, + 0.16583169996738434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9993130764137441, + 0.03658453747630119, + -0.005912811482237099, + -0.33447858691215515 + ], + [ + -0.036388091018800736, + 0.9988728761672974, + 0.030477575158334002, + 0.28329363465309143 + ], + [ + 0.00702115486446715, + -0.030241481959819794, + 0.9995179756126732, + 0.16530384123325348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9992417461909187, + 0.038246944546699524, + -0.007285624431289082, + -0.33439692854881287 + ], + [ + -0.03798366334125226, + 0.9987208247184753, + 0.033375178946216215, + 0.2814171314239502 + ], + [ + 0.00855279377923475, + -0.03307313472032547, + 0.9994163500735277, + 0.16906362771987915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9990137643141999, + 0.044306755065917976, + -0.002896531286725006, + -0.34557798504829407 + ], + [ + -0.04417859797592925, + 0.9984110593795779, + 0.03498094690472208, + 0.28457844257354736 + ], + [ + 0.0044418323306175565, + -0.03481848537921906, + 0.9993837913518079, + 0.17251165211200714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9992584887624496, + 0.03704782947897911, + -0.010487820695557077, + -0.335170179605484 + ], + [ + -0.03672064652885058, + 0.9988800287246704, + 0.02983665166959022, + 0.2896607518196106 + ], + [ + 0.01158146787540741, + -0.02942940592765808, + 0.9994997527789573, + 0.16723474860191345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9988355206296041, + 0.04823989421129228, + 0.0007168072236968989, + -0.3548829257488251 + ], + [ + -0.04823256222127208, + 0.9981229901313784, + 0.03773719037206007, + 0.28469327092170715 + ], + [ + 0.001104960098390614, + -0.037727817893028266, + 0.9992874530721455, + 0.18057608604431152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9988605130760384, + 0.04768792912364006, + 0.0018671370015192386, + -0.35683590173721313 + ], + [ + -0.04772396997930003, + 0.9982643127441406, + 0.03450729176247853, + 0.2910008430480957 + ], + [ + -0.00021833823186823384, + -0.03455708175897598, + 0.9994027258117849, + 0.18945299088954926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9992241559288825, + 0.036281771957874305, + -0.015319024585345304, + -0.35009822249412537 + ], + [ + -0.03583567071207144, + 0.9989525079727175, + 0.028454784332376557, + 0.3085037171840668 + ], + [ + 0.01633537400231845, + -0.027883740141987808, + 0.9994776995209638, + 0.21428954601287842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9992064512761167, + 0.03369762375950814, + -0.021236274279327276, + -0.3467966318130493 + ], + [ + -0.03296872449879341, + 0.9988851547241213, + 0.03378621002666798, + 0.30907776951789856 + ], + [ + 0.022351131480372644, + -0.0330592691898346, + 0.999203428021539, + 0.2300824224948883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9984435165956378, + 0.03843916580080986, + -0.04040953475984784, + -0.32892683148384094 + ], + [ + -0.03613193180334992, + 0.997756838798523, + 0.056354221761204346, + 0.28658702969551086 + ], + [ + 0.042485093030832484, + -0.054806437343358994, + 0.9975927241104421, + 0.2279919981956482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.998550518715172, + 0.05378718674182892, + 0.0019407927788898142, + -0.36890000104904175 + ], + [ + -0.05382164552909071, + 0.9977283477783203, + 0.04051428473796652, + 0.29541656374931335 + ], + [ + 0.00024276904236754488, + -0.04056002199649811, + 0.9991770930461178, + 0.2057652473449707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.998662671166128, + 0.05170008167624475, + -6.17770968838021e-05, + -0.36957311630249023 + ], + [ + -0.05165395725281708, + 0.9978207349777224, + 0.041057356968898576, + 0.29563596844673157 + ], + [ + 0.0021843216242153534, + -0.040999256074428565, + 0.9991567829084176, + 0.2047765851020813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9985730981578911, + 0.05302557349205017, + 0.0063319562927068255, + -0.38045400381088257 + ], + [ + -0.05324051686595803, + 0.9977473616600037, + 0.040811892708655255, + 0.3006594181060791 + ], + [ + -0.004153613729583503, + -0.041090771555900574, + 0.9991467816060164, + 0.21475915610790253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9985868038321253, + 0.05185220763087274, + 0.01165009761037548, + -0.38893187046051025 + ], + [ + -0.05226382744722588, + 0.9978964924812319, + 0.038354337362876655, + 0.3064061403274536 + ], + [ + -0.009636819596330346, + -0.038909018039703376, + 0.9991962690800666, + 0.2198943942785263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9987550666040611, + 0.04894094169139862, + 0.009650788825295957, + -0.38957029581069946 + ], + [ + -0.049273059069719384, + 0.9980676174163818, + 0.037856877173002006, + 0.30914366245269775 + ], + [ + -0.007779369858874443, + -0.0382852740585804, + 0.9992365636011776, + 0.2222054898738861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9992159327608204, + 0.03824065998196602, + 0.010256088600903527, + -0.3936922550201416 + ], + [ + -0.03842875378127156, + 0.9990841746330261, + 0.018816697116755023, + 0.3376304805278778 + ], + [ + -0.009527129636783663, + -0.019196072593331337, + 0.9997703223841148, + 0.23621198534965515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9991093966972617, + 0.04170132800936699, + 0.006440009277868754, + -0.39047104120254517 + ], + [ + -0.04187342274461276, + 0.9986898303031921, + 0.029415827826669065, + 0.32773396372795105 + ], + [ + -0.005204880464221658, + -0.029659295454621315, + 0.9995464960210572, + 0.22606243193149567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9991859215767176, + 0.03991876915097237, + 0.005832901871590805, + -0.39076897501945496 + ], + [ + -0.04009054248425891, + 0.9986473321914675, + 0.033110406540443366, + 0.32700392603874207 + ], + [ + -0.0045032849716136955, + -0.03331729397177697, + 0.9994346956152043, + 0.22756651043891907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9995590902514878, + 0.02876748889684677, + 0.007352204411474371, + -0.39668363332748413 + ], + [ + -0.028901407153806125, + 0.9994053244590759, + 0.01880855828553087, + 0.34874749183654785 + ], + [ + -0.006806759524837161, + -0.019012754783034325, + 0.9997960848770713, + 0.24052032828330994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.999170932540705, + 0.039951007813215256, + 0.007836102386700815, + -0.3962459862232208 + ], + [ + -0.04019834324112177, + 0.998597264289856, + 0.03446162780163195, + 0.3339405655860901 + ], + [ + -0.0064483295771963845, + -0.034748051315546036, + 0.9993752817328824, + 0.23487740755081177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9992429083899768, + 0.03504381701350213, + 0.016897665919182722, + -0.4098004102706909 + ], + [ + -0.03540030501403748, + 0.999146640300751, + 0.021280611423581914, + 0.3548014461994171 + ], + [ + -0.016137511203428975, + -0.02186268195509911, + 0.999630759528256, + 0.24479953944683075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9991071836469175, + 0.04077933356165886, + 0.011039359283833884, + -0.40495529770851135 + ], + [ + -0.04112198547719227, + 0.9986146092414856, + 0.0328311464117545, + 0.34644579887390137 + ], + [ + -0.009685232699209774, + -0.033255793154239655, + 0.9993999623655635, + 0.24476319551467896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9991886484343104, + 0.03984228149056435, + 0.005890383176438644, + -0.4011399447917938 + ], + [ + -0.04000481504240569, + 0.9987282156944277, + 0.03068433604030868, + 0.35211512446403503 + ], + [ + -0.0046603648644587044, + -0.030895084142684943, + 0.9995117711064521, + 0.2454569935798645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9990873757410205, + 0.04232272505760193, + 0.005760041077047637, + -0.40154287219047546 + ], + [ + -0.04251380960946554, + 0.9983519911766052, + 0.03854721966512968, + 0.34546908736228943 + ], + [ + -0.004119132008456061, + -0.038756921887397766, + 0.9992401652162942, + 0.24257858097553253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9990583683716565, + 0.04276402294635773, + 0.007319118830229004, + -0.4050871729850769 + ], + [ + -0.04301678270526571, + 0.9983200430870056, + 0.0388152179116577, + 0.3493335545063019 + ], + [ + -0.005646933519063864, + -0.039093516767024994, + 0.9992196096166265, + 0.2491278350353241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9992139197780479, + 0.03912702947854996, + 0.006375010029291353, + -0.4048979580402374 + ], + [ + -0.039340426954302524, + 0.9985124468803406, + 0.03775284360546295, + 0.35288360714912415 + ], + [ + -0.004888362507934821, + -0.03797396272420883, + 0.9992667756379281, + 0.24779430031776428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9990999611174223, + 0.04221084341406822, + 0.00419076886155431, + -0.4051762819290161 + ], + [ + -0.042351103206446715, + 0.998197078704834, + 0.042532622585238905, + 0.34936320781707764 + ], + [ + -0.002387866567962226, + -0.04267182573676109, + 0.9990862795621738, + 0.24604135751724243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9990265916614547, + 0.04341774061322213, + 0.007794386503361608, + -0.40954160690307617 + ], + [ + -0.04371086362729696, + 0.9981392621994021, + 0.042513437960387, + 0.3531765043735504 + ], + [ + -0.005934056861750056, + -0.04281275719404221, + 0.9990654869608423, + 0.24984125792980194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9991069820987274, + 0.04133177921175957, + 0.008771173934031698, + -0.41130056977272034 + ], + [ + -0.041669437480881415, + 0.9982213973999023, + 0.04263515762749501, + 0.3545866310596466 + ], + [ + -0.006993392942661988, + -0.04296257719397545, + 0.9990521822664344, + 0.2501893937587738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9988752566805296, + 0.04634616151452065, + 0.01001250134428318, + -0.41343337297439575 + ], + [ + -0.046758257603542054, + 0.9978538751602175, + 0.04583952035280497, + 0.35428255796432495 + ], + [ + -0.0078665158770019, + -0.04625613242387772, + 0.9988986376755097, + 0.25252777338027954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9988767378025893, + 0.046224087476730354, + 0.010421835144608455, + -0.4144097566604614 + ], + [ + -0.046641204964540904, + 0.9979354143142702, + 0.044153202076836776, + 0.3574118912220001 + ], + [ + -0.008359374769161234, + -0.04458969086408616, + 0.9989704357990383, + 0.25514864921569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9989739837808064, + 0.04398465901613236, + 0.010785340867307822, + -0.41604575514793396 + ], + [ + -0.044400033378173664, + 0.9981349706649782, + 0.04189501281241608, + 0.3610212802886963 + ], + [ + -0.008922506224063905, + -0.04233089834451676, + 0.9990638178534408, + 0.2542562484741211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9987650800688552, + 0.04886986315250398, + 0.008945856569308814, + -0.41371282935142517 + ], + [ + -0.04922906340396451, + 0.997741758823395, + 0.045693225799064194, + 0.35754793882369995 + ], + [ + -0.006692627354121903, + -0.0460771918296814, + 0.9989154754212811, + 0.2520782947540283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9985117024888532, + 0.05245504900813103, + 0.014928388764871223, + -0.4201935827732086 + ], + [ + -0.053158316767534707, + 0.9972605109214783, + 0.05143550570703783, + 0.3536596894264221 + ], + [ + -0.012189430991654046, + -0.052152521908283234, + 0.9985647374380683, + 0.2536170780658722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9989039959978124, + 0.04609309136867523, + 0.008137233472639942, + -0.41362738609313965 + ], + [ + -0.046425658645273635, + 0.9978160262107849, + 0.046988216914940005, + 0.3583371341228485 + ], + [ + -0.005953637860073735, + -0.04731449484825134, + 0.9988622899156837, + 0.25475311279296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9986238989444951, + 0.051222868263721466, + 0.011248305018071664, + -0.4174390733242035 + ], + [ + -0.05177633073972356, + 0.9970772862434387, + 0.05617957784787532, + 0.35012948513031006 + ], + [ + -0.008337762108995457, + -0.05668466538190842, + 0.998357302176098, + 0.2549763023853302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9988278936134632, + 0.047249503433704376, + 0.010503220132515933, + -0.4171203076839447 + ], + [ + -0.047702935577733585, + 0.9976977705955505, + 0.04820392220290076, + 0.35779717564582825 + ], + [ + -0.008201440968268402, + -0.04864846169948578, + 0.9987822966748461, + 0.2516699731349945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9987618319916267, + 0.04893382638692856, + 0.008960418839537257, + -0.4154937267303467 + ], + [ + -0.049339563648805186, + 0.9973897933959961, + 0.05271821718841244, + 0.35311359167099 + ], + [ + -0.006357334686357852, + -0.053095050156116486, + 0.9985692464494814, + 0.25228026509284973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9987714194187366, + 0.04768259823322296, + 0.01348947762217791, + -0.4200696349143982 + ], + [ + -0.048298216671834475, + 0.9975934624671936, + 0.049744784616398134, + 0.3569163680076599 + ], + [ + -0.011085073697386755, + -0.05033519119024277, + 0.9986708689958065, + 0.2573000490665436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9988446438779123, + 0.04553608596324921, + 0.015355466615285928, + -0.4218042492866516 + ], + [ + -0.04621445903594228, + 0.9978170394897461, + 0.047174014793236775, + 0.35894137620925903 + ], + [ + -0.013173841782746845, + -0.04782916232943535, + 0.9987686306405005, + 0.2606048583984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9989255666400059, + 0.04521111398935318, + 0.010181271940775812, + -0.41675856709480286 + ], + [ + -0.04564173301380266, + 0.9978504776954651, + 0.047023587551341735, + 0.3588694930076599 + ], + [ + -0.008033409609722363, + -0.04743775352835655, + 0.9988418848119196, + 0.257782906293869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9988727518655518, + 0.046018123626708984, + 0.011645242875954524, + -0.4187171459197998 + ], + [ + -0.046522566914216835, + 0.9977838397026062, + 0.047571444945108586, + 0.3586844801902771 + ], + [ + -0.009430279145702313, + -0.04805958271026611, + 0.9987999399611788, + 0.25830143690109253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9986161861783582, + 0.05068529024720193, + 0.014027699136375088, + -0.4229503273963928 + ], + [ + -0.051330747438498435, + 0.9974146485328677, + 0.05029066060041786, + 0.3571036756038666 + ], + [ + -0.011442442030111022, + -0.05094111710786821, + 0.9986361361582077, + 0.25962308049201965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9986716443608731, + 0.050179317593574524, + 0.011702120267253332, + -0.4190405607223511 + ], + [ + -0.05069942957774993, + 0.9974884390830994, + 0.04946039267044122, + 0.3568117320537567 + ], + [ + -0.009190850894570581, + -0.04998798668384552, + 0.9987075397095527, + 0.25729653239250183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9987012335209101, + 0.049837321043014526, + 0.010588514110975675, + -0.4177495539188385 + ], + [ + -0.05030559304617627, + 0.9974875450134277, + 0.04987908075601862, + 0.3559146523475647 + ], + [ + -0.008076056684418, + -0.05034695938229561, + 0.9986991218282667, + 0.25793758034706116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9987305649573083, + 0.049320828169584274, + 0.010231933985436377, + -0.4175831973552704 + ], + [ + -0.049752783982899514, + 0.9976338148117065, + 0.04744902980747385, + 0.358583927154541 + ], + [ + -0.007867507734802853, + -0.04789786413311958, + 0.998821232854832, + 0.258034348487854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.998893411631776, + 0.04618198052048683, + 0.008897394970797758, + -0.41590532660484314 + ], + [ + -0.04655345348976597, + 0.9977887868881226, + 0.04743806642354953, + 0.3584137260913849 + ], + [ + -0.006686949758929054, + -0.04779978096485138, + 0.9988345712504368, + 0.257572203874588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9987915246947006, + 0.04760148003697397, + 0.012228740411546058, + -0.41965287923812866 + ], + [ + -0.048101086562880986, + 0.9978524446487429, + 0.04446157624411342, + 0.36151769757270813 + ], + [ + -0.010086053301486191, + -0.044996064156293876, + 0.9989362551940004, + 0.2611221671104431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.998858694357938, + 0.045935481786727905, + 0.013088123962137366, + -0.42147135734558105 + ], + [ + -0.0464484943120067, + 0.9980356097221375, + 0.0420405131287663, + 0.3630530834197998 + ], + [ + -0.01113125867413624, + -0.04260045662522316, + 0.9990301823627284, + 0.258387953042984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9985758365172809, + 0.05108634755015373, + 0.015379914264410986, + -0.42379677295684814 + ], + [ + -0.05179477389398604, + 0.9974122643470764, + 0.04986096659513476, + 0.35778528451919556 + ], + [ + -0.012792901078957718, + -0.05058655887842178, + 0.9986377354497658, + 0.264894962310791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9983737812951105, + 0.05366671457886696, + 0.019227755308718796, + -0.4284577965736389 + ], + [ + -0.05461916500014988, + 0.997098982334137, + 0.05301241656190219, + 0.355052649974823 + ], + [ + -0.01632697904191896, + -0.05397640913724899, + 0.9984087206059102, + 0.26365000009536743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9984521131741563, + 0.05242420732975006, + 0.018575414327490693, + -0.42681050300598145 + ], + [ + -0.05332329976842642, + 0.9972348213195801, + 0.051762803430168196, + 0.3572064936161041 + ], + [ + -0.015810437232033715, + -0.052673183381557465, + 0.9984866569583701, + 0.2643144428730011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9986195084040176, + 0.04936404898762703, + 0.017952686336245745, + -0.4255979359149933 + ], + [ + -0.05020688585752568, + 0.9974865913391113, + 0.04999807148370179, + 0.3589456379413605 + ], + [ + -0.015439435488719861, + -0.05083039775490761, + 0.9985879256585377, + 0.264524906873703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9984633918594256, + 0.05226244777441025, + 0.018425236810806402, + -0.4254699945449829 + ], + [ + -0.05316064721235661, + 0.9972208142280579, + 0.05219820180008905, + 0.3584229350090027 + ], + [ + -0.015646019702914987, + -0.05309749394655228, + 0.9984667516263963, + 0.2684982717037201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.998482027487617, + 0.053561933338642134, + 0.012836469775299753, + -0.4209746718406677 + ], + [ + -0.05420735221832253, + 0.9969165325164797, + 0.056735997732938075, + 0.35397961735725403 + ], + [ + -0.00975800299239078, + -0.0573457069694996, + 0.9983066888784972, + 0.2658687233924866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9981223611098191, + 0.05760304629802704, + 0.020824122530901754, + -0.42768150568008423 + ], + [ + -0.05873135857909695, + 0.9965647459030151, + 0.05838971334460982, + 0.35383301973342896 + ], + [ + -0.017389151907204355, + -0.05950310826301575, + 0.9980766373205031, + 0.2705923020839691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9981346147945077, + 0.05660118907690048, + 0.02288206859563274, + -0.42951256036758423 + ], + [ + -0.05778510537561056, + 0.9968184232711792, + 0.05489895355257224, + 0.3569962978363037 + ], + [ + -0.01970190358576548, + -0.056118786334991455, + 0.9982296653731363, + 0.27039849758148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9981646707128695, + 0.05558507889509201, + 0.024032497542858744, + -0.42963218688964844 + ], + [ + -0.05692271749866643, + 0.9966269731521606, + 0.05911379328961406, + 0.3534747362136841 + ], + [ + -0.02066558736480028, + -0.06037329509854317, + 0.9979619251942987, + 0.2674199640750885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9981305221898419, + 0.05610822513699533, + 0.024235447002211162, + -0.4289800822734833 + ], + [ + -0.057411221359171795, + 0.9967271089553835, + 0.05691254867207021, + 0.35584867000579834 + ], + [ + -0.020962853397366966, + -0.0581975392997265, + 0.998084977986534, + 0.2718281149864197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9979966956268493, + 0.05415768176317215, + 0.03270341542187923, + -0.4381360411643982 + ], + [ + -0.05571929658277798, + 0.9972485899925232, + 0.04889406753032766, + 0.36335936188697815 + ], + [ + -0.029965440651530752, + -0.050618331879377365, + 0.9982684217601268, + 0.2711547315120697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9983928848477259, + 0.051635805517435074, + 0.023354894373181098, + -0.42668434977531433 + ], + [ + -0.05268520307412333, + 0.9975137114524841, + 0.04680398020743054, + 0.36505040526390076 + ], + [ + -0.02088007539658297, + -0.04795921966433525, + 0.9986310355540676, + 0.2711203992366791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9977296030956966, + 0.05663636699318886, + 0.03644150474503552, + -0.43825221061706543 + ], + [ + -0.0583425300631358, + 0.997161328792572, + 0.04759607086161669, + 0.3652188181877136 + ], + [ + -0.033642383114408855, + -0.04961409792304039, + 0.9982016941660462, + 0.27130070328712463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9982327414300632, + 0.05251527577638626, + 0.02781163001091102, + -0.42818790674209595 + ], + [ + -0.05376267476303192, + 0.9974851012229919, + 0.04618429350514304, + 0.3673144280910492 + ], + [ + -0.025316308511957982, + -0.04759790375828743, + 0.998545726955838, + 0.272676557302475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.998144938451352, + 0.05087353289127351, + 0.033445275821386074, + -0.43188828229904175 + ], + [ + -0.0521912609763887, + 0.9978443384170534, + 0.03978372736858904, + 0.3735574185848236 + ], + [ + -0.03134924342356787, + -0.041455473750829704, + 0.9986484226788306, + 0.27583059668540955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9974243467767285, + 0.060229115188121796, + 0.0389509785652123, + -0.43572336435317993 + ], + [ + -0.06212278954325518, + 0.9968459010124207, + 0.049385923817336655, + 0.36054426431655884 + ], + [ + -0.0358536493110335, + -0.05167846381664276, + 0.9980199842280743, + 0.2686450183391571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9978533228549913, + 0.05692782253026962, + 0.03237163938229783, + -0.4293771982192993 + ], + [ + -0.05857384651324977, + 0.9969066977500916, + 0.05240334544804827, + 0.36008745431900024 + ], + [ + -0.02928830010503636, + -0.05418698862195015, + 0.9981011788759065, + 0.2726764380931854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.997273151120623, + 0.05978137254714967, + 0.04327198520724331, + -0.4388658106327057 + ], + [ + -0.06192148146629829, + 0.9968311786651614, + 0.049932719875347385, + 0.3630255460739136 + ], + [ + -0.04014982430529791, + -0.05247602984309198, + 0.9978147228257933, + 0.26968270540237427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9972540820434486, + 0.06118094176054002, + 0.041728080357677465, + -0.43634822964668274 + ], + [ + -0.06346392795908713, + 0.996424198150635, + 0.055777504955524186, + 0.3566076159477234 + ], + [ + -0.03816634679256525, + -0.05827257037162782, + 0.9975708815630245, + 0.27249589562416077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9974535173720207, + 0.05679415538907051, + 0.04313762507113615, + -0.4403214156627655 + ], + [ + -0.05899041165499384, + 0.996930718421936, + 0.05147138238651275, + 0.3657469153404236 + ], + [ + -0.0400819672600625, + -0.053885020315647125, + 0.9977423980961316, + 0.27782565355300903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/push_in/transforms.json b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0c6462435021abc9bd95b090047c3837f5f555d1 --- /dev/null +++ b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/push_in/transforms.json @@ -0,0 +1,7888 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 225, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 5.429926386568695e-05, + 6.081355968490243e-05, + -9.924238838721067e-06 + ], + [ + -5.429988959804177e-05, + 1.0, + 1.0281693903380074e-05, + -4.616683509084396e-05 + ], + [ + -6.081299943616614e-05, + -1.028499536914751e-05, + 1.0, + -0.00013104858226142824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + -0.000524801725987345, + -0.0033989716321229935, + -0.0052690355048980566 + ], + [ + 0.0005185141344554722, + 0.999998152256012, + -0.0018504558829590678, + -9.520640612338736e-05 + ], + [ + 0.003399936482310295, + 0.0018486824119463563, + 0.9999924898147583, + 0.002215147068324898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999714493751526, + -0.000941636273637414, + -0.007498056627810001, + -0.009053102109880586 + ], + [ + 0.0009150825208052993, + 0.9999933242797852, + -0.003544056788086891, + -0.00016695867151221526 + ], + [ + 0.007501343265175819, + 0.003537094220519066, + 0.9999656081199646, + 0.0012513447943742254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999345541000366, + -0.0008186700870282948, + -0.011413106694817543, + -0.014596243933608224 + ], + [ + 0.0007583763799630105, + 0.9999857544898987, + -0.005286171566694975, + 0.00036131353595659935 + ], + [ + 0.011417271569371223, + 0.005277170334011316, + 0.9999209046363831, + 0.004550120181271008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998676776885986, + -0.0019139857031404972, + -0.01615421660244465, + -0.019022570952906142 + ], + [ + 0.0017907950095832348, + 0.9999692440032959, + -0.00763694616034627, + 0.0010139110489814941 + ], + [ + 0.01616833545267582, + 0.007607006933540106, + 0.9998403191566467, + 0.0046785908684666665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997848868370056, + -0.0023734024725854397, + -0.020604988560080528, + -0.024340891191968694 + ], + [ + 0.002175173256546259, + 0.999951183795929, + -0.009637533687055111, + 0.001181208563918647 + ], + [ + 0.0206268560141325, + 0.009590641595423222, + 0.99974125623703, + 0.004230606835335493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999688982963562, + -0.0010817669099196792, + -0.024916311725974083, + -0.030439896191403804 + ], + [ + 0.0008171632653102279, + 0.999943196773529, + -0.01062743365764618, + 0.0011163727613165975 + ], + [ + 0.02492639236152172, + 0.01060376688838005, + 0.9996330738067627, + 0.004607825756206044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995627403259277, + -0.0005323534714989364, + -0.02956518903374672, + -0.03641892998712137 + ], + [ + 0.000184318792889826, + 0.9999306797981262, + -0.011773251928389072, + 0.001754366813111119 + ], + [ + 0.029569406062364578, + 0.011762653477489948, + 0.9994935393333435, + 0.00215325381141156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9994422197341919, + -0.0002050281473202631, + -0.033395010977983475, + -0.04304755751841834 + ], + [ + -0.00021745330013800412, + 0.9999200105667114, + -0.012646914459764957, + 0.0011057399313098618 + ], + [ + 0.03339492902159691, + 0.012647121213376522, + 0.9993622303009033, + 0.0033106752513309143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9992830753326416, + -0.0006102025508880615, + -0.03785432502627373, + -0.04821185851968559 + ], + [ + 0.00011476478539407253, + 0.9999143481254578, + -0.013088801875710487, + -0.0006733332436332213 + ], + [ + 0.03785907104611397, + 0.013075074180960655, + 0.9991975426673889, + 0.0027192927364792134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9990656971931458, + 7.511320291087031e-05, + -0.04321671277284622, + -0.05235252426271992 + ], + [ + -0.0006541114416904747, + 0.9999102354049683, + -0.01338357012718916, + -0.0020423352377422687 + ], + [ + 0.04321182519197464, + 0.01339933555573225, + 0.9989760518074036, + -0.0009176065213978291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9990081787109375, + 0.0005726817180402577, + -0.04452284798026085, + -0.06054068526552458 + ], + [ + -0.0012013160157948732, + 0.9998999834060669, + -0.01409388892352581, + -0.0020663266178287034 + ], + [ + 0.04451032355427742, + 0.014133397489786148, + 0.9989089369773865, + 0.004255543988464134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9988492727279663, + 0.0012008092598989606, + -0.047944359481334686, + -0.06602359654914056 + ], + [ + -0.0019254976650699973, + 0.9998845458030701, + -0.015071873553097248, + -0.0019184917959916804 + ], + [ + 0.047920726239681244, + 0.015146846882998943, + 0.9987362623214722, + 0.0033431147092155052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9986376166343689, + 0.0035616722889244556, + -0.05205990746617317, + -0.06926066173140757 + ], + [ + -0.004335870500653982, + 0.9998815655708313, + -0.014765923842787743, + -0.002722340082982555 + ], + [ + 0.05200115218758583, + 0.014971531927585602, + 0.9985347986221313, + 0.001988678857950228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.998422384262085, + 0.00528716342523694, + -0.055899716913700104, + -0.07264988184906543 + ], + [ + -0.0061421445570886135, + 0.9998666048049927, + -0.015134178102016449, + -0.0027583790943026543 + ], + [ + 0.05581224709749222, + 0.015453645959496498, + 0.9983216524124146, + 0.0011479367502033712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981784820556641, + 0.0062154619954526424, + -0.060008704662323, + -0.07564394615058388 + ], + [ + -0.007152061443775892, + 0.9998557567596436, + -0.015405572019517422, + -0.002208774853248282 + ], + [ + 0.05990429222583771, + 0.01580669730901718, + 0.9980789422988892, + 0.0003033220501882693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997832179069519, + 0.00663546659052372, + -0.06547434628009796, + -0.0772043476147311 + ], + [ + -0.007689968682825565, + 0.9998445510864258, + -0.015866728499531746, + -0.0029273626527615954 + ], + [ + 0.06535889208316803, + 0.016335828229784966, + 0.9977281093597412, + -0.005279148928821087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9975054860115051, + 0.006460017058998346, + -0.07029300183057785, + -0.07962381560022809 + ], + [ + -0.007616034243255854, + 0.9998399019241333, + -0.01619013398885727, + -0.0042610604548826815 + ], + [ + 0.07017716020345688, + 0.01668510213494301, + 0.9973949790000916, + -0.011047790439001151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9973834156990051, + 0.004202523734420538, + -0.07217133790254593, + -0.08565163863157588 + ], + [ + -0.0053828260861337185, + 0.9998548030853271, + -0.016167467460036278, + -0.007265749365823077 + ], + [ + 0.07209291309118271, + 0.016513647511601448, + 0.9972612261772156, + -0.0048398984596133236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9971669316291809, + 0.003244871972128749, + -0.07515043020248413, + -0.0903904013601797 + ], + [ + -0.004402914084494114, + 0.9998740553855896, + -0.015249108895659447, + -0.011491368771696995 + ], + [ + 0.07509148120880127, + 0.015536786988377571, + 0.9970555901527405, + -0.0037268596302185743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9968822002410889, + 0.003172739874571562, + -0.07884043455123901, + -0.09487942020807948 + ], + [ + -0.004221676383167505, + 0.9999047517776489, + -0.013141436502337456, + -0.016565873004895235 + ], + [ + 0.07879123091697693, + 0.0134333036839962, + 0.9968006014823914, + -0.0040304698050022125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9964529871940613, + 0.007055305875837803, + -0.08385535329580307, + -0.0964487005257979 + ], + [ + -0.00770771037787199, + 0.9999424815177917, + -0.007458925247192383, + -0.023694761097431183 + ], + [ + 0.08379790931940079, + 0.0080788005143404, + 0.9964500069618225, + -0.00672269221395254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996464192867279, + 0.005916144698858261, + -0.08381001651287079, + -0.10528830578550696 + ], + [ + -0.006354592740535736, + 0.9999674558639526, + -0.004965651780366898, + -0.029528204507992737 + ], + [ + 0.08377791941165924, + 0.005480672232806683, + 0.9964693784713745, + 0.003071017869349036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9962736964225769, + 0.005605824291706085, + -0.08606579899787903, + -0.11239980702687587 + ], + [ + -0.005895278416574001, + 0.9999777674674988, + -0.003109376411885023, + -0.03440389126626542 + ], + [ + 0.08604645729064941, + 0.003605171572417021, + 0.9962846040725708, + 0.005964400073779481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9960087537765503, + 0.005215528886765242, + -0.08910275995731354, + -0.11887846115444388 + ], + [ + -0.005348358768969774, + 0.9999849200248718, + -0.0012520585441961884, + -0.03904129206493963 + ], + [ + 0.08909489214420319, + 0.0017236148705706, + 0.9960216283798218, + 0.0031984741799533367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9956978559494019, + 0.002971149981021881, + -0.09261176735162735, + -0.12511763909632073 + ], + [ + -0.0030042272992432117, + 0.9999954700469971, + -0.00021774844208266586, + -0.042537772504244585 + ], + [ + 0.09261069446802139, + 0.0004950384027324617, + 0.9957022666931152, + -0.0016408042450036311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9954857230186462, + 0.00293578184209764, + -0.09486605226993561, + -0.13160781813785433 + ], + [ + -0.002805527066811919, + 0.9999949336051941, + 0.001506383647210896, + -0.04609088024870808 + ], + [ + 0.09487000107765198, + -0.0012334341881796718, + 0.9954888820648193, + -0.004539869406393596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.995131254196167, + 0.0033743365202099085, + -0.09850090742111206, + -0.13542845145400081 + ], + [ + -0.002973983297124505, + 0.9999867081642151, + 0.00421100901439786, + -0.05126785052645053 + ], + [ + 0.09851381182670593, + -0.0038975668139755726, + 0.9951280355453491, + -0.010918849387339185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9949544072151184, + 0.0022510988637804985, + -0.100302554666996, + -0.13989275516942143 + ], + [ + -0.0017347722314298153, + 0.9999848008155823, + 0.005234616342931986, + -0.05474976652185433 + ], + [ + 0.10031280666589737, + -0.005034202244132757, + 0.9949432015419006, + -0.008626137301325797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9945237040519714, + 0.0020090490579605103, + -0.10449186712503433, + -0.14303101056721063 + ], + [ + -0.0013550854055210948, + 0.9999790787696838, + 0.0063291285187006, + -0.05877118372674366 + ], + [ + 0.10450238734483719, + -0.0061528729274868965, + 0.9945055842399597, + -0.01592264577214207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9941442608833313, + 0.0022488199174404144, + -0.1080377921462059, + -0.14700141765310296 + ], + [ + -0.0013999015791341662, + 0.9999675750732422, + 0.007932805456221104, + -0.06259586896963551 + ], + [ + 0.10805212706327438, + -0.007735110353678465, + 0.9941151142120361, + -0.025356114442859377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.993832528591156, + 0.000539722794201225, + -0.11089025437831879, + -0.15231423192391438 + ], + [ + 0.0003340734983794391, + 0.9999690651893616, + 0.00786109920591116, + -0.06447416681954304 + ], + [ + 0.11089105904102325, + -0.007849660702049732, + 0.9938015937805176, + -0.029707535462720053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9934127330780029, + -0.0003444814938120544, + -0.11459057033061981, + -0.15880837674651826 + ], + [ + 0.00118216872215271, + 0.9999730587005615, + 0.007242387626320124, + -0.06431531514307218 + ], + [ + 0.11458499729633331, + -0.007330145221203566, + 0.9933863878250122, + -0.03623041734099388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9931498765945435, + -0.0006783365970477462, + -0.11684539914131165, + -0.1676132092651512 + ], + [ + 0.0013714333763346076, + 0.9999819397926331, + 0.005851445719599724, + -0.06224232055329984 + ], + [ + 0.11683931946754456, + -0.005971608683466911, + 0.9931328892707825, + -0.04273997021040746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9928338527679443, + -0.001985865645110607, + -0.11948620527982712, + -0.17606666151301137 + ], + [ + 0.0024133059196174145, + 0.9999911785125732, + 0.003432728350162506, + -0.05796621912159026 + ], + [ + 0.11947833746671677, + -0.0036964858882129192, + 0.9928299188613892, + -0.05353320209043366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9927089810371399, + 0.004223942756652832, + -0.12046174705028534, + -0.1876921697985381 + ], + [ + -0.0034181056544184685, + 0.9999703764915466, + 0.006895413156598806, + -0.05457949467381695 + ], + [ + 0.12048730254173279, + -0.006433387752622366, + 0.9926940202713013, + -0.053017860278487206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9928902983665466, + 0.005899191368371248, + -0.11888688802719116, + -0.20040040771876064 + ], + [ + -0.0050647989846765995, + 0.9999603629112244, + 0.007319290190935135, + -0.04893004725953298 + ], + [ + 0.11892536282539368, + -0.006665114313364029, + 0.9928808212280273, + -0.047360859385558535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9930081963539124, + 0.0072663226164877415, + -0.11782153695821762, + -0.2119758805758985 + ], + [ + -0.0066042267717421055, + 0.9999601244926453, + 0.006008932366967201, + -0.04262335048240077 + ], + [ + 0.11786050349473953, + -0.0051887985318899155, + 0.9930166006088257, + -0.04614659297679152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9934129118919373, + 0.011571774259209633, + -0.11400401592254639, + -0.22376074375850813 + ], + [ + -0.01056690327823162, + 0.9998998641967773, + 0.009414730593562126, + -0.04079008494071396 + ], + [ + 0.11410154402256012, + -0.00814804621040821, + 0.9934356808662415, + -0.029741994770509858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9932152628898621, + 0.014665169641375542, + -0.11536205559968948, + -0.23333167366883054 + ], + [ + -0.013468045741319656, + 0.9998471140861511, + 0.01114975567907095, + -0.03849504482225582 + ], + [ + 0.11550793796777725, + -0.00952040683478117, + 0.99326092004776, + -0.039906286049102034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9932880401611328, + 0.015775708481669426, + -0.11458612233400345, + -0.2423679063628827 + ], + [ + -0.014470522291958332, + 0.9998207092285156, + 0.012213376350700855, + -0.03662093095148781 + ], + [ + 0.11475824564695358, + -0.01047328021377325, + 0.9933382272720337, + -0.04010739496776036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9932069778442383, + 0.01807323284447193, + -0.11494898796081543, + -0.25107545416269983 + ], + [ + -0.016652198508381844, + 0.9997727274894714, + 0.013310663402080536, + -0.03390077632253191 + ], + [ + 0.11516343057155609, + -0.011306090280413628, + 0.9932821989059448, + -0.041305304371884885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9928529262542725, + 0.01824348233640194, + -0.11794166266918182, + -0.26139850849285723 + ], + [ + -0.016831854358315468, + 0.9997743964195251, + 0.012953964062035084, + -0.03144880594336428 + ], + [ + 0.11815138161182404, + -0.010876203887164593, + 0.9929360151290894, + -0.04623717591166496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9933094382286072, + 0.021204473450779915, + -0.11351996660232544, + -0.2747402810358575 + ], + [ + -0.019827144220471382, + 0.9997156262397766, + 0.013248386792838573, + -0.030671786649535144 + ], + [ + 0.11376860737800598, + -0.010908971540629864, + 0.9934473633766174, + -0.04851065461656877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9938482046127319, + 0.03586491197347641, + -0.10478276759386063, + -0.28584876170914086 + ], + [ + -0.03347736597061157, + 0.999140202999115, + 0.024456825107336044, + -0.03423934091281678 + ], + [ + 0.10556981712579727, + -0.020798519253730774, + 0.9941943883895874, + -0.016083869125161854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9939356446266174, + 0.034998804330825806, + -0.10424481332302094, + -0.297307992586866 + ], + [ + -0.0330176055431366, + 0.9992409944534302, + 0.020671160891652107, + -0.03508054880408703 + ], + [ + 0.1048891544342041, + -0.01710388995707035, + 0.9943368434906006, + -0.03723035380244255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9952325820922852, + 0.022283431142568588, + -0.09495047479867935, + -0.3068330578705562 + ], + [ + -0.01989760622382164, + 0.9994639158248901, + 0.02600027248263359, + -0.04301209799346647 + ], + [ + 0.09547894448041916, + -0.02398703247308731, + 0.99514240026474, + -0.0423870673669236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9946903586387634, + 0.02808489464223385, + -0.09900665283203125, + -0.3047074684074947 + ], + [ + -0.025564825162291527, + 0.9993183612823486, + 0.0266311913728714, + -0.04342349164320954 + ], + [ + 0.09968709945678711, + -0.023958701640367508, + 0.9947303533554077, + -0.04659683039145811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9949796199798584, + 0.019916994497179985, + -0.09807608276605606, + -0.2999217215925455 + ], + [ + -0.0169504564255476, + 0.9993759989738464, + 0.030988262966275215, + -0.04839735357090831 + ], + [ + 0.0986320748925209, + -0.02917025424540043, + 0.994696319103241, + -0.04103361974869456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9944373965263367, + 0.02012706734240055, + -0.10338827222585678, + -0.28914905556011944 + ], + [ + -0.01702454872429371, + 0.9993804693222046, + 0.030803797766566277, + -0.04857546951971017 + ], + [ + 0.10394420474767685, + -0.028872309252619743, + 0.994163990020752, + -0.04414517283439636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9934733510017395, + 0.02524719387292862, + -0.11123543977737427, + -0.27742145769298077 + ], + [ + -0.02238023281097412, + 0.9993863105773926, + 0.02694767341017723, + -0.04386598332452455 + ], + [ + 0.11184751987457275, + -0.024282321333885193, + 0.993428647518158, + -0.05306652853531497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9930144548416138, + 0.026521842926740646, + -0.11497350037097931, + -0.2655500604039324 + ], + [ + -0.02351594716310501, + 0.9993472695350647, + 0.027422450482845306, + -0.04229054676834494 + ], + [ + 0.11562575399875641, + -0.024527177214622498, + 0.9929899573326111, + -0.05500960038708789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9924052357673645, + 0.02515990659594536, + -0.12041106820106506, + -0.24892035898353373 + ], + [ + -0.02175479382276535, + 0.9993277192115784, + 0.029510753229260445, + -0.04064185037610254 + ], + [ + 0.12107260525226593, + -0.02666710875928402, + 0.9922853708267212, + -0.049632484572274344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9923263192176819, + 0.02479124814271927, + -0.12113559246063232, + -0.2362731603107282 + ], + [ + -0.02117912843823433, + 0.9992944598197937, + 0.03101605735719204, + -0.03644129782998269 + ], + [ + 0.12181904911994934, + -0.02821250446140766, + 0.9921512603759766, + -0.040916337285723005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9920835494995117, + 0.022380176931619644, + -0.12356916815042496, + -0.22237590800837748 + ], + [ + -0.018947362899780273, + 0.9994031190872192, + 0.028886251151561737, + -0.03384949247618871 + ], + [ + 0.12414189428091049, + -0.026316266506910324, + 0.9919154644012451, + -0.04452445677348546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9922812581062317, + 0.020047249272465706, + -0.12237676233053207, + -0.21491634567999945 + ], + [ + -0.017011811956763268, + 0.9995223879814148, + 0.025798799470067024, + -0.029671627450235456 + ], + [ + 0.12283550947904587, + -0.02351781539618969, + 0.9921483397483826, + -0.05578013336552041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9928100109100342, + 0.012904680334031582, + -0.11900295317173004, + -0.20895977057516574 + ], + [ + -0.010300095193088055, + 0.9996943473815918, + 0.022475900128483772, + -0.024360236851498483 + ], + [ + 0.11925661563873291, + -0.021088557317852974, + 0.9926394820213318, + -0.03651929721236229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9935962557792664, + 0.020664729177951813, + -0.11108306795358658, + -0.19863793902165655 + ], + [ + -0.019686654210090637, + 0.9997572302818298, + 0.009894650429487228, + 0.024879780124008124 + ], + [ + 0.11126057058572769, + -0.007644433528184891, + 0.9937618970870972, + 0.031003934890031816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9942190051078796, + 0.013682366348803043, + -0.10649557411670685, + -0.19595772018656135 + ], + [ + -0.013351223431527615, + 0.9999035596847534, + 0.0038218130357563496, + 0.03237451517696692 + ], + [ + 0.1065375953912735, + -0.0023778732866048813, + 0.9943058490753174, + 0.058947363389389856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9950547218322754, + 0.019083619117736816, + -0.09747787564992905, + -0.20053194237407296 + ], + [ + -0.018497522920370102, + 0.9998050332069397, + 0.006912839598953724, + 0.03438539999894731 + ], + [ + 0.09759079664945602, + -0.005075554363429546, + 0.9952136874198914, + 0.0940650740106191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9946458339691162, + 0.017915215343236923, + -0.1017778068780899, + -0.19487480220517941 + ], + [ + -0.017567895352840424, + 0.9998363852500916, + 0.004307905212044716, + 0.04369771053149764 + ], + [ + 0.10183833539485931, + -0.002496818546205759, + 0.9947978258132935, + 0.06874805901731763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9944194555282593, + 0.02022327296435833, + -0.10354237258434296, + -0.187999703994553 + ], + [ + -0.020202593877911568, + 0.999795138835907, + 0.0012485581682994962, + 0.05769509468586226 + ], + [ + 0.10354641079902649, + 0.0008502340642735362, + 0.9946242570877075, + 0.060305187904409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9945304989814758, + 0.02305944450199604, + -0.10186926275491714, + -0.18405821713885026 + ], + [ + -0.02217739261686802, + 0.9997062087059021, + 0.009782880544662476, + 0.042711771731930116 + ], + [ + 0.10206491500139236, + -0.007470178883522749, + 0.9947496652603149, + 0.0667351164988109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9942171573638916, + 0.014444018714129925, + -0.10641220211982727, + -0.17467023888602853 + ], + [ + -0.014387913979589939, + 0.9998956322669983, + 0.0012949600350111723, + 0.05417200036681606 + ], + [ + 0.10641980171203613, + 0.00024357804795727134, + 0.9943212866783142, + 0.04895634893327952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9946256279945374, + 0.01696351170539856, + -0.10213781148195267, + -0.175021553678172 + ], + [ + -0.016582518815994263, + 0.9998520016670227, + 0.0045781806111335754, + 0.04941436180046627 + ], + [ + 0.10220035165548325, + -0.0028598736971616745, + 0.994759738445282, + 0.06540562148605074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9946163296699524, + 0.015923423692584038, + -0.10239560157060623, + -0.17203211233884627 + ], + [ + -0.01568802259862423, + 0.999872088432312, + 0.0031039013992995024, + 0.054363100219364115 + ], + [ + 0.10243193060159683, + -0.001480806851759553, + 0.9947389364242554, + 0.06219512623335634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9947681427001953, + 0.01422614324837923, + -0.10116278380155563, + -0.17129656171559224 + ], + [ + -0.01417273748666048, + 0.9998987913131714, + 0.0012466523330658674, + 0.058420829833111 + ], + [ + 0.10117027908563614, + 0.00019362347666174173, + 0.9948691129684448, + 0.059602010835494316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949952363967896, + 0.01861332170665264, + -0.09817326813936234, + -0.17131995639564204 + ], + [ + -0.018187785521149635, + 0.9998209476470947, + 0.005227767396718264, + 0.05706662404346779 + ], + [ + 0.09825298935174942, + -0.003416049759835005, + 0.9951556324958801, + 0.06730217984212297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9952532649040222, + 0.015842288732528687, + -0.09602067619562149, + -0.16999108382899847 + ], + [ + -0.015520483255386353, + 0.9998711347579956, + 0.004097406752407551, + 0.058727847393934746 + ], + [ + 0.096073217689991, + -0.002587670460343361, + 0.9953709244728088, + 0.06689496881195477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9954195618629456, + 0.01510812807828188, + -0.09440119564533234, + -0.16731373162807098 + ], + [ + -0.014936831779778004, + 0.9998852610588074, + 0.002520930487662554, + 0.06332367284693256 + ], + [ + 0.09442844986915588, + -0.001099328976124525, + 0.9955310225486755, + 0.068842354390238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9955585598945618, + 0.015541225671768188, + -0.09285259246826172, + -0.16629448533058167 + ], + [ + -0.01538245938718319, + 0.9998787641525269, + 0.0024253693409264088, + 0.0652055124664912 + ], + [ + 0.0928790271282196, + -0.0009862962178885937, + 0.9956769347190857, + 0.069275276735425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9957451820373535, + 0.016847755759954453, + -0.09059640020132065, + -0.16626302343460597 + ], + [ + -0.016652807593345642, + 0.9998571276664734, + 0.0029073581099510193, + 0.06656129321948226 + ], + [ + 0.09063243120908737, + -0.0013863035710528493, + 0.9958834648132324, + 0.07358885535172054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9958940148353577, + 0.016624007374048233, + -0.08898746222257614, + -0.16502648951219662 + ], + [ + -0.016437146812677383, + 0.9998608827590942, + 0.00283231632784009, + 0.06785748908462536 + ], + [ + 0.08902216702699661, + -0.0013579874066635966, + 0.99602872133255, + 0.07302394583821296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9959496855735779, + 0.01695217750966549, + -0.0882997140288353, + -0.16156247434805016 + ], + [ + -0.016644613817334175, + 0.9998525977134705, + 0.00421835808083415, + 0.06543772929061172 + ], + [ + 0.08835820108652115, + -0.002731557935476303, + 0.9960850477218628, + 0.0768798191100359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9959126114845276, + 0.013698362745344639, + -0.08927696198225021, + -0.15607674517668785 + ], + [ + -0.013527334667742252, + 0.9999053478240967, + 0.0025205041747540236, + 0.06613079355177304 + ], + [ + 0.08930303901433945, + -0.0013025228399783373, + 0.9960036277770996, + 0.07345444102372442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9958646297454834, + 0.011794793419539928, + -0.09008052945137024, + -0.15157434816605278 + ], + [ + -0.011653958819806576, + 0.9999299049377441, + 0.0020892489701509476, + 0.06618553303165495 + ], + [ + 0.09009885787963867, + -0.0010308142518624663, + 0.9959322810173035, + 0.07148225033389671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9959360957145691, + 0.011463133618235588, + -0.0893300473690033, + -0.15034772886761597 + ], + [ + -0.011309400200843811, + 0.9999335408210754, + 0.002226929645985365, + 0.06608265658724122 + ], + [ + 0.0893496423959732, + -0.0012076104758307338, + 0.9959995746612549, + 0.0713680764394147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9958791732788086, + 0.011566673405468464, + -0.08994904905557632, + -0.14538680778350682 + ], + [ + -0.011366567574441433, + 0.9999316334724426, + 0.002736593596637249, + 0.06595036324870307 + ], + [ + 0.08997455984354019, + -0.0017029047012329102, + 0.9959425926208496, + 0.07024975195527078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9965335726737976, + 0.01979604735970497, + -0.080802321434021, + -0.16171550761376108 + ], + [ + -0.01932418718934059, + 0.9997913837432861, + 0.006617577746510506, + 0.06869871364740122 + ], + [ + 0.08091646432876587, + -0.005033198744058609, + 0.9967081546783447, + 0.08445018593754088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9965062737464905, + 0.020632188767194748, + -0.08092904835939407, + -0.15945934839214065 + ], + [ + -0.01988305151462555, + 0.9997518062591553, + 0.010051790624856949, + 0.0616174889445704 + ], + [ + 0.08111635595560074, + -0.008407555520534515, + 0.9966691732406616, + 0.07949321679770946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9965483546257019, + 0.017819412052631378, + -0.08107908070087433, + -0.15657165486897742 + ], + [ + -0.017160259187221527, + 0.9998138546943665, + 0.008819364942610264, + 0.06111710921062955 + ], + [ + 0.08122114837169647, + -0.0073975855484604836, + 0.9966686367988586, + 0.0766940111560481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9966121912002563, + 0.017840994521975517, + -0.08028606325387955, + -0.1550452790788508 + ], + [ + -0.01714789681136608, + 0.9998095631599426, + 0.009314112365245819, + 0.061090452194080824 + ], + [ + 0.08043695241212845, + -0.00790582038462162, + 0.9967283606529236, + 0.07762293376560722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9967845678329468, + 0.016843946650624275, + -0.07833774387836456, + -0.15533230449738247 + ], + [ + -0.016316348686814308, + 0.999839723110199, + 0.007370145060122013, + 0.0653542573505547 + ], + [ + 0.0784493237733841, + -0.006068261340260506, + 0.9968996047973633, + 0.08194139812673842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9968114495277405, + 0.021736696362495422, + -0.07677500694990158, + -0.15552198148798196 + ], + [ + -0.02087249979376793, + 0.9997096657752991, + 0.012040856294333935, + 0.060553734320897744 + ], + [ + 0.07701443880796432, + -0.010399977676570415, + 0.9969757199287415, + 0.0822747698585902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.996864378452301, + 0.016162043437361717, + -0.07746078819036484, + -0.15033600414171816 + ], + [ + -0.015681086108088493, + 0.9998538494110107, + 0.006813297048211098, + 0.06664615457411856 + ], + [ + 0.07755958288908005, + -0.005577264353632927, + 0.9969721436500549, + 0.07972282990813256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9968461990356445, + 0.01647915691137314, + -0.07762819528579712, + -0.14632714446634054 + ], + [ + -0.01590864732861519, + 0.9998417496681213, + 0.007961971685290337, + 0.06408984948731293 + ], + [ + 0.07774712145328522, + -0.006701902020722628, + 0.9969505667686462, + 0.08191555671926057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.997064471244812, + 0.021117670461535454, + -0.07359712570905685, + -0.1531637321425868 + ], + [ + -0.020262377336621284, + 0.999718427658081, + 0.012348704040050507, + 0.06096482572944036 + ], + [ + 0.07383718341588974, + -0.010821200907230377, + 0.9972115755081177, + 0.08628084361553193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9970395565032959, + 0.016500312834978104, + -0.07509934902191162, + -0.14730548076331615 + ], + [ + -0.01588905230164528, + 0.9998356699943542, + 0.008729587309062481, + 0.06550637369052441 + ], + [ + 0.07523104548454285, + -0.0075104860588908195, + 0.9971378445625305, + 0.0838954634698374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.997036337852478, + 0.015346040017902851, + -0.0753859281539917, + -0.1476371726819447 + ], + [ + -0.014478717930614948, + 0.999822735786438, + 0.012038211338222027, + 0.05605867917849017 + ], + [ + 0.07555730640888214, + -0.010911042802035809, + 0.9970817565917969, + 0.07419465397085462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.997204601764679, + 0.018176307901740074, + -0.07247501611709595, + -0.14811901537967578 + ], + [ + -0.017430609092116356, + 0.9997885823249817, + 0.010908323340117931, + 0.06390885597419194 + ], + [ + 0.07265797257423401, + -0.009614546783268452, + 0.9973105788230896, + 0.08793215759630714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9971070289611816, + 0.015908166766166687, + -0.07432664930820465, + -0.1406932143893625 + ], + [ + -0.015167475678026676, + 0.9998296499252319, + 0.01051922794431448, + 0.06265683318737761 + ], + [ + 0.07448132336139679, + -0.0093614486977458, + 0.9971784949302673, + 0.08418701668935162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9973818063735962, + 0.023457694798707962, + -0.0684051662683487, + -0.15079912305809556 + ], + [ + -0.022286031395196915, + 0.9995924234390259, + 0.017841512337327003, + 0.056564562354469675 + ], + [ + 0.06879580020904541, + -0.016270318999886513, + 0.997498095035553, + 0.09171018619090318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.997377336025238, + 0.024339638650417328, + -0.0681614801287651, + -0.1484737776352891 + ], + [ + -0.0231335312128067, + 0.9995625019073486, + 0.01842876523733139, + 0.05612749474655305 + ], + [ + 0.06858020275831223, + -0.016803618520498276, + 0.9975040555000305, + 0.08922602161765099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973924160003662, + 0.023590322583913803, + -0.06820439547300339, + -0.14672451009641269 + ], + [ + -0.022321626543998718, + 0.9995644688606262, + 0.019304150715470314, + 0.05298175346854675 + ], + [ + 0.06863007694482803, + -0.017731381580233574, + 0.997484564781189, + 0.0880230506083795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9978054761886597, + 0.025309337303042412, + -0.061185870319604874, + -0.16015751885715873 + ], + [ + -0.024268465116620064, + 0.9995488524436951, + 0.017695436254143715, + 0.056888147515045215 + ], + [ + 0.06160612776875496, + -0.016171714290976524, + 0.9979695081710815, + 0.09505594255668776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9975317716598511, + 0.023455826565623283, + -0.06618264317512512, + -0.14480185102937476 + ], + [ + -0.022049827501177788, + 0.9995170831680298, + 0.021895399317145348, + 0.04662264524709566 + ], + [ + 0.06666426360607147, + -0.020382041111588478, + 0.9975672364234924, + 0.08272436460746185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9975511431694031, + 0.015440588817000389, + -0.06821534782648087, + -0.13287859803863933 + ], + [ + -0.01450423151254654, + 0.9997939467430115, + 0.014200546778738499, + 0.05751245259972555 + ], + [ + 0.06842055171728134, + -0.013176360167562962, + 0.9975695610046387, + 0.08573149517178535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977785348892212, + 0.02272852323949337, + -0.06262128800153732, + -0.14585177320654372 + ], + [ + -0.021499028429389, + 0.999563992023468, + 0.02023824118077755, + 0.05320534350466914 + ], + [ + 0.06305397301912308, + -0.018846986815333366, + 0.9978321194648743, + 0.09109832732272999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9980905055999756, + 0.023285837844014168, + -0.05721140280365944, + -0.15383606271352618 + ], + [ + -0.021970441564917564, + 0.9994820356369019, + 0.023514362052083015, + 0.048551994829904285 + ], + [ + 0.057729322463274, + -0.022212499752640724, + 0.9980851411819458, + 0.10223756358027458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9946548938751221, + 0.039727769792079926, + -0.09530650079250336, + -0.2054728779742228 + ], + [ + -0.04139016568660736, + 0.999022364616394, + -0.015528826043009758, + 0.0403738198427683 + ], + [ + 0.09459640085697174, + 0.019390573725104332, + 0.995326817035675, + 0.09072959175599474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9946045279502869, + 0.039806924760341644, + -0.09579773247241974, + -0.2059568976983428 + ], + [ + -0.04132373631000519, + 0.9990491271018982, + -0.013901187106966972, + 0.03927465150731483 + ], + [ + 0.09515327215194702, + 0.017784902825951576, + 0.995303750038147, + 0.09013609268835612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9945985078811646, + 0.03973943740129471, + -0.09588811546564102, + -0.20712362171616405 + ], + [ + -0.04118870198726654, + 0.9990644454956055, + -0.013181641697883606, + 0.04025069687382451 + ], + [ + 0.09527457505464554, + 0.017059948295354843, + 0.9953048229217529, + 0.08997466266155243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9946054816246033, + 0.03978746011853218, + -0.09579590708017349, + -0.20795518052764236 + ], + [ + -0.04125744476914406, + 0.9990585446357727, + -0.013412689790129662, + 0.043755972104346647 + ], + [ + 0.09517205506563187, + 0.017292629927396774, + 0.9953106045722961, + 0.09296460401798998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9945728778839111, + 0.038458481431007385, + -0.09667355567216873, + -0.2073411965975538 + ], + [ + -0.04010387510061264, + 0.9990808963775635, + -0.015134318731725216, + 0.04806681912284278 + ], + [ + 0.09600266069173813, + 0.018929166719317436, + 0.995201051235199, + 0.09365527675087963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9946970343589783, + 0.03972727805376053, + -0.09486575424671173, + -0.21366791049284595 + ], + [ + -0.04122079908847809, + 0.9990542531013489, + -0.013835319317877293, + 0.04972610392142087 + ], + [ + 0.09422639012336731, + 0.01767239347100258, + 0.9953939318656921, + 0.09362621594752585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9945297837257385, + 0.03905880078673363, + -0.09687553346157074, + -0.21197041985578835 + ], + [ + -0.04062054678797722, + 0.9990737438201904, + -0.014200970530509949, + 0.05361190973781049 + ], + [ + 0.0962311327457428, + 0.018058426678180695, + 0.995195209980011, + 0.0981436101719737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9944732785224915, + 0.0389300175011158, + -0.09750551730394363, + -0.21312402240000666 + ], + [ + -0.04028015211224556, + 0.999117374420166, + -0.011916047893464565, + 0.051804231224481814 + ], + [ + 0.0969555601477623, + 0.015777727589011192, + 0.99516361951828, + 0.09749633047197545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9944483637809753, + 0.04014831408858299, + -0.09726545214653015, + -0.2161149631254375 + ], + [ + -0.0413333885371685, + 0.9990933537483215, + -0.010198928415775299, + 0.05309658258421612 + ], + [ + 0.09676779806613922, + 0.014162618666887283, + 0.9952062368392944, + 0.10079823460962091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9944525361061096, + 0.03874902427196503, + -0.09778892993927002, + -0.21793361668075834 + ], + [ + -0.04001564532518387, + 0.9991382360458374, + -0.011024068109691143, + 0.05562465577885242 + ], + [ + 0.09727749228477478, + 0.01487599965184927, + 0.9951460957527161, + 0.10107579635722297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945011138916016, + 0.04093387722969055, + -0.09639488905668259, + -0.224066880355323 + ], + [ + -0.042136311531066895, + 0.9990569949150085, + -0.010470818728208542, + 0.059149684133340735 + ], + [ + 0.09587537497282028, + 0.014474965631961823, + 0.995288074016571, + 0.1063206666016153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9942319989204407, + 0.039773277938365936, + -0.09960360825061798, + -0.22468859163512075 + ], + [ + -0.04110310971736908, + 0.9990906119346619, + -0.01133408211171627, + 0.061193279980216175 + ], + [ + 0.0990622341632843, + 0.015362724661827087, + 0.9949626326560974, + 0.1021699391837631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.994101345539093, + 0.04117410257458687, + -0.10033561289310455, + -0.22848410105465777 + ], + [ + -0.042462121695280075, + 0.999040424823761, + -0.010734586976468563, + 0.06375384038671784 + ], + [ + 0.0997973382472992, + 0.01493172999471426, + 0.9948957562446594, + 0.10361437582011734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9938545823097229, + 0.043411266058683395, + -0.10182585567235947, + -0.22988837771117687 + ], + [ + -0.04468996450304985, + 0.9989477396011353, + -0.010309208184480667, + 0.06832034196704626 + ], + [ + 0.10127117484807968, + 0.01479644700884819, + 0.9947488307952881, + 0.10941982567310334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9937043786048889, + 0.04401043429970741, + -0.10302768647670746, + -0.23258972449361215 + ], + [ + -0.04527400806546211, + 0.998924970626831, + -0.00995713472366333, + 0.07052343474434955 + ], + [ + 0.10247871279716492, + 0.014558924362063408, + 0.9946286678314209, + 0.10865652029003416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9935451745986938, + 0.04621761664748192, + -0.1035948395729065, + -0.23660616369119714 + ], + [ + -0.04733210429549217, + 0.9988445043563843, + -0.00832449272274971, + 0.07245819040108473 + ], + [ + 0.10309040546417236, + 0.013174120336771011, + 0.9945847392082214, + 0.11117484053330762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9934014081954956, + 0.04876402020454407, + -0.1038062795996666, + -0.23947051122585045 + ], + [ + -0.04985944926738739, + 0.9987243413925171, + -0.007982466369867325, + 0.07810825615888461 + ], + [ + 0.10328460484743118, + 0.013105517253279686, + 0.994565486907959, + 0.11517825722694397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931538701057434, + 0.04845524951815605, + -0.1062898188829422, + -0.24068643048937832 + ], + [ + -0.0495990626513958, + 0.9987360239028931, + -0.00814279355108738, + 0.07987198246576424 + ], + [ + 0.10576090216636658, + 0.013358920812606812, + 0.9943018555641174, + 0.11272271807704654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.993095874786377, + 0.05263610556721687, + -0.10483326017856598, + -0.2503600822828178 + ], + [ + -0.05364173278212547, + 0.9985371232032776, + -0.006794390268623829, + 0.08459026415657718 + ], + [ + 0.10432226955890656, + 0.01237091887742281, + 0.9944666028022766, + 0.11504522543400525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9928365349769592, + 0.050890304148197174, + -0.1081007570028305, + -0.250315408368728 + ], + [ + -0.052018798887729645, + 0.9986168742179871, + -0.007643335498869419, + 0.08790512811143085 + ], + [ + 0.10756227374076843, + 0.013211854733526707, + 0.9941105842590332, + 0.114733332076243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.992465615272522, + 0.04960649460554123, + -0.11203228682279587, + -0.2505411334102973 + ], + [ + -0.05063933879137039, + 0.9986965656280518, + -0.006390697322785854, + 0.09183126914140302 + ], + [ + 0.11156923323869705, + 0.012015786953270435, + 0.9936839938163757, + 0.11292263995856047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9921673536300659, + 0.047976501286029816, + -0.11533529311418533, + -0.25237147443528685 + ], + [ + -0.049125783145427704, + 0.998767077922821, + -0.007141312584280968, + 0.10016966820694506 + ], + [ + 0.1148504838347435, + 0.012751312926411629, + 0.9933009743690491, + 0.11201619995491846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9919195175170898, + 0.04764078930020332, + -0.11758407950401306, + -0.2566980324020343 + ], + [ + -0.048521120101213455, + 0.9988114237785339, + -0.004633978940546513, + 0.10516346200394244 + ], + [ + 0.11722356081008911, + 0.010301846079528332, + 0.9930521249771118, + 0.114309891260096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9911925196647644, + 0.045752160251140594, + -0.12427420914173126, + -0.2524288706614503 + ], + [ + -0.0461127907037735, + 0.9989362359046936, + -2.544233575463295e-05, + 0.10602710406986132 + ], + [ + 0.12414084374904633, + 0.005755848251283169, + 0.9922479391098022, + 0.11326549617307527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9906643033027649, + 0.04561739042401314, + -0.1284652054309845, + -0.25299803501527224 + ], + [ + -0.04537003114819527, + 0.9989584684371948, + 0.004852726589888334, + 0.10758652949942708 + ], + [ + 0.12855276465415955, + 0.0010210474720224738, + 0.991702139377594, + 0.11236637572624854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9908685088157654, + 0.04998753219842911, + -0.12522296607494354, + -0.266749436860638 + ], + [ + -0.04914408177137375, + 0.99874347448349, + 0.009817632846534252, + 0.11446683949158926 + ], + [ + 0.1255563646554947, + -0.0035740165039896965, + 0.99208003282547, + 0.12106558904051781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9904139637947083, + 0.049922775477170944, + -0.12879416346549988, + -0.27057804320273654 + ], + [ + -0.04859558120369911, + 0.9987282752990723, + 0.013428769074380398, + 0.11999257041731783 + ], + [ + 0.1293007731437683, + -0.0070412131026387215, + 0.9915804266929626, + 0.11797621407146966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9903194308280945, + 0.051056139171123505, + -0.12907621264457703, + -0.2750565765425563 + ], + [ + -0.04996834695339203, + 0.9986827969551086, + 0.011654038913547993, + 0.1391415674064774 + ], + [ + 0.12950119376182556, + -0.005091496743261814, + 0.9915661811828613, + 0.12610814720392227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9898748397827148, + 0.05325969308614731, + -0.13157226145267487, + -0.2807425926772079 + ], + [ + -0.05132486671209335, + 0.9985187649726868, + 0.018055567517876625, + 0.14154318597284146 + ], + [ + 0.1323390156030655, + -0.011119823902845383, + 0.9911421537399292, + 0.12276167108544281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9894037246704102, + 0.04670748859643936, + -0.13747252523899078, + -0.27259055631501333 + ], + [ + -0.04575568437576294, + 0.9989018440246582, + 0.01007731445133686, + 0.1634525270334312 + ], + [ + 0.13779224455356598, + -0.0036803828552365303, + 0.9904543161392212, + 0.12896243504115512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9890732169151306, + 0.05269836261868477, + -0.13768470287322998, + -0.2810924823262862 + ], + [ + -0.05036573484539986, + 0.9985229969024658, + 0.020373553037643433, + 0.1630796897491174 + ], + [ + 0.13855499029159546, + -0.013216343708336353, + 0.9902665615081787, + 0.13487757327301161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9886603951454163, + 0.043121498078107834, + -0.1438443958759308, + -0.2752748479002288 + ], + [ + -0.04151264205574989, + 0.999037504196167, + 0.014168722555041313, + 0.1764069956178511 + ], + [ + 0.1443169116973877, + -0.008036693558096886, + 0.9894988536834717, + 0.1348311368908201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9879354238510132, + 0.03897721320390701, + -0.1498812884092331, + -0.2756286952178925 + ], + [ + -0.03735818713903427, + 0.9992093443870544, + 0.013603542000055313, + 0.1836180897878616 + ], + [ + 0.1502930074930191, + -0.007840128615498543, + 0.9886103868484497, + 0.12433388376874582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9876646399497986, + 0.03972150757908821, + -0.15146197378635406, + -0.2788283823058009 + ], + [ + -0.03785310313105583, + 0.9991676807403564, + 0.01520034484565258, + 0.19352130192398492 + ], + [ + 0.15193970501422882, + -0.009279537945985794, + 0.9883462190628052, + 0.1352712005376816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9877361059188843, + 0.03928206488490105, + -0.15111039578914642, + -0.2859137474093586 + ], + [ + -0.03744402155280113, + 0.9991862773895264, + 0.014990963973104954, + 0.2041972700826591 + ], + [ + 0.15157629549503326, + -0.009148935787379742, + 0.9884032011032104, + 0.145407472923398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9871538877487183, + 0.04029477760195732, + -0.15460774302482605, + -0.28876149987003635 + ], + [ + -0.037817541509866714, + 0.9991053342819214, + 0.01893174648284912, + 0.20756117116127695 + ], + [ + 0.1552322804927826, + -0.0128416633233428, + 0.9877945184707642, + 0.14658812614423888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9864243865013123, + 0.03630470484495163, + -0.1601525992155075, + -0.28787324394631597 + ], + [ + -0.034228190779685974, + 0.9992906451225281, + 0.01570644974708557, + 0.21959715862093226 + ], + [ + 0.1606092005968094, + -0.010011491365730762, + 0.9869673252105713, + 0.14811120448367937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.986010730266571, + 0.036110181361436844, + -0.16272327303886414, + -0.29300076610275677 + ], + [ + -0.03331797197461128, + 0.9992475509643555, + 0.019856592640280724, + 0.22190012077002652 + ], + [ + 0.16331785917282104, + -0.014157203957438469, + 0.986471951007843, + 0.14989377792392458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9860256314277649, + 0.03614966571331024, + -0.16262421011924744, + -0.29845644601487686 + ], + [ + -0.032949648797512054, + 0.9992074966430664, + 0.022332563996315002, + 0.2281258904574705 + ], + [ + 0.16330263018608093, + -0.016662072390317917, + 0.9864352941513062, + 0.15845776684582233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9855204224586487, + 0.035859305411577225, + -0.16572143137454987, + -0.3004754522682301 + ], + [ + -0.03250085189938545, + 0.9992085695266724, + 0.02293410710990429, + 0.23657328541490383 + ], + [ + 0.16641266644001007, + -0.017215942963957787, + 0.9859058856964111, + 0.16475688474518912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9846513867378235, + 0.03125649318099022, + -0.17171114683151245, + -0.2992504596976297 + ], + [ + -0.02798687107861042, + 0.9993785619735718, + 0.02142992615699768, + 0.24394960104088698 + ], + [ + 0.17227426171302795, + -0.01629534736275673, + 0.984914243221283, + 0.15900207898978677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.985007107257843, + 0.03484990447759628, + -0.16895712912082672, + -0.3073919350281358 + ], + [ + -0.03065349906682968, + 0.9991549253463745, + 0.02738291025161743, + 0.2459920234978199 + ], + [ + 0.16976864635944366, + -0.02179323509335518, + 0.9852429628372192, + 0.17868058383464813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9843167662620544, + 0.039446212351322174, + -0.17194333672523499, + -0.3110076476553721 + ], + [ + -0.03456167131662369, + 0.99891197681427, + 0.03131066635251045, + 0.25131542234448717 + ], + [ + 0.1729913353919983, + -0.02487696334719658, + 0.9846091270446777, + 0.17599832585879735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9836912751197815, + 0.04000692069530487, + -0.17535947263240814, + -0.31128847951601657 + ], + [ + -0.03435441851615906, + 0.9987912774085999, + 0.035153042525053024, + 0.25228713257570884 + ], + [ + 0.1765538901090622, + -0.02855536714196205, + 0.9838767051696777, + 0.17602161381925854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9840283393859863, + 0.040694382041692734, + -0.17329806089401245, + -0.317137426483844 + ], + [ + -0.03497931733727455, + 0.9987427592277527, + 0.03590680658817291, + 0.25959052581207026 + ], + [ + 0.1745413839817047, + -0.02927146852016449, + 0.9842146635055542, + 0.1933429790926831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9835222959518433, + 0.03956824913620949, + -0.1764037162065506, + -0.31948287114501 + ], + [ + -0.03350288048386574, + 0.9987449049949646, + 0.03723142296075821, + 0.2627137544431857 + ], + [ + 0.17765550315380096, + -0.03070790320634842, + 0.9836134910583496, + 0.19198682223047528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.984245777130127, + 0.036179088056087494, + -0.17306450009346008, + -0.3273767470382154 + ], + [ + -0.03082851879298687, + 0.998962938785553, + 0.03350617364048958, + 0.26965105813828166 + ], + [ + 0.1740972399711609, + -0.02764298766851425, + 0.9843403697013855, + 0.1985933417454362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9832988977432251, + 0.039637189358472824, + -0.17762930691242218, + -0.3228727463765868 + ], + [ + -0.033830676227808, + 0.9987933039665222, + 0.03560049086809158, + 0.2706144851299801 + ], + [ + 0.17882607877254486, + -0.028996603563427925, + 0.9834533333778381, + 0.2018709298223257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9838452935218811, + 0.039371855556964874, + -0.17463745176792145, + -0.33055792287923397 + ], + [ + -0.03354644775390625, + 0.9987818598747253, + 0.03618570417165756, + 0.27219406568910925 + ], + [ + 0.17584942281246185, + -0.02974267117679119, + 0.983967661857605, + 0.2113402854651213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9833954572677612, + 0.036547139286994934, + -0.1777573823928833, + -0.33037353179284507 + ], + [ + -0.03167446702718735, + 0.9990426898002625, + 0.030173849314451218, + 0.28036597668459373 + ], + [ + 0.17868998646736145, + -0.024042457342147827, + 0.9836116433143616, + 0.211481509996312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9831177592277527, + 0.040422290563583374, + -0.17845310270786285, + -0.3329915338129337 + ], + [ + -0.034584179520606995, + 0.9987637400627136, + 0.03570682927966118, + 0.27517823973238204 + ], + [ + 0.17967583239078522, + -0.028932364657521248, + 0.9833003282546997, + 0.20979393321488585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9833177924156189, + 0.03684435784816742, + -0.17812539637088776, + -0.3341477097544287 + ], + [ + -0.03191686421632767, + 0.9990265369415283, + 0.030450869351625443, + 0.281278983872783 + ], + [ + 0.17907394468784332, + -0.024257678538560867, + 0.9835365414619446, + 0.21761803408818586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9827612042427063, + 0.038814742118120193, + -0.18075890839099884, + -0.334755947514038 + ], + [ + -0.03342975303530693, + 0.9989045262336731, + 0.03274393454194069, + 0.28014822095200154 + ], + [ + 0.18183185160160065, + -0.026136742904782295, + 0.9829822182655334, + 0.21795568548675093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9812502861022949, + 0.036835409700870514, + -0.1891852170228958, + -0.3276680205017328 + ], + [ + -0.031185925006866455, + 0.9989767670631409, + 0.032753728330135345, + 0.27942628330950225 + ], + [ + 0.1901981383562088, + -0.02623968943953514, + 0.9813950061798096, + 0.20958773876939502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9813196659088135, + 0.03504137322306633, + -0.18916600942611694, + -0.33097506226705653 + ], + [ + -0.029543237760663033, + 0.9990572929382324, + 0.03180793300271034, + 0.28172520415225466 + ], + [ + 0.19010227918624878, + -0.02562517672777176, + 0.9814298152923584, + 0.214362629290138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9819334745407104, + 0.030313855037093163, + -0.1867826282978058, + -0.33894153591245413 + ], + [ + -0.02600204013288021, + 0.9993367791175842, + 0.02549208328127861, + 0.2909609332913533 + ], + [ + 0.18743151426315308, + -0.020174801349639893, + 0.9820704460144043, + 0.2241214096546173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9819741249084473, + 0.03294249624013901, + -0.18612243235111237, + -0.34224086357945843 + ], + [ + -0.027720853686332703, + 0.9991475939750671, + 0.030588757246732712, + 0.2882968905531535 + ], + [ + 0.18697144091129303, + -0.024877898395061493, + 0.9820502996444702, + 0.23122693305569036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9818066358566284, + 0.03714270144701004, + -0.18621531128883362, + -0.34546115627246243 + ], + [ + -0.030587561428546906, + 0.9988112449645996, + 0.037953250110149384, + 0.28226662162425264 + ], + [ + 0.18740364909172058, + -0.03156688064336777, + 0.9817756414413452, + 0.23420536071062087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9814580082893372, + 0.03658453747630119, + -0.18815356492996216, + -0.3476661358826927 + ], + [ + -0.030216116458177567, + 0.9988728761672974, + 0.03660549223423004, + 0.28585928745700845 + ], + [ + 0.1892806887626648, + -0.030241481959819794, + 0.9814572334289551, + 0.23409347768340794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9809152483940125, + 0.038246944546699524, + -0.19063688814640045, + -0.347843637623425 + ], + [ + -0.031209716573357582, + 0.9987208247184753, + 0.0397820919752121, + 0.2842231896972018 + ], + [ + 0.19191457331180573, + -0.03307313472032547, + 0.9808542132377625, + 0.23824888026075702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.981278657913208, + 0.04430675506591797, + -0.1874275505542755, + -0.35888199421710204 + ], + [ + -0.036954790353775024, + 0.9984110593795776, + 0.0425412580370903, + 0.28759811222885867 + ], + [ + 0.18901461362838745, + -0.034818485379219055, + 0.9813567996025085, + 0.2421704606552209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9798880815505981, + 0.03704782947897911, + -0.19607873260974884, + -0.3491758033633232 + ], + [ + -0.030533496290445328, + 0.9988800287246704, + 0.036143288016319275, + 0.2922424152493477 + ], + [ + 0.19719816744327545, + -0.02942940592765808, + 0.979921817779541, + 0.23722916415759493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9813386797904968, + 0.04823989421129227, + -0.1861378699541092, + -0.36826158515177665 + ], + [ + -0.04032207280397415, + 0.9981229901313782, + 0.046093448996543884, + 0.28800623756833377 + ], + [ + 0.1880120187997818, + -0.03772781789302826, + 0.981441855430603, + 0.2511172194033861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9813615083694458, + 0.04768792912364006, + -0.18615961074829102, + -0.3702992307288306 + ], + [ + -0.040376562625169754, + 0.9982643127441406, + 0.04287264496088028, + 0.29410145397830223 + ], + [ + 0.1878809928894043, + -0.03455708175897598, + 0.9815837144851685, + 0.2604425273835659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9782460331916809, + 0.0362817719578743, + -0.2042505443096161, + -0.3649610969237983 + ], + [ + -0.02979928068816662, + 0.9989525079727173, + 0.03472568094730377, + 0.3110306305744286 + ], + [ + 0.20529651641845703, + -0.0278837401419878, + 0.978302538394928, + 0.2854785253692951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9768620133399963, + 0.03369762375950813, + -0.21119923889636993, + -0.36225943323224785 + ], + [ + -0.02592857927083969, + 0.9988851547241211, + 0.03944811224937439, + 0.3119659348790135 + ], + [ + 0.2122931033372879, + -0.033059269189834595, + 0.9766466617584229, + 0.30158691023077283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9721911549568176, + 0.03843916580080986, + -0.23101243376731873, + -0.3459433723640229 + ], + [ + -0.02466186322271824, + 0.997756838798523, + 0.062234293669462204, + 0.29117125222027035 + ], + [ + 0.23288646340370178, + -0.054806437343358994, + 0.9709583520889282, + 0.2995134839521987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9801905155181885, + 0.05378718674182892, + -0.19061337411403656, + -0.38302581359499266 + ], + [ + -0.0450008362531662, + 0.9977283477783203, + 0.05013084411621094, + 0.29913161737578253 + ], + [ + 0.19287677109241486, + -0.04056002199649811, + 0.980384349822998, + 0.27841873041221077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9796887040138245, + 0.051700081676244736, + -0.19374513626098633, + -0.384017508157662 + ], + [ + -0.04271036013960838, + 0.9978207349777222, + 0.05029575526714325, + 0.29938569662959447 + ], + [ + 0.19592320919036865, + -0.04099925607442856, + 0.9797617793083191, + 0.2778213248987283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9806210994720459, + 0.05302557349205017, + -0.18860165774822235, + -0.39459912814199927 + ], + [ + -0.04425550997257233, + 0.9977473616600037, + 0.05041441321372986, + 0.30444049909710885 + ], + [ + 0.19085006415843964, + -0.041090771555900574, + 0.980758786201477, + 0.28831606507301333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9814570546150208, + 0.051852207630872726, + -0.18453557789325714, + -0.4028544207569212 + ], + [ + -0.043721120804548264, + 0.9978964924812317, + 0.04786466807126999, + 0.3100173585881878 + ], + [ + 0.1866293102502823, + -0.03890901803970337, + 0.9816595911979675, + 0.29395710450730156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9810110330581665, + 0.04894094169139862, + -0.18767571449279785, + -0.403813541999885 + ], + [ + -0.04083140939474106, + 0.9980676174163818, + 0.046837735921144485, + 0.31269831205385606 + ], + [ + 0.18960535526275635, + -0.0382852740585804, + 0.9811136722564697, + 0.29666500964335035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9813628792762756, + 0.03824065998196602, + -0.18832038342952728, + -0.4080684985765921 + ], + [ + -0.033928196877241135, + 0.9990841746330261, + 0.0260713379830122, + 0.3396207478471167 + ], + [ + 0.18914489448070526, + -0.019196072593331337, + 0.9817615151405334, + 0.31115895815725836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9802757501602173, + 0.04170132800936699, + -0.19318518042564392, + -0.4053049032709428 + ], + [ + -0.03515664115548134, + 0.9986898303031921, + 0.037184473127126694, + 0.3305892000573554 + ], + [ + 0.1944827139377594, + -0.029659295454621315, + 0.9804574251174927, + 0.30134755564587457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9800023436546326, + 0.039918769150972366, + -0.19494085013866425, + -0.40582467460605715 + ], + [ + -0.032624658197164536, + 0.9986473321914673, + 0.04048681631684303, + 0.3301308096203554 + ], + [ + 0.19629333913326263, + -0.03331729397177696, + 0.9799790382385254, + 0.3032523915171623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9804461598396301, + 0.02876748889684677, + -0.19467346370220184, + -0.41180558988292304 + ], + [ + -0.024507202208042145, + 0.9994053244590759, + 0.024257993325591087, + 0.35063181810380356 + ], + [ + 0.19525553286075592, + -0.019012754783034325, + 0.9805681109428406, + 0.31668945832976275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9799361824989319, + 0.039951007813215256, + -0.19526657462120056, + -0.4115011873655021 + ], + [ + -0.03236104175448418, + 0.998597264289856, + 0.04190791770815849, + 0.33721462165703997 + ], + [ + 0.1966669261455536, + -0.034748051315546036, + 0.9798544049263, + 0.31142853293567896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9816285967826843, + 0.03504381701350212, + -0.18755590915679932, + -0.42453694599015374 + ], + [ + -0.030307400971651077, + 0.9991466403007507, + 0.02806256338953972, + 0.3570063618943095 + ], + [ + 0.18837925791740417, + -0.021862681955099106, + 0.9818530082702637, + 0.32194513295378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9800726175308228, + 0.04077933356165886, + -0.19440858066082, + -0.42031704716251367 + ], + [ + -0.03350183740258217, + 0.9986146092414856, + 0.040577441453933716, + 0.349652141345931 + ], + [ + 0.1957939714193344, + -0.033255793154239655, + 0.9800810217857361, + 0.3222070976825697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9788609743118286, + 0.039842281490564346, + -0.20060868561267853, + -0.417081170702087 + ], + [ + -0.0328047089278698, + 0.9987282156944275, + 0.038285307586193085, + 0.3551574390847236 + ], + [ + 0.20187892019748688, + -0.030895084142684937, + 0.9789230823516846, + 0.32324641708816804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.978499710559845, + 0.04232272505760193, + -0.20185905694961548, + -0.4176735736163599 + ], + [ + -0.033581241965293884, + 0.9983519911766052, + 0.04653614014387131, + 0.3491878235612863 + ], + [ + 0.20349591970443726, + -0.038756921887397766, + 0.978308379650116, + 0.320755902385073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9785603284835815, + 0.04276402294635773, + -0.20147177577018738, + -0.4212768692523241 + ], + [ + -0.03396274894475937, + 0.9983200430870056, + 0.04694247990846634, + 0.35310571807037505 + ], + [ + 0.2031407654285431, + -0.039093516767024994, + 0.9783688187599182, + 0.32774675797138897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9782780408859253, + 0.03912702947854996, + -0.20357105135917664, + -0.421347226029528 + ], + [ + -0.030536524951457977, + 0.9985124468803406, + 0.045171529054641724, + 0.3565336280236287 + ], + [ + 0.20503565669059753, + -0.03797396272420883, + 0.9780175685882568, + 0.3268216127795832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9774669408798218, + 0.04221084341406822, + -0.20682522654533386, + -0.4219808315858245 + ], + [ + -0.03241746500134468, + 0.998197078704834, + 0.0505148284137249, + 0.3534675376256928 + ], + [ + 0.20858460664749146, + -0.04267182573676109, + 0.9770729541778564, + 0.3254285350441933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9779177308082581, + 0.04341774061322212, + -0.20443041622638702, + -0.4262428418001426 + ], + [ + -0.03369125351309776, + 0.9981392621994019, + 0.05082254856824875, + 0.3573285250824743 + ], + [ + 0.20625661313533783, + -0.042812757194042206, + 0.9775608777999878, + 0.32970449035721167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9779651165008545, + 0.04133177921175957, + -0.2046360820531845, + -0.4281099622270891 + ], + [ + -0.031611453741788864, + 0.9982213973999023, + 0.05054517462849617, + 0.35873855611841593 + ], + [ + 0.20636121928691864, + -0.04296257719397545, + 0.9775322079658508, + 0.3304866822702544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9777652621269226, + 0.046346161514520645, + -0.20451679825782776, + -0.4303242692590824 + ], + [ + -0.035835232585668564, + 0.9978538751602173, + 0.05480358004570007, + 0.358808746494885 + ], + [ + 0.2066178321838379, + -0.046256132423877716, + 0.9773277044296265, + 0.33324457039790495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9776152968406677, + 0.04622408747673035, + -0.2052600383758545, + -0.4314536705613136 + ], + [ + -0.036020562052726746, + 0.99793541431427, + 0.053173549473285675, + 0.36182719488362114 + ], + [ + 0.20729416608810425, + -0.04458969086408615, + 0.9772619605064392, + 0.3362962941506079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9775484800338745, + 0.043984659016132355, + -0.2060687094926834, + -0.4332488125921892 + ], + [ + -0.03426015377044678, + 0.998134970664978, + 0.05052521079778671, + 0.3652392331544044 + ], + [ + 0.20790670812129974, + -0.042330898344516754, + 0.9772322773933411, + 0.33583769306008304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9767021536827087, + 0.04886986315250397, + -0.20896080136299133, + -0.43125061089439054 + ], + [ + -0.038086146116256714, + 0.9977417588233948, + 0.055324651300907135, + 0.36219125777216893 + ], + [ + 0.21119263768196106, + -0.046077191829681396, + 0.9763578176498413, + 0.33402261159249713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9775208234786987, + 0.05245504900813103, + -0.20420949161052704, + -0.4374237586278468 + ], + [ + -0.0405970998108387, + 0.9972605109214783, + 0.06183278560638428, + 0.3588768307119608 + ], + [ + 0.20689351856708527, + -0.052152521908283234, + 0.9769724607467651, + 0.3360491294413805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9761684536933899, + 0.04609309136867523, + -0.21206262707710266, + -0.4316148410684296 + ], + [ + -0.03493694216012955, + 0.9978160262107849, + 0.05605929344892502, + 0.36309216347789125 + ], + [ + 0.21418341994285583, + -0.04731449484825134, + 0.9756468534469604, + 0.33750887268355917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9763355255126953, + 0.051222868263721466, + -0.2101074904203415, + -0.4353544888020094 + ], + [ + -0.038054510951042175, + 0.9970772862434387, + 0.06624792516231537, + 0.35577830374906105 + ], + [ + 0.21288679540157318, + -0.05668466538190842, + 0.9754312038421631, + 0.3381492309272289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9761223793029785, + 0.047249503433704376, + -0.21202023327350616, + -0.4352934705359595 + ], + [ + -0.035780541598796844, + 0.9976977705955505, + 0.057610251009464264, + 0.36273519716092517 + ], + [ + 0.21425415575504303, + -0.04864846169948578, + 0.9755657315254211, + 0.3352898929800306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9754644632339478, + 0.04893382638692856, + -0.21464987099170685, + -0.43398811293632855 + ], + [ + -0.036298684775829315, + 0.9973897933959961, + 0.06241801381111145, + 0.3584915723252509 + ], + [ + 0.2171439379453659, + -0.053095050156116486, + 0.974694550037384, + 0.3362606437344636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9762403964996338, + 0.04768259823322296, + -0.211378812789917, + -0.43837654995066777 + ], + [ + -0.03587944060564041, + 0.9975934624671936, + 0.05932897329330444, + 0.3620546808732407 + ], + [ + 0.213699072599411, + -0.05033519119024277, + 0.9756019115447998, + 0.3417941431914057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9764856100082397, + 0.04553608596324921, + -0.21071845293045044, + -0.44014804318015066 + ], + [ + -0.034361034631729126, + 0.9978170394897461, + 0.056395772844552994, + 0.3638508296488518 + ], + [ + 0.21282649040222168, + -0.04782916232943535, + 0.9759186506271362, + 0.34556206235928194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9751425385475159, + 0.04521111398935318, + -0.2169169783592224, + -0.43573880270123483 + ], + [ + -0.033771492540836334, + 0.9978504776954651, + 0.05615934357047081, + 0.3637834355700761 + ], + [ + 0.21898972988128662, + -0.04743775352835655, + 0.9745733141899109, + 0.3430580712854862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9751710295677185, + 0.046018123626708984, + -0.21661913394927979, + -0.43776802511087487 + ], + [ + -0.034438394010066986, + 0.9977838397026062, + 0.056933194398880005, + 0.36369155130482145 + ], + [ + 0.21875903010368347, + -0.04805958271026611, + 0.9745946526527405, + 0.344013555906713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.975213885307312, + 0.05068529024720192, + -0.21538092195987701, + -0.4419884624624891 + ], + [ + -0.038428183645009995, + 0.9974146485328674, + 0.06072290241718292, + 0.36247114644252826 + ], + [ + 0.21790184080600739, + -0.050941117107868195, + 0.9746403694152832, + 0.3457743274314063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9744794368743896, + 0.050179317593574524, + -0.21879629790782928, + -0.4384782675454127 + ], + [ + -0.037934236228466034, + 0.9974884390830994, + 0.05981434881687164, + 0.36212559607811273 + ], + [ + 0.22124822437763214, + -0.04998798668384552, + 0.9739355444908142, + 0.34382027049681974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9739938974380493, + 0.049837321043014526, + -0.2210252434015274, + -0.4374839506511177 + ], + [ + -0.03738419711589813, + 0.9974875450134277, + 0.06017472222447395, + 0.3612873954033213 + ], + [ + 0.22346888482570648, + -0.05034695938229561, + 0.97340989112854, + 0.3448491777692522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9736804366111755, + 0.049320828169584274, + -0.22251705825328827, + -0.4375501298146056 + ], + [ + -0.03734184429049492, + 0.9976338148117065, + 0.05772639438509941, + 0.36376384022213254 + ], + [ + 0.22483764588832855, + -0.04789786413311958, + 0.9732182621955872, + 0.34536330862236875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9732658863067627, + 0.04618198052048683, + -0.22499050199985504, + -0.4361946486601872 + ], + [ + -0.034166332334280014, + 0.9977887868881226, + 0.057011015713214874, + 0.36355489804409447 + ], + [ + 0.2271258682012558, + -0.04779978096485138, + 0.9726916551589966, + 0.345288147777319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9736862182617188, + 0.04760148003697395, + -0.22286587953567505, + -0.4398500995710492 + ], + [ + -0.03630353882908821, + 0.9978524446487427, + 0.05452154949307442, + 0.366458712995518 + ], + [ + 0.22498255968093872, + -0.04499606415629387, + 0.9733232855796814, + 0.34932958986610174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.973693311214447, + 0.045935481786727905, + -0.2231845110654831, + -0.4417970896033304 + ], + [ + -0.03520573675632477, + 0.9980356097221375, + 0.05182107165455818, + 0.36777250244548276 + ], + [ + 0.22512651979923248, + -0.04260045662522316, + 0.9733977913856506, + 0.3470366804727486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9737008810043335, + 0.05108634755015373, + -0.222028911113739, + -0.4441163831257394 + ], + [ + -0.03848285600543022, + 0.9974122643470764, + 0.06072795391082764, + 0.3633429767297847 + ], + [ + 0.22455671429634094, + -0.05058655887842178, + 0.9731470942497253, + 0.35395529906132395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9741619825363159, + 0.05366671457886696, + -0.21938173472881317, + -0.4486330811067351 + ], + [ + -0.0404033400118351, + 0.997098982334137, + 0.064506895840168, + 0.36098498057440986 + ], + [ + 0.222207173705101, + -0.05397640913724899, + 0.9735042452812195, + 0.3531776226524796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.973824679851532, + 0.05242420732975006, + -0.2211722433567047, + -0.44724918799474833 + ], + [ + -0.03936917334794998, + 0.9972348213195801, + 0.06303039193153381, + 0.3630311771562057 + ], + [ + 0.22386497259140015, + -0.052673183381557465, + 0.9731957912445068, + 0.3542481610817569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9735780954360962, + 0.04936404898762703, + -0.22295495867729187, + -0.44630089636359893 + ], + [ + -0.03669549152255058, + 0.9974865913391113, + 0.06061336025595665, + 0.3645740213936993 + ], + [ + 0.22538670897483826, + -0.05083039775490761, + 0.9729424715042114, + 0.3548695649419512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9732796549797058, + 0.05226244777441025, + -0.22359639406204224, + -0.44633233666952166 + ], + [ + -0.038958609104156494, + 0.9972208142280579, + 0.0635053813457489, + 0.3643482138934944 + ], + [ + 0.2262939214706421, + -0.05309749394655228, + 0.9726107716560364, + 0.35924633030912706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9716777801513672, + 0.05356193333864212, + -0.23015956580638885, + -0.4425521311350167 + ], + [ + -0.038797102868556976, + 0.9969165325164795, + 0.06820700317621231, + 0.36037402390502393 + ], + [ + 0.2331031709909439, + -0.05734570696949959, + 0.9707596898078918, + 0.35687744431197643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9730092287063599, + 0.05760304629802704, + -0.22346125543117523, + -0.4487307578657887 + ], + [ + -0.04270080476999283, + 0.9965647459030151, + 0.07096035778522491, + 0.3605172320069479 + ], + [ + 0.22678114473819733, + -0.05950310826301575, + 0.9721263647079468, + 0.36216313375958376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9732639789581299, + 0.05660118907690048, + -0.22260621190071106, + -0.4505806482796158 + ], + [ + -0.042556583881378174, + 0.9968184232711792, + 0.06739399582147598, + 0.363374658155122 + ], + [ + 0.22571256756782532, + -0.056118786334991455, + 0.9725762009620667, + 0.36244588802967753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9733157157897949, + 0.05558507889509201, + -0.22263599932193756, + -0.4508024850394577 + ], + [ + -0.04060353338718414, + 0.9966269731521606, + 0.07131612300872803, + 0.36025613541049617 + ], + [ + 0.22584916651248932, + -0.06037329509854317, + 0.9722896814346313, + 0.359874295390078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9730719923973083, + 0.056108225136995316, + -0.22356832027435303, + -0.45033884144255093 + ], + [ + -0.0415382944047451, + 0.9967271089553833, + 0.0693516880273819, + 0.3624742330584143 + ], + [ + 0.22672781348228455, + -0.058197539299726486, + 0.972217857837677, + 0.3647096424762692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9747859239578247, + 0.05415768176317215, + -0.2164701372385025, + -0.45891330880112946 + ], + [ + -0.04181217402219772, + 0.9972485899925232, + 0.06121284142136574, + 0.3692347015769753 + ], + [ + 0.21918968856334686, + -0.050618331879377365, + 0.9743683338165283, + 0.36467669212392395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9725808501243591, + 0.051635805517435074, + -0.22676043212413788, + -0.4485505343015705 + ], + [ + -0.03932473435997963, + 0.9975137114524841, + 0.05847998335957527, + 0.3706895465164312 + ], + [ + 0.2292162925004959, + -0.04795921966433525, + 0.9721933007240295, + 0.36486761037792476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9749566316604614, + 0.05663636699318886, + -0.21506257355213165, + -0.4590863974299282 + ], + [ + -0.044533971697092056, + 0.997161328792572, + 0.06071212515234947, + 0.37110030531184746 + ], + [ + 0.21789060533046722, + -0.04961409792304039, + 0.9747112989425659, + 0.3657258603721857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9730164408683777, + 0.05251527577638626, + -0.22467999160289764, + -0.4500540844963065 + ], + [ + -0.040386803448200226, + 0.9974851012229919, + 0.05824362859129906, + 0.37298278123073814 + ], + [ + 0.22717364132404327, + -0.04759790375828743, + 0.9726904034614563, + 0.36734017692506316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9740945100784302, + 0.0508735328912735, + -0.22034470736980438, + -0.45343091217135745 + ], + [ + -0.04041891545057297, + 0.9978443384170532, + 0.051700908690690994, + 0.378612105639851 + ], + [ + 0.22249992191791534, + -0.0414554737508297, + 0.9740509390830994, + 0.37106146974755183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9745395183563232, + 0.060229115188121796, + -0.2159750759601593, + -0.45693520217069555 + ], + [ + -0.04752165079116821, + 0.9968459010124207, + 0.06356023252010345, + 0.3667867871533547 + ], + [ + 0.219122052192688, + -0.05167846381664276, + 0.9743279218673706, + 0.3643379392368453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.973020613193512, + 0.05692782253026962, + -0.22358457744121552, + -0.45143621233291925 + ], + [ + -0.04324537515640259, + 0.9969066977500916, + 0.06562654674053192, + 0.3665622162965259 + ], + [ + 0.22662894427776337, + -0.05418698862195015, + 0.9724726676940918, + 0.3686212861112186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9749944806098938, + 0.05978137254714966, + -0.21403729915618896, + -0.46007843581693514 + ], + [ + -0.04703809320926666, + 0.9968311786651611, + 0.06414798647165298, + 0.36938306973315777 + ], + [ + 0.21719390153884888, + -0.052476029843091965, + 0.9747169017791748, + 0.3662841126322746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9743273854255676, + 0.06118094176054001, + -0.21666352450847626, + -0.4579178573098034 + ], + [ + -0.04694730043411255, + 0.9964241981506348, + 0.07024778425693512, + 0.36360103375544506 + ], + [ + 0.22018660604953766, + -0.05827257037162781, + 0.9737156629562378, + 0.3694327674273934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9746309518814087, + 0.05679415538907051, + -0.21649222075939178, + -0.46197063773870467 + ], + [ + -0.04365858808159828, + 0.996930718421936, + 0.06498537957668304, + 0.3722454532980919 + ], + [ + 0.2195185273885727, + -0.053885020315647125, + 0.9741191267967224, + 0.3752375662326813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/tilt_down/transforms.json b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..26cd78eac6e4046aa0748f711193824761aaaea4 --- /dev/null +++ b/dynpose_eval/camera_controls/c7f53ab9-3b26-40ee-8750-2c2887c3e2c2/tilt_down/transforms.json @@ -0,0 +1,7888 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 225, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 5.429926386568695e-05, + 6.081355968490243e-05, + -9.924238838721067e-06 + ], + [ + -5.429988959804177e-05, + 1.0, + 1.0281693903380074e-05, + -4.616683509084396e-05 + ], + [ + -6.081299943616614e-05, + -1.028499536914751e-05, + 1.0, + -0.00013104858226142824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999940991401672, + -0.0005208288296545083, + -0.0033995826711196273, + -0.0052675181068480015 + ], + [ + 0.0005185141344554722, + 0.9999996319870282, + -0.000681709777789162, + -9.438030974706635e-05 + ], + [ + 0.003399936482310295, + 0.0006799429259489375, + 0.999993967476903, + 0.0017687218496575952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999714493751528, + -0.0009241070507225186, + -0.007500237211214069, + -0.009046407416462898 + ], + [ + 0.0009150825208052995, + 0.999998876564745, + -0.0012065703050951856, + -0.00016379433509428054 + ], + [ + 0.007501343265175821, + 0.001199672542861755, + 0.9999711442056944, + 0.00035851835855282843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999345541000366, + -0.0007786480250002365, + -0.011415906989453231, + -0.014580958522856236 + ], + [ + 0.0007583763799630105, + 0.9999981422757153, + -0.0017799544046884902, + 0.00036839323001913726 + ], + [ + 0.011417271569371223, + 0.0017711806061354318, + 0.999933261260389, + 0.003210940398275852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998676776885989, + -0.0018384442766742819, + -0.01616298790298651, + -0.018993724137544632 + ], + [ + 0.0017907950095832352, + 0.9999940191076616, + -0.0029620344503919296, + 0.0010275484528392553 + ], + [ + 0.016168335452675823, + 0.002932698270807089, + 0.9998649557048216, + 0.002893161727115512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997848868370056, + -0.0022529525127298108, + -0.020618506197911345, + -0.0242948979139328 + ], + [ + 0.002175173256546259, + 0.9999904289361026, + -0.0037939513226444904, + 0.0012027209158986807 + ], + [ + 0.0206268560141325, + 0.0037482867859967655, + 0.9997802309381681, + 0.0019990415312349796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9996889829635622, + -0.0009070165167430273, + -0.02492328491013306, + -0.03037315607070923 + ], + [ + 0.0008171632653102281, + 0.9999931349012586, + -0.003615144556669659, + 0.0011448391014710069 + ], + [ + 0.024926392361521728, + 0.0035936530837022695, + 0.9996828535981269, + 0.0019302371656522155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995627403259277, + -0.00029045871681181444, + -0.02956855486075744, + -0.036326538771390915 + ], + [ + 0.000184318792889826, + 0.9999935346530215, + -0.0035922854380793525, + 0.0017911582253873348 + ], + [ + 0.029569406062364578, + 0.0035852636490377792, + 0.9995563221102113, + -0.0009701634990051389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9994422197341919, + 0.00010721888763026026, + -0.03339546823853449, + -0.042928289622068405 + ], + [ + -0.00021745330013800412, + 0.9999945499867507, + -0.003297267638653959, + 0.0011509074829518795 + ], + [ + 0.03339492902159691, + 0.0033026895405305597, + 0.9994367960350372, + -0.0002584755711723119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9992830753326418, + -0.00021199688606947026, + -0.037858649311196785, + -0.04805976524949074 + ], + [ + 0.00011476478539407256, + 0.9999967065558015, + -0.0025704472862082125, + -0.000620744307525456 + ], + [ + 0.037859071046113975, + 0.0025642600916334773, + 0.9992797963571408, + -0.001295340247452259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9990656971931458, + 0.0005801907232718125, + -0.0432128833058912, + -0.052159592509269714 + ], + [ + -0.0006541114416904747, + 0.9999983603534501, + -0.0016964985646426229, + -0.001982587156817317 + ], + [ + 0.04321182519197464, + 0.0017231809131427176, + 0.9990644248123262, + -0.005377321038395166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9990081787109375, + 0.001145014149740228, + -0.044511806290247195, + -0.06032204627990723 + ], + [ + -0.0012013160157948732, + 0.9999985407586072, + -0.0012381442152825768, + -0.001997115556150675 + ], + [ + 0.04451032355427742, + 0.0012903902764298898, + 0.9990080841468857, + -0.0006498123984783888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9988492727279663, + 0.0018730871878850867, + -0.04792280347956166, + -0.06576675176620483 + ], + [ + -0.0019254976650699973, + 0.9999975845198947, + -0.0010475030255329087, + -0.0018377496162429452 + ], + [ + 0.047920726239681244, + 0.0011385730921515535, + 0.9988504654339785, + -0.0020072581246495247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9986376166343689, + 0.004352214129466433, + -0.05199978564428394, + -0.06895852833986282 + ], + [ + -0.004335870500653982, + 0.9999904975806088, + 0.00042711098553953265, + -0.0026366449892520905 + ], + [ + 0.05200115218758583, + -0.0002010650272924216, + 0.9986470099091339, + -0.003806389169767499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.998422384262085, + 0.006201071840626894, + -0.05580572691171002, + -0.0723005086183548 + ], + [ + -0.0061421445570886135, + 0.9999803819316067, + 0.0012273968408071584, + -0.0026637904811650515 + ], + [ + 0.05581224709749222, + -0.0008826936515392796, + 0.9984408633969328, + -0.00509157357737422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9981784820556641, + 0.007266478135184469, + -0.059890524280371, + -0.07524210214614868 + ], + [ + -0.007152061443775892, + 0.9999721756850427, + 0.002124577692208223, + -0.002105612540617585 + ], + [ + 0.05990429222583771, + -0.0016923659326234116, + 0.998202666114371, + -0.006380242295563221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9978321790695193, + 0.007858602507343727, + -0.06533882310167291, + -0.07673667371273041 + ], + [ + -0.007689968682825567, + 0.9999664290146266, + 0.002832005337227326, + -0.0028140288777649403 + ], + [ + 0.06535889208316804, + -0.0023234125627867148, + 0.9978591289578805, + -0.012405778281390667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9975054860115051, + 0.007855280931154833, + -0.07015078394607437, + -0.07909034192562103 + ], + [ + -0.007616034243255854, + 0.9999642131351707, + 0.0036772771443733883, + -0.004138188902288675 + ], + [ + 0.07017716020345688, + -0.003133832440518822, + 0.9975296065090405, + -0.018617305904626846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9973834156990051, + 0.005719782783789294, + -0.0720669640354587, + -0.08507169038057327 + ], + [ + -0.0053828260861337185, + 0.9999736534210367, + 0.004868954780455661, + -0.007135832216590643 + ], + [ + 0.07209291309118271, + -0.0044682931092070305, + 0.9973879326256716, + -0.01285360474139452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9971669316291811, + 0.004912740146556021, + -0.0750598517050651, + -0.08975296467542648 + ], + [ + -0.004402914084494115, + 0.999966135855195, + 0.006956227294069253, + -0.011362023651599884 + ], + [ + 0.07509148120880128, + -0.006606037874113928, + 0.9971547532195582, + -0.012184027582406998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9968822002410889, + 0.005014596170906681, + -0.07874474092777643, + -0.09417548775672913 + ], + [ + -0.004221676383167505, + 0.9999387485892463, + 0.010232744042495112, + -0.01644853875041008 + ], + [ + 0.07879123091697693, + -0.009868403857515253, + 0.9968422680488769, + -0.012930475175380707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9964529871940613, + 0.009111094337717288, + -0.0836569517573692, + -0.09566255658864975 + ], + [ + -0.00770771037787199, + 0.9998243687265139, + 0.017083138190334603, + -0.023624833673238754 + ], + [ + 0.08379790931940079, + -0.01637774000183924, + 0.9963481585391718, + -0.016064411029219627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996464192867279, + 0.008068911704425471, + -0.08363021164562294, + -0.10446517169475555 + ], + [ + -0.006354592740535736, + 0.9997645850055374, + 0.020744759659615624, + -0.029479434713721275 + ], + [ + 0.08377791941165924, + -0.02013997525124866, + 0.9962809048637487, + -0.006715734954923391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9962736964225769, + 0.007917071265666297, + -0.08588403230931321, + -0.11151609569787979 + ], + [ + -0.005895278416574001, + 0.9997000718075677, + 0.02376909924455766, + -0.03437196463346481 + ], + [ + 0.08604645729064941, + -0.023174218542984522, + 0.9960215686264166, + -0.004265307914465666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9960087537765505, + 0.007712476075952814, + -0.08892143322257676, + -0.1179237887263298 + ], + [ + -0.005348358768969775, + 0.9996266678947923, + 0.02679426732162385, + -0.039027877151966095 + ], + [ + 0.0890948921442032, + -0.026211740999894057, + 0.9956781606936895, + -0.007473186124116182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9956978559494019, + 0.005675490523291924, + -0.09248543664556977, + -0.12408402562141418 + ], + [ + -0.0030042272992432117, + 0.9995749980865116, + 0.028996736527561823, + -0.042535342276096344 + ], + [ + 0.09261069446802139, + -0.028594141030062737, + 0.9952917281177316, + -0.012753552757203579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9954857230186462, + 0.0058167182937932296, + -0.0947330590480282, + -0.130506694316864 + ], + [ + -0.002805527066811919, + 0.9994875054701353, + 0.03188828682816504, + -0.046108365058898926 + ], + [ + 0.09487000107765198, + -0.03147855713069338, + 0.9949918271601683, + -0.016094651073217392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.995131254196167, + 0.006480452735270083, + -0.09834540478375206, + -0.13424116373062134 + ], + [ + -0.002973983297124505, + 0.9993559986790386, + 0.035759432409421844, + -0.05131860822439194 + ], + [ + 0.09851381182670593, + -0.03529285057314203, + 0.9945096343695404, + -0.022913696244359016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9949544072151184, + 0.005531701190642062, + -0.10017519753291074, + -0.13863897323608398 + ], + [ + -0.0017347722314298153, + 0.9992781245841171, + 0.037950399182187906, + -0.054815199226140976 + ], + [ + 0.10031280666589737, + -0.037585135883417296, + 0.994245782011323, + -0.021062927320599556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9945237040519717, + 0.005548830078745322, + -0.10436377272861659, + -0.14167821407318115 + ], + [ + -0.001355085405521095, + 0.9991902789843983, + 0.040211966228379796, + -0.05885312333703041 + ], + [ + 0.10450238734483722, + -0.0398503305632638, + 0.9937259008819909, + -0.028797941282391548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9941442608833313, + 0.006034727858494634, + -0.10789255665949239, + -0.14555448293685913 + ], + [ + -0.0013999015791341662, + 0.9990748850406742, + 0.04298202742112407, + -0.06270211189985275 + ], + [ + 0.10805212706327438, + -0.04257929443983314, + 0.9932329514882192, + -0.03867015615105629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.993832528591156, + 0.00455617277783325, + -0.1107979291611597, + -0.150779590010643 + ], + [ + 0.0003340734983794391, + 0.9990280541427005, + 0.04407805862626716, + -0.064582958817482 + ], + [ + 0.11089105904102325, + -0.04384322183813486, + 0.9928650446423655, + -0.043461039662361145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9934127330780029, + 0.003940437677914213, + -0.11452331826795266, + -0.157171368598938 + ], + [ + 0.00118216872215271, + 0.9990029808061217, + 0.04462750996829674, + -0.06441877782344818 + ], + [ + 0.11458499729633331, + -0.04446892270437241, + 0.9924176345966965, + -0.05042165145277977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9931498765945435, + 0.003827621115137195, + -0.11678465977015252, + -0.1658918261528015 + ], + [ + 0.0013714333763346076, + 0.999012648186929, + 0.044405496179929754, + -0.0623285248875618 + ], + [ + 0.11683931946754456, + -0.04426147656788107, + 0.9921640577815907, + -0.05737094581127167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9928338527679446, + 0.0027625245455394384, + -0.11947077204349485, + -0.17425303161144257 + ], + [ + 0.002413305919617415, + 0.9990653867762697, + 0.04315661794526945, + -0.05801832303404808 + ], + [ + 0.1194783374667168, + -0.04313567226240511, + 0.9918993021333894, + -0.06860294193029404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9927089810371399, + 0.009146661947537613, + -0.120188238900634, + -0.18580995500087738 + ], + [ + -0.0034181056544184685, + 0.9988518750228335, + 0.0477831805828731, + -0.05468723550438881 + ], + [ + 0.12048730254173279, + -0.047023976933776974, + 0.9916005001782249, + -0.06852870434522629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9928902983665466, + 0.010894648841044964, + -0.11853353631028171, + -0.1984897255897522 + ], + [ + -0.0050647989846765995, + 0.9987675123319609, + 0.049373633780316596, + -0.04904767870903015 + ], + [ + 0.11892536282539368, + -0.04842225371940229, + 0.9917217524366327, + -0.06331787258386612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9930081963539126, + 0.012352974975395265, + -0.11739726583196385, + -0.2100297212600708 + ], + [ + -0.006604226771742107, + 0.9987655337013149, + 0.04923176346491412, + -0.04272260516881943 + ], + [ + 0.11786050349473956, + -0.04811222660605056, + 0.9918639555735055, + -0.06254909932613373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9934129118919373, + 0.016621890888775106, + -0.1133778388806912, + -0.22182674705982208 + ], + [ + -0.01056690327823162, + 0.9984959012691301, + 0.053798798514750126, + -0.04094979912042618 + ], + [ + 0.11410154402256012, + -0.05224636766779027, + 0.9920943300617849, + -0.04659492149949074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9932152628898621, + 0.01990645157079384, + -0.11457401214348657, + -0.23132313787937164 + ], + [ + -0.013468045741319656, + 0.998300589759503, + 0.05669657030135287, + -0.03868917003273964 + ], + [ + 0.11550793796777725, + -0.05476881145236995, + 0.9917954782779145, + -0.057199668139219284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9932880401611328, + 0.02111340991563755, + -0.11372368412681712, + -0.24032172560691833 + ], + [ + -0.014470522291958332, + 0.9981575619407271, + 0.05892451700810991, + -0.03683902695775032 + ], + [ + 0.11475824564695358, + -0.0568833771161094, + 0.9917634822709742, + -0.0578455775976181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9932069778442383, + 0.02355857816775445, + -0.11395132721201624, + -0.24897147715091705 + ], + [ + -0.016652198508381844, + 0.997987525318969, + 0.061184799580129526, + -0.034144409000873566 + ], + [ + 0.11516343057155609, + -0.058871629187538806, + 0.9916004667292482, + -0.059485916048288345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9928529262542725, + 0.02400863035644319, + -0.11690443152138144, + -0.25918710231781006 + ], + [ + -0.016831854358315468, + 0.9979345034842455, + 0.06199496492940991, + -0.031691692769527435 + ], + [ + 0.11815138161182404, + -0.059584164041579395, + 0.9912063101831508, + -0.06485472619533539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9933094382286074, + 0.026880374494121288, + -0.11231143298335086, + -0.27256110310554504 + ], + [ + -0.019827144220471386, + 0.9977878791825445, + 0.06345235422741716, + -0.030926108360290527 + ], + [ + 0.11376860737800601, + -0.06080100659965138, + 0.9916450509413621, + -0.06758129596710205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9938482046127319, + 0.041203566281300875, + -0.10280071216288662, + -0.2837905287742615 + ], + [ + -0.03347736597061157, + 0.9965622368307218, + 0.07578251557181072, + -0.034719742834568024 + ], + [ + 0.10556981712579727, + -0.07187482004444644, + 0.9918110054602499, + -0.03561268746852875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9939356446266177, + 0.04043049618624737, + -0.10226080572473872, + -0.2952137887477875 + ], + [ + -0.033017605543136604, + 0.99677264772875, + 0.07317206180439598, + -0.0354958176612854 + ], + [ + 0.10488915443420413, + -0.06935191523342464, + 0.9920628070984069, + -0.05720587074756622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9952325820922852, + 0.027353539154354282, + -0.09361585263037156, + -0.3048831820487976 + ], + [ + -0.01989760622382164, + 0.9966226789111914, + 0.07967037771389378, + -0.043546032160520554 + ], + [ + 0.09547894448041916, + -0.0774278235009434, + 0.9924155917152047, + -0.06282302737236023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9946903586387636, + 0.03347834504317542, + -0.097315358629755, + -0.30263009667396545 + ], + [ + -0.025564825162291534, + 0.996348909064593, + 0.08145709886666144, + -0.04398227110505104 + ], + [ + 0.09968709945678714, + -0.07853674244727266, + 0.991914550430952, + -0.06746840476989746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9949796199798586, + 0.025384831204511394, + -0.09680503615645956, + -0.2978200912475586 + ], + [ + -0.016950456425547603, + 0.9960662698970836, + 0.08697497191693161, + -0.04906138777732849 + ], + [ + 0.09863207489252093, + -0.08489743151680226, + 0.9914958885906325, + -0.062348540872335434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9944373965263367, + 0.026011738388328223, + -0.10206675825003246, + -0.28688743710517883 + ], + [ + -0.01702454872429371, + 0.9959789591740108, + 0.08795515506306446, + -0.049249302595853806 + ], + [ + 0.10394420474767685, + -0.08572825574867038, + 0.9908815849847304, + -0.06589251011610031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9934733510017395, + 0.031700704263498906, + -0.1095710235879965, + -0.27493852376937866 + ], + [ + -0.02238023281097412, + 0.9961065264037404, + 0.08526994152448089, + -0.044467493891716 + ], + [ + 0.11184751987457275, + -0.08226118713891697, + 0.9903147004511317, + -0.07524127513170242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.993014454841614, + 0.03332380813821798, + -0.1131893888620021, + -0.26293236017227173 + ], + [ + -0.023515947163105018, + 0.9959389325207424, + 0.08690568800209778, + -0.042914897203445435 + ], + [ + 0.11562575399875644, + -0.08363684619391129, + 0.9897653841917663, + -0.07761785387992859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9924052357673647, + 0.03242691725996158, + -0.11866061386262018, + -0.24612510204315186 + ], + [ + -0.021754793822765354, + 0.995690329130214, + 0.090152889123643, + -0.04132692143321037 + ], + [ + 0.12107260525226596, + -0.08688676035967058, + 0.9888336982124469, + -0.0726676806807518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9923263192176819, + 0.03224247889276764, + -0.11936859009015613, + -0.23340700566768646 + ], + [ + -0.02117912843823433, + 0.9954579032196951, + 0.09281689586474162, + -0.03717515990138054 + ], + [ + 0.12181904911994934, + -0.08957652726363348, + 0.9885019547967578, + -0.06439134478569031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9920835494995117, + 0.030129184345873288, + -0.12191162326673771, + -0.21939700841903687 + ], + [ + -0.018947362899780273, + 0.9955915146666021, + 0.09186155817704564, + -0.03454585745930672 + ], + [ + 0.12414189428091049, + -0.08882444032823768, + 0.9882808574497312, + -0.06843670457601547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9922812581062317, + 0.027866941810035142, + -0.1208362433877023, + -0.21191155910491943 + ], + [ + -0.017011811956763268, + 0.9958008224773169, + 0.08995167638052019, + -0.030305080115795135 + ], + [ + 0.12283550947904587, + -0.0872017177093826, + 0.9885885272119105, + -0.08014091849327087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9928100109100342, + 0.02066021594791446, + -0.11790415223859615, + -0.2059846967458725 + ], + [ + -0.010300095193088055, + 0.9960839308452466, + 0.087810916093469, + -0.02492213435471058 + ], + [ + 0.11925661563873291, + -0.08596513341943178, + 0.9891349070543946, + -0.061335284262895584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9935962557792664, + 0.02801361603455783, + -0.10946102655579103, + -0.19581127166748047 + ], + [ + -0.019686654210090637, + 0.9968808905563061, + 0.07642587030308043, + 0.02462799660861492 + ], + [ + 0.11126057058572769, + -0.0737815395193857, + 0.9910486516272863, + 0.005716243758797646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9942190051078796, + 0.02086446668192263, + -0.10532420655019814, + -0.1932002454996109 + ], + [ + -0.013351223431527615, + 0.9973482268277152, + 0.07154194132628709, + 0.03227555751800537 + ], + [ + 0.1065375953912735, + -0.06972215446672235, + 0.9918611782720773, + 0.03320194408297539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9950547218322756, + 0.02575463377401593, + -0.0959313275161988, + -0.19796444475650787 + ], + [ + -0.018497522920370105, + 0.9969526626709626, + 0.07578443224389161, + 0.03420332074165344 + ], + [ + 0.09759079664945605, + -0.07363516296654979, + 0.9924988199765697, + 0.06785185635089874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9946458339691164, + 0.025002488395036496, + -0.10027239145330276, + -0.1921486109495163 + ], + [ + -0.017567895352840427, + 0.997077204847329, + 0.07435323053588962, + 0.04358232021331787 + ], + [ + 0.10183833539485934, + -0.072193556404181, + 0.9921779269664414, + 0.04210168868303299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9944194555282595, + 0.027547554480373073, + -0.10183877420676628, + -0.18518002331256866 + ], + [ + -0.02020259387791157, + 0.9971664091992276, + 0.07246399728230035, + 0.05766109377145767 + ], + [ + 0.10354641079902652, + -0.07000219816207093, + 0.9921581667948497, + 0.033219438046216965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9945304989814758, + 0.03037415678664294, + -0.09993245355974914, + -0.18123862147331238 + ], + [ + -0.02217739261686802, + 0.9963744634795624, + 0.08213487080828603, + 0.0424409955739975 + ], + [ + 0.10206491500139236, + -0.07946938978799126, + 0.9915983643566506, + 0.03920186683535576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9942171573638916, + 0.02223304923031488, + -0.10506130571493724, + -0.1716773957014084 + ], + [ + -0.014387913979589939, + 0.9970911085647279, + 0.07484833711763221, + 0.054135579615831375 + ], + [ + 0.10641980171203613, + -0.07290389346966578, + 0.9916450487895594, + 0.020991062745451927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9946256279945376, + 0.024548846496909724, + -0.10058452862827992, + -0.17210333049297333 + ], + [ + -0.016582518815994266, + 0.9967140848160333, + 0.07928441274675388, + 0.04928355664014816 + ], + [ + 0.10220035165548327, + -0.07719036526029104, + 0.9917644698315587, + 0.0369839146733284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9946163296699524, + 0.023648864544279013, + -0.10089175312614124, + -0.1690608114004135 + ], + [ + -0.01568802259862423, + 0.9967526606757998, + 0.07898076262991997, + 0.054273031651973724 + ], + [ + 0.10243193060159683, + -0.07697276620282599, + 0.9917574994374766, + 0.033329933881759644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9947681427001953, + 0.021979529949172457, + -0.09976568669345749, + -0.16831587255001068 + ], + [ + -0.01417273748666048, + 0.9968294160399555, + 0.07829599178132822, + 0.05838409811258316 + ], + [ + 0.10117027908563614, + -0.07647240752048108, + 0.9919256828597052, + 0.030288903042674065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9949952363967896, + 0.026235992330564593, + -0.0964163836106138, + -0.16838352382183075 + ], + [ + -0.018187785521149635, + 0.996348194924718, + 0.083423805811919, + 0.056910257786512375 + ], + [ + 0.09825298935174942, + -0.0812526906738501, + 0.9918388994904851, + 0.037536364048719406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9952532649040222, + 0.023415477646991735, + -0.09445985272014998, + -0.16707617044448853 + ], + [ + -0.015520483255386353, + 0.9963897824700171, + 0.08346541950825241, + 0.05860346183180809 + ], + [ + 0.096073217689991, + -0.08160317164957169, + 0.9920236366644677, + 0.03667835146188736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9954195618629456, + 0.02266362747320505, + -0.09287734526273815, + -0.16440583765506744 + ], + [ + -0.014936831779778004, + 0.9964326272898586, + 0.08305967520639965, + 0.06324601918458939 + ], + [ + 0.09442844986915588, + -0.08129193297709685, + 0.992207058538618, + 0.03817644342780113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9955585598945618, + 0.0230772575836562, + -0.09127197711168254, + -0.1633928418159485 + ], + [ + -0.01538245938718319, + 0.9963362051788928, + 0.08412842367088337, + 0.06512971967458725 + ], + [ + 0.0928790271282196, + -0.08235078588843144, + 0.9922660324607416, + 0.03816037252545357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9957451820373537, + 0.024298943624099113, + -0.08888822161758995, + -0.16339144110679626 + ], + [ + -0.016652807593345646, + 0.9961756877656458, + 0.08577136807392498, + 0.06646914035081863 + ], + [ + 0.09063243120908739, + -0.08392618696406824, + 0.9923417720058308, + 0.04202290624380112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9958940148353577, + 0.024044626138095528, + -0.08727532301782696, + -0.16216617822647095 + ], + [ + -0.016437146812677383, + 0.9960848114697679, + 0.08686112621197595, + 0.0677664503455162 + ], + [ + 0.08902216702699661, + -0.08506991903284496, + 0.9923901282887171, + 0.041008736938238144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9959496855735779, + 0.024414982414327435, + -0.08653394971686769, + -0.1586848497390747 + ], + [ + -0.016644613817334175, + 0.99585624591124, + 0.08940553214899619, + 0.06530025601387024 + ], + [ + 0.08835820108652115, + -0.08760308805077419, + 0.9922290978739683, + 0.04441811889410019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9959126114845276, + 0.02135886324403258, + -0.08776001392209273, + -0.15312741696834564 + ], + [ + -0.013527334667742252, + 0.9959502860550261, + 0.08888242377115113, + 0.06604752689599991 + ], + [ + 0.08930303901433945, + -0.08733196618876185, + 0.9921683580887354, + 0.040550749748945236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9958646297454836, + 0.01963550439664257, + -0.08870211894390256, + -0.14855825901031494 + ], + [ + -0.011653958819806578, + 0.9959079413353712, + 0.08961892732681344, + 0.06611558049917221 + ], + [ + 0.09009885787963869, + -0.08821458895750107, + 0.9920183250552433, + 0.038136303424835205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9959360957145691, + 0.019342235240428177, + -0.08796100687919525, + -0.14731688797473907 + ], + [ + -0.011309400200843811, + 0.9957939274597667, + 0.0909202909634285, + 0.066007100045681 + ], + [ + 0.0893496423959732, + -0.08955601587260296, + 0.9919658920897876, + 0.03757523372769356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9958791732788086, + 0.019603777977843392, + -0.08854553206495892, + -0.14229480922222137 + ], + [ + -0.011366567574441433, + 0.995639280322735, + 0.09259149011548985, + 0.06585629284381866 + ], + [ + 0.08997455984354019, + -0.09120348069708016, + 0.9917592816754973, + 0.03601422533392906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9965335726737976, + 0.027069772035052737, + -0.0786646431515761, + -0.1589018553495407 + ], + [ + -0.01932418718934059, + 0.9950374073855929, + 0.0976071782498789, + 0.06846828013658524 + ], + [ + 0.08091646432876587, + -0.09574869316971076, + 0.9921112167737048, + 0.04974338412284851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9965062737464905, + 0.02800595670044345, + -0.07868204668776219, + -0.15660515427589417 + ], + [ + -0.01988305151462555, + 0.9945666066954225, + 0.10218599443936748, + 0.061262983828783035 + ], + [ + 0.08111635595560074, + -0.10026454446159487, + 0.9916487024153079, + 0.044342830777168274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9965483546257019, + 0.025311413811751695, + -0.07906124906710381, + -0.15367597341537476 + ], + [ + -0.017160259187221527, + 0.9946233389681953, + 0.10212707190827174, + 0.06080213189125061 + ], + [ + 0.08122114837169647, + -0.10041785384218332, + 0.9916246015908299, + 0.041098702698946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9966121912002563, + 0.025350323243005884, + -0.07824010576305623, + -0.15214207768440247 + ], + [ + -0.01714789681136608, + 0.9944522595462413, + 0.10378159161721737, + 0.06075364723801613 + ], + [ + 0.08043695241212845, + -0.10208834816843303, + 0.9915179756787363, + 0.041580524295568466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9967845678329468, + 0.02426284035774794, + -0.0763664535807167, + -0.1524645835161209 + ], + [ + -0.016316348686814308, + 0.9945463269436622, + 0.10301162317989532, + 0.06508445739746094 + ], + [ + 0.0784493237733841, + -0.10143437185460358, + 0.9917442785553616, + 0.04544775187969208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9968114495277405, + 0.029070466558251195, + -0.07430877226141175, + -0.15267719328403473 + ], + [ + -0.02087249979376793, + 0.9938434304218322, + 0.10881008166629483, + 0.060107577592134476 + ], + [ + 0.07701443880796432, + -0.10691212400248461, + 0.9912812635192813, + 0.04533325880765915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.996864378452301, + 0.023676703726768354, + -0.07550363604342883, + -0.14743122458457947 + ], + [ + -0.015681086108088493, + 0.9943714599453592, + 0.10478330422743085, + 0.06639065593481064 + ], + [ + 0.07755958288908005, + -0.10327076681015906, + 0.991624782775369, + 0.04233637452125549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9968461990356445, + 0.02409708561484857, + -0.07561104271672339, + -0.14338143169879913 + ], + [ + -0.01590864732861519, + 0.9941223497753345, + 0.10708721235374101, + 0.06378772109746933 + ], + [ + 0.07774712145328522, + -0.1055466073989193, + 0.9913703958347752, + 0.04408484324812889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.997064471244812, + 0.028396051759785663, + -0.0711066604673029, + -0.15033812820911407 + ], + [ + -0.020262377336621284, + 0.9934336349915573, + 0.11260123426533047, + 0.060490723699331284 + ], + [ + 0.07383718341588974, + -0.11082989526413282, + 0.9910927096050088, + 0.04799504205584526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9970395565032959, + 0.024038113885053208, + -0.07303657732955626, + -0.14438867568969727 + ], + [ + -0.01588905230164528, + 0.9937853525698762, + 0.11017370695956585, + 0.06516732275485992 + ], + [ + 0.07523104548454285, + -0.1086870572737992, + 0.9912252075289509, + 0.04516734182834625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9970363378524782, + 0.023004708200619634, + -0.07341200520673863, + -0.1446755826473236 + ], + [ + -0.014478717930614952, + 0.9933033512157154, + 0.1146249274430758, + 0.055585749447345734 + ], + [ + 0.07555730640888215, + -0.11322230298441079, + 0.9906925811219733, + 0.035023584961891174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.997204601764679, + 0.025603219700318737, + -0.07019602033655033, + -0.1452394276857376 + ], + [ + -0.017430609092116356, + 0.9932520538394135, + 0.11465844238116993, + 0.06347544491291046 + ], + [ + 0.07265797257423401, + -0.1131143650918173, + 0.9909217782207478, + 0.048306871205568314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9971070289611816, + 0.023624047909715135, + -0.07224558759955166, + -0.13770687580108643 + ], + [ + -0.015167475678026676, + 0.9931990618133519, + 0.11543659142244958, + 0.06223418563604355 + ], + [ + 0.07448132336139679, + -0.11400685756507702, + 0.9906841191324557, + 0.04412180930376053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9973818063735962, + 0.03058673962213369, + -0.06552847912745692, + -0.1480201631784439 + ], + [ + -0.022286031395196915, + 0.9920502797266132, + 0.12385303812800237, + 0.05583975091576576 + ], + [ + 0.06879580020904541, + -0.12206839807236264, + 0.9901345762430289, + 0.05118682608008385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9973773360252383, + 0.03151400354858014, + -0.0651557592490258, + -0.14567428827285767 + ], + [ + -0.023133531212806705, + 0.9918120779596544, + 0.1255930596044375, + 0.055370599031448364 + ], + [ + 0.06858020275831224, + -0.12375639078056279, + 0.9899399264982494, + 0.04825710505247116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973924160003662, + 0.03084989395339408, + -0.0652428304453087, + -0.1438928097486496 + ], + [ + -0.022321626543998718, + 0.9915716079345039, + 0.12762258413640562, + 0.05218028649687767 + ], + [ + 0.06863007694482803, + -0.1258334692603459, + 0.9896745914104128, + 0.046609628945589066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9978054761886597, + 0.03186525563665429, + -0.05804204307824934, + -0.1575898975133896 + ], + [ + -0.024268465116620064, + 0.9915826315909472, + 0.1271806652479227, + 0.056145571172237396 + ], + [ + 0.06160612776875496, + -0.12549296800418847, + 0.9901798718232153, + 0.053176864981651306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9975317716598511, + 0.030644630227022115, + -0.06317614024116715, + -0.14199499785900116 + ], + [ + -0.022049827501177788, + 0.9909363701675246, + 0.13251006880684318, + 0.04569404572248459 + ], + [ + 0.06666426360607147, + -0.13078998040019488, + 0.9891662144515426, + 0.04041682556271553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9975511431694031, + 0.022981197316991196, + -0.06605762659966646, + -0.12995508313179016 + ], + [ + -0.01450423151254654, + 0.991917495475423, + 0.12605266217953234, + 0.05690385773777962 + ], + [ + 0.06842055171728134, + -0.12478586325494946, + 0.9898217687250417, + 0.04297851398587227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9977785348892212, + 0.02966670458221969, + -0.059648119156021834, + -0.14314004778862 + ], + [ + -0.021499028429389, + 0.990857996778658, + 0.1331847993419974, + 0.05232895538210869 + ], + [ + 0.06305397301912308, + -0.1316065564283099, + 0.9892946284362726, + 0.047888632863759995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9980905055999756, + 0.029671781476668765, + -0.05417527331597977, + -0.1513330638408661 + ], + [ + -0.021970441564917564, + 0.9902458234012493, + 0.1375880591475279, + 0.047523241490125656 + ], + [ + 0.057729322463274, + -0.13613508010992187, + 0.9890068675984566, + 0.05857133865356445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9946548938751221, + 0.05046507378854363, + -0.09008274592551443, + -0.20126067101955414 + ], + [ + -0.04139016568660736, + 0.9941352010466848, + 0.09991011701460875, + 0.04106013849377632 + ], + [ + 0.09459640085697174, + -0.09564754731191842, + 0.9909101945953382, + 0.04673970118165016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9946045279502869, + 0.05070622017867716, + -0.09050235378665196, + -0.20168021321296692 + ], + [ + -0.04132373631000519, + 0.9938545352563299, + 0.1026915971074172, + 0.03989524021744728 + ], + [ + 0.09515327215194702, + -0.09839763237250881, + 0.9905875849979199, + 0.04570288956165314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9945985078811646, + 0.050755586552176074, + -0.09054073120020673, + -0.20280009508132935 + ], + [ + -0.04118870198726654, + 0.993664307244839, + 0.10456943357849426, + 0.04084504768252373 + ], + [ + 0.09527457505464554, + -0.10027534733024306, + 0.9903875943714869, + 0.04509707912802696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9946054816246033, + 0.050898086628872824, + -0.09038408362934693, + -0.20359304547309875 + ], + [ + -0.04125744476914406, + 0.9935630329585616, + 0.10550059428902948, + 0.04436672851443291 + ], + [ + 0.09517205506563187, + -0.10120244878088534, + 0.9903031348958902, + 0.04764242470264435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9945728778839111, + 0.049789724375516035, + -0.09135542954246995, + -0.20289593935012817 + ], + [ + -0.04010387510061264, + 0.9936679920034485, + 0.10495526083957828, + 0.0487627275288105 + ], + [ + 0.09600266069173813, + -0.10072194406776665, + 0.9902719503830968, + 0.04789379984140396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9946970343589783, + 0.05093670002964567, + -0.08934886983307738, + -0.20926342904567719 + ], + [ + -0.04122079908847809, + 0.9933606959940346, + 0.10740272042536475, + 0.05036845803260803 + ], + [ + 0.09422639012336731, + -0.10315014022660945, + 0.9901926285613659, + 0.04741149768233299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9945297837257387, + 0.05062365988811626, + -0.09136577018716577, + -0.20742937922477722 + ], + [ + -0.040620546787977226, + 0.9932985946875775, + 0.10820311893186776, + 0.054277580231428146 + ], + [ + 0.09623113274574283, + -0.1038998987035332, + 0.9899214230385386, + 0.05149383470416069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9944732785224917, + 0.050680459968688654, + -0.09194761087004373, + -0.2085099220275879 + ], + [ + -0.04028015211224557, + 0.9929324012698176, + 0.11163676175077594, + 0.05236811563372612 + ], + [ + 0.09695556014776233, + -0.10731611111662648, + 0.9894861386575363, + 0.050403766334056854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9944483637809756, + 0.05196672799178531, + -0.09149816657863839, + -0.21146880090236664 + ], + [ + -0.04133338853716851, + 0.9925632381455691, + 0.11449788612407462, + 0.05358376353979111 + ], + [ + 0.09676779806613925, + -0.11008030848212794, + 0.9892008690330865, + 0.053259365260601044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9944525361061098, + 0.05075137382240559, + -0.09213283755445309, + -0.2132187932729721 + ], + [ + -0.040015645325183875, + 0.992577143065021, + 0.11484493837934558, + 0.05615617334842682 + ], + [ + 0.09727749228477481, + -0.1105210822068254, + 0.989101682156768, + 0.053095538169145584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9945011138916018, + 0.05284905525870054, + -0.09041313123417606, + -0.21937623620033264 + ], + [ + -0.0421363115310669, + 0.9922913678208402, + 0.11654337596660168, + 0.0596592016518116 + ], + [ + 0.09587537497282031, + -0.1120928387747884, + 0.9890617121317918, + 0.05788923799991608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9942319989204407, + 0.052215052640091915, + -0.09368233927639463, + -0.21979734301567078 + ], + [ + -0.04110310971736908, + 0.9922984975326702, + 0.11685120481919553, + 0.061749864369630814 + ], + [ + 0.0990622341632843, + -0.11232656824738836, + 0.9887210909840813, + 0.05331016704440117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.994101345539093, + 0.05380825857284934, + -0.09416588154323687, + -0.22351211309432983 + ], + [ + -0.042462121695280075, + 0.9920339298372138, + 0.11859883575031521, + 0.0642857775092125 + ], + [ + 0.0997973382472992, + -0.11390077762065517, + 0.9884670632912753, + 0.05431373789906502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9938545823097231, + 0.056330817870074594, + -0.09528841410326057, + -0.2247970849275589 + ], + [ + -0.04468996450304986, + 0.991747224897653, + 0.12016783319762767, + 0.0688358023762703 + ], + [ + 0.10127117484807971, + -0.11517091574554496, + 0.9881699405360453, + 0.05968238413333893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9937043786048891, + 0.057194360819476556, + -0.09633497598714146, + -0.22739234566688538 + ], + [ + -0.04527400806546212, + 0.9915371683194855, + 0.121672861866141, + 0.07102573662996292 + ], + [ + 0.10247871279716494, + -0.11654538831007297, + 0.9878842652934309, + 0.05848105624318123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9935451745986938, + 0.05956987567542186, + -0.09653698144609979, + -0.231333926320076 + ], + [ + -0.04733210429549217, + 0.9910976476193911, + 0.12443911742435143, + 0.07288184762001038 + ], + [ + 0.10309040546417236, + -0.11906659043381873, + 0.987519877245516, + 0.06055758148431778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9934014081954956, + 0.062234433433160784, + -0.09633560424934708, + -0.23414117097854614 + ], + [ + -0.04985944926738739, + 0.9907866215535918, + 0.12592021446012183, + 0.07851807028055191 + ], + [ + 0.10328460484743118, + -0.12028607452832313, + 0.9873517724729663, + 0.06411797553300858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931538701057436, + 0.062376720056206876, + -0.09876528539454044, + -0.23518213629722595 + ], + [ + -0.04959906265139581, + 0.9906720210783374, + 0.12692083036577775, + 0.08029366284608841 + ], + [ + 0.1057609021663666, + -0.12115324617012226, + 0.9869835518821815, + 0.06123208627104759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.993095874786377, + 0.06643538288789222, + -0.0966794287813559, + -0.2448844164609909 + ], + [ + -0.05364173278212547, + 0.9901421509300254, + 0.1293872911296265, + 0.08494514971971512 + ], + [ + 0.10432226955890656, + -0.12330793456214015, + 0.9868698075212312, + 0.0631021037697792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9928365349769592, + 0.065268306446506, + -0.10007819390099924, + -0.24462081491947174 + ], + [ + -0.052018798887729645, + 0.9901859565617742, + 0.12971450758606506, + 0.08830776810646057 + ], + [ + 0.10756227374076843, + -0.1235793563541137, + 0.9864879875216114, + 0.062365006655454636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9924656152725222, + 0.06465885476729426, + -0.10407338803929055, + -0.2445894181728363 + ], + [ + -0.050639338791370406, + 0.9899389417798039, + 0.1321232862042847, + 0.09217077493667603 + ], + [ + 0.11156923323869708, + -0.12585760567159782, + 0.9857545951186747, + 0.060133177787065506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9921673536300661, + 0.06362818581796476, + -0.10749617892231342, + -0.2461927980184555 + ], + [ + -0.04912578314542772, + 0.9899585956774983, + 0.13254679600862712, + 0.10055223852396011 + ], + [ + 0.11485048383474353, + -0.12622777108500036, + 0.9853303869620396, + 0.05880364775657654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9919195175170898, + 0.06373837845522426, + -0.10969539493456887, + -0.2503463923931122 + ], + [ + -0.048521120101213455, + 0.9894935065873585, + 0.13619227016529578, + 0.1054137796163559 + ], + [ + 0.11722356081008911, + -0.12976922609412314, + 0.9845905742556832, + 0.06066734343767166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9911925196647644, + 0.06294777600183957, + -0.11651144459610412, + -0.24566036462783813 + ], + [ + -0.0461127907037735, + 0.9888023081782356, + 0.14192814869554113, + 0.1060284897685051 + ], + [ + 0.12414084374904633, + -0.13530545981792183, + 0.982996202942922, + 0.059223420917987823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9906643033027649, + 0.06355093327259519, + -0.12060486804314346, + -0.24594391882419586 + ], + [ + -0.04537003114819527, + 0.9879589051832535, + 0.14791474668487065, + 0.10732006281614304 + ], + [ + 0.12855276465415955, + -0.14106201013895206, + 0.9816189103107148, + 0.05791130289435387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9908685088157654, + 0.0675479377644674, + -0.11669113381771165, + -0.2598174512386322 + ], + [ + -0.04914408177137375, + 0.9868555941378072, + 0.1539511287941034, + 0.11392336338758469 + ], + [ + 0.1255563646554947, + -0.14681064547477032, + 0.9811636965869853, + 0.06614687293767929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9904139637947083, + 0.0681400816326841, + -0.1201546891686424, + -0.2633908689022064 + ], + [ + -0.04859558120369911, + 0.9861342643916214, + 0.1586748635213155, + 0.11924319714307785 + ], + [ + 0.1293007731437683, + -0.1513148092121809, + 0.9799924233358317, + 0.06264248490333557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9903194308280945, + 0.06944294747980805, + -0.1201876660187967, + -0.26779603958129883 + ], + [ + -0.04996834695339203, + 0.9861635609948142, + 0.15806510216712794, + 0.13848602771759033 + ], + [ + 0.12950119376182556, + -0.1505293651978492, + 0.9800868967687416, + 0.07033254951238632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9898748397827148, + 0.07213182526923986, + -0.12224914999593857, + -0.273282915353775 + ], + [ + -0.05132486671209335, + 0.9848692215263356, + 0.1655244513994292, + 0.14051949977874756 + ], + [ + 0.1323390156030655, + -0.1575740698327627, + 0.9785994236255177, + 0.06656745076179504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9894037246704104, + 0.06667502123829844, + -0.12897568076751498, + -0.26473498344421387 + ], + [ + -0.045755684375762946, + 0.9862429899619103, + 0.15884335369604047, + 0.1628766804933548 + ], + [ + 0.137792244553566, + -0.151258831840931, + 0.9788432271650506, + 0.07236504554748535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9890732169151306, + 0.07278049756312281, + -0.12820762068786817, + -0.2731633186340332 + ], + [ + -0.05036573484539986, + 0.9841356462394938, + 0.17011844934407683, + 0.1619063913822174 + ], + [ + 0.13855499029159546, + -0.1618023327904541, + 0.9770478697002595, + 0.07784882932901382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9886603951454163, + 0.06439604307494083, + -0.1356606923825104, + -0.26692673563957214 + ], + [ + -0.04151264205574989, + 0.9853838499170611, + 0.16521306186854265, + 0.17558470368385315 + ], + [ + 0.1443169116973877, + -0.1577079697480441, + 0.9768831896200288, + 0.07740486413240433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9879354238510132, + 0.06137942334241538, + -0.14218364939228098, + -0.26686331629753113 + ], + [ + -0.03735818713903427, + 0.9854461094728932, + 0.16583225135688506, + 0.18282252550125122 + ], + [ + 0.1502930074930191, + -0.1585198270986438, + 0.9758501058143946, + 0.06651782989501953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9876646399497986, + 0.06252390619332948, + -0.14355935644165274, + -0.26990294456481934 + ], + [ + -0.03785310313105583, + 0.9849650815187654, + 0.16855531112433536, + 0.19262556731700897 + ], + [ + 0.15193970501422882, + -0.16104196162670506, + 0.9751819548964472, + 0.07702936977148056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9877361059188843, + 0.06220307307441406, + -0.14320687845656424, + -0.27694156765937805 + ], + [ + -0.03744402155280113, + 0.9848181986774842, + 0.16950239372356304, + 0.20330718159675598 + ], + [ + 0.15157629549503326, + -0.16206138699068803, + 0.9750695861443784, + 0.0867210328578949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9871538877487183, + 0.06391621240448468, + -0.14643066993320303, + -0.2795126438140869 + ], + [ + -0.037817541509866714, + 0.9839248136657591, + 0.17453320907002748, + 0.2064286470413208 + ], + [ + 0.1552322804927826, + -0.16675348167685222, + 0.9737023135365586, + 0.08749684691429138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9864243865013123, + 0.06101804634229909, + -0.15245879656461636, + -0.2782211899757385 + ], + [ + -0.034228190779685974, + 0.9844099468119331, + 0.17252693300115007, + 0.21865056455135345 + ], + [ + 0.1606092005968094, + -0.16496638832688482, + 0.9731345342320656, + 0.08862879872322083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9860107302665713, + 0.06141100833597252, + -0.15495643530229944, + -0.28312113881111145 + ], + [ + -0.03331797197461129, + 0.9835081937773275, + 0.17776834687987536, + 0.22069454193115234 + ], + [ + 0.16331785917282107, + -0.17011866739964074, + 0.9717957478561448, + 0.09000083804130554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9860256314277651, + 0.06161525644327972, + -0.15478046459912861, + -0.2885102331638336 + ], + [ + -0.03294964879751206, + 0.982865457206367, + 0.18135561141820958, + 0.22676001489162445 + ], + [ + 0.16330263018608096, + -0.17372131738906593, + 0.9711607066229162, + 0.09812667965888977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9855204224586487, + 0.06200690064400819, + -0.15781199851074224, + -0.290265828371048 + ], + [ + -0.03250085189938545, + 0.9825572849951975, + 0.18309811683175156, + 0.23516038060188293 + ], + [ + 0.16641266644001007, + -0.17531790496848004, + 0.9703455242028101, + 0.10401804000139236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9846513867378235, + 0.05861788330910208, + -0.16439473856704478, + -0.28859516978263855 + ], + [ + -0.02798687107861042, + 0.9827536622870315, + 0.18278947215002744, + 0.24261979758739471 + ], + [ + 0.17227426171302795, + -0.17538300903176224, + 0.9693102728171151, + 0.0978846326470375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.985007107257843, + 0.061906777408143064, + -0.1610235331676334, + -0.2968321144580841 + ], + [ + -0.03065349906682968, + 0.9813489926844069, + 0.18977498037166965, + 0.2442805916070938 + ], + [ + 0.16976864635944366, + -0.18199376892947308, + 0.968533380419561, + 0.11710289865732193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9843167662620544, + 0.0671188521290584, + -0.16314280370874698, + -0.300184428691864 + ], + [ + -0.03456167131662369, + 0.9802425238753734, + 0.19475648804820142, + 0.24934452772140503 + ], + [ + 0.1729913353919983, + -0.18606358605429793, + 0.9671888845048185, + 0.1140206977725029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9836912751197815, + 0.0684268331804294, + -0.16634081533506562, + -0.30017194151878357 + ], + [ + -0.03435441851615906, + 0.9792604268054825, + 0.199671652266953, + 0.25005868077278137 + ], + [ + 0.1765538901090622, + -0.1907007230853946, + 0.9656407272805249, + 0.1136508584022522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9840283393859863, + 0.06895615528492591, + -0.1641136779421547, + -0.30607420206069946 + ], + [ + -0.03497931733727455, + 0.9788531586335085, + 0.20155121359701303, + 0.2572982609272003 + ], + [ + 0.1745413839817047, + -0.1925915265281917, + 0.9656313098891415, + 0.13051141798496246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9835222959518433, + 0.06855791035557797, + -0.16728338339136653, + -0.30814263224601746 + ], + [ + -0.03350288048386574, + 0.9783971616788667, + 0.20400136795576018, + 0.2603203058242798 + ], + [ + 0.17765550315380096, + -0.19503541288937334, + 0.96457226936627, + 0.12875452637672424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.984245777130127, + 0.06484957892889356, + -0.1644833721624, + -0.3161739110946655 + ], + [ + -0.03082851879298687, + 0.9790012722011777, + 0.20150961705975884, + 0.26748213171958923 + ], + [ + 0.1740972399711609, + -0.19326420546395848, + 0.9655770528950482, + 0.1348748803138733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9832988977432251, + 0.06922480352778504, + -0.16831875721667644, + -0.31129512190818787 + ], + [ + -0.033830676227808, + 0.9782422821283665, + 0.20468877950365552, + 0.268294095993042 + ], + [ + 0.17882607877254486, + -0.1955759179428223, + 0.9642465049306729, + 0.1377708464860916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9838452935218813, + 0.06864855762217416, + -0.16533528996069363, + -0.3190973401069641 + ], + [ + -0.03354644775390626, + 0.9778910598269033, + 0.20640659851814405, + 0.26981937885284424 + ], + [ + 0.17584942281246188, + -0.19752575888565194, + 0.9643964748208593, + 0.14676740765571594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9833954572677612, + 0.06659616397835788, + -0.16881448791084375, + -0.31862884759902954 + ], + [ + -0.03167446702718735, + 0.97894081270328, + 0.20167211619268585, + 0.2783723473548889 + ], + [ + 0.17868998646736145, + -0.19297633348968504, + 0.9647953354631778, + 0.1464928835630417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9831177592277527, + 0.07073050444036133, + -0.1687503101688463, + -0.3211212158203125 + ], + [ + -0.034584179520606995, + 0.9774710406948949, + 0.20821707596665992, + 0.27280309796333313 + ], + [ + 0.17967583239078522, + -0.19886581256997996, + 0.9634152821402396, + 0.1443869024515152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9833177924156189, + 0.06734743479027222, + -0.1689688922988481, + -0.3222196698188782 + ], + [ + -0.03191686421632767, + 0.9784025094113149, + 0.20422978856007903, + 0.27923986315727234 + ], + [ + 0.17907394468784332, + -0.19542983145478574, + 0.9642301303820358, + 0.15175621211528778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9827612042427063, + 0.06994700582677155, + -0.17113673931763243, + -0.3225708603858948 + ], + [ + -0.03342975303530693, + 0.9776404479676126, + 0.20760918158186484, + 0.27794092893600464 + ], + [ + 0.18183185160160065, + -0.19830919670365704, + 0.9631254504261892, + 0.15169215202331543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9812502861022951, + 0.0696878613250929, + -0.17969834649146277, + -0.3148304522037506 + ], + [ + -0.031185925006866462, + 0.9774665108067562, + 0.208774059937328, + 0.2772037088871002 + ], + [ + 0.19019813835620886, + -0.19925555079528576, + 0.9613125948066109, + 0.14299307763576508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9813196659088137, + 0.0681289894619933, + -0.17991697461453607, + -0.31805434823036194 + ], + [ + -0.02954323776066304, + 0.9774693066662883, + 0.2089999370820484, + 0.2795526087284088 + ], + [ + 0.19010227918624883, + -0.19978042327096882, + 0.9612226144368406, + 0.1473274677991867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9819334745407107, + 0.06326140506136968, + -0.1783386516454229, + -0.32610023021698 + ], + [ + -0.026002040132880218, + 0.9786299859744484, + 0.2039784178749759, + 0.2892083525657654 + ], + [ + 0.1874315142631531, + -0.19565606652625683, + 0.9625944562358032, + 0.15660406649112701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9819741249084473, + 0.06593647575971905, + -0.17714160732931708, + -0.32936185598373413 + ], + [ + -0.027720853686332703, + 0.9772865786326704, + 0.21010123712276088, + 0.2861802577972412 + ], + [ + 0.18697144091129303, + -0.20140346865270764, + 0.9614979686276028, + 0.16327255964279175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9818066358566284, + 0.07029089114491312, + -0.1763941978956023, + -0.3324925899505615 + ], + [ + -0.030587561428546906, + 0.9753742808290666, + 0.2184247343110162, + 0.27962344884872437 + ], + [ + 0.18740364909172058, + -0.2090553904905006, + 0.9597789963257071, + 0.16583169996738434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9814580082893372, + 0.07030187379526016, + -0.17831948552831708, + -0.33447858691215515 + ], + [ + -0.030216116458177567, + 0.9754248470858073, + 0.218250664356534, + 0.28329363465309143 + ], + [ + 0.1892806887626648, + -0.20881573983512938, + 0.9594627846239019, + 0.16530384123325348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9809152483940125, + 0.07260035335815455, + -0.18037305946724028, + -0.33439692854881287 + ], + [ + -0.031209716573357582, + 0.9744363654308726, + 0.22248521365283222, + 0.2814171314239502 + ], + [ + 0.19191457331180573, + -0.21260975331210566, + 0.9581053765964703, + 0.16906362771987915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9812786579132082, + 0.07817362633689497, + -0.1760143726988972, + -0.34557798504829407 + ], + [ + -0.03695479035377503, + 0.973361446744962, + 0.22627835980796734, + 0.28457844257354736 + ], + [ + 0.1890146136283875, + -0.2155375514136623, + 0.9580276921784591, + 0.17251165211200714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9798880815505981, + 0.07285526746205455, + -0.18577276725607925, + -0.335170179605484 + ], + [ + -0.030533496290445328, + 0.974746570243899, + 0.2212165745403915, + 0.2896607518196106 + ], + [ + 0.19719816744327545, + -0.211095187629089, + 0.9573670563861357, + 0.16723474860191345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.981338679790497, + 0.0822073109813671, + -0.173828513327884, + -0.3548829257488251 + ], + [ + -0.04032207280397416, + 0.9718824069195651, + 0.2319885699542834, + 0.28469327092170715 + ], + [ + 0.18801201879978185, + -0.220650234048148, + 0.95706059267349, + 0.18057608604431152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9813615083694458, + 0.08187240713447845, + -0.17385755148414678, + -0.35683590173721313 + ], + [ + -0.040376562625169754, + 0.9723555848344133, + 0.22998764842008224, + 0.2910008430480957 + ], + [ + 0.1878809928894043, + -0.2186812714187204, + 0.9575381360410087, + 0.18945299088954926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9782460331916811, + 0.07430136216933983, + -0.19368520699051398, + -0.35009822249412537 + ], + [ + -0.029799280688166625, + 0.9743045411968534, + 0.2232546687203313, + 0.3085037171840668 + ], + [ + 0.2052965164184571, + -0.21262632149232708, + 0.9553237184341794, + 0.21428954601287842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9768620133399966, + 0.0733146042441808, + -0.20091196371038353, + -0.3467966318130493 + ], + [ + -0.025928579270839698, + 0.9730771902057868, + 0.22901634830177928, + 0.30907776951789856 + ], + [ + 0.21229310333728796, + -0.2185080059960203, + 0.9524630536240661, + 0.2300824224948883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9721911549568176, + 0.08200022278892935, + -0.21936334581038813, + -0.32892683148384094 + ], + [ + -0.02466186322271824, + 0.9673344852019232, + 0.25230103134329207, + 0.28658702969551086 + ], + [ + 0.23288646340370178, + -0.23987492614701417, + 0.9424563050197517, + 0.2279919981956482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9801905155181885, + 0.08952779194803903, + -0.17666718517496868, + -0.36890000104904175 + ], + [ + -0.0450008362531662, + 0.969344503279935, + 0.24154956314023163, + 0.29541656374931335 + ], + [ + 0.19287677109241486, + -0.22881442838992397, + 0.9541711304178152, + 0.2057652473449707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9796887040138247, + 0.08829411979368908, + -0.18003950866400473, + -0.36957311630249023 + ], + [ + -0.04271036013960839, + 0.9691201804018028, + 0.24286201450072778, + 0.29563596844673157 + ], + [ + 0.1959232091903687, + -0.23023960718149666, + 0.9532071162538446, + 0.2047765851020813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9806210994720459, + 0.08880106010881884, + -0.17463295357145042, + -0.38045400381088257 + ], + [ + -0.04425550997257233, + 0.9687405617691695, + 0.2440965684771849, + 0.3006594181060791 + ], + [ + 0.19085006415843964, + -0.2316377713226323, + 0.9538973692778159, + 0.21475915610790253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.981457054615021, + 0.08705663636862584, + -0.17077228407670367, + -0.38893187046051025 + ], + [ + -0.04372112080454827, + 0.9691011972206244, + 0.24275770987029557, + 0.3064061403274536 + ], + [ + 0.18662931025028232, + -0.23078991579905922, + 0.9549374217409423, + 0.2198943942785263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9810110330581665, + 0.0850219827219443, + -0.17432341219139916, + -0.38957029581069946 + ], + [ + -0.04083140939474106, + 0.9691872696146379, + 0.24291722635160137, + 0.30914366245269775 + ], + [ + 0.18960535526275635, + -0.2311866108446629, + 0.9542549717263591, + 0.2222054898738861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9813628792762756, + 0.07486635449646074, + -0.17698006626541526, + -0.3936922550201416 + ], + [ + -0.033928196877241135, + 0.9740217329243201, + 0.2238985628749851, + 0.3376304805278778 + ], + [ + 0.18914489448070526, + -0.2137211154323599, + 0.9584088097635539, + 0.23621198534965515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9802757501602173, + 0.07943549741749903, + -0.18096827468887444, + -0.39047104120254517 + ], + [ + -0.03515664115548134, + 0.9711539869350073, + 0.235847399504426, + 0.32773396372795105 + ], + [ + 0.1944827139377594, + -0.22483323481240883, + 0.9547913137427867, + 0.22606243193149567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9800023436546328, + 0.07825327465876988, + -0.18295318578394013, + -0.39076897501945496 + ], + [ + -0.03262465819716454, + 0.9701728740448268, + 0.24020880678320186, + 0.32700392603874207 + ], + [ + 0.1962933391332627, + -0.22943640138902704, + 0.9533246536108047, + 0.22756651043891907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9804461598396301, + 0.06749155793972156, + -0.18485187446740137, + -0.39668363332748413 + ], + [ + -0.024507202208042145, + 0.9739114656914906, + 0.22560121850732093, + 0.34874749183654785 + ], + [ + 0.19525553286075592, + -0.21665964392222467, + 0.9565217737918702, + 0.24052032828330994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9799361824989319, + 0.07877843641191154, + -0.1830821568206003, + -0.3962459862232208 + ], + [ + -0.03236104175448418, + 0.9692710763400139, + 0.24385723361116288, + 0.3339405655860901 + ], + [ + 0.1966669261455536, + -0.2330397849352278, + 0.9523731099527349, + 0.23487740755081177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9816285967826845, + 0.0726137015264389, + -0.1764441512806209, + -0.4098004102706909 + ], + [ + -0.030307400971651084, + 0.9723511422459918, + 0.2315486395148654, + 0.3548014461994171 + ], + [ + 0.18837925791740423, + -0.22194720322173278, + 0.9566884266539903, + 0.24479953944683075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9800726175308228, + 0.0798406108411199, + -0.18188767726485608, + -0.40495529770851135 + ], + [ + -0.03350183740258217, + 0.968988663492526, + 0.24482368465579574, + 0.34644579887390137 + ], + [ + 0.1957939714193344, + -0.2338514177184105, + 0.9523540683348707, + 0.24476319551467896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9788609743118288, + 0.08041685684700595, + -0.18805419769967388, + -0.4011399447917938 + ], + [ + -0.032804708927869804, + 0.9692864381370626, + 0.2437367728610335, + 0.35211512446403503 + ], + [ + 0.20187892019748693, + -0.23241535061454388, + 0.9514347125177983, + 0.2454569935798645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.978499710559845, + 0.08332263103329043, + -0.1886680446884941, + -0.40154287219047546 + ], + [ + -0.033581241965293884, + 0.9669193301046377, + 0.2528622543911625, + 0.34546908736228943 + ], + [ + 0.20349591970443726, + -0.24108993461374767, + 0.9489283577361148, + 0.24257858097553253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9785603284835815, + 0.08389377338828938, + -0.18809963550529177, + -0.4050871729850769 + ], + [ + -0.03396274894475937, + 0.9665070396138548, + 0.2543828752610131, + 0.3493335545063019 + ], + [ + 0.2031407654285431, + -0.24254062228964393, + 0.9486347532713756, + 0.2491278350353241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9782780408859253, + 0.08099842200912064, + -0.19081759095882186, + -0.4048979580402374 + ], + [ + -0.030536524951457977, + 0.9667690298019268, + 0.2538212296635972, + 0.35288360714912415 + ], + [ + 0.20503565669059753, + -0.24248082202008744, + 0.948242288270634, + 0.24779430031776428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9774669408798218, + 0.08492268901052907, + -0.19325259772762857, + -0.4051762819290161 + ], + [ + -0.03241746500134468, + 0.9650354240901629, + 0.26010725879077684, + 0.34936320781707764 + ], + [ + 0.20858460664749146, + -0.24798147518354977, + 0.9460431440813588, + 0.24604135751724243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9779177308082583, + 0.08581958430893412, + -0.1905568005280647, + -0.40954160690307617 + ], + [ + -0.03369125351309777, + 0.9646089514988233, + 0.2615234002441836, + 0.3531765043735504 + ], + [ + 0.20625661313533789, + -0.24932827482658834, + 0.9461995631766251, + 0.24984125792980194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9779651165008545, + 0.0840482135871984, + -0.191102432856539, + -0.41130056977272034 + ], + [ + -0.031611453741788864, + 0.9644420717100102, + 0.26239714789025953, + 0.3545866310596466 + ], + [ + 0.20636121928691864, + -0.2505742234400587, + 0.9458475348581036, + 0.2501893937587738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9777652621269228, + 0.08914354195735401, + -0.18981179200476597, + -0.41343337297439575 + ], + [ + -0.03583523258566857, + 0.9628621848611235, + 0.2676045618492929, + 0.35428255796432495 + ], + [ + 0.20661783218383795, + -0.25485250240032964, + 0.9446476981673056, + 0.25252777338027954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.977615296840668, + 0.08940642326597571, + -0.19045955238816165, + -0.4144097566604614 + ], + [ + -0.03602056205272675, + 0.962979948412767, + 0.2671556408933314, + 0.3574118912220001 + ], + [ + 0.2072941660881043, + -0.2543149821507761, + 0.9446444144956845, + 0.25514864921569824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9775484800338747, + 0.08761814119326178, + -0.19162991570885546, + -0.41604575514793396 + ], + [ + -0.034260153770446784, + 0.9634360752313075, + 0.26573886718625117, + 0.3610212802886963 + ], + [ + 0.2079067081212998, + -0.2532073634062173, + 0.9448073137158189, + 0.2542562484741211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.976702153682709, + 0.09324016252884638, + -0.1932851575326008, + -0.41371282935142517 + ], + [ + -0.03808614611625672, + 0.9616949880430069, + 0.2714630441045879, + 0.35754793882369995 + ], + [ + 0.21119263768196112, + -0.25777705665430933, + 0.9428407525958513, + 0.2520782947540283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9775208234786987, + 0.09592305591217921, + -0.18775466964830537, + -0.4201935827732086 + ], + [ + -0.0405970998108387, + 0.959481564700685, + 0.2788313953247343, + 0.3536596894264221 + ], + [ + 0.20689351856708527, + -0.264941204461518, + 0.9418074287121883, + 0.2536170780658722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9761684536933899, + 0.09166627171552218, + -0.19670390312482214, + -0.41362738609313965 + ], + [ + -0.03493694216012955, + 0.9609684630834265, + 0.27444321726752746, + 0.3583371341228485 + ], + [ + 0.21418341994285583, + -0.26103057326740164, + 0.9412696127483302, + 0.25475311279296875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9763355255126953, + 0.09646576880387424, + -0.1935543727560138, + -0.4174390733242035 + ], + [ + -0.038054510951042175, + 0.9576710693024394, + 0.2853384400181901, + 0.35012948513031006 + ], + [ + 0.21288679540157318, + -0.27122043168882654, + 0.9386792115270035, + 0.2549763023853302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9761223793029785, + 0.09324380005990554, + -0.19619043973260258, + -0.4171203076839447 + ], + [ + -0.035780541598796844, + 0.9598639176150964, + 0.2781744814559824, + 0.35779717564582825 + ], + [ + 0.21425415575504303, + -0.2645125409103488, + 0.9402809606993048, + 0.2516699731349945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9754644632339478, + 0.09570283302600832, + -0.19826763284111312, + -0.4154937267303467 + ], + [ + -0.036298684775829315, + 0.9581626658692357, + 0.2839132158829373, + 0.35311359167099 + ], + [ + 0.2171439379453659, + -0.26975040596879235, + 0.9381275332828319, + 0.25228026509284973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9762403964996338, + 0.09397995795149845, + -0.19524958431243924, + -0.4200696349143982 + ], + [ + -0.03587944060564041, + 0.9587230587983839, + 0.28206867950481873, + 0.3569163680076599 + ], + [ + 0.213699072599411, + -0.26836140895371496, + 0.9393161743877312, + 0.2573000490665436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9764856100082397, + 0.0919678836852706, + -0.19498130654169754, + -0.4218042492866516 + ], + [ + -0.034361034631729126, + 0.9592732539111309, + 0.28038215317949006, + 0.35894137620925903 + ], + [ + 0.21282649040222168, + -0.2670893847523565, + 0.939876641886388, + 0.2606048583984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9751425385475159, + 0.0932867599562347, + -0.20098408082612287, + -0.41675856709480286 + ], + [ + -0.033771492540836334, + 0.959031155116058, + 0.2812804494167584, + 0.3588694930076599 + ], + [ + 0.21898972988128662, + -0.26750100234916757, + 0.9383425275096053, + 0.257782906293869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9751710295677185, + 0.09423933681888766, + -0.2004007592076321, + -0.4187171459197998 + ], + [ + -0.034438394010066986, + 0.958460271109513, + 0.2831393439647972, + 0.3586844801902771 + ], + [ + 0.21875903010368347, + -0.26920779408921286, + 0.9379081106756786, + 0.25830143690109253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9752138853073122, + 0.09873226018681987, + -0.19801485042827435, + -0.4229503273963928 + ], + [ + -0.03842818364501, + 0.956900171011155, + 0.2878633611711167, + 0.3571036756038666 + ], + [ + 0.21790184080600744, + -0.2731189956114385, + 0.9369764465248616, + 0.25962308049201965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9744794368743896, + 0.09925848109603357, + -0.20133935984510518, + -0.4190405607223511 + ], + [ + -0.037934236228466034, + 0.9568442938210181, + 0.28811445609511144, + 0.3568117320537567 + ], + [ + 0.22124822437763214, + -0.27312397553009476, + 0.9361904387601699, + 0.25729653239250183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9739938974380493, + 0.09967731533553571, + -0.20347075857957847, + -0.4177495539188385 + ], + [ + -0.03738419711589813, + 0.9564225655713287, + 0.2895829340925758, + 0.3559146523475647 + ], + [ + 0.22346888482570648, + -0.2744454137920267, + 0.935276080798842, + 0.25793758034706116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9736804366111755, + 0.09975998648136522, + -0.20492518245025124, + -0.4175831973552704 + ], + [ + -0.03734184429049492, + 0.9567955966200136, + 0.2883535180174061, + 0.358583927154541 + ], + [ + 0.22483764588832855, + -0.2731118963643231, + 0.9353383790499545, + 0.258034348487854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9732658863067627, + 0.09752618418851514, + -0.20794745661481223, + -0.41590532660484314 + ], + [ + -0.034166332334280014, + 0.9567759311040513, + 0.2888122864635422, + 0.3584137260913849 + ], + [ + 0.2271258682012558, + -0.27398634800673016, + 0.9345294838485145, + 0.257572203874588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.973686218261719, + 0.09864952716743791, + -0.2054345928819229, + -0.41965287923812866 + ], + [ + -0.03630353882908822, + 0.9570847180395866, + 0.2875255521613398, + 0.36151769757270813 + ], + [ + 0.22498255968093878, + -0.27250167005850423, + 0.9354815358180565, + 0.2611221671104431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.973693311214447, + 0.09734594338232314, + -0.20602223611426776, + -0.42147135734558105 + ], + [ + -0.03520573675632477, + 0.9575637803783873, + 0.28606311934312184, + 0.3630530834197998 + ], + [ + 0.22512651979923248, + -0.27128458249537024, + 0.9358005847825983, + 0.258387953042984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9737008810043335, + 0.10231616147520907, + -0.2035633940013446, + -0.42379677295684814 + ], + [ + -0.03848285600543022, + 0.9545095821287284, + 0.2956866028087818, + 0.35778528451919556 + ], + [ + 0.22455671429634094, + -0.28007659504200305, + 0.9333441851190384, + 0.264894962310791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9741619825363159, + 0.10442874634857845, + -0.20025758093609639, + -0.4284577965736389 + ], + [ + -0.0404033400118351, + 0.9529580405456276, + 0.3003972255899577, + 0.355052649974823 + ], + [ + 0.222207173705101, + -0.2845444823904271, + 0.9325547736541122, + 0.26365000009536743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.973824679851532, + 0.1038853691016614, + -0.20217143426360115, + -0.42681050300598145 + ], + [ + -0.03936917334794998, + 0.9530919214700807, + 0.3001098272096516, + 0.3572064936161041 + ], + [ + 0.22386497259140015, + -0.28429503777003956, + 0.932234328826664, + 0.2643144428730011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9735780954360962, + 0.10158052732892457, + -0.2045167949064902, + -0.4255979359149933 + ], + [ + -0.03669549152255058, + 0.9535666938898016, + 0.2989381870001069, + 0.3589456379413605 + ], + [ + 0.22538670897483826, + -0.28353481115251816, + 0.9320991326341589, + 0.264524906873703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9732796549797058, + 0.10478697369279877, + -0.20431936038766796, + -0.4254699945449829 + ], + [ + -0.038958609104156494, + 0.9522593475251424, + 0.3027943540433503, + 0.3584229350090027 + ], + [ + 0.2262939214706421, + -0.2867435816628917, + 0.9308969735582404, + 0.2684982717037201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9716777801513674, + 0.10788096202609912, + -0.21024748385529365, + -0.4209746718406677 + ], + [ + -0.03879710286855698, + 0.9504672434649016, + 0.3083938831870577, + 0.35397961735725403 + ], + [ + 0.23310317099094396, + -0.291502492069309, + 0.9277333682589675, + 0.2658687233924866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9730092287063599, + 0.11041032048307704, + -0.2026390997623948, + -0.42768150568008423 + ], + [ + -0.04270080476999283, + 0.9490928843311208, + 0.31208870864832955, + 0.35383301973342896 + ], + [ + 0.22678114473819733, + -0.29501233527090015, + 0.9281907190288308, + 0.2705923020839691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9732639789581299, + 0.10946612094924539, + -0.20192669101936103, + -0.42951256036758423 + ], + [ + -0.042556583881378174, + 0.9498480530144546, + 0.30980251101350803, + 0.3569962978363037 + ], + [ + 0.22571256756782532, + -0.2929263079751247, + 0.9291113835023125, + 0.27039849758148193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9733157157897949, + 0.1087245995164094, + -0.20207783314814068, + -0.42963218688964844 + ], + [ + -0.04060353338718414, + 0.9483334420920325, + 0.3146664831616348, + 0.3534747362136841 + ], + [ + 0.22584916651248932, + -0.2980647679073064, + 0.9274424798970966, + 0.2674199640750885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9730719923973086, + 0.10969833251514502, + -0.20272444993566052, + -0.4289800822734833 + ], + [ + -0.04153829440474511, + 0.9485482709408732, + 0.31389610391638156, + 0.35584867000579834 + ], + [ + 0.2267278134822846, + -0.2970226761559859, + 0.9275624219038637, + 0.2718281149864197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9747859239578247, + 0.10628098012097568, + -0.1962058308882331, + -0.4381360411643982 + ], + [ + -0.04181217402219772, + 0.9507095420858088, + 0.3072509215347363, + 0.36335936188697815 + ], + [ + 0.21918968856334686, + -0.29130008255298767, + 0.9311821128926775, + 0.2711547315120697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9725808501243591, + 0.10663855447379812, + -0.20667551545429594, + -0.42668434977531433 + ], + [ + -0.03932473435997963, + 0.9512891158778569, + 0.3057818356308487, + 0.36505040526390076 + ], + [ + 0.2292162925004959, + -0.28927010007183074, + 0.9293991122913388, + 0.2711203992366791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9749566316604614, + 0.10878554481248084, + -0.1939724048644676, + -0.43825221061706543 + ], + [ + -0.044533971697092056, + 0.9500299120361889, + 0.30896576512033425, + 0.3652188181877136 + ], + [ + 0.21789060533046722, + -0.29258986110149143, + 0.9310826215646123, + 0.27130070328712463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9730164408683777, + 0.10744809137478117, + -0.20419074532520992, + -0.42818790674209595 + ], + [ + -0.040386803448200226, + 0.9506036383554788, + 0.30776869590432643, + 0.3673144280910492 + ], + [ + 0.22717364132404327, + -0.2912174109911194, + 0.9292925271214781, + 0.272676557302475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9740945100784304, + 0.10500084336939469, + -0.20028661789156077, + -0.43188828229904175 + ], + [ + -0.040418915450572974, + 0.9522472399313545, + 0.30264087911834925, + 0.3735574185848236 + ], + [ + 0.2224999219179154, + -0.28670544614421906, + 0.9318228240303078, + 0.27583059668540955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9745395183563232, + 0.11317167620926778, + -0.1935586512050683, + -0.43572336435317993 + ], + [ + -0.04752165079116821, + 0.9479114324631143, + 0.31496915678999626, + 0.36054426431655884 + ], + [ + 0.219122052192688, + -0.29775166407992537, + 0.9291552666215009, + 0.2686450183391571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.973020613193512, + 0.11214974013863978, + -0.20162657571471163, + -0.4293771982192993 + ], + [ + -0.04324537515640259, + 0.9470736456759786, + 0.3180901088089513, + 0.36008745431900024 + ], + [ + 0.22662894427776337, + -0.30078882973265214, + 0.9263721709205435, + 0.2726764380931854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.974994480609894, + 0.11269389605707797, + -0.1915355416761431, + -0.4388658106327057 + ], + [ + -0.047038093209266676, + 0.947007580807471, + 0.31774833566916294, + 0.3630255460739136 + ], + [ + 0.21719390153884893, + -0.30079341093378037, + 0.9286280720831719, + 0.26968270540237427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9743273854255678, + 0.11494673003326969, + -0.19358057687123548, + -0.43634822964668274 + ], + [ + -0.04694730043411256, + 0.9446704742123324, + 0.32464384947907393, + 0.3566076159477234 + ], + [ + 0.22018660604953771, + -0.3072213053871581, + 0.9258147515892328, + 0.27249589562416077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9746309518814087, + 0.11089125132164757, + -0.19441601815696746, + -0.4403214156627655 + ], + [ + -0.04365858808159828, + 0.946141674057001, + 0.32079571303965176, + 0.3657469153404236 + ], + [ + 0.2195185273885727, + -0.3041695149866237, + 0.926980352951684, + 0.27782565355300903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 562.4859212239583, + "fy": 562.1070963541666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/boom_up/transforms.json b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..516a0f3b8cf48edbf3aa4af2020ebccecadd3782 --- /dev/null +++ b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/boom_up/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.5388263108206957e-08, + -7.53625063225627e-05, + 0.0002039334358414635 + ], + [ + -1.1164480895331508e-08, + 1.0, + 5.604619218502194e-05, + 0.00011212080426048487 + ], + [ + 7.53625063225627e-05, + -5.604619218502194e-05, + 1.0, + 7.474265294149518e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9997895956039429, + 0.006332067772746086, + 0.019510388374328613, + 0.01638819182922771 + ], + [ + -0.00635170191526413, + 0.9999793767929077, + 0.0009445471223443747, + -0.0019130295946855438 + ], + [ + -0.019504006952047348, + -0.00106827262789011, + 0.999809205532074, + -0.010633781576175089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9991579651832581, + 0.016028089448809624, + 0.037768106907606125, + 0.025214641978425427 + ], + [ + -0.015711510553956032, + 0.9998390078544617, + -0.008664094842970371, + -0.0025747075781788033 + ], + [ + -0.0379008986055851, + 0.008063404820859432, + 0.9992489814758301, + -0.026389243797021955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9981876015663147, + 0.02294239215552807, + 0.05563440918922424, + 0.02853151732701654 + ], + [ + -0.021730517968535423, + 0.9995153546333313, + -0.022290853783488274, + 0.0027813463441042365 + ], + [ + -0.05611885339021683, + 0.021041488274931908, + 0.9982023239135742, + -0.046635936959531187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9969133734703064, + 0.022666120901703835, + 0.07516644150018692, + 0.02853024308531245 + ], + [ + -0.020299451425671577, + 0.9992784261703491, + -0.032101716846227646, + 0.008312013485153352 + ], + [ + -0.0758398249745369, + 0.03047679178416729, + 0.9966541528701782, + -0.0694956436691698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9943477511405945, + 0.014307735487818718, + 0.10520380735397339, + 0.028206390605793018 + ], + [ + -0.010447276756167412, + 0.9992548823356628, + -0.03715501353144646, + 0.015020845796574245 + ], + [ + -0.10565702617168427, + 0.035845909267663956, + 0.9937563538551331, + -0.09097008267032707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9914200305938721, + -0.00013615889474749565, + 0.1307145208120346, + 0.03314528703335519 + ], + [ + 0.005150088109076023, + 0.9992637038230896, + -0.03802058845758438, + 0.020413160946004646 + ], + [ + -0.13061310350894928, + 0.038367561995983124, + 0.9906907677650452, + -0.11098152578862246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.98768550157547, + -0.01288155373185873, + 0.15592119097709656, + 0.034718909047636366 + ], + [ + 0.018968917429447174, + 0.9991121888160706, + -0.03761649504303932, + 0.025299296977598806 + ], + [ + -0.15529820322990417, + 0.04011091962456703, + 0.9870529770851135, + -0.13205813447490705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9834993481636047, + -0.019946899265050888, + 0.1798085868358612, + 0.03923020271722935 + ], + [ + 0.027210701256990433, + 0.9989063739776611, + -0.038021668791770935, + 0.03193016749275617 + ], + [ + -0.17885354161262512, + 0.042287006974220276, + 0.9829665422439575, + -0.15026190179931231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9787391424179077, + -0.024291785433888435, + 0.20366553962230682, + 0.03870763869355779 + ], + [ + 0.03255695104598999, + 0.9987725019454956, + -0.03732980415225029, + 0.039545008903446276 + ], + [ + -0.20250873267650604, + 0.0431668721139431, + 0.9783285856246948, + -0.1728215074459137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9723614454269409, + -0.030436303466558456, + 0.23148824274539948, + 0.03970546712560102 + ], + [ + 0.03897194191813469, + 0.9987152814865112, + -0.03238874301314354, + 0.04871208322319118 + ], + [ + -0.23020504415035248, + 0.04051511362195015, + 0.9722983837127686, + -0.1935726171744264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9650312066078186, + -0.03968235105276108, + 0.25911393761634827, + 0.04037292200055989 + ], + [ + 0.047069430351257324, + 0.9986411929130554, + -0.022364841774106026, + 0.0565540999174118 + ], + [ + -0.25787433981895447, + 0.033779118210077286, + 0.9655877947807312, + -0.2164322880520062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9561276435852051, + -0.050087202340364456, + 0.28863680362701416, + 0.04481777041411597 + ], + [ + 0.05486312136054039, + 0.9984579086303711, + -0.008474953472614288, + 0.060954062258901674 + ], + [ + -0.287767231464386, + 0.023938652127981186, + 0.9574011564254761, + -0.23604058011257945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9469993710517883, + -0.05421540141105652, + 0.31662747263908386, + 0.04847917391125821 + ], + [ + 0.055914729833602905, + 0.9984285831451416, + 0.0037236008793115616, + 0.06466686240405091 + ], + [ + -0.31633177399635315, + 0.014177888631820679, + 0.9485426545143127, + -0.2573339092583696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9402691125869751, + -0.04771360754966736, + 0.33707189559936523, + 0.052412211944249054 + ], + [ + 0.046102285385131836, + 0.9988548755645752, + 0.012787831015884876, + 0.0660276853348598 + ], + [ + -0.3372960686683655, + 0.0035157790407538414, + 0.9413920640945435, + -0.27687617962918254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9364526867866516, + -0.036105066537857056, + 0.3489309847354889, + 0.056902376088229095 + ], + [ + 0.03163418173789978, + 0.9993281960487366, + 0.0185047946870327, + 0.06800653526851953 + ], + [ + -0.34936466813087463, + -0.006290718913078308, + 0.9369657039642334, + -0.295491614556017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9309839010238647, + -0.027231575921177864, + 0.3640431761741638, + 0.06099876800844492 + ], + [ + 0.020803725346922874, + 0.9995509386062622, + 0.021567264571785927, + 0.06663297944325061 + ], + [ + -0.3644670248031616, + -0.012505320832133293, + 0.9311323165893555, + -0.3164973393698369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9225302934646606, + -0.019173575565218925, + 0.38544803857803345, + 0.06382770598519685 + ], + [ + 0.011256176978349686, + 0.9996769428253174, + 0.022787034511566162, + 0.06420663426483958 + ], + [ + -0.38576042652130127, + -0.01668306067585945, + 0.9224481582641602, + -0.3372784308504221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9143236875534058, + -0.009639358147978783, + 0.4048694670200348, + 0.06968297962992152 + ], + [ + 0.0015720906667411327, + 0.9997936487197876, + 0.020253365859389305, + 0.06328145897339198 + ], + [ + -0.40498116612434387, + -0.017881641164422035, + 0.9141501784324646, + -0.3548341767939408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.909500777721405, + 0.003831335576251149, + 0.41568461060523987, + 0.07523331243163821 + ], + [ + -0.009443739429116249, + 0.9998899102210999, + 0.011446596123278141, + 0.06119055985665518 + ], + [ + -0.4155949652194977, + -0.014336305670440197, + 0.909436821937561, + -0.3733003251493162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9046746492385864, + 0.020794734358787537, + 0.42559534311294556, + 0.0741406932842633 + ], + [ + -0.026209808886051178, + 0.9996328353881836, + 0.00687096593901515, + 0.06276371108352645 + ], + [ + -0.42529618740081787, + -0.017370760440826416, + 0.9048874974250793, + -0.3967011824619672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8986355066299438, + 0.02808682806789875, + 0.43779608607292175, + 0.07580358223943424 + ], + [ + -0.034393128007650375, + 0.9993873834609985, + 0.006480792537331581, + 0.06358033003639584 + ], + [ + -0.43734583258628845, + -0.02088104747235775, + 0.8990509510040283, + -0.4122214594301729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8907381296157837, + 0.020314514636993408, + 0.45406264066696167, + 0.07833202210339633 + ], + [ + -0.026246879249811172, + 0.9996325969696045, + 0.006765685509890318, + 0.06445145051587711 + ], + [ + -0.4537583589553833, + -0.017944179475307465, + 0.8909440636634827, + -0.42909516705708073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8805747032165527, + 0.013543978333473206, + 0.4737137258052826, + 0.07946954651558695 + ], + [ + -0.021586846560239792, + 0.9997003078460693, + 0.01154476311057806, + 0.060207154743434965 + ], + [ + -0.47341540455818176, + -0.02039201185107231, + 0.8806031942367554, + -0.44670029699740826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.869459867477417, + 0.013174517080187798, + 0.4938279390335083, + 0.0790485232945316 + ], + [ + -0.024681346490979195, + 0.9995543956756592, + 0.016788829118013382, + 0.055972512534334634 + ], + [ + -0.4933866858482361, + -0.026785552501678467, + 0.8693975806236267, + -0.45987686746376605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.8593891263008118, + 0.010858594439923763, + 0.5112068057060242, + 0.07737004832741766 + ], + [ + -0.02451971545815468, + 0.999499499797821, + 0.01998959667980671, + 0.05303371235851414 + ], + [ + -0.5107339024543762, + -0.02971348725259304, + 0.8592252135276794, + -0.4698054918649891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8453490734100342, + -0.0008065514266490936, + 0.5342137217521667, + 0.07159572920400249 + ], + [ + -0.01324478443711996, + 0.9996598362922668, + 0.02246805652976036, + 0.051536163256680666 + ], + [ + -0.5340501666069031, + -0.026068896055221558, + 0.8450508117675781, + -0.483354336417411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.8227485418319702, + -0.02339150197803974, + 0.5679240822792053, + 0.06906221188019869 + ], + [ + 0.005965070798993111, + 0.9994531869888306, + 0.032523639500141144, + 0.05172081764571923 + ], + [ + -0.5683743357658386, + -0.023371070623397827, + 0.82243812084198, + -0.4974335806182593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7977023124694824, + -0.053104571998119354, + 0.6007087230682373, + 0.06748658135410182 + ], + [ + 0.027630463242530823, + 0.998287558555603, + 0.051560353487730026, + 0.05145217352662204 + ], + [ + -0.6024181842803955, + -0.024531956762075424, + 0.7978036403656006, + -0.5065008331798325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.7717777490615845, + -0.07723444700241089, + 0.6311845779418945, + 0.06393752904716601 + ], + [ + 0.0402807779610157, + 0.9965409636497498, + 0.07268789410591125, + 0.04608226169731991 + ], + [ + -0.6346153020858765, + -0.030674293637275696, + 0.772219181060791, + -0.516277546318602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.7495331764221191, + -0.083514504134655, + 0.6566776037216187, + 0.06306290060035454 + ], + [ + 0.035858720541000366, + 0.9956756234169006, + 0.08569816499948502, + 0.04437659693158362 + ], + [ + -0.6609948873519897, + -0.04068600386381149, + 0.7492866516113281, + -0.5214942744817616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.7348899841308594, + -0.08174833655357361, + 0.6732413172721863, + 0.055188244384182385 + ], + [ + 0.02548922970890999, + 0.9953364729881287, + 0.09303547441959381, + 0.045531303922006904 + ], + [ + -0.6777071356773376, + -0.051210448145866394, + 0.7335464954376221, + -0.5280468606136062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.7219288349151611, + -0.07936044037342072, + 0.6874014139175415, + 0.05741896945829234 + ], + [ + 0.021741043776273727, + 0.9955124855041504, + 0.09209877252578735, + 0.04687147551824238 + ], + [ + -0.691625714302063, + -0.051543936133384705, + 0.7204145789146423, + -0.532134128503563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.7012955546379089, + -0.08360081911087036, + 0.7079516053199768, + 0.05116126997904344 + ], + [ + 0.024037901312112808, + 0.9953081607818604, + 0.0937223806977272, + 0.05148383907296441 + ], + [ + -0.712465226650238, + -0.04870941489934921, + 0.7000147700309753, + -0.5460135041990063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.6734965443611145, + -0.09712476283311844, + 0.7327818274497986, + 0.04769388610912749 + ], + [ + 0.033964015543460846, + 0.9943493604660034, + 0.10057740658521652, + 0.061278332991540924 + ], + [ + -0.738409698009491, + -0.042850323021411896, + 0.6729896068572998, + -0.5578493623570963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.6442416310310364, + -0.11318138241767883, + 0.7564011216163635, + 0.04896743287724897 + ], + [ + 0.04682755470275879, + 0.9929714798927307, + 0.10869580507278442, + 0.06489293326523678 + ], + [ + -0.763387143611908, + -0.034605950117111206, + 0.6450135707855225, + -0.5630092043275675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.6227811574935913, + -0.11833544075489044, + 0.7733953595161438, + 0.054026734508758736 + ], + [ + 0.04707494005560875, + 0.9923725128173828, + 0.113933265209198, + 0.07213315205140547 + ], + [ + -0.7809786200523376, + -0.03454795479774475, + 0.6236015558242798, + -0.570314833644993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.6085637807846069, + -0.11737674474716187, + 0.7847757339477539, + 0.05497763385950041 + ], + [ + 0.04088759794831276, + 0.9923237562179565, + 0.11671235412359238, + 0.07822603892442609 + ], + [ + -0.7924509048461914, + -0.03893931955099106, + 0.6086915731430054, + -0.5764265811701944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.593249499797821, + -0.11648523062467575, + 0.796546459197998, + 0.055688628197208906 + ], + [ + 0.05455843359231949, + 0.9930185079574585, + 0.1045830100774765, + 0.08346028999109899 + ], + [ + -0.8031677007675171, + -0.01858549565076828, + 0.5954629778862, + -0.5821798759427937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5695338249206543, + -0.12416624277830124, + 0.8125355839729309, + 0.04772480120959361 + ], + [ + 0.08709215372800827, + 0.9920758605003357, + 0.09055653214454651, + 0.09137085146647839 + ], + [ + -0.8173410296440125, + 0.019190452992916107, + 0.5758346319198608, + -0.6068798482233335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5393905639648438, + -0.13085323572158813, + 0.8318265080451965, + 0.05107302384928238 + ], + [ + 0.11168155819177628, + 0.9902420043945312, + 0.0833543986082077, + 0.09353694356670064 + ], + [ + -0.8346167206764221, + 0.04793909192085266, + 0.5487411022186279, + -0.6130816291186435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5236328840255737, + -0.12691405415534973, + 0.8424378633499146, + 0.054221816767345776 + ], + [ + 0.11151320487260818, + 0.9905446171760559, + 0.07991337031126022, + 0.09205386382489165 + ], + [ + -0.8446143865585327, + 0.05209765583276749, + 0.5328343510627747, + -0.6112178977178641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.516356348991394, + -0.12006444483995438, + 0.8479154706001282, + 0.05248951834341711 + ], + [ + 0.10826773196458817, + 0.9913308024406433, + 0.07444003224372864, + 0.09546349095411537 + ], + [ + -0.8495023846626282, + 0.053364306688308716, + 0.5248790383338928, + -0.6144098451807479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.502679705619812, + -0.12341752648353577, + 0.8556174635887146, + 0.04722454515863056 + ], + [ + 0.11691167950630188, + 0.9903689622879028, + 0.0741683766245842, + 0.10364993251552265 + ], + [ + -0.8565307259559631, + 0.06274872273206711, + 0.5122673511505127, + -0.6192173204946616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.4808233976364136, + -0.13227927684783936, + 0.8667820692062378, + 0.04282388199459423 + ], + [ + 0.12900561094284058, + 0.9884690642356873, + 0.079287588596344, + 0.10793289352547039 + ], + [ + -0.8672753572463989, + 0.07369640469551086, + 0.4923437833786011, + -0.6240687218579379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.4572129249572754, + -0.1351775974035263, + 0.879024088382721, + 0.04059815573051941 + ], + [ + 0.13839443027973175, + 0.9871551990509033, + 0.07982207834720612, + 0.1006208308472121 + ], + [ + -0.8785234093666077, + 0.08515635132789612, + 0.4700479507446289, + -0.6257793884878317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.432873010635376, + -0.12874649465084076, + 0.8922137022018433, + 0.03444182855531204 + ], + [ + 0.14350111782550812, + 0.9869690537452698, + 0.07279764115810394, + 0.09642697991418445 + ], + [ + -0.8899598121643066, + 0.0965215265750885, + 0.4457075595855713, + -0.6266494716001936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.40987420082092285, + -0.11623679101467133, + 0.9047056436538696, + 0.02260582694583688 + ], + [ + 0.1478695124387741, + 0.9871947169303894, + 0.05984316021203995, + 0.09771930713298892 + ], + [ + -0.9000766277313232, + 0.10925018042325974, + 0.4218135476112366, + -0.6331078903795766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.38687580823898315, + -0.10168962180614471, + 0.9165077805519104, + 0.01307390691820255 + ], + [ + 0.15335895121097565, + 0.9871548414230347, + 0.044792335480451584, + 0.10063125464049252 + ], + [ + -0.9092900156974792, + 0.12322556972503662, + 0.39750128984451294, + -0.6340010075529745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.36270028352737427, + -0.09303449094295502, + 0.9272502660751343, + -0.012951977846543651 + ], + [ + 0.15731878578662872, + 0.9868364930152893, + 0.03747669607400894, + 0.09451074720906817 + ], + [ + -0.918531060218811, + 0.132281094789505, + 0.3725619316101074, + -0.6584748520585131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.3357228636741638, + -0.08905591070652008, + 0.9377416372299194, + -0.026109064044046008 + ], + [ + 0.16154251992702484, + 0.9862152934074402, + 0.03582518547773361, + 0.09584991227496753 + ], + [ + -0.928005576133728, + 0.1394577920436859, + 0.34548133611679077, + -0.6633646116276418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.3133211135864258, + -0.08103474229574203, + 0.9461835622787476, + -0.03127772718791134 + ], + [ + 0.15887489914894104, + 0.9867832064628601, + 0.03190168738365173, + 0.10193568480408881 + ], + [ + -0.9362632036209106, + 0.14032934606075287, + 0.322054386138916, + -0.6538339455881395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.29416346549987793, + -0.07674415409564972, + 0.9526690244674683, + -0.05767894584285326 + ], + [ + 0.15818989276885986, + 0.986932635307312, + 0.030658721923828125, + 0.09634226873393886 + ], + [ + -0.942573070526123, + 0.1416839212179184, + 0.3024596571922302, + -0.6747587752243704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.2729949951171875, + -0.07534123957157135, + 0.9590606689453125, + -0.06461030238669765 + ], + [ + 0.16417479515075684, + 0.9859527349472046, + 0.03072172775864601, + 0.09377124124814656 + ], + [ + -0.9479031562805176, + 0.1490667164325714, + 0.2815293073654175, + -0.6730856076991263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.24074101448059082, + -0.08333778381347656, + 0.9670050144195557, + -0.07979175822793945 + ], + [ + 0.1701418161392212, + 0.9845032095909119, + 0.04248809814453125, + 0.09417979323174341 + ], + [ + -0.9555603265762329, + 0.15429934859275818, + 0.25118952989578247, + -0.6806789256817053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.21346962451934814, + -0.0909111350774765, + 0.9727106094360352, + -0.08745983852581544 + ], + [ + 0.16856463253498077, + 0.9841556549072266, + 0.054987844079732895, + 0.08759128640998493 + ], + [ + -0.9622976779937744, + 0.15222635865211487, + 0.22541171312332153, + -0.6781753260980953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.2003002166748047, + -0.0945914164185524, + 0.9751575589179993, + -0.0982281543499182 + ], + [ + 0.16045314073562622, + 0.9850567579269409, + 0.06259410083293915, + 0.07986500723795456 + ], + [ + -0.9665064215660095, + 0.14392946660518646, + 0.21248459815979004, + -0.6736752608590875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.18981432914733887, + -0.09458780288696289, + 0.9772530198097229, + -0.1037666657246834 + ], + [ + 0.15506593883037567, + 0.9857442378997803, + 0.06529080867767334, + 0.07620381518336367 + ], + [ + -0.9694972634315491, + 0.13914553821086884, + 0.20177572965621948, + -0.6759712174288498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.174064040184021, + -0.09636308252811432, + 0.9800081849098206, + -0.1272799125633949 + ], + [ + 0.15055008232593536, + 0.98610520362854, + 0.0702226459980011, + 0.07221328614910771 + ], + [ + -0.973158061504364, + 0.13531705737113953, + 0.18615293502807617, + -0.6857085579190373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.14512252807617188, + -0.10557346791028976, + 0.9837651252746582, + -0.13509299126415214 + ], + [ + 0.14086315035820007, + 0.9863671660423279, + 0.08507292717695236, + 0.07036171336311939 + ], + [ + -0.9793350696563721, + 0.12623023986816406, + 0.15801554918289185, + -0.6949273489723521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.08798736333847046, + -0.11677221208810806, + 0.9892536401748657, + -0.16512470957168862 + ], + [ + 0.13062578439712524, + 0.9858818650245667, + 0.1047559306025505, + 0.07371375451156915 + ], + [ + -0.9875198602676392, + 0.1200047954916954, + 0.10199862718582153, + -0.7164238904379616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.04201185703277588, + -0.1263715624809265, + 0.9910929203033447, + -0.15193419155995708 + ], + [ + 0.11903427541255951, + 0.9855365753173828, + 0.12061728537082672, + 0.06103739364088074 + ], + [ + -0.992000937461853, + 0.11290666460990906, + 0.05644679069519043, + -0.6931547955786886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.032774507999420166, + -0.13014060258865356, + 0.9909536838531494, + -0.1618669008913119 + ], + [ + 0.09972281754016876, + 0.9869645237922668, + 0.12631849944591522, + 0.05182485656797393 + ], + [ + -0.9944753646850586, + 0.09468065947294235, + 0.045325279235839844, + -0.6836702275990455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.03620278835296631, + -0.12027733027935028, + 0.99208003282547, + -0.16903342657591686 + ], + [ + 0.08373335003852844, + 0.9896050095558167, + 0.11692169308662415, + 0.05677071565931493 + ], + [ + -0.9958303570747375, + 0.07883729040622711, + 0.04589766263961792, + -0.679017084972425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.028236567974090576, + -0.11828841269016266, + 0.9925777316093445, + -0.1814409525926448 + ], + [ + 0.08547951281070709, + 0.9896221160888672, + 0.11550448834896088, + 0.07146655276787181 + ], + [ + -0.9959397912025452, + 0.08158360421657562, + 0.03805476427078247, + -0.6863758843792371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.00361555814743042, + -0.1291426569223404, + 0.9916194677352905, + -0.1914142657779465 + ], + [ + 0.10080607235431671, + 0.9866216778755188, + 0.12812422215938568, + 0.07069759846718843 + ], + [ + -0.9948995113372803, + 0.09949802607297897, + 0.016585588455200195, + -0.6927574952710266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.02602064609527588, + -0.1405160278081894, + 0.9897366166114807, + -0.21146290600299836 + ], + [ + 0.11959032714366913, + 0.9825238585472107, + 0.14263609051704407, + 0.06389562988823111 + ], + [ + -0.9924824833869934, + 0.12207434326410294, + -0.008761405944824219, + -0.69179634925994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.05311179161071777, + -0.1514054387807846, + 0.9870438575744629, + -0.20169957968568014 + ], + [ + 0.1292894333600998, + 0.9790766835212708, + 0.15714025497436523, + 0.062372558397695045 + ], + [ + -0.9901835918426514, + 0.13596031069755554, + -0.0324254035949707, + -0.6887664360694649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.07696318626403809, + -0.16109086573123932, + 0.9839341640472412, + -0.21653891718092044 + ], + [ + 0.13488654792308807, + 0.9761061072349548, + 0.1703600436449051, + 0.05434641788813693 + ], + [ + -0.9878675937652588, + 0.1458309143781662, + -0.05339515209197998, + -0.6838330591513105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.09858989715576172, + -0.16151776909828186, + 0.9819328188896179, + -0.20140106439097855 + ], + [ + 0.14072272181510925, + 0.974561333656311, + 0.1744343340396881, + 0.04682719472272337 + ], + [ + -0.9851279854774475, + 0.15537771582603455, + -0.07335269451141357, + -0.6741943684244944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.12148237228393555, + -0.1591596007347107, + 0.9797502160072327, + -0.21306678283313088 + ], + [ + 0.14621064066886902, + 0.9734241366386414, + 0.1762610375881195, + 0.04598472002616598 + ], + [ + -0.9817661643028259, + 0.16466248035430908, + -0.09498298168182373, + -0.6718888617744131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.14975881576538086, + -0.15647456049919128, + 0.9762623310089111, + -0.23104810111286225 + ], + [ + 0.15256378054618835, + 0.9719148278236389, + 0.1791810542345047, + 0.04718935852947313 + ], + [ + -0.9768811464309692, + 0.17577619850635529, + -0.12168049812316895, + -0.6714145877514004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.19077074527740479, + -0.15320782363414764, + 0.9696051478385925, + -0.23778417908455715 + ], + [ + 0.16203813254833221, + 0.969280481338501, + 0.18503768742084503, + 0.047814818403937594 + ], + [ + -0.9681685566902161, + 0.19241274893283844, + -0.16008484363555908, + -0.6686085629069115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.23074936866760254, + -0.1485915184020996, + 0.9616004228591919, + -0.24042849323966287 + ], + [ + 0.17207223176956177, + 0.9664625525474548, + 0.19063395261764526, + 0.042819127908422926 + ], + [ + -0.9576773643493652, + 0.20945337414741516, + -0.1974421739578247, + -0.6589077912332598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.2647101879119873, + -0.14137554168701172, + 0.9539087414741516, + -0.23984005372386333 + ], + [ + 0.17843011021614075, + 0.9649338126182556, + 0.19252395629882812, + 0.03954652594633339 + ], + [ + -0.947676956653595, + 0.22116902470588684, + -0.2302020788192749, + -0.6535309724078691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.29851770401000977, + -0.13222485780715942, + 0.945200502872467, + -0.24435693247259155 + ], + [ + 0.1830517053604126, + 0.9640381336212158, + 0.19267229735851288, + 0.0351204141851299 + ], + [ + -0.9366853833198547, + 0.2305365949869156, + -0.2635784149169922, + -0.640997012230483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.3303811550140381, + -0.12270499765872955, + 0.9358375072479248, + -0.24722578963957542 + ], + [ + 0.18972812592983246, + 0.9626407027244568, + 0.19319958984851837, + 0.03365174762227318 + ], + [ + -0.9245818853378296, + 0.24138419330120087, + -0.2947578430175781, + -0.6351880288813725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.36249732971191406, + -0.11130928993225098, + 0.9253140687942505, + -0.24542466618797995 + ], + [ + 0.19427362084388733, + 0.9620075821876526, + 0.19183114171028137, + 0.02988010617819699 + ], + [ + -0.9115117788314819, + 0.24930235743522644, + -0.3271007537841797, + -0.6284246696667237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.39233720302581787, + -0.09568962454795837, + 0.91483074426651, + -0.24673259558756488 + ], + [ + 0.19805383682250977, + 0.9624572396278381, + 0.18560925126075745, + 0.029669344597611537 + ], + [ + -0.8982463479042053, + 0.25400710105895996, + -0.35865604877471924, + -0.6221375660462813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.4207165241241455, + -0.07995138317346573, + 0.903662383556366, + -0.2533634005314555 + ], + [ + 0.201825350522995, + 0.9628965854644775, + 0.17915557324886322, + 0.025046055671597303 + ], + [ + -0.8844571709632874, + 0.2577556371688843, + -0.3889702558517456, + -0.6138591942708355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.4504382610321045, + -0.062430717051029205, + 0.8906222581863403, + -0.25536629631499613 + ], + [ + 0.2041180431842804, + 0.9639304876327515, + 0.17080354690551758, + 0.025140932584104464 + ], + [ + -0.8691613674163818, + 0.2587285041809082, + -0.42144787311553955, + -0.6095677816178188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + -0.48017680644989014, + -0.047514259815216064, + 0.8758839964866638, + -0.2552110312891401 + ], + [ + 0.20309218764305115, + 0.9653772711753845, + 0.16370812058448792, + 0.02618792638305789 + ], + [ + -0.8533369898796082, + 0.25649401545524597, + -0.453902006149292, + -0.6013017398020453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + -0.5068622827529907, + -0.039294853806495667, + 0.8611311912536621, + -0.25557035175729387 + ], + [ + 0.19880935549736023, + 0.966701328754425, + 0.16113148629665375, + 0.027028511673950956 + ], + [ + -0.8387882709503174, + 0.2528723478317261, + -0.48217225074768066, + -0.5945670519978546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + -0.531747579574585, + -0.03630857914686203, + 0.8461242318153381, + -0.25866275185272714 + ], + [ + 0.19487908482551575, + 0.967024564743042, + 0.1639685481786728, + 0.02675362208411712 + ], + [ + -0.8241763710975647, + 0.2520817816257477, + -0.5071371793746948, + -0.58653612380678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + -0.5588455200195312, + -0.027978211641311646, + 0.8287999033927917, + -0.2631934163984188 + ], + [ + 0.19639572501182556, + 0.9665329456329346, + 0.16505396366119385, + 0.025961243330447137 + ], + [ + -0.8056803345680237, + 0.2550123631954193, + -0.5346478223800659, + -0.5679625105266729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + -0.5858345031738281, + -0.0259857177734375, + 0.8100141286849976, + -0.26305890969993656 + ], + [ + 0.19997254014015198, + 0.9639462828636169, + 0.17555204033851624, + 0.021388568291979382 + ], + [ + -0.7853720188140869, + 0.2648249864578247, + -0.5595165491104126, + -0.5635427473005185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + -0.6117655038833618, + -0.024564452469348907, + 0.7906578183174133, + -0.265934741755655 + ], + [ + 0.20032429695129395, + 0.9621254801750183, + 0.18489107489585876, + 0.020016170693330518 + ], + [ + -0.7652538418769836, + 0.271497905254364, + -0.5836743116378784, + -0.5608340089971369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + -0.6359320878982544, + -0.023552797734737396, + 0.771385669708252, + -0.26042862900894537 + ], + [ + 0.20006409287452698, + 0.9603328704833984, + 0.19425521790981293, + 0.023200122519465516 + ], + [ + -0.7453622817993164, + 0.2778596580028534, + -0.605994462966919, + -0.5541194027366717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + -0.6590254306793213, + -0.02090117335319519, + 0.7518303394317627, + -0.2575774312019348 + ], + [ + 0.2006569653749466, + 0.9584969878196716, + 0.20253470540046692, + 0.020463292300701125 + ], + [ + -0.7248603105545044, + 0.28433549404144287, + -0.6274799108505249, + -0.5449668840928511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + -0.6827473640441895, + -0.022928133606910706, + 0.7302947640419006, + -0.25810289815191395 + ], + [ + 0.19499467313289642, + 0.9575383067131042, + 0.21236172318458557, + 0.017485282059050783 + ], + [ + -0.7041543126106262, + 0.2873929738998413, + -0.6492859125137329, + -0.5399556507749006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + -0.7024502754211426, + -0.027567453682422638, + 0.7111990451812744, + -0.25389223053189347 + ], + [ + 0.1859111785888672, + 0.9574509263038635, + 0.2207368165254593, + 0.01457321218961527 + ], + [ + -0.687023401260376, + 0.28727641701698303, + -0.6674365997314453, + -0.5361433607980239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + -0.7150022983551025, + -0.03484443575143814, + 0.6982535123825073, + -0.24702398595361671 + ], + [ + 0.1731269359588623, + 0.9588246941566467, + 0.225127175450325, + 0.010991673873475757 + ], + [ + -0.6773471832275391, + 0.2818528711795807, + -0.6795293092727661, + -0.5371330972299103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + -0.7232011556625366, + -0.0396566204726696, + 0.6894981265068054, + -0.24138755210913904 + ], + [ + 0.15559782087802887, + 0.963327169418335, + 0.21860946714878082, + -0.0018458784981207482 + ], + [ + -0.672881543636322, + 0.2653830051422119, + -0.6905088424682617, + -0.5390637322890857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + -0.7331891059875488, + -0.030071187764406204, + 0.6793597340583801, + -0.23838761741649514 + ], + [ + 0.14137648046016693, + 0.9704529643058777, + 0.1955346316099167, + -0.0028380790155781294 + ], + [ + -0.6651665568351746, + 0.23940931260585785, + -0.7072741985321045, + -0.544674012422069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + -0.7432698011398315, + -0.013797134160995483, + 0.6688494086265564, + -0.2365092903621926 + ], + [ + 0.13120511174201965, + 0.9773642420768738, + 0.16596505045890808, + -0.0053080731802735565 + ], + [ + -0.6559993624687195, + 0.21111327409744263, + -0.724635124206543, + -0.5351972177008952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + -0.7533907890319824, + 0.006291750818490982, + 0.6575430631637573, + -0.23825053074820476 + ], + [ + 0.1287686675786972, + 0.982005774974823, + 0.1381424069404602, + -0.0026677978063417984 + ], + [ + -0.6448419094085693, + 0.1887461543083191, + -0.7406443357467651, + -0.5120223822179905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + -0.7638771533966064, + 0.024237588047981262, + 0.6449064612388611, + -0.24653043077011738 + ], + [ + 0.13508723676204681, + 0.9831624031066895, + 0.12305747717618942, + 0.005217037516191972 + ], + [ + -0.6310651898384094, + 0.1811194270849228, + -0.7542895078659058, + -0.5028647980414146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + -0.7761849164962769, + 0.038007818162441254, + 0.6293591260910034, + -0.24309752161714657 + ], + [ + 0.14436855912208557, + 0.9823760986328125, + 0.1187218725681305, + 0.012223312209460352 + ], + [ + -0.6137549877166748, + 0.18300974369049072, + -0.7679926156997681, + -0.5016539110625086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + -0.7889981269836426, + 0.048216093331575394, + 0.6125009655952454, + -0.2447671169892323 + ], + [ + 0.1508733481168747, + 0.9815956950187683, + 0.11707747727632523, + 0.012121213664693278 + ], + [ + -0.5955832600593567, + 0.1847839653491974, + -0.7817516326904297, + -0.5085720347964074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + -0.8004419803619385, + 0.05756688490509987, + 0.5966397523880005, + -0.24614077728580344 + ], + [ + 0.15481071174144745, + 0.9814610481262207, + 0.11299501359462738, + 0.0022983186624266766 + ], + [ + -0.5790739059448242, + 0.1828121393918991, + -0.7945146560668945, + -0.4991162304173816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + -0.8103868961334229, + 0.06473004072904587, + 0.5823085904121399, + -0.24653477843635338 + ], + [ + 0.15902277827262878, + 0.9808701872825623, + 0.11227414011955261, + 0.007909989554034769 + ], + [ + -0.5639016032218933, + 0.18358579277992249, + -0.8051779270172119, + -0.49909268553591957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + -0.8193463087081909, + 0.06800752878189087, + 0.5692510604858398, + -0.2437453613300954 + ], + [ + 0.16237172484397888, + 0.9798100590705872, + 0.11665187031030655, + 0.008799925200210126 + ], + [ + -0.5498247146606445, + 0.18800854682922363, + -0.813846230506897, + -0.4994961602136123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + -0.8264330625534058, + 0.07012762129306793, + 0.5586506724357605, + -0.24095099758018146 + ], + [ + 0.1660567671060562, + 0.9784364104270935, + 0.12283053249120712, + 0.003339957698317589 + ], + [ + -0.537990391254425, + 0.19427892565727234, + -0.8202574253082275, + -0.49864249554547396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + -0.8313335180282593, + 0.0683828741312027, + 0.5515508055686951, + -0.23647210212532155 + ], + [ + 0.1662677675485611, + 0.9775521159172058, + 0.12940992414951324, + -0.0015636988045755612 + ], + [ + -0.5303202271461487, + 0.19928793609142303, + -0.8240417242050171, + -0.5001337353478779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + -0.833980917930603, + 0.06562963128089905, + 0.5478764772415161, + -0.23310562943624072 + ], + [ + 0.1656775176525116, + 0.97687166929245, + 0.13517671823501587, + -0.0036230993295504194 + ], + [ + -0.5263334512710571, + 0.20350560545921326, + -0.8255656957626343, + -0.5019674207553391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + -0.8353480100631714, + 0.06440025568008423, + 0.5459361672401428, + -0.23404965789850093 + ], + [ + 0.16763897240161896, + 0.975652813911438, + 0.14141687750816345, + -0.008364330392238523 + ], + [ + -0.5235368609428406, + 0.20965248346328735, + -0.8258056640625, + -0.5032711997012461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + -0.8367112874984741, + 0.06474460661411285, + 0.5438037514686584, + -0.23494682974559217 + ], + [ + 0.1710018813610077, + 0.9742251634597778, + 0.14711810648441315, + -0.0073946661323555235 + ], + [ + -0.5202621817588806, + 0.21608681976795197, + -0.8262166976928711, + -0.5103229196357333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + -0.8393120765686035, + 0.06668825447559357, + 0.5395443439483643, + -0.23738306946744603 + ], + [ + 0.17669625580310822, + 0.9720282554626465, + 0.15472394227981567, + -0.009768860325340412 + ], + [ + -0.5141340494155884, + 0.22519710659980774, + -0.8276185989379883, + -0.509852502636673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + -0.841673731803894, + 0.066226527094841, + 0.5359101295471191, + -0.2386588020265595 + ], + [ + 0.18142560124397278, + 0.9694403409957886, + 0.16513678431510925, + -0.010909264122159035 + ], + [ + -0.5085964202880859, + 0.23621907830238342, + -0.827967643737793, + -0.5151184264293387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + -0.8440279960632324, + 0.0629223957657814, + 0.5325949788093567, + -0.238604776924553 + ], + [ + 0.1825973093509674, + 0.9674754738807678, + 0.1750699281692505, + -0.01472405344247818 + ], + [ + -0.5042567849159241, + 0.24501433968544006, + -0.8280658721923828, + -0.5154052370097026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + -0.8452337980270386, + 0.055008839815855026, + 0.5315578579902649, + -0.23598477616906166 + ], + [ + 0.17908881604671478, + 0.9663268327713013, + 0.18476901948451996, + -0.018762579018419462 + ], + [ + -0.5034946799278259, + 0.2513691186904907, + -0.8266236782073975, + -0.5173810747536746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + -0.8458257913589478, + 0.04716134071350098, + 0.5313704609870911, + -0.233063188761719 + ], + [ + 0.1754535287618637, + 0.965261697769165, + 0.1936127245426178, + -0.01967982801277776 + ], + [ + -0.5037805438041687, + 0.25699344277381897, + -0.8247178792953491, + -0.52383548659234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + -0.8467191457748413, + 0.04306572675704956, + 0.53029465675354, + -0.230441758750884 + ], + [ + 0.17419974505901337, + 0.964219331741333, + 0.1998387575149536, + -0.022073935354051513 + ], + [ + -0.5027141571044922, + 0.26158446073532104, + -0.8239250183105469, + -0.5265124429355968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + -0.8491859436035156, + 0.042847923934459686, + 0.5263527631759644, + -0.23426711770498063 + ], + [ + 0.1753564476966858, + 0.9630286693572998, + 0.20451392233371735, + -0.023886531960865695 + ], + [ + -0.49812981486320496, + 0.26596972346305847, + -0.8253040313720703, + -0.5285104389771942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + -0.8526349067687988, + 0.041047073900699615, + 0.5208924412727356, + -0.23043856646650093 + ], + [ + 0.17507100105285645, + 0.9617278575897217, + 0.2107834815979004, + -0.025833425147474304 + ], + [ + -0.4923047423362732, + 0.2709144949913025, + -0.8271889686584473, + -0.5284741882450325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + -0.8530075550079346, + 0.03629478067159653, + 0.520635187625885, + -0.22547239499274363 + ], + [ + 0.1723031997680664, + 0.9612289667129517, + 0.21529150009155273, + -0.02698065426724018 + ], + [ + -0.49263566732406616, + 0.27335235476493835, + -0.8261891603469849, + -0.5294749260195031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + -0.8537263870239258, + 0.0344524085521698, + 0.5195814371109009, + -0.22472447491874378 + ], + [ + 0.17112965881824493, + 0.9609493017196655, + 0.21746516227722168, + -0.02748984647683861 + ], + [ + -0.4917992353439331, + 0.2745714485645294, + -0.8262835741043091, + -0.5319253290980316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + -0.8557354211807251, + 0.034226901829242706, + 0.5162803530693054, + -0.22720181491872496 + ], + [ + 0.17042717337608337, + 0.9607737064361572, + 0.21878859400749207, + -0.028047136519073465 + ], + [ + -0.4885401129722595, + 0.275213360786438, + -0.8280013799667358, + -0.5328399272004435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + -0.8585556745529175, + 0.03384287655353546, + 0.5116024613380432, + -0.22794068950759477 + ], + [ + 0.16920731961727142, + 0.9606180191040039, + 0.220412939786911, + -0.02892923924055968 + ], + [ + -0.4839951694011688, + 0.2758036255836487, + -0.8304704427719116, + -0.532196239301981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + -0.8607993125915527, + 0.03370267152786255, + 0.507827639579773, + -0.22643429597547232 + ], + [ + 0.16877274215221405, + 0.9602475166320801, + 0.22235210239887238, + -0.03045087683299358 + ], + [ + -0.4801463484764099, + 0.27710795402526855, + -0.832268476486206, + -0.5294279776328852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + -0.8618669509887695, + 0.032824449241161346, + 0.5060709118843079, + -0.22787178523284346 + ], + [ + 0.1685652732849121, + 0.9597072601318359, + 0.22482816874980927, + -0.031620140964827265 + ], + [ + -0.4783000648021698, + 0.2790779769420624, + -0.8326730728149414, + -0.5283880593362918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + -0.8643174171447754, + 0.02825392782688141, + 0.5021526217460632, + -0.2245277300477028 + ], + [ + 0.1640886515378952, + 0.9596303701400757, + 0.22843925654888153, + -0.03204920738935471 + ], + [ + -0.475426584482193, + 0.2798415422439575, + -0.8340615034103394, + -0.5288442492485046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/move_left/transforms.json b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..928f188f897bb99e99fffe8bc0cdfd7359822e86 --- /dev/null +++ b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/move_left/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.5388263108206957e-08, + -7.53625063225627e-05, + 0.0002039334358414635 + ], + [ + -1.1164480895331508e-08, + 1.0, + 5.604619218502194e-05, + 0.00011212080426048487 + ], + [ + 7.53625063225627e-05, + -5.604619218502194e-05, + 1.0, + 7.474265294149518e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9997895956039429, + 0.006332067772746086, + 0.019510388374328613, + 0.015567152550028376 + ], + [ + -0.00635170191526413, + 0.9999793767929077, + 0.0009445471223443747, + -0.0010813510172407736 + ], + [ + -0.019504006952047348, + -0.00106827262789011, + 0.999809205532074, + -0.010618545432105537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9991579651832581, + 0.016028089448809624, + 0.037768106907606125, + 0.023589633919360222 + ], + [ + -0.015711510553956032, + 0.9998390078544617, + -0.008664094842970371, + -0.0008961116799830713 + ], + [ + -0.0379008986055851, + 0.008063404820859432, + 0.9992489814758301, + -0.026313269741771634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9981876015663147, + 0.02294239215552807, + 0.05563440918922424, + 0.02611355399789889 + ], + [ + -0.021730517968535423, + 0.9995153546333313, + -0.022290853783488274, + 0.005313360904274154 + ], + [ + -0.05611885339021683, + 0.021041488274931908, + 0.9982023239135742, + -0.046444630327303546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9969133734703064, + 0.022666120901703835, + 0.07516644150018692, + 0.0253095910107055 + ], + [ + -0.020299451425671577, + 0.9992784261703491, + -0.032101716846227646, + 0.011682518865636066 + ], + [ + -0.0758398249745369, + 0.03047679178416729, + 0.9966541528701782, + -0.06914418377905837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9943477511405945, + 0.014307735487818718, + 0.10520380735397339, + 0.024156638474996425 + ], + [ + -0.010447276756167412, + 0.9992548823356628, + -0.03715501353144646, + 0.01919316876802809 + ], + [ + -0.10565702617168427, + 0.035845909267663956, + 0.9937563538551331, + -0.09038535979661075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9914200305938721, + -0.00013615889474749565, + 0.1307145208120346, + 0.02822847948217195 + ], + [ + 0.005150088109076023, + 0.9992637038230896, + -0.03802058845758438, + 0.02534264994954521 + ], + [ + -0.13061310350894928, + 0.038367561995983124, + 0.9906907677650452, + -0.11014360513322609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.98768550157547, + -0.01288155373185873, + 0.15592119097709656, + 0.028930504595445206 + ], + [ + 0.018968917429447174, + 0.9991121888160706, + -0.03761649504303932, + 0.030969547307934643 + ], + [ + -0.15529820322990417, + 0.04011091962456703, + 0.9870529770851135, + -0.1309276684749225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9834993481636047, + -0.019946899265050888, + 0.1798085868358612, + 0.03259584736232915 + ], + [ + 0.027210701256990433, + 0.9989063739776611, + -0.038021668791770935, + 0.03835460169256226 + ], + [ + -0.17885354161262512, + 0.042287006974220276, + 0.9829665422439575, + -0.14879981552766375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9787391424179077, + -0.024291785433888435, + 0.20366553962230682, + 0.031247078073172528 + ], + [ + 0.03255695104598999, + 0.9987725019454956, + -0.03732980415225029, + 0.046731736141541774 + ], + [ + -0.20250873267650604, + 0.0431668721139431, + 0.9783285856246948, + -0.17099416823672856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9723614454269409, + -0.030436303466558456, + 0.23148824274539948, + 0.03141788242400185 + ], + [ + 0.03897194191813469, + 0.9987152814865112, + -0.03238874301314354, + 0.056643846360119904 + ], + [ + -0.23020504415035248, + 0.04051511362195015, + 0.9722983837127686, + -0.19133526049862223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9650312066078186, + -0.03968235105276108, + 0.25911393761634827, + 0.031239162385463714 + ], + [ + 0.047069430351257324, + 0.9986411929130554, + -0.022364841774106026, + 0.06520475230433724 + ], + [ + -0.25787433981895447, + 0.033779118210077286, + 0.9655877947807312, + -0.213780892979015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9561276435852051, + -0.050087202340364456, + 0.28863680362701416, + 0.03483878020658966 + ], + [ + 0.05486312136054039, + 0.9984579086303711, + -0.008474953472614288, + 0.07031202709132975 + ], + [ + -0.287767231464386, + 0.023938652127981186, + 0.9574011564254761, + -0.2329492820934816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9469993710517883, + -0.05421540141105652, + 0.31662747263908386, + 0.03772232098397144 + ], + [ + 0.055914729833602905, + 0.9984285831451416, + 0.0037236008793115616, + 0.07479304429913355 + ], + [ + -0.31633177399635315, + 0.014177888631820679, + 0.9485426545143127, + -0.25378297899872804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9402691125869751, + -0.04771360754966736, + 0.33707189559936523, + 0.04098100691787467 + ], + [ + 0.046102285385131836, + 0.9988548755645752, + 0.012787831015884876, + 0.07705126902288642 + ], + [ + -0.3372960686683655, + 0.0035157790407538414, + 0.9413920640945435, + -0.2729329020523828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9364526867866516, + -0.036105066537857056, + 0.3489309847354889, + 0.04484587501395833 + ], + [ + 0.03163418173789978, + 0.9993281960487366, + 0.0185047946870327, + 0.08000274205749686 + ], + [ + -0.34936466813087463, + -0.006290718913078308, + 0.9369657039642334, + -0.29123863171447406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9309839010238647, + -0.027231575921177864, + 0.3640431761741638, + 0.04832815013148568 + ], + [ + 0.020803725346922874, + 0.9995509386062622, + 0.021567264571785927, + 0.0795750913541179 + ], + [ + -0.3644670248031616, + -0.012505320832133293, + 0.9311323165893555, + -0.311843300309063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9225302934646606, + -0.019173575565218925, + 0.38544803857803345, + 0.05059715575915723 + ], + [ + 0.011256176978349686, + 0.9996769428253174, + 0.022787034511566162, + 0.07809353758665648 + ], + [ + -0.38576042652130127, + -0.01668306067585945, + 0.9224481582641602, + -0.3320930463716018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9143236875534058, + -0.009639358147978783, + 0.4048694670200348, + 0.055938074817834804 + ], + [ + 0.0015720906667411327, + 0.9997936487197876, + 0.020253365859389305, + 0.07813103587004887 + ], + [ + -0.40498116612434387, + -0.017881641164422035, + 0.9141501784324646, + -0.3490756714639585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.909500777721405, + 0.003831335576251149, + 0.41568461060523987, + 0.06101205672853249 + ], + [ + -0.009443739429116249, + 0.9998899102210999, + 0.011446596123278141, + 0.07703960063628668 + ], + [ + -0.4155949652194977, + -0.014336305670440197, + 0.909436821937561, + -0.36699956933821526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9046746492385864, + 0.020794734358787537, + 0.42559534311294556, + 0.05953110791434926 + ], + [ + -0.026209808886051178, + 0.9996328353881836, + 0.00687096593901515, + 0.07971978784838984 + ], + [ + -0.42529618740081787, + -0.017370760440826416, + 0.9048874974250793, + -0.3899586134213061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8986355066299438, + 0.02808682806789875, + 0.43779608607292175, + 0.060694886165216934 + ], + [ + -0.034393128007650375, + 0.9993873834609985, + 0.006480792537331581, + 0.08152197527676082 + ], + [ + -0.43734583258628845, + -0.02088104747235775, + 0.8990509510040283, + -0.40499355820092287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8907381296157837, + 0.020314514636993408, + 0.45406264066696167, + 0.06250613819469104 + ], + [ + -0.026246879249811172, + 0.9996325969696045, + 0.006765685509890318, + 0.0831038046289574 + ], + [ + -0.4537583589553833, + -0.017944179475307465, + 0.8909440636634827, + -0.4211712728847157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8805747032165527, + 0.013543978333473206, + 0.4737137258052826, + 0.06298879719962758 + ], + [ + -0.021586846560239792, + 0.9997003078460693, + 0.01154476311057806, + 0.07962005106686068 + ], + [ + -0.47341540455818176, + -0.02039201185107231, + 0.8806031942367554, + -0.4380891085409921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.869459867477417, + 0.013174517080187798, + 0.4938279390335083, + 0.06206435105524773 + ], + [ + -0.024681346490979195, + 0.9995543956756592, + 0.016788829118013382, + 0.07628793221367292 + ], + [ + -0.4933866858482361, + -0.026785552501678467, + 0.8693975806236267, + -0.45062196895110707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.8593891263008118, + 0.010858594439923763, + 0.5112068057060242, + 0.059838425768308404 + ], + [ + -0.02451971545815468, + 0.999499499797821, + 0.01998959667980671, + 0.07419113416132356 + ], + [ + -0.5107339024543762, + -0.02971348725259304, + 0.8592252135276794, + -0.45986705353437374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8453490734100342, + -0.0008065514266490936, + 0.5342137217521667, + 0.053413872802553095 + ], + [ + -0.01324478443711996, + 0.9996598362922668, + 0.02246805652976036, + 0.07330105593351047 + ], + [ + -0.5340501666069031, + -0.026068896055221558, + 0.8450508117675781, + -0.47243903638902773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.8227485418319702, + -0.02339150197803974, + 0.5679240822792053, + 0.05018140098526458 + ], + [ + 0.005965070798993111, + 0.9994531869888306, + 0.032523639500141144, + 0.07388956073425279 + ], + [ + -0.5683743357658386, + -0.023371070623397827, + 0.82243812084198, + -0.4852723507349156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7977023124694824, + -0.053104571998119354, + 0.6007087230682373, + 0.047798488159810214 + ], + [ + 0.027630463242530823, + 0.998287558555603, + 0.051560353487730026, + 0.07391366002973446 + ], + [ + -0.6024181842803955, + -0.024531956762075424, + 0.7978036403656006, + -0.4931282593199044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.7717777490615845, + -0.07723444700241089, + 0.6311845779418945, + 0.04358930286050828 + ], + [ + 0.0402807779610157, + 0.9965409636497498, + 0.07268789410591125, + 0.06900089424688462 + ], + [ + -0.6346153020858765, + -0.030674293637275696, + 0.772219181060791, + -0.5018029271078503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.7495331764221191, + -0.083514504134655, + 0.6566776037216187, + 0.04240882587580641 + ], + [ + 0.035858720541000366, + 0.9956756234169006, + 0.08569816499948502, + 0.06817371022602743 + ], + [ + -0.6609948873519897, + -0.04068600386381149, + 0.7492866516113281, + -0.5061147153870134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.7348899841308594, + -0.08174833655357361, + 0.6732413172721863, + 0.03426610558978782 + ], + [ + 0.02548922970890999, + 0.9953364729881287, + 0.09303547441959381, + 0.07037862998949102 + ], + [ + -0.6777071356773376, + -0.051210448145866394, + 0.7335464954376221, + -0.5119961190322214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.7219288349151611, + -0.07936044037342072, + 0.6874014139175415, + 0.03622784812834637 + ], + [ + 0.021741043776273727, + 0.9955124855041504, + 0.09209877252578735, + 0.07262410868790524 + ], + [ + -0.691625714302063, + -0.051543936133384705, + 0.7204145789146423, + -0.5152063459404244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.7012955546379089, + -0.08360081911087036, + 0.7079516053199768, + 0.02975500524044037 + ], + [ + 0.024037901312112808, + 0.9953081607818604, + 0.0937223806977272, + 0.07797302796759388 + ], + [ + -0.712465226650238, + -0.04870941489934921, + 0.7000147700309753, + -0.5279110729694366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.6734965443611145, + -0.09712476283311844, + 0.7327818274497986, + 0.026040064254082923 + ], + [ + 0.033964015543460846, + 0.9943493604660034, + 0.10057740658521652, + 0.08826436747696774 + ], + [ + -0.738409698009491, + -0.042850323021411896, + 0.6729896068572998, + -0.5383047187623898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.6442416310310364, + -0.11318138241767883, + 0.7564011216163635, + 0.02705850273617043 + ], + [ + 0.04682755470275879, + 0.9929714798927307, + 0.10869580507278442, + 0.0922607327542029 + ], + [ + -0.763387143611908, + -0.034605950117111206, + 0.6450135707855225, + -0.5419287565818502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.6227811574935913, + -0.11833544075489044, + 0.7733953595161438, + 0.03197698447822539 + ], + [ + 0.04707494005560875, + 0.9923725128173828, + 0.113933265209198, + 0.10025770793522686 + ], + [ + -0.7809786200523376, + -0.03454795479774475, + 0.6236015558242798, + -0.5481069791415506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.6085637807846069, + -0.11737674474716187, + 0.7847757339477539, + 0.03277945250026451 + ], + [ + 0.04088759794831276, + 0.9923237562179565, + 0.11671235412359238, + 0.1073195412847375 + ], + [ + -0.7924509048461914, + -0.03893931955099106, + 0.6086915731430054, + -0.5533853178181924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.593249499797821, + -0.11648523062467575, + 0.796546459197998, + 0.033399438316171814 + ], + [ + 0.05455843359231949, + 0.9930185079574585, + 0.1045830100774765, + 0.11293258984719426 + ], + [ + -0.8031677007675171, + -0.01858549565076828, + 0.5954629778862, + -0.5575401042118545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5695338249206543, + -0.12416624277830124, + 0.8125355839729309, + 0.025365873407726443 + ], + [ + 0.08709215372800827, + 0.9920758605003357, + 0.09055653214454651, + 0.1205397478004625 + ], + [ + -0.8173410296440125, + 0.019190452992916107, + 0.5758346319198608, + -0.5799172632457796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5393905639648438, + -0.13085323572158813, + 0.8318265080451965, + 0.028916204024937525 + ], + [ + 0.11168155819177628, + 0.9902420043945312, + 0.0833543986082077, + 0.1225802641023289 + ], + [ + -0.8346167206764221, + 0.04793909192085266, + 0.5487411022186279, + -0.5839062303550973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5236328840255737, + -0.12691405415534973, + 0.8424378633499146, + 0.0321784907628682 + ], + [ + 0.11151320487260818, + 0.9905446171760559, + 0.07991337031126022, + 0.12183922572938864 + ], + [ + -0.8446143865585327, + 0.05209765583276749, + 0.5328343510627747, + -0.5808334400831175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.516356348991394, + -0.12006444483995438, + 0.8479154706001282, + 0.030398879218692623 + ], + [ + 0.10826773196458817, + 0.9913308024406433, + 0.07444003224372864, + 0.12611526695411068 + ], + [ + -0.8495023846626282, + 0.053364306688308716, + 0.5248790383338928, + -0.5830706707702196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.502679705619812, + -0.12341752648353577, + 0.8556174635887146, + 0.024974808811156216 + ], + [ + 0.11691167950630188, + 0.9903689622879028, + 0.0741683766245842, + 0.1346901500028027 + ], + [ + -0.8565307259559631, + 0.06274872273206711, + 0.5122673511505127, + -0.5865487119875663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.4808233976364136, + -0.13227927684783936, + 0.8667820692062378, + 0.020529239286075935 + ], + [ + 0.12900561094284058, + 0.9884690642356873, + 0.079287588596344, + 0.13918611000884662 + ], + [ + -0.8672753572463989, + 0.07369640469551086, + 0.4923437833786011, + -0.589851566878232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.4572129249572754, + -0.1351775974035263, + 0.879024088382721, + 0.018567103246026787 + ], + [ + 0.13839443027973175, + 0.9871551990509033, + 0.07982207834720612, + 0.13218631398333006 + ], + [ + -0.8785234093666077, + 0.08515635132789612, + 0.4700479507446289, + -0.5899400585446476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.432873010635376, + -0.12874649465084076, + 0.8922137022018433, + 0.013091004387406277 + ], + [ + 0.14350111782550812, + 0.9869690537452698, + 0.07279764115810394, + 0.12849270309791092 + ], + [ + -0.8899598121643066, + 0.0965215265750885, + 0.4457075595855713, + -0.5891468752514232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.40987420082092285, + -0.11623679101467133, + 0.9047056436538696, + 0.0021701107340410704 + ], + [ + 0.1478695124387741, + 0.9871947169303894, + 0.05984316021203995, + 0.13032119524134092 + ], + [ + -0.9000766277313232, + 0.10925018042325974, + 0.4218135476112366, + -0.5939026341950597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.38687580823898315, + -0.10168962180614471, + 0.9165077805519104, + -0.006307201050529796 + ], + [ + 0.15335895121097565, + 0.9871548414230347, + 0.044792335480451584, + 0.13370745524394612 + ], + [ + -0.9092900156974792, + 0.12322556972503662, + 0.39750128984451294, + -0.5930417116023292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.36270028352737427, + -0.09303449094295502, + 0.9272502660751343, + -0.03140735301104459 + ], + [ + 0.15731878578662872, + 0.9868364930152893, + 0.03747669607400894, + 0.12810278659270816 + ], + [ + -0.918531060218811, + 0.132281094789505, + 0.3725619316101074, + -0.615921301979664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.3357228636741638, + -0.08905591070652008, + 0.9377416372299194, + -0.043661905960603195 + ], + [ + 0.16154251992702484, + 0.9862152934074402, + 0.03582518547773361, + 0.129927299608869 + ], + [ + -0.928005576133728, + 0.1394577920436859, + 0.34548133611679077, + -0.619254555091385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.3133211135864258, + -0.08103474229574203, + 0.9461835622787476, + -0.047899337642449 + ], + [ + 0.15887489914894104, + 0.9867832064628601, + 0.03190168738365173, + 0.13683099362475812 + ], + [ + -0.9362632036209106, + 0.14032934606075287, + 0.322054386138916, + -0.6084569042379205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.29416346549987793, + -0.07674415409564972, + 0.9526690244674683, + -0.07361877742877676 + ], + [ + 0.15818989276885986, + 0.986932635307312, + 0.030658721923828125, + 0.13195765932236822 + ], + [ + -0.942573070526123, + 0.1416839212179184, + 0.3024596571922302, + -0.6281626069841306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.2729949951171875, + -0.07534123957157135, + 0.9590606689453125, + -0.07986800522843668 + ], + [ + 0.16417479515075684, + 0.9859527349472046, + 0.03072172775864601, + 0.12976647332187527 + ], + [ + -0.9479031562805176, + 0.1490667164325714, + 0.2815293073654175, + -0.6250365141009496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.24074101448059082, + -0.08333778381347656, + 0.9670050144195557, + -0.0942547789782532 + ], + [ + 0.1701418161392212, + 0.9845032095909119, + 0.04248809814453125, + 0.13052319426181888 + ], + [ + -0.9555603265762329, + 0.15429934859275818, + 0.25118952989578247, + -0.6311479980295355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.21346962451934814, + -0.0909111350774765, + 0.9727106094360352, + -0.10129532759839838 + ], + [ + 0.16856463253498077, + 0.9841556549072266, + 0.054987844079732895, + 0.12466360560872337 + ], + [ + -0.9622976779937744, + 0.15222635865211487, + 0.22541171312332153, + -0.6275151426141912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.2003002166748047, + -0.0945914164185524, + 0.9751575589179993, + -0.11187603158399093 + ], + [ + 0.16045314073562622, + 0.9850567579269409, + 0.06259410083293915, + 0.11802848043027989 + ], + [ + -0.9665064215660095, + 0.14392946660518646, + 0.21248459815979004, + -0.6222831866957924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.18981432914733887, + -0.09458780288696289, + 0.9772530198097229, + -0.11716412153125795 + ], + [ + 0.15506593883037567, + 0.9857442378997803, + 0.06529080867767334, + 0.11533494166845132 + ], + [ + -0.9694972634315491, + 0.13914553821086884, + 0.20177572965621948, + -0.6237458953680086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.174064040184021, + -0.09636308252811432, + 0.9800081849098206, + -0.14024253497438982 + ], + [ + 0.15055008232593536, + 0.98610520362854, + 0.0702226459980011, + 0.11226468865782761 + ], + [ + -0.973158061504364, + 0.13531705737113953, + 0.18615293502807617, + -0.6325750398241784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.14512252807617188, + -0.10557346791028976, + 0.9837651252746582, + -0.14731701090316143 + ], + [ + 0.14086315035820007, + 0.9863671660423279, + 0.08507292717695236, + 0.1115887686733372 + ], + [ + -0.9793350696563721, + 0.12623023986816406, + 0.15801554918289185, + -0.6410196190038003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.08798736333847046, + -0.11677221208810806, + 0.9892536401748657, + -0.17527807694821318 + ], + [ + 0.13062578439712524, + 0.9858818650245667, + 0.1047559306025505, + 0.11612314693937617 + ], + [ + -0.9875198602676392, + 0.1200047954916954, + 0.10199862718582153, + -0.6615053124664243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.04201185703277588, + -0.1263715624809265, + 0.9910929203033447, + -0.1604229424610611 + ], + [ + 0.11903427541255951, + 0.9855365753173828, + 0.12061728537082672, + 0.10472056743773547 + ], + [ + -0.992000937461853, + 0.11290666460990906, + 0.05644679069519043, + -0.6374528420858147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.032774507999420166, + -0.13014060258865356, + 0.9909536838531494, + -0.1702146173016099 + ], + [ + 0.09972281754016876, + 0.9869645237922668, + 0.12631849944591522, + 0.09728682829328805 + ], + [ + -0.9944753646850586, + 0.09468065947294235, + 0.045325279235839844, + -0.6278622329727677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.03620278835296631, + -0.12027733027935028, + 0.99208003282547, + -0.17718073853776475 + ], + [ + 0.08373335003852844, + 0.9896050095558167, + 0.11692169308662415, + 0.10393593429533904 + ], + [ + -0.9958303570747375, + 0.07883729040622711, + 0.04589766263961792, + -0.6230633148969698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.028236567974090576, + -0.11828841269016266, + 0.9925777316093445, + -0.18919103421455571 + ], + [ + 0.08547951281070709, + 0.9896221160888672, + 0.11550448834896088, + 0.1192889714536588 + ], + [ + -0.9959397912025452, + 0.08158360421657562, + 0.03805476427078247, + -0.6293829113983911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.00361555814743042, + -0.1291426569223404, + 0.9916194677352905, + -0.19854590543045486 + ], + [ + 0.10080607235431671, + 0.9866216778755188, + 0.12812422215938568, + 0.11828273430097201 + ], + [ + -0.9948995113372803, + 0.09949802607297897, + 0.016585588455200195, + -0.6339675449142771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.02602064609527588, + -0.1405160278081894, + 0.9897366166114807, + -0.21770810864188456 + ], + [ + 0.11959032714366913, + 0.9825238585472107, + 0.14263609051704407, + 0.11096473160115156 + ], + [ + -0.9924824833869934, + 0.12207434326410294, + -0.008761405944824219, + -0.6310023405335167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.05311179161071777, + -0.1514054387807846, + 0.9870438575744629, + -0.2071422857686508 + ], + [ + 0.1292894333600998, + 0.9790766835212708, + 0.15714025497436523, + 0.10942689373719791 + ], + [ + -0.9901835918426514, + 0.13596031069755554, + -0.0324254035949707, + -0.6264097075817013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.07696318626403809, + -0.16109086573123932, + 0.9839341640472412, + -0.2212667537129615 + ], + [ + 0.13488654792308807, + 0.9761061072349548, + 0.1703600436449051, + 0.10162156667591127 + ], + [ + -0.9878675937652588, + 0.1458309143781662, + -0.05339515209197998, + -0.6201210768754817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.09858989715576172, + -0.16151776909828186, + 0.9819328188896179, + -0.20498951328687431 + ], + [ + 0.14072272181510925, + 0.974561333656311, + 0.1744343340396881, + 0.09437666928226297 + ], + [ + -0.9851279854774475, + 0.15537771582603455, + -0.07335269451141357, + -0.6091572664493372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.12148237228393555, + -0.1591596007347107, + 0.9797502160072327, + -0.21524645720631622 + ], + [ + 0.14621064066886902, + 0.9734241366386414, + 0.1762610375881195, + 0.09384004623929332 + ], + [ + -0.9817661643028259, + 0.16466248035430908, + -0.09498298168182373, + -0.6055665434884631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.14975881576538086, + -0.15647456049919128, + 0.9762623310089111, + -0.23144216547327592 + ], + [ + 0.15256378054618835, + 0.9719148278236389, + 0.1791810542345047, + 0.09526698196476156 + ], + [ + -0.9768811464309692, + 0.17577619850635529, + -0.12168049812316895, + -0.6037793220567309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.19077074527740479, + -0.15320782363414764, + 0.9696051478385925, + -0.23554903002809888 + ], + [ + 0.16203813254833221, + 0.969280481338501, + 0.18503768742084503, + 0.09584907386913773 + ], + [ + -0.9681685566902161, + 0.19241274893283844, + -0.16008484363555908, + -0.5995491794318207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.23074936866760254, + -0.1485915184020996, + 0.9616004228591919, + -0.2354718626038102 + ], + [ + 0.17207223176956177, + 0.9664625525474548, + 0.19063395261764526, + 0.0907451555256016 + ], + [ + -0.9576773643493652, + 0.20945337414741516, + -0.1974421739578247, + -0.5884941185801482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.2647101879119873, + -0.14137554168701172, + 0.9539087414741516, + -0.2322972737067987 + ], + [ + 0.17843011021614075, + 0.9649338126182556, + 0.19252395629882812, + 0.08764675237423132 + ], + [ + -0.947676956653595, + 0.22116902470588684, + -0.2302020788192749, + -0.5820478297462148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.29851770401000977, + -0.13222485780715942, + 0.945200502872467, + -0.23404952465010084 + ], + [ + 0.1830517053604126, + 0.9640381336212158, + 0.19267229735851288, + 0.08352866387071688 + ], + [ + -0.9366853833198547, + 0.2305365949869156, + -0.2635784149169922, + -0.5686485425007245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.3303811550140381, + -0.12270499765872955, + 0.9358375072479248, + -0.2341816673594073 + ], + [ + 0.18972812592983246, + 0.9626407027244568, + 0.19319958984851837, + 0.08219832269367108 + ], + [ + -0.9245818853378296, + 0.24138419330120087, + -0.2947578430175781, + -0.561953795842888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.36249732971191406, + -0.11130928993225098, + 0.9253140687942505, + -0.22943997274745595 + ], + [ + 0.19427362084388733, + 0.9620075821876526, + 0.19183114171028137, + 0.07873590371825478 + ], + [ + -0.9115117788314819, + 0.24930235743522644, + -0.3271007537841797, + -0.5545546791770242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.39233720302581787, + -0.09568962454795837, + 0.91483074426651, + -0.22760985912370288 + ], + [ + 0.19805383682250977, + 0.9624572396278381, + 0.18560925126075745, + 0.07894493585283106 + ], + [ + -0.8982463479042053, + 0.25400710105895996, + -0.35865604877471924, + -0.5478600709891516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.4207165241241455, + -0.07995138317346573, + 0.903662383556366, + -0.2311150979404607 + ], + [ + 0.201825350522995, + 0.9628965854644775, + 0.17915557324886322, + 0.0747358305148842 + ], + [ + -0.8844571709632874, + 0.2577556371688843, + -0.3889702558517456, + -0.5392849696076606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.4504382610321045, + -0.062430717051029205, + 0.8906222581863403, + -0.22971290497740438 + ], + [ + 0.2041180431842804, + 0.9639304876327515, + 0.17080354690551758, + 0.07537646610135874 + ], + [ + -0.8691613674163818, + 0.2587285041809082, + -0.42144787311553955, + -0.5349965504378327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + -0.48017680644989014, + -0.047514259815216064, + 0.8758839964866638, + -0.22624767072929824 + ], + [ + 0.20309218764305115, + 0.9653772711753845, + 0.16370812058448792, + 0.07721692784266038 + ], + [ + -0.8533369898796082, + 0.25649401545524597, + -0.453902006149292, + -0.5270072675440922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + -0.5068622827529907, + -0.039294853806495667, + 0.8611311912536621, + -0.22388396401050664 + ], + [ + 0.19880935549736023, + 0.966701328754425, + 0.16113148629665375, + 0.07906747184509089 + ], + [ + -0.8387882709503174, + 0.2528723478317261, + -0.48217225074768066, + -0.5205867456010551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + -0.531747579574585, + -0.03630857914686203, + 0.8461242318153381, + -0.2246780931457015 + ], + [ + 0.19487908482551575, + 0.967024564743042, + 0.1639685481786728, + 0.07971897318589785 + ], + [ + -0.8241763710975647, + 0.2520817816257477, + -0.5071371793746948, + -0.5127101513472471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + -0.5588455200195312, + -0.027978211641311646, + 0.8287999033927917, + -0.22633981813083995 + ], + [ + 0.19639572501182556, + 0.9665329456329346, + 0.16505396366119385, + 0.07942531484463983 + ], + [ + -0.8056803345680237, + 0.2550123631954193, + -0.5346478223800659, + -0.49432764555797104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + -0.5858345031738281, + -0.0259857177734375, + 0.8100141286849976, + -0.22373068923792563 + ], + [ + 0.19997254014015198, + 0.9639462828636169, + 0.17555204033851624, + 0.07505614526015668 + ], + [ + -0.7853720188140869, + 0.2648249864578247, + -0.5595165491104126, + -0.48976857750868996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + -0.6117655038833618, + -0.024564452469348907, + 0.7906578183174133, + -0.22419979099399787 + ], + [ + 0.20032429695129395, + 0.9621254801750183, + 0.18489107489585876, + 0.07416071760014069 + ], + [ + -0.7652538418769836, + 0.271497905254364, + -0.5836743116378784, + -0.48714752118449567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + -0.6359320878982544, + -0.023552797734737396, + 0.771385669708252, + -0.21639805194760156 + ], + [ + 0.20006409287452698, + 0.9603328704833984, + 0.19425521790981293, + 0.07786407595084718 + ], + [ + -0.7453622817993164, + 0.2778596580028534, + -0.605994462966919, + -0.4805488996269289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + -0.6590254306793213, + -0.02090117335319519, + 0.7518303394317627, + -0.21116839430548928 + ], + [ + 0.2006569653749466, + 0.9584969878196716, + 0.20253470540046692, + 0.07557893029668114 + ], + [ + -0.7248603105545044, + 0.28433549404144287, + -0.6274799108505249, + -0.4715708255767822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + -0.6827473640441895, + -0.022928133606910706, + 0.7302947640419006, + -0.20957073988008104 + ], + [ + 0.19499467313289642, + 0.9575383067131042, + 0.21236172318458557, + 0.07357320221495037 + ], + [ + -0.7041543126106262, + 0.2873929738998413, + -0.6492859125137329, + -0.46702366027950254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + -0.7024502754211426, + -0.027567453682422638, + 0.7111990451812744, + -0.20369433470008785 + ], + [ + 0.1859111785888672, + 0.9574509263038635, + 0.2207368165254593, + 0.07196046615188773 + ], + [ + -0.687023401260376, + 0.28727641701698303, + -0.6674365997314453, + -0.46367477927326173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + -0.7150022983551025, + -0.03484443575143814, + 0.6982535123825073, + -0.19587161777433285 + ], + [ + 0.1731269359588623, + 0.9588246941566467, + 0.225127175450325, + 0.07008133998587111 + ], + [ + -0.6773471832275391, + 0.2818528711795807, + -0.6795293092727661, + -0.46499491131995335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + -0.7232011556625366, + -0.0396566204726696, + 0.6894981265068054, + -0.18941557092114913 + ], + [ + 0.15559782087802887, + 0.963327169418335, + 0.21860946714878082, + 0.05956825378758848 + ], + [ + -0.672881543636322, + 0.2653830051422119, + -0.6905088424682617, + -0.46772460957204015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + -0.7331891059875488, + -0.030071187764406204, + 0.6793597340583801, + -0.18434632287537756 + ], + [ + 0.14137648046016693, + 0.9704529643058777, + 0.1955346316099167, + 0.060884328420497166 + ], + [ + -0.6651665568351746, + 0.23940931260585785, + -0.7072741985321045, + -0.4751487596468492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + -0.7432698011398315, + -0.013797134160995483, + 0.6688494086265564, + -0.17983951292747308 + ], + [ + 0.13120511174201965, + 0.9773642420768738, + 0.16596505045890808, + 0.060426603060615945 + ], + [ + -0.6559993624687195, + 0.21111327409744263, + -0.724635124206543, + -0.46783474841393713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + -0.7533907890319824, + 0.006291750818490982, + 0.6575430631637573, + -0.17860603381779566 + ], + [ + 0.1287686675786972, + 0.982005774974823, + 0.1381424069404602, + 0.06432189244376726 + ], + [ + -0.6448419094085693, + 0.1887461543083191, + -0.7406443357467651, + -0.4465753854798876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + -0.7638771533966064, + 0.024237588047981262, + 0.6449064612388611, + -0.1840023190521997 + ], + [ + 0.13508723676204681, + 0.9831624031066895, + 0.12305747717618942, + 0.0725023399699818 + ], + [ + -0.6310651898384094, + 0.1811194270849228, + -0.7542895078659058, + -0.438427010252456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + -0.7761849164962769, + 0.038007818162441254, + 0.6293591260910034, + -0.17782752553293527 + ], + [ + 0.14436855912208557, + 0.9823760986328125, + 0.1187218725681305, + 0.07940242901321284 + ], + [ + -0.6137549877166748, + 0.18300974369049072, + -0.7679926156997681, + -0.43778103590011597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + -0.7889981269836426, + 0.048216093331575394, + 0.6125009655952454, + -0.17695968426948738 + ], + [ + 0.1508733481168747, + 0.9815956950187683, + 0.11707747727632523, + 0.07940285828980533 + ], + [ + -0.5955832600593567, + 0.1847839653491974, + -0.7817516326904297, + -0.445368738854227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + -0.8004419803619385, + 0.05756688490509987, + 0.5966397523880005, + -0.17594005194577303 + ], + [ + 0.15481071174144745, + 0.9814610481262207, + 0.11299501359462738, + 0.06993334618481722 + ], + [ + -0.5790739059448242, + 0.1828121393918991, + -0.7945146560668945, + -0.43678009943528606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + -0.8103868961334229, + 0.06473004072904587, + 0.5823085904121399, + -0.17421106464606673 + ], + [ + 0.15902277827262878, + 0.9808701872825623, + 0.11227414011955261, + 0.0758312630259301 + ], + [ + -0.5639016032218933, + 0.18358579277992249, + -0.8051779270172119, + -0.4373168676845298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + -0.8193463087081909, + 0.06800752878189087, + 0.5692510604858398, + -0.1696769831594357 + ], + [ + 0.16237172484397888, + 0.9798100590705872, + 0.11665187031030655, + 0.07703238119763776 + ], + [ + -0.5498247146606445, + 0.18800854682922363, + -0.813846230506897, + -0.4379084251636316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + -0.8264330625534058, + 0.07012762129306793, + 0.5586506724357605, + -0.16537315480965226 + ], + [ + 0.1660567671060562, + 0.9784364104270935, + 0.12283053249120712, + 0.07182154746587611 + ], + [ + -0.537990391254425, + 0.19427892565727234, + -0.8202574253082275, + -0.4369140076735788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + -0.8313335180282593, + 0.0683828741312027, + 0.5515508055686951, + -0.15988467370183013 + ], + [ + 0.1662677675485611, + 0.9775521159172058, + 0.12940992414951324, + 0.06749604324663966 + ], + [ + -0.5303202271461487, + 0.19928793609142303, + -0.8240417242050171, + -0.4380265941797209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + -0.833980917930603, + 0.06562963128089905, + 0.5478764772415161, + -0.15578373099161574 + ], + [ + 0.1656775176525116, + 0.97687166929245, + 0.13517671823501587, + 0.0660993732080972 + ], + [ + -0.5263334512710571, + 0.20350560545921326, + -0.8255656957626343, + -0.4392374522429852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + -0.8353480100631714, + 0.06440025568008423, + 0.5459361672401428, + -0.1559723290530118 + ], + [ + 0.16763897240161896, + 0.975652813911438, + 0.14141687750816345, + 0.06175257320985321 + ], + [ + -0.5235368609428406, + 0.20965248346328735, + -0.8258056640625, + -0.43964733097178876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + -0.8367112874984741, + 0.06474460661411285, + 0.5438037514686584, + -0.15597631340184487 + ], + [ + 0.1710018813610077, + 0.9742251634597778, + 0.14711810648441315, + 0.06297034866307392 + ], + [ + -0.5202621817588806, + 0.21608681976795197, + -0.8262166976928711, + -0.44581631289040746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + -0.8393120765686035, + 0.06668825447559357, + 0.5395443439483643, + -0.15726568482138892 + ], + [ + 0.17669625580310822, + 0.9720282554626465, + 0.15472394227981567, + 0.06056215121480059 + ], + [ + -0.5141340494155884, + 0.22519710659980774, + -0.8276185989379883, + -0.44447363181547683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + -0.841673731803894, + 0.066226527094841, + 0.5359101295471191, + -0.1576230764389038 + ], + [ + 0.18142560124397278, + 0.9694403409957886, + 0.16513678431510925, + 0.05942593578957329 + ], + [ + -0.5085964202880859, + 0.23621907830238342, + -0.827967643737793, + -0.44863902655514803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + -0.8440279960632324, + 0.0629223957657814, + 0.5325949788093567, + -0.15690428708210463 + ], + [ + 0.1825973093509674, + 0.9674754738807678, + 0.1750699281692505, + 0.055979847329214585 + ], + [ + -0.5042567849159241, + 0.24501433968544006, + -0.8280658721923828, + -0.4479089125621417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + -0.8452337980270386, + 0.055008839815855026, + 0.5315578579902649, + -0.15414453636516223 + ], + [ + 0.17908881604671478, + 0.9663268327713013, + 0.18476901948451996, + 0.052804513411088425 + ], + [ + -0.5034946799278259, + 0.2513691186904907, + -0.8266236782073975, + -0.44875709306110034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + -0.8458257913589478, + 0.04716134071350098, + 0.5313704609870911, + -0.15114453449722165 + ], + [ + 0.1754535287618637, + 0.965261697769165, + 0.1936127245426178, + 0.052773648648222614 + ], + [ + -0.5037805438041687, + 0.25699344277381897, + -0.8247178792953491, + -0.45404547625336766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + -0.8467191457748413, + 0.04306572675704956, + 0.53029465675354, + -0.1480815060867751 + ], + [ + 0.17419974505901337, + 0.964219331741333, + 0.1998387575149536, + 0.05105184457026237 + ], + [ + -0.5027141571044922, + 0.26158446073532104, + -0.8239250183105469, + -0.455767446904143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + -0.8491859436035156, + 0.042847923934459686, + 0.5263527631759644, + -0.15096147552994654 + ], + [ + 0.1753564476966858, + 0.9630286693572998, + 0.20451392233371735, + 0.049672939979340414 + ], + [ + -0.49812981486320496, + 0.26596972346305847, + -0.8253040313720703, + -0.4571523829186258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + -0.8526349067687988, + 0.041047073900699615, + 0.5208924412727356, + -0.14624042944474652 + ], + [ + 0.17507100105285645, + 0.9617278575897217, + 0.2107834815979004, + 0.04828135307170143 + ], + [ + -0.4923047423362732, + 0.2709144949913025, + -0.8271889686584473, + -0.45656758241416995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + -0.8530075550079346, + 0.03629478067159653, + 0.520635187625885, + -0.1409519250727882 + ], + [ + 0.1723031997680664, + 0.9612289667129517, + 0.21529150009155273, + 0.04799989383082744 + ], + [ + -0.49263566732406616, + 0.27335235476493835, + -0.8261891603469849, + -0.4566744115234406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + -0.8537263870239258, + 0.0344524085521698, + 0.5195814371109009, + -0.13957675567343214 + ], + [ + 0.17112965881824493, + 0.9609493017196655, + 0.21746516227722168, + 0.04822840028065295 + ], + [ + -0.4917992353439331, + 0.2745714485645294, + -0.8262835741043091, + -0.4584550817150715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + -0.8557354211807251, + 0.034226901829242706, + 0.5162803530693054, + -0.1411476068260256 + ], + [ + 0.17042717337608337, + 0.9607737064361572, + 0.21878859400749207, + 0.04837480097516509 + ], + [ + -0.4885401129722595, + 0.275213360786438, + -0.8280013799667358, + -0.4589893846965033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + -0.8585556745529175, + 0.03384287655353546, + 0.5116024613380432, + -0.14091339278812248 + ], + [ + 0.16920731961727142, + 0.9606180191040039, + 0.220412939786911, + 0.04824965542012995 + ], + [ + -0.4839951694011688, + 0.2758036255836487, + -0.8304704427719116, + -0.45810015846875085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + -0.8607993125915527, + 0.03370267152786255, + 0.507827639579773, + -0.13846261323976122 + ], + [ + 0.16877274215221405, + 0.9602475166320801, + 0.22235210239887238, + 0.04738837784725772 + ], + [ + -0.4801463484764099, + 0.27710795402526855, + -0.832268476486206, + -0.45495420738685227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + -0.8618669509887695, + 0.032824449241161346, + 0.5060709118843079, + -0.13914205959020567 + ], + [ + 0.1685652732849121, + 0.9597072601318359, + 0.22482816874980927, + 0.04684022136709907 + ], + [ + -0.4783000648021698, + 0.2790779769420624, + -0.8326730728149414, + -0.453276187427773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + -0.8643174171447754, + 0.02825392782688141, + 0.5021526217460632, + -0.1352705955505371 + ], + [ + 0.1640886515378952, + 0.9596303701400757, + 0.22843925654888153, + 0.047504964470863345 + ], + [ + -0.475426584482193, + 0.2798415422439575, + -0.8340615034103394, + -0.4533174365758896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/orbit_left/transforms.json b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1630a05ef64ea1f9e0b47da194746ae9316e325e --- /dev/null +++ b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/orbit_left/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.5388263108206957e-08, + -7.53625063225627e-05, + 0.0002039334358414635 + ], + [ + -1.1164480895331508e-08, + 1.0, + 5.604619218502194e-05, + 0.00011212080426048487 + ], + [ + 7.53625063225627e-05, + -5.604619218502194e-05, + 1.0, + 7.474265294149518e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999745042193022, + 0.006332067772746086, + 0.02167351708619337, + 0.014260368843295988 + ], + [ + -0.006353730698285142, + 0.9999793767929077, + 0.0009308021811147933, + -0.001072748075954137 + ], + [ + -0.02166717810747005, + -0.00106827262789011, + 0.9997646658822873, + -0.010311394355189128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9989851784738959, + 0.016028089448809624, + 0.04209135870949482, + 0.02098800752429444 + ], + [ + -0.01567387175694219, + 0.9998390078544617, + -0.00873200134459378, + -0.0008597469654281934 + ], + [ + -0.042224543014370494, + 0.008063404820859432, + 0.9990756192915641, + -0.0256509892806089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9978054594557841, + 0.02294239215552807, + 0.062112321537496705, + 0.022230029075809992 + ], + [ + -0.021585373647131527, + 0.9995153546333313, + -0.022431433705659885, + 0.005380096714754214 + ], + [ + -0.06259685109381852, + 0.021041488274931908, + 0.9978170370390712, + -0.04538035771346794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.996225517152827, + 0.022666120901703835, + 0.08379133072896074, + 0.02016024900609139 + ], + [ + -0.02002086955804204, + 0.9992784261703491, + -0.032276194552617904, + 0.011752935395067228 + ], + [ + -0.08446244558177064, + 0.03047679178416729, + 0.9959604785190462, + -0.06762335814871728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9931514771459286, + 0.014307735487818718, + 0.11595445107019338, + 0.01777909188288248 + ], + [ + -0.010044724514839756, + 0.9992548823356628, + -0.037265857451062395, + 0.019209416707409648 + ], + [ + -0.11640124566388647, + 0.035845909267663956, + 0.9925552115700104, + -0.08829272448121567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9896396308242189, + -0.00013615889474749565, + 0.14357354949982262, + 0.020641583948333594 + ], + [ + 0.005643215500199483, + 0.9992637038230896, + -0.03795052928498565, + 0.025237850666336638 + ], + [ + -0.1434626738729813, + 0.038367561995983124, + 0.9889117459856309, + -0.10744108524768177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9852108227451024, + -0.01288155373185873, + 0.17086164743447324, + 0.02016312709687694 + ], + [ + 0.019536437693785425, + 0.9991121888160706, + -0.03732489959805688, + 0.030721112313101057 + ], + [ + -0.17022915165526234, + 0.04011091962456703, + 0.9845878058485957, + -0.12755509584167118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9802398615625876, + -0.019946899265050888, + 0.1968042416766062, + 0.022673758217751763 + ], + [ + 0.027864711272535963, + 0.9989063739776611, + -0.03754500534433996, + 0.0379832208967014 + ], + [ + -0.19584011761308084, + 0.042287006974220276, + 0.979723665556628, + -0.14470731163314635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9745879229144814, + -0.024291785433888435, + 0.22268439873467544, + 0.020201424112467906 + ], + [ + 0.03327764413926769, + 0.9987725019454956, + -0.036688795837375394, + 0.04625253105913952 + ], + [ + -0.2215198169675215, + 0.0431668721139431, + 0.9741999686672835, + -0.16612241753016696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9671256971844133, + -0.030436303466558456, + 0.25247073677494825, + 0.019306994352773048 + ], + [ + 0.039663538614224704, + 0.9987152814865112, + -0.03153801888895089, + 0.05604111030582754 + ], + [ + -0.2511864742035539, + 0.04051511362195015, + 0.9670904117505845, + -0.18557565642298343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9585915895314365, + -0.039682351052761085, + 0.2820060759515392, + 0.01810859498488879 + ], + [ + 0.04758833177899719, + 0.9986411929130556, + -0.021238363865061477, + 0.06445588089656136 + ], + [ + -0.2807800747318167, + 0.03377911821007729, + 0.959177519649086, + -0.20706662364637834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9483121938453214, + -0.05008720234036447, + 0.313361226446557, + 0.020754527106010758 + ], + [ + 0.05506464595975876, + 0.9984579086303713, + -0.00704781434990911, + 0.06941925827321643 + ], + [ + -0.3125250085921262, + 0.023938652127981193, + 0.9496078521337153, + -0.22518145694689728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9377201191137071, + -0.05421540141105652, + 0.3431351678444975, + 0.02272260766046666 + ], + [ + 0.055787892425346305, + 0.9984285831451416, + 0.005294645843793609, + 0.07385259149012609 + ], + [ + -0.34288298869343264, + 0.014177888631820679, + 0.939271108220304, + -0.24491286224641506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9296291517390155, + -0.04771360754966736, + 0.36539445415201066, + 0.02503174453874864 + ], + [ + 0.04569384188622225, + 0.9988548755645752, + 0.014178228150932306, + 0.07625452021023477 + ], + [ + -0.3656525343266147, + 0.0035157790407538414, + 0.9307447987605645, + -0.26302342479860497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.924637168584771, + -0.036105066537857056, + 0.3791339778626477, + 0.027882612223196865 + ], + [ + 0.03101706530216641, + 0.9993281960487366, + 0.019521540427867124, + 0.07945808400614622 + ], + [ + -0.37958407965801993, + -0.006290718913078308, + 0.9251358431136272, + -0.28040242157275913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9178261387910768, + -0.027231575921177864, + 0.3960475186596294, + 0.030416943024947882 + ], + [ + 0.02004479224207731, + 0.9995509386062622, + 0.022274384242702894, + 0.0792353702202753 + ], + [ + -0.3964762501800197, + -0.012505320832133293, + 0.9179597955298034, + -0.2999937969498666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9077320701587182, + -0.019173575565218925, + 0.4191119440066269, + 0.031857598183341385 + ], + [ + 0.010410605993714265, + 0.9996769428253174, + 0.023185550345913235, + 0.07795146171543879 + ], + [ + -0.41942110026575324, + -0.01668306067585945, + 0.9076385029331349, + -0.3190693939487746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.8978665760128959, + -0.009639358147978783, + 0.44016213220269607, + 0.036388524374839935 + ], + [ + 0.0007823232744149192, + 0.9997936487197876, + 0.020299218408427445, + 0.07819655568677875 + ], + [ + -0.44026699094067495, + -0.017881641164422035, + 0.89768884939693, + -0.334873874660728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.8916488169614846, + 0.003831335576251149, + 0.452711549864873, + 0.04055456273900521 + ], + [ + -0.009906186366599613, + 0.9998899102210999, + 0.011048812102877259, + 0.07733635849312652 + ], + [ + -0.45261935179902646, + -0.014336305670440197, + 0.8915885994048576, + -0.35176931006769885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.8854168895391324, + 0.020794734358787537, + 0.4643323688622548, + 0.038179412993897016 + ], + [ + -0.026482505474617054, + 0.9996328353881836, + 0.005730720597386643, + 0.08044652161807085 + ], + [ + -0.4640427008197573, + -0.017370760440826416, + 0.8856424796890673, + -0.3736977162072809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8778230985305256, + 0.02808682806789875, + 0.47816084578632323, + 0.03851421875530924 + ], + [ + -0.034651994259077924, + 0.9993873834609985, + 0.004911946653964003, + 0.08250830039558951 + ], + [ + -0.4777299267267571, + -0.02088104747235775, + 0.8782585649405811, + -0.3876219996753144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8681240550912458, + 0.02031451463699341, + 0.49593136840979424, + 0.03959807094228129 + ], + [ + -0.02653907471653811, + 0.9996325969696047, + 0.005509145483912733, + 0.08390362998217808 + ], + [ + -0.49563723008271077, + -0.017944179475307468, + 0.8683442341923051, + -0.40254879069042954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8559206631178828, + 0.013543978333473206, + 0.5169297054813992, + 0.03947355353309227 + ], + [ + -0.022134394116707472, + 0.9997003078460693, + 0.010456677138602216, + 0.08034650523451792 + ], + [ + -0.5166331707689713, + -0.02039201185107231, + 0.8559639582565159, + -0.41809370523446066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8426563568992403, + 0.013174517080187798, + 0.5382905894600333, + 0.03801277943281035 + ], + [ + -0.02551948255090025, + 0.9995543956756592, + 0.01548514314095685, + 0.0771788942026935 + ], + [ + -0.5378466981195175, + -0.026785552501678467, + 0.8426170567277014, + -0.4292038122901985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.8304941326870726, + 0.010858594439923763, + 0.5569215062974102, + 0.03523751442311275 + ], + [ + -0.025564579903033433, + 0.999499499797821, + 0.018634716953890875, + 0.07513644961275513 + ], + [ + -0.5564404328429362, + -0.02971348725259304, + 0.8303560268797526, + -0.43705885934597655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8139758153973775, + -0.0008065514266490938, + 0.5808982082703298, + 0.028476511826917336 + ], + [ + -0.014487093840100601, + 0.9996598362922671, + 0.021687830483439363, + 0.07391755772217898 + ], + [ + -0.5807181421609435, + -0.026068896055221565, + 0.8136872214106882, + -0.44802659517453064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.7881869096439337, + -0.02339150197803974, + 0.6149913184633229, + 0.025342161015395763 + ], + [ + 0.004056008322698789, + 0.9994531869888306, + 0.032816428697503626, + 0.07392545272542561 + ], + [ + -0.6154226800107275, + -0.023371070623397827, + 0.7878507302146512, + -0.4588764883059434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7598692356860501, + -0.05310457199811937, + 0.6479033060166697, + 0.023218267890691632 + ], + [ + 0.02445807259623144, + 0.9982875585556032, + 0.05313864164291363, + 0.07330474857763306 + ], + [ + -0.6496157660671413, + -0.02453195676207543, + 0.759866879005326, + -0.464697850583975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.7306811239131134, + -0.0772344470024109, + 0.6783361707408234, + 0.01936689415504106 + ], + [ + 0.035643679552452366, + 0.99654096364975, + 0.07507062761599179, + 0.0680612523619429 + ], + [ + -0.6817878233808793, + -0.030674293637275703, + 0.7309065666207346, + -0.4713405297748747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.7053604528506054, + -0.083514504134655, + 0.703911989769593, + 0.018442446550831694 + ], + [ + 0.030224535825766768, + 0.9956756234169006, + 0.08784361534701006, + 0.06748570520271686 + ], + [ + -0.7082041914368851, + -0.04068600386381149, + 0.7048344136175625, + -0.4737568888531675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.688115392227354, + -0.08174833655357361, + 0.7209815303029878, + 0.0102412634230954 + ], + [ + 0.019196465935233355, + 0.9953364729881287, + 0.09453462872000873, + 0.07015367036643659 + ], + [ + -0.7253472635276859, + -0.051210448145866394, + 0.6864756150146167, + -0.47801709823388416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.6726441403726144, + -0.07936044037342072, + 0.7356981765372153, + 0.012100003366366907 + ], + [ + 0.015317479187968035, + 0.9955124855041504, + 0.09338218093707568, + 0.07254088164963149 + ], + [ + -0.7398075984616252, + -0.051543936133384705, + 0.6708412714309122, + -0.479664959621184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.6490040446722405, + -0.08360081911087036, + 0.7561776778172555, + 0.00595785314672323 + ], + [ + 0.017290577408096152, + 0.9953081607818604, + 0.0951984310586851, + 0.07780280146245881 + ], + [ + -0.7605884288299618, + -0.04870941489934921, + 0.6474045252987228, + -0.4905459442859107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.6178176611586911, + -0.09712476283311844, + 0.7803000316977013, + 0.003000106780244871 + ], + [ + 0.026480006385901176, + 0.9943493604660034, + 0.10280164555612444, + 0.08771164535494527 + ], + [ + -0.7858754228250379, + -0.042850323021411896, + 0.6168984623517704, + -0.4989082477816583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.5851699523719592, + -0.11318138241767883, + 0.802973264048699, + 0.004917648104030711 + ], + [ + 0.03846999760257389, + 0.9929714798927307, + 0.1119270173118116, + 0.0911808271983868 + ], + [ + -0.8099976655191002, + -0.034605950117111206, + 0.5854111541327562, + -0.5005018536255748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.5607134840071314, + -0.11833544075489044, + 0.8195103056720806, + 0.010389866851040638 + ], + [ + 0.038066837041466406, + 0.9923725128173828, + 0.11725082012560528, + 0.09918835466516784 + ], + [ + -0.8271344109740457, + -0.03454795479774475, + 0.5609413263327406, + -0.5048822889664815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.5438571354470467, + -0.11737674474716187, + 0.8309285433173081, + 0.011401728921548317 + ], + [ + 0.031423293687421375, + 0.9923237562179565, + 0.11960830190621287, + 0.10654992531233662 + ], + [ + -0.838589352824162, + -0.03893931955099106, + 0.5433707437255041, + -0.5085581487212969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.5258288160289422, + -0.11648523062467578, + 0.8425765762854045, + 0.01233372796456754 + ], + [ + 0.045785214823302126, + 0.9930185079574587, + 0.10871036186351864, + 0.11133051654498337 + ], + [ + -0.849357234085774, + -0.018585495650768283, + 0.5274910449433668, + -0.5111084267149928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.4990256797724724, + -0.12416624277830127, + 0.857645744977846, + 0.005135400315807219 + ], + [ + 0.0791500361831036, + 0.9920758605003359, + 0.09757458955713166, + 0.11707607925766908 + ], + [ + -0.8629651343825399, + 0.01919045299291611, + 0.5048990581274055, + -0.5317537423037031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.4654709858164072, + -0.13085323572158813, + 0.87533666742807, + 0.00996688390139476 + ], + [ + 0.10405864191259606, + 0.9902420043945312, + 0.09269587504730292, + 0.11765566040982206 + ], + [ + -0.8789246719724035, + 0.04793909192085266, + 0.47454534946091553, + -0.5339059228365015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.44694018469304964, + -0.12691405415534973, + 0.885515342693198, + 0.013725949261384332 + ], + [ + 0.10399499704943964, + 0.9905446171760559, + 0.08947838959297341, + 0.11676083742569048 + ], + [ + -0.888498489433989, + 0.05209765583276749, + 0.45591264725564956, + -0.5292287593872165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.4372796206198566, + -0.12006444483995438, + 0.8912749619602884, + 0.011962197101627138 + ], + [ + 0.10106576540598317, + 0.9913308024406433, + 0.08395791355260113, + 0.12102719423439928 + ], + [ + -0.8936287410469713, + 0.053364306688308716, + 0.4456231362986095, + -0.5300319679842556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.42101718230987817, + -0.12341752648353577, + 0.8986170834342384, + 0.006964328906655194 + ], + [ + 0.10951567706921303, + 0.9903689622879028, + 0.084708945054122, + 0.12898978032084374 + ], + [ + -0.9004171075106159, + 0.06274872273206711, + 0.430478519863219, + -0.5320032195545584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.3962533181574862, + -0.13227927684783936, + 0.9085623825920012, + 0.003500501075199336 + ], + [ + 0.12088469909288657, + 0.9884690642356873, + 0.09119133119645152, + 0.13271815041762608 + ], + [ + -0.9101485192717129, + 0.07369640469551086, + 0.40767464869173814, + -0.5336639117221738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.3695979040040406, + -0.1351775974035263, + 0.9193064755895506, + 0.002701032750184282 + ], + [ + 0.12997950751388393, + 0.9871551990509033, + 0.09289730970575648, + 0.12502357848297152 + ], + [ + -0.9200558562335432, + 0.08515635132789612, + 0.3824208129988676, + -0.5320935833166476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.34207798043149373, + -0.12874649465084076, + 0.9308098565427659, + -0.001487206704234821 + ], + [ + 0.13555759164693937, + 0.9869690537452698, + 0.08669605943891608, + 0.12077147344876453 + ], + [ + -0.9298423972229523, + 0.0965215265750885, + 0.35507296752347545, + -0.5296397225206066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.3159151293221949, + -0.11623679101467133, + 0.9416404798133382, + -0.011140884312145147 + ], + [ + 0.1410306040812527, + 0.9871947169303894, + 0.07454505513796073, + 0.1219911682921278 + ], + [ + -0.9382474063192285, + 0.10925018042325974, + 0.3282627138007127, + -0.532793988280805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.28977905115691444, + -0.10168962180614474, + 0.9516761551722067, + -0.01829292050143954 + ], + [ + 0.14788913227044473, + 0.9871548414230349, + 0.060449365510472024, + 0.124650902370225 + ], + [ + -0.9455987991011606, + 0.12322556972503665, + 0.3010955317064949, + -0.5303810438278587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.262542746485498, + -0.09303449094295502, + 0.9604248319754631, + -0.041939690832329624 + ], + [ + 0.15246973448962683, + 0.9868364930152893, + 0.05391366408124671, + 0.11850193235902254 + ], + [ + -0.9527981354123226, + 0.132281094789505, + 0.2732716864707154, + -0.5517049934922317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.23251165592651843, + -0.08905591070652008, + 0.9685078983914067, + -0.05249100231798695 + ], + [ + 0.15673008565160265, + 0.9862152934074402, + 0.053057609355572445, + 0.11983006193735232 + ], + [ + -0.9598823824037424, + 0.1394577920436859, + 0.2432642902097454, + -0.553487220169029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.20722047682145062, + -0.08103474229574203, + 0.9749323708501166, + -0.05528419538909164 + ], + [ + 0.15439558621530405, + 0.9867832064628601, + 0.04920319293240078, + 0.126654033765778 + ], + [ + -0.966034066627635, + 0.14032934606075287, + 0.21699307869302845, + -0.5411579090467667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.18534594099397322, + -0.07674415409564972, + 0.9796720353116926, + -0.0797459034207813 + ], + [ + 0.1537476416214239, + 0.986932635307312, + 0.04822511897420471, + 0.12160970354478717 + ], + [ + -0.9705713393406953, + 0.1416839212179184, + 0.19472316955178773, + -0.5594002918535406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.16146507689055808, + -0.07534123957157136, + 0.9839983043794283, + -0.08454497253664864 + ], + [ + 0.15958132667647312, + 0.9859527349472048, + 0.049305051419161014, + 0.11880411683020546 + ], + [ + -0.9738905778836868, + 0.14906671643257144, + 0.17121999562433707, + -0.5548934439301785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.12637552841114344, + -0.08333778381347656, + 0.988475674857259, + -0.09661308893355786 + ], + [ + 0.16402900448798233, + 0.9845032095909119, + 0.062031941528323545, + 0.1191099979605093 + ], + [ + -0.9783270002483205, + 0.15429934859275818, + 0.13808692277281034, + -0.5596001159538394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.09648065092693532, + -0.09091113507747652, + 0.9911744015553315, + -0.1016402056202924 + ], + [ + 0.1608444187069967, + 0.9841556549072268, + 0.07461079887655979, + 0.11334651077867769 + ], + [ + -0.9822528651303537, + 0.1522263586521149, + 0.10957449716339958, + -0.554555180708379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.08096727617159905, + -0.0945914164185524, + 0.9922180918045371, + -0.11122060068257891 + ], + [ + 0.15171124180722395, + 0.9850567579269409, + 0.08152871236761221, + 0.10722178910387328 + ], + [ + -0.9851030695793559, + 0.14392946660518646, + 0.09410796825344253, + -0.5478911834911554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.06815627617082205, + -0.09458780288696289, + 0.9931805809093348, + -0.11567884348736812 + ], + [ + 0.14585646897804178, + 0.9857442378997803, + 0.0838702899743878, + 0.10478160648950681 + ], + [ + -0.9869551574446456, + 0.13914553821086884, + 0.08098089943299744, + -0.5479735950405068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.05003596642558381, + -0.09636308252811432, + 0.9940878908020574, + -0.13748715894167687 + ], + [ + 0.1405770416223591, + 0.98610520362854, + 0.08851351686613748, + 0.10195054306061968 + ], + [ + -0.9888046984461727, + 0.13531705737113953, + 0.06288717056182447, + -0.5554498794324462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.018700700981212546, + -0.10557346791028976, + 0.9942357133218936, + -0.14221045731796156 + ], + [ + 0.1288865331880055, + 0.9863671660423279, + 0.10231369229027502, + 0.10209368835477078 + ], + [ + -0.9914830864593706, + 0.12623023986816406, + 0.03205279562569257, + -0.5625538563398567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.0408154085142087, + -0.11677221208810806, + 0.9923198290542706, + -0.16549265644260056 + ], + [ + 0.11596560429241917, + 0.9858818650245667, + 0.12078443263461017, + 0.10760592847634266 + ], + [ + -0.992414445983358, + 0.1200047954916954, + -0.0266975986626942, + -0.5820115206473397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.08878003320041902, + -0.1263715624809265, + 0.9880021652363354, + -0.14676177098913662 + ], + [ + 0.10212596828024437, + 0.9855365753173828, + 0.1352330390697593, + 0.09726194336422454 + ], + [ + -0.9908019035996188, + 0.11290666460990906, + -0.07459013291551167, + -0.5570578571090855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.10005323513663215, + -0.13014060258865356, + 0.9864343475647154, + -0.1555802029401762 + ], + [ + 0.08193267231020243, + 0.9869645237922668, + 0.13852090401281125, + 0.09137700665572139 + ], + [ + -0.9916029697711629, + 0.09468065947294235, + -0.08808622051318521, + -0.546142108571137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.09894385499357986, + -0.12027733027935028, + 0.9877973207974016, + -0.16257379018128018 + ], + [ + 0.06706852243809533, + 0.9896050095558167, + 0.12721544529218207, + 0.09908626686741098 + ], + [ + -0.9928302662521059, + 0.07883729040622711, + -0.08984852765155446, + -0.5399029237115278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.10903951621999496, + -0.11828841269016266, + 0.986974285865755, + -0.17367406956749887 + ], + [ + 0.06871818406014626, + 0.9896221160888672, + 0.12619764307857315, + 0.11419009959909726 + ], + [ + -0.9916593724447353, + 0.08158360421657562, + -0.09977936573654897, + -0.5450346713895668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.13541831278966485, + -0.1291426569223404, + 0.9823360533002639, + -0.18070346210064234 + ], + [ + 0.0818512746541613, + 0.9866216778755188, + 0.14098953636685385, + 0.11202758707194943 + ], + [ + -0.987401759906097, + 0.09949802607297897, + -0.12303610826869847, + -0.54878309459966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.16660999996291073, + -0.14051602780818942, + 0.9759594008959164, + -0.1970588186955436 + ], + [ + 0.09807383789449227, + 0.9825238585472109, + 0.15820373884634034, + 0.10325581452766265 + ], + [ + -0.9811335646775986, + 0.12207434326410296, + -0.14991721157749846, + -0.5451878409202159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.195139231287176, + -0.15140543878078463, + 0.9690186373833205, + -0.18384850768046807 + ], + [ + 0.10523347314897924, + 0.979076683521271, + 0.17416869248228076, + 0.10102188216522213 + ], + [ + -0.9751137148204593, + 0.13596031069755557, + -0.17512337228866776, + -0.53994363627791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.22037321348006483, + -0.16109086573123932, + 0.962021526786031, + -0.19555603049318443 + ], + [ + 0.10845505802606947, + 0.9761061072349548, + 0.18829345625874366, + 0.09284469145931783 + ], + [ + -0.9693674573436277, + 0.1458309143781662, + -0.19763642812406407, + -0.5329727308222278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.24354263628033881, + -0.16151776909828186, + 0.9563467012267661, + -0.17698092906474455 + ], + [ + 0.11321266791933297, + 0.974561333656311, + 0.1934246963278189, + 0.0850213285156992 + ], + [ + -0.9632600237349345, + 0.15537771582603455, + -0.21906138919744025, + -0.5213632326339468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.267912362819847, + -0.1591596007347107, + 0.9502059873470797, + -0.1847716428331478 + ], + [ + 0.11794339521635477, + 0.9734241366386414, + 0.19630298097909865, + 0.08388090608629525 + ], + [ + -0.9561969762370932, + 0.16466248035430908, + -0.24202047602236673, + -0.5172353958208669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.29737739227577104, + -0.15647456049919128, + 0.9418505870941869, + -0.19796661348770322 + ], + [ + 0.12334991287071323, + 0.9719148278236389, + 0.2004154592987315, + 0.08463189338717804 + ], + [ + -0.9467585007098015, + 0.17577619850635529, + -0.26972441344734843, + -0.5151753306671243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.3388969350129513, + -0.15320782363414764, + 0.9282653108931858, + -0.19786118232348565 + ], + [ + 0.13136695334299264, + 0.969280481338501, + 0.20793755248916737, + 0.08428757855704029 + ], + [ + -0.9316070992505888, + 0.19241274893283844, + -0.308359731403666, + -0.511299287060799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.3791265001127146, + -0.14859151840209964, + 0.9133365980271227, + -0.19359451715395107 + ], + [ + 0.13994571453081125, + 0.9664625525474551, + 0.21532615684408873, + 0.07817669537785567 + ], + [ + -0.9147012335919231, + 0.20945337414741522, + -0.3456168391582695, + -0.5007917221504439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.413401943321258, + -0.14137554168701175, + 0.899506644724433, + -0.18670797051547783 + ], + [ + 0.14545474697959726, + 0.9649338126182558, + 0.21850788215027525, + 0.07432797246199913 + ], + [ + -0.8988560384042452, + 0.2211690247058869, + -0.378341688806774, + -0.4947980357484295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.44730363905635234, + -0.13222485780715942, + 0.8845542746065482, + -0.18470000637100797 + ], + [ + 0.1495185501502621, + 0.9640381336212158, + 0.2197151432326094, + 0.06957807644080957 + ], + [ + -0.8817958512386419, + 0.2305365949869156, + -0.41144764536151623, + -0.4820066449114594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.4791173953115745, + -0.12270499765872958, + 0.8691317903921548, + -0.18119603173689486 + ], + [ + 0.15554286361207362, + 0.962640702724457, + 0.22165121444701805, + 0.06740701212594001 + ], + [ + -0.863859389062533, + 0.24138419330120092, + -0.4421321122059993, + -0.47603134751716114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.5109231567967178, + -0.11130928993225098, + 0.8523895634073164, + -0.1727394687001588 + ], + [ + 0.1597724177700272, + 0.9620075821876526, + 0.22139151114165254, + 0.06326089979674296 + ], + [ + -0.8446481894413345, + 0.24930235743522644, + -0.47372783552181796, + -0.46952393400810777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.5404213482486742, + -0.0956896245479584, + 0.8359357259325767, + -0.1673482699679889 + ], + [ + 0.16406459515586538, + 0.9624572396278384, + 0.21623812117672112, + 0.0627452774138917 + ], + [ + -0.825244137405226, + 0.25400710105896, + -0.5044331239364057, + -0.46377625230205566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.5682948118664044, + -0.07995138317346573, + 0.8189316845327231, + -0.16738668218316297 + ], + [ + 0.16841064882494028, + 0.9628965854644775, + 0.21087447664954911, + 0.05779383568391689 + ], + [ + -0.8054062457901643, + 0.2577556371688843, + -0.5337444392665347, + -0.456227370784893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.5970970894715214, + -0.062430717051029205, + 0.7997360186481539, + -0.16235066231226558 + ], + [ + 0.17165088232585202, + 0.9639304876327515, + 0.20340600233434997, + 0.057791115371427754 + ], + [ + -0.7835887553821909, + 0.2587285041809082, + -0.5648437437037923, + -0.45322538324812733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + -0.6255393029999435, + -0.047514259815216064, + 0.7787445801777437, + -0.155217870138054 + ], + [ + 0.17143739062963845, + 0.9653772711753845, + 0.1966113082227121, + 0.05935897942930672 + ], + [ + -0.7611241745299022, + 0.25649401545524597, + -0.5957357135755061, + -0.44663663749183224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + -0.6508856403054097, + -0.039294853806495667, + 0.7581584171344014, + -0.14944577526168515 + ], + [ + 0.1672507382575136, + 0.966701328754425, + 0.1936897164584665, + 0.06139051515963985 + ], + [ + -0.7405237260350915, + 0.2528723478317261, + -0.6226399072128385, + -0.44144256081753086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + -0.6743290870827627, + -0.03630857914686203, + 0.7375377863965029, + -0.14697182842669418 + ], + [ + 0.16245745823779423, + 0.967024564743042, + 0.19614055357617313, + 0.062320926561106195 + ], + [ + -0.7203387326810958, + 0.2520817816257477, + -0.6461941810160976, + -0.43477615312902607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + -0.6994435933742734, + -0.027978211641311652, + 0.7141402206832252, + -0.14511946578995427 + ], + [ + 0.16332817860997176, + 0.9665329456329348, + 0.1978332575558025, + 0.061676112012849844 + ], + [ + -0.6957750765272365, + 0.25501236319541937, + -0.6714656643261125, + -0.41814471428456645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + -0.7240855189834197, + -0.025985717773437507, + 0.6892206576828308, + -0.13898200929197205 + ], + [ + 0.1644964334147674, + 0.9639462828636172, + 0.20916132307609295, + 0.056947873705706975 + ], + [ + -0.669806963998748, + 0.26482498645782476, + -0.6937049860303149, + -0.4155397142927407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + -0.7474775080005998, + -0.024564452469348907, + 0.6638329552239243, + -0.13599575669599975 + ], + [ + 0.1626614603554588, + 0.9621254801750183, + 0.21875964627921152, + 0.05602587418181763 + ], + [ + -0.644064373449152, + 0.271497905254364, + -0.7151714671510503, + -0.4149013629145625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + -0.7690454240463788, + -0.023552797734737403, + 0.6387602113494604, + -0.12488091397710618 + ], + [ + 0.16017987980794016, + 0.9603328704833987, + 0.22826111593438364, + 0.0597774934130134 + ], + [ + -0.6187986201137411, + 0.27785965800285345, + -0.7347669617102951, + -0.41028096593348173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + -0.7894008098953107, + -0.02090117335319519, + 0.6135224029395925, + -0.11641654907951554 + ], + [ + 0.1587008875841019, + 0.9584969878196716, + 0.23684921981115895, + 0.05742115218780063 + ], + [ + -0.5930097865006043, + 0.28433549404144287, + -0.7533212471798886, + -0.4033957253058424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + -0.8098884987425298, + -0.022928133606910706, + 0.5861356712407765, + -0.11151077889001584 + ], + [ + 0.15074977765505723, + 0.9575383067131042, + 0.24575379663615063, + 0.056116832287583955 + ], + [ + -0.5668820719968096, + 0.2873929738998413, + -0.7720428800303376, + -0.40103918196487187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + -0.8267903277037106, + -0.027567453682422645, + 0.561834695726053, + -0.1026890441177328 + ], + [ + 0.13968531477853863, + 0.9574509263038637, + 0.25253855414434556, + 0.055593251189893195 + ], + [ + -0.5448910522926543, + 0.2872764170169831, + -0.7877604392655507, + -0.39943259338906467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + -0.8377810920486333, + -0.03484443575143815, + 0.5448936556919957, + -0.09257654479176272 + ], + [ + 0.12574249627956627, + 0.958824694156647, + 0.2546448619354585, + 0.05517175546345702 + ], + [ + -0.5313304997302407, + 0.28185287117958074, + -0.7989037419135154, + -0.40150456244664945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + -0.8452637332814965, + -0.0396566204726696, + 0.5328759698157259, + -0.08422216577760128 + ], + [ + 0.10929708431955289, + 0.963327169418335, + 0.24506107065037808, + 0.04644269714004481 + ], + [ + -0.5230521461134734, + 0.2653830051422119, + -0.8099311611114539, + -0.4043602665126895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + -0.8541748480885705, + -0.03007118776440621, + 0.5191158274331095, + -0.07705582352560994 + ], + [ + 0.09944399457155782, + 0.9704529643058779, + 0.21984538505454643, + 0.048747754156800154 + ], + [ + -0.5103884340915321, + 0.2394093126058579, + -0.8259461160310558, + -0.41247649506466283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + -0.8630460492636499, + -0.013797134160995487, + 0.504936674798875, + -0.07042981247609298 + ], + [ + 0.09497889604847576, + 0.977364242076874, + 0.18904546708788503, + 0.04863174051173387 + ], + [ + -0.4961153500103057, + 0.21111327409744268, + -0.8421999681057645, + -0.4060791961149828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + -0.8717368322711719, + 0.006291750818490984, + 0.4899341345271149, + -0.06707286014278213 + ], + [ + 0.09786311339833595, + 0.9820057749748232, + 0.16151626971076685, + 0.05196103539386206 + ], + [ + -0.4801019012643496, + 0.18874615430831915, + -0.8566663788230595, + -0.3859823971219561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + -0.8804498998435836, + 0.024237588047981262, + 0.4735194009693338, + -0.07031539420012486 + ], + [ + 0.10680696944068777, + 0.9831624031066895, + 0.14826994133629937, + 0.05880738928355066 + ], + [ + -0.46195278166714926, + 0.1811194270849228, + -0.8682140076112347, + -0.3793010235060988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + -0.8902710069644094, + 0.038007818162441254, + 0.4538429996694236, + -0.061814050932599424 + ], + [ + 0.11646684345740786, + 0.9823760986328125, + 0.14619383798278976, + 0.06426471563832015 + ], + [ + -0.44028799697953075, + 0.18300974369049072, + -0.8790075781426575, + -0.3806173588244095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + -0.9002293133006044, + 0.048216093331575394, + 0.4327385593093438, + -0.05856726646227681 + ], + [ + 0.12285543645768514, + 0.9815956950187683, + 0.14620685548282544, + 0.0632269922357795 + ], + [ + -0.4177247635245029, + 0.1847839653491974, + -0.8895847665149634, + -0.3903328915514471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + -0.9089742742275883, + 0.05756688490509987, + 0.4128584828337499, + -0.05529469395296144 + ], + [ + 0.12725398401413548, + 0.9814610481262207, + 0.1433201071715819, + 0.05296697353040516 + ], + [ + -0.39695401443871997, + 0.1828121393918991, + -0.8994485186336545, + -0.3836837531249993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + -0.9165018670429199, + 0.06473004072904587, + 0.39475884233209824, + -0.05144531500096186 + ], + [ + 0.13121221170238925, + 0.9808701872825623, + 0.1437952782580081, + 0.05812035621507914 + ], + [ + -0.3778992763468095, + 0.18358579277992249, + -0.9074627536205075, + -0.38597592421172877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + -0.9232694090817838, + 0.06800752878189087, + 0.37808562748637414, + -0.04486722823694725 + ], + [ + 0.13322103104501506, + 0.9798100590705872, + 0.14907847853732778, + 0.05882491404003559 + ], + [ + -0.3603136521376891, + 0.18800854682922363, + -0.9136886646145638, + -0.38816676127344196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + -0.928679700748398, + 0.07012762129306795, + 0.3641925234161118, + -0.038683363660865194 + ], + [ + 0.13514130620519796, + 0.9784364104270937, + 0.15620184688710126, + 0.05311792692938556 + ], + [ + -0.34538519279816354, + 0.1942789256572724, + -0.918131239775201, + -0.38844839053305014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + -0.9326756053949673, + 0.0683828741312027, + 0.35417499124281726, + -0.031496251835756606 + ], + [ + 0.13355467204058158, + 0.9775521159172058, + 0.16295719858324087, + 0.048771365235779005 + ], + [ + -0.33508101964319853, + 0.19928793609142303, + -0.9208718786161267, + -0.3902325416550644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + -0.9352005559602712, + 0.06562963128089906, + 0.347983801230093, + -0.025895044274088702 + ], + [ + 0.13133970292031624, + 0.9768716692924502, + 0.16873549551025196, + 0.04744236612007827 + ], + [ + -0.3288615057638825, + 0.2035056054592133, + -0.922190723209498, + -0.39156822951773856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + -0.9368462197543421, + 0.06440025568008423, + 0.3437611920350473, + -0.02470367455850614 + ], + [ + 0.1314798854101127, + 0.975652813911438, + 0.17554087286034928, + 0.04283035983599507 + ], + [ + -0.3240866759798095, + 0.20965248346328735, + -0.9225040195120822, + -0.3919122668260987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + -0.9384305969185911, + 0.06474460661411285, + 0.3393468925830285, + -0.023331460285183542 + ], + [ + 0.13307850983773645, + 0.9742251634597778, + 0.1821414035960269, + 0.04357022201212886 + ], + [ + -0.3188075827049213, + 0.21608681976795197, + -0.9228588703181373, + -0.3980945069998036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + -0.9407167205633281, + 0.06668825447559357, + 0.33257316881124005, + -0.023132545018766854 + ], + [ + 0.13648143889038988, + 0.9720282554626465, + 0.19113838433934188, + 0.040408444650591645 + ], + [ + -0.3105238087698462, + 0.22519710659980774, + -0.9235049162097717, + -0.3972045169414243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + -0.942890047913221, + 0.066226527094841, + 0.32645473699443706, + -0.022012105961007528 + ], + [ + 0.13825727241558858, + 0.9694403409957886, + 0.20265816772307416, + 0.038730153497298234 + ], + [ + -0.30305700644020495, + 0.23621907830238342, + -0.9232319257120984, + -0.4017237511399425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + -0.9451086608508684, + 0.06292239576578142, + 0.32064043534172926, + -0.019802596934928113 + ], + [ + 0.13663680998903793, + 0.967475473880768, + 0.21288879558919718, + 0.035229700047976716 + ], + [ + -0.2968163018984219, + 0.24501433968544012, + -0.922966996566411, + -0.401183116234816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + -0.9467274976221763, + 0.055008839815855026, + 0.317302655148777, + -0.01564306410916025 + ], + [ + 0.1304796358427731, + 0.9663268327713013, + 0.2217824592356715, + 0.03267100151402826 + ], + [ + -0.29441803610215683, + 0.2513691186904907, + -0.9220258229065497, + -0.4016679789924381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + -0.9479422352928661, + 0.04716134071350098, + 0.3149307141032586, + -0.011303566044196134 + ], + [ + 0.1243649509711767, + 0.965261697769165, + 0.22978944020503325, + 0.03326318021771223 + ], + [ + -0.2931533992303217, + 0.25699344277381897, + -0.9208775712681625, + -0.40642705911658233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + -0.9492305104167309, + 0.04306572675704956, + 0.3116202382661056, + -0.00688331115397911 + ], + [ + 0.12115631831649282, + 0.964219331741333, + 0.23580124409285536, + 0.03174628735936169 + ], + [ + -0.2903153022680665, + 0.26158446073532104, + -0.9204841035131005, + -0.4078517937014845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + -0.9513417746095117, + 0.04284792393445969, + 0.3051439430819351, + -0.008262146716304847 + ], + [ + 0.12063647237983247, + 0.9630286693573, + 0.24087895239906745, + 0.030172221181294312 + ], + [ + -0.2835412219545461, + 0.2659697234630585, + -0.9213383917471176, + -0.4095327367013258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + -0.9540111506876, + 0.041047073900699615, + 0.29694771253442875, + -0.0019374947201854509 + ], + [ + 0.1183074304702724, + 0.9617278575897217, + 0.24714951632504426, + 0.028852044543358817 + ], + [ + -0.27543812024818615, + 0.2709144949913025, + -0.922355349695092, + -0.4094586478249974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + -0.9549492240079428, + 0.036294780671596534, + 0.29454179170617445, + 0.004664742737956945 + ], + [ + 0.11397971243434073, + 0.9612289667129519, + 0.25109250848117765, + 0.02896392512416089 + ], + [ + -0.27400878504548937, + 0.2733523547649384, + -0.9220616113430702, + -0.4090699112795446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + -0.9560188748274767, + 0.03445240855216981, + 0.2912756849871966, + 0.007381168743779809 + ], + [ + 0.11175956256185651, + 0.9609493017196657, + 0.25315263598763843, + 0.029276585559496228 + ], + [ + -0.2711794698963783, + 0.2745714485645295, + -0.9225360306384721, + -0.4105670654463887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + -0.9577650992879906, + 0.034226901829242706, + 0.2855074930970903, + 0.0072769579649086535 + ], + [ + 0.11020002224692048, + 0.9607737064361572, + 0.25449916579335774, + 0.029411092511522505 + ], + [ + -0.2655973319276731, + 0.275213360786438, + -0.9239674152710518, + -0.4112456381529452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + -0.9599280529540949, + 0.03384287655353546, + 0.2781960781641598, + 0.009061119422896363 + ], + [ + 0.1080585910047675, + 0.9606180191040039, + 0.25600062880320096, + 0.029366772585012448 + ], + [ + -0.2585764190113775, + 0.2758036255836487, + -0.9257811382031357, + -0.4107343182361295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + -0.9617361912167492, + 0.03370267152786255, + 0.27189679399204725, + 0.013006814155090696 + ], + [ + 0.10659041295133762, + 0.9602475166320801, + 0.2579984104633974, + 0.02847833215541965 + ], + [ + -0.25239296939228717, + 0.27710795402526855, + -0.9270971480428816, + -0.4078483780647457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + -0.9629030769129204, + 0.032824449241161346, + 0.267843375004355, + 0.013709015771499716 + ], + [ + 0.1051957583272873, + 0.9597072601318359, + 0.2605682429824417, + 0.02788761806449061 + ], + [ + -0.24849820955318502, + 0.2790779769420624, + -0.9275581049345092, + -0.40607898481272225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + -0.9648331773876437, + 0.02825392782688141, + 0.2613403775124002, + 0.019109906968648338 + ], + [ + 0.09937303607748914, + 0.9596303701400757, + 0.26312464574203714, + 0.029228440431497235 + ], + [ + -0.24335581458631486, + 0.2798415422439575, + -0.9286910014695686, + -0.4062305969648795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/pan_right/transforms.json b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..030f29fab6b5a1e284039150490a9cb83f93e4e9 --- /dev/null +++ b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/pan_right/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.5388263108206957e-08, + -7.53625063225627e-05, + 0.0002039334358414635 + ], + [ + -1.1164480895331508e-08, + 1.0, + 5.604619218502194e-05, + 0.00011212080426048487 + ], + [ + 7.53625063225627e-05, + -5.604619218502194e-05, + 1.0, + 7.474265294149518e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999745042193022, + 0.006332067772746086, + 0.02167351708619337, + 0.016393424943089485 + ], + [ + -0.006353730698285142, + 0.9999793767929077, + 0.0009308021811147933, + -0.0010866003576666117 + ], + [ + -0.02166717810747005, + -0.00106827262789011, + 0.9997646658822873, + -0.010634664446115494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9989851784738959, + 0.016028089448809624, + 0.04209135870949482, + 0.02524113468825817 + ], + [ + -0.01567387175694219, + 0.9998390078544617, + -0.00873200134459378, + -0.00092208111891523 + ], + [ + -0.042224543014370494, + 0.008063404820859432, + 0.9990756192915641, + -0.026375915855169296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9978054594557841, + 0.02294239215552807, + 0.062112321537496705, + 0.028588399291038513 + ], + [ + -0.021585373647131527, + 0.9995153546333313, + -0.022431433705659885, + 0.005259483586996794 + ], + [ + -0.06259685109381852, + 0.021041488274931908, + 0.9978170370390712, + -0.04658376798033714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.996225517152827, + 0.022666120901703835, + 0.08379133072896074, + 0.028605172410607338 + ], + [ + -0.02002086955804204, + 0.9992784261703491, + -0.032276194552617904, + 0.01161541324108839 + ], + [ + -0.08446244558177064, + 0.03047679178416729, + 0.9959604785190462, + -0.06939489394426346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9931514771459286, + 0.014307735487818718, + 0.11595445107019338, + 0.028265513479709625 + ], + [ + -0.010044724514839756, + 0.9992548823356628, + -0.037265857451062395, + 0.01914999820291996 + ], + [ + -0.11640124566388647, + 0.035845909267663956, + 0.9925552115700104, + -0.09082195907831192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9896396308242189, + -0.00013615889474749565, + 0.14357354949982262, + 0.03314461186528206 + ], + [ + 0.005643215500199483, + 0.9992637038230896, + -0.03795052928498565, + 0.025368187576532364 + ], + [ + -0.1434626738729813, + 0.038367561995983124, + 0.9889117459856309, + -0.11079127341508865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9852108227451024, + -0.01288155373185873, + 0.17086164743447324, + 0.034644387662410736 + ], + [ + 0.019536437693785425, + 0.9991121888160706, + -0.03732489959805688, + 0.031079284846782684 + ], + [ + -0.17022915165526234, + 0.04011091962456703, + 0.9845878058485957, + -0.13182608783245087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9802398615625876, + -0.019946899265050888, + 0.1968042416766062, + 0.03909832239151001 + ], + [ + 0.027864711272535963, + 0.9989063739776611, + -0.03754500534433996, + 0.038534507155418396 + ], + [ + -0.19584011761308084, + 0.042287006974220276, + 0.979723665556628, + -0.14998231828212738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9745879229144814, + -0.024291785433888435, + 0.22268439873467544, + 0.038526955991983414 + ], + [ + 0.03327764413926769, + 0.9987725019454956, + -0.036688795837375394, + 0.04697389528155327 + ], + [ + -0.2215198169675215, + 0.0431668721139431, + 0.9741999686672835, + -0.17250043153762817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9671256971844133, + -0.030436303466558456, + 0.25247073677494825, + 0.03945392742753029 + ], + [ + 0.039663538614224704, + 0.9987152814865112, + -0.03153801888895089, + 0.05696592852473259 + ], + [ + -0.2511864742035539, + 0.04051511362195015, + 0.9670904117505845, + -0.1932377815246582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9585915895314365, + -0.039682351052761085, + 0.2820060759515392, + 0.0400121733546257 + ], + [ + 0.04758833177899719, + 0.9986411929130556, + -0.021238363865061477, + 0.0656326562166214 + ], + [ + -0.2807800747318167, + 0.03377911821007729, + 0.959177519649086, + -0.21612520515918732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9483121938453214, + -0.05008720234036447, + 0.313361226446557, + 0.04432103782892227 + ], + [ + 0.05506464595975876, + 0.9984579086303713, + -0.00704781434990911, + 0.07085612416267395 + ], + [ + -0.3125250085921262, + 0.023938652127981193, + 0.9496078521337153, + -0.23580317199230194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9377201191137071, + -0.05421540141105652, + 0.3431351678444975, + 0.047896694391965866 + ], + [ + 0.055787892425346305, + 0.9984285831451416, + 0.005294645843793609, + 0.07539378106594086 + ], + [ + -0.34288298869343264, + 0.014177888631820679, + 0.939271108220304, + -0.2571815848350525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9296291517390155, + -0.04771360754966736, + 0.36539445415201066, + 0.051860153675079346 + ], + [ + 0.04569384188622225, + 0.9988548755645752, + 0.014178228150932306, + 0.07758468389511108 + ], + [ + -0.3656525343266147, + 0.0035157790407538414, + 0.9307447987605645, + -0.27683550119400024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.924637168584771, + -0.036105066537857056, + 0.3791339778626477, + 0.056454792618751526 + ], + [ + 0.03101706530216641, + 0.9993281960487366, + 0.019521540427867124, + 0.08039490133523941 + ], + [ + -0.37958407965801993, + -0.006290718913078308, + 0.9251358431136272, + -0.29556959867477417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9178261387910768, + -0.027231575921177864, + 0.3960475186596294, + 0.060638681054115295 + ], + [ + 0.02004479224207731, + 0.9995509386062622, + 0.022274384242702894, + 0.07985018193721771 + ], + [ + -0.3964762501800197, + -0.012505320832133293, + 0.9179597955298034, + -0.3166626989841461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9077320701587182, + -0.019173575565218925, + 0.4191119440066269, + 0.06355832517147064 + ], + [ + 0.010410605993714265, + 0.9996769428253174, + 0.023185550345913235, + 0.0782516822218895 + ], + [ + -0.41942110026575324, + -0.01668306067585945, + 0.9076385029331349, + -0.3375128209590912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.8978665760128959, + -0.009639358147978783, + 0.44016213220269607, + 0.06953958421945572 + ], + [ + 0.0007823232744149192, + 0.9997936487197876, + 0.020299218408427445, + 0.07815442234277725 + ], + [ + -0.44026699094067495, + -0.017881641164422035, + 0.89768884939693, + -0.35510018467903137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.8916488169614846, + 0.003831335576251149, + 0.452711549864873, + 0.07529347389936447 + ], + [ + -0.009906186366599613, + 0.9998899102210999, + 0.011048812102877259, + 0.07689131051301956 + ], + [ + -0.45261935179902646, + -0.014336305670440197, + 0.8915885994048576, + -0.3735254406929016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.8854168895391324, + 0.020794734358787537, + 0.4643323688622548, + 0.07448440790176392 + ], + [ + -0.026482505474617054, + 0.9996328353881836, + 0.005730720597386643, + 0.07928656786680222 + ], + [ + -0.4640427008197573, + -0.017370760440826416, + 0.8856424796890673, + -0.39698830246925354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8778230985305256, + 0.02808682806789875, + 0.47816084578632323, + 0.0762910395860672 + ], + [ + -0.034651994259077924, + 0.9993873834609985, + 0.004911946653964003, + 0.08092506974935532 + ], + [ + -0.4777299267267571, + -0.02088104747235775, + 0.8782585649405811, + -0.4125838577747345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8681240550912458, + 0.02031451463699341, + 0.49593136840979424, + 0.07870137691497803 + ], + [ + -0.02653907471653811, + 0.9996325969696047, + 0.005509145483912733, + 0.0826265886425972 + ], + [ + -0.49563723008271077, + -0.017944179475307468, + 0.8683442341923051, + -0.42942142486572266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8559206631178828, + 0.013543978333473206, + 0.5169297054813992, + 0.07972699403762817 + ], + [ + -0.022134394116707472, + 0.9997003078460693, + 0.010456677138602216, + 0.07920972257852554 + ], + [ + -0.5166331707689713, + -0.02039201185107231, + 0.8559639582565159, + -0.4470879137516022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8426563568992403, + 0.013174517080187798, + 0.5382905894600333, + 0.07930983603000641 + ], + [ + -0.02551948255090025, + 0.9995543956756592, + 0.01548514314095685, + 0.0757983848452568 + ], + [ + -0.5378466981195175, + -0.026785552501678467, + 0.8426170567277014, + -0.46040815114974976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.8304941326870726, + 0.010858594439923763, + 0.5569215062974102, + 0.07759439945220947 + ], + [ + -0.025564579903033433, + 0.999499499797821, + 0.018634716953890875, + 0.07368452847003937 + ], + [ + -0.5564404328429362, + -0.02971348725259304, + 0.8303560268797526, + -0.47041940689086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8139758153973775, + -0.0008065514266490938, + 0.5808982082703298, + 0.07157839834690094 + ], + [ + -0.014487093840100601, + 0.9996598362922671, + 0.021687830483439363, + 0.073016457259655 + ], + [ + -0.5807181421609435, + -0.026068896055221565, + 0.8136872214106882, + -0.48391449451446533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.7881869096439337, + -0.02339150197803974, + 0.6149913184633229, + 0.06854025274515152 + ], + [ + 0.004056008322698789, + 0.9994531869888306, + 0.032816428697503626, + 0.07402266561985016 + ], + [ + -0.6154226800107275, + -0.023371070623397827, + 0.7878507302146512, + -0.4979550838470459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7598692356860501, + -0.05310457199811937, + 0.6479033060166697, + 0.06625771522521973 + ], + [ + 0.02445807259623144, + 0.9982875585556032, + 0.05313864164291363, + 0.07455304265022278 + ], + [ + -0.6496157660671413, + -0.02453195676207543, + 0.759866879005326, + -0.5070685148239136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.7306811239131134, + -0.0772344470024109, + 0.6783361707408234, + 0.06208645552396774 + ], + [ + 0.035643679552452366, + 0.99654096364975, + 0.07507062761599179, + 0.06996630132198334 + ], + [ + -0.6817878233808793, + -0.030674293637275703, + 0.7309065666207346, + -0.5170127153396606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.7053604528506054, + -0.083514504134655, + 0.703911989769593, + 0.0609922930598259 + ], + [ + 0.030224535825766768, + 0.9956756234169006, + 0.08784361534701006, + 0.06906276941299438 + ], + [ + -0.7082041914368851, + -0.04068600386381149, + 0.7048344136175625, + -0.5225030183792114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.688115392227354, + -0.08174833655357361, + 0.7209815303029878, + 0.053093865513801575 + ], + [ + 0.019196465935233355, + 0.9953364729881287, + 0.09453462872000873, + 0.07103165984153748 + ], + [ + -0.7253472635276859, + -0.051210448145866394, + 0.6864756150146167, + -0.5293588638305664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.6726441403726144, + -0.07936044037342072, + 0.7356981765372153, + 0.05532018095254898 + ], + [ + 0.015317479187968035, + 0.9955124855041504, + 0.09338218093707568, + 0.0731990784406662 + ], + [ + -0.7398075984616252, + -0.051543936133384705, + 0.6708412714309122, + -0.5334972739219666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.6490040446722405, + -0.08360081911087036, + 0.7561776778172555, + 0.04888124763965607 + ], + [ + 0.017290577408096152, + 0.9953081607818604, + 0.0951984310586851, + 0.07862860709428787 + ], + [ + -0.7605884288299618, + -0.04870941489934921, + 0.6474045252987228, + -0.5473419427871704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.6178176611586911, + -0.09712476283311844, + 0.7803000316977013, + 0.044964760541915894 + ], + [ + 0.026480006385901176, + 0.9943493604660034, + 0.10280164555612444, + 0.08921872824430466 + ], + [ + -0.7858754228250379, + -0.042850323021411896, + 0.6168984623517704, + -0.5590534210205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.5851699523719592, + -0.11318138241767883, + 0.802973264048699, + 0.045693591237068176 + ], + [ + 0.03846999760257389, + 0.9929714798927307, + 0.1119270173118116, + 0.09361524879932404 + ], + [ + -0.8099976655191002, + -0.034605950117111206, + 0.5854111541327562, + -0.5640102028846741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.5607134840071314, + -0.11833544075489044, + 0.8195103056720806, + 0.05050601065158844 + ], + [ + 0.038066837041466406, + 0.9923725128173828, + 0.11725082012560528, + 0.10165828466415405 + ], + [ + -0.8271344109740457, + -0.03454795479774475, + 0.5609413263327406, + -0.5713427066802979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.5438571354470467, + -0.11737674474716187, + 0.8309285433173081, + 0.05138842761516571 + ], + [ + 0.031423293687421375, + 0.9923237562179565, + 0.11960830190621287, + 0.10856982320547104 + ], + [ + -0.838589352824162, + -0.03893931955099106, + 0.5433707437255041, + -0.5776172876358032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.5258288160289422, + -0.11648523062467578, + 0.8425765762854045, + 0.05203041434288025 + ], + [ + 0.045785214823302126, + 0.9930185079574587, + 0.10871036186351864, + 0.11464599519968033 + ], + [ + -0.849357234085774, + -0.018585495650768283, + 0.5274910449433668, + -0.5827635526657104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.4990256797724724, + -0.12416624277830127, + 0.857645744977846, + 0.04372274875640869 + ], + [ + 0.0791500361831036, + 0.9920758605003359, + 0.09757458955713166, + 0.12334685027599335 + ], + [ + -0.8629651343825399, + 0.01919045299291611, + 0.5048990581274055, + -0.6062613129615784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.4654709858164072, + -0.13085323572158813, + 0.87533666742807, + 0.046747297048568726 + ], + [ + 0.10405864191259606, + 0.9902420043945312, + 0.09269587504730292, + 0.12627221643924713 + ], + [ + -0.8789246719724035, + 0.04793909192085266, + 0.47454534946091553, + -0.6114968657493591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.44694018469304964, + -0.12691405415534973, + 0.885515342693198, + 0.0499214231967926 + ], + [ + 0.10399499704943964, + 0.9905446171760559, + 0.08947838959297341, + 0.12561777234077454 + ], + [ + -0.888498489433989, + 0.05209765583276749, + 0.45591264725564956, + -0.6094526052474976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.4372796206198566, + -0.12006444483995438, + 0.8912749619602884, + 0.04832199215888977 + ], + [ + 0.10106576540598317, + 0.9913308024406433, + 0.08395791355260113, + 0.12987332046031952 + ], + [ + -0.8936287410469713, + 0.053364306688308716, + 0.4456231362986095, + -0.6125575304031372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.42101718230987817, + -0.12341752648353577, + 0.8986170834342384, + 0.04283863306045532 + ], + [ + 0.10951567706921303, + 0.9903689622879028, + 0.084708945054122, + 0.13884486258029938 + ], + [ + -0.9004171075106159, + 0.06274872273206711, + 0.430478519863219, + -0.616987407207489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.3962533181574862, + -0.13227927684783936, + 0.9085623825920012, + 0.038013726472854614 + ], + [ + 0.12088469909288657, + 0.9884690642356873, + 0.09119133119645152, + 0.14387722313404083 + ], + [ + -0.9101485192717129, + 0.07369640469551086, + 0.40767464869173814, + -0.621388852596283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.3695979040040406, + -0.1351775974035263, + 0.9193064755895506, + 0.035570889711380005 + ], + [ + 0.12997950751388393, + 0.9871551990509033, + 0.09289730970575648, + 0.1373332142829895 + ], + [ + -0.9200558562335432, + 0.08515635132789612, + 0.3824208129988676, + -0.6226124167442322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.34207798043149373, + -0.12874649465084076, + 0.9308098565427659, + 0.02954733371734619 + ], + [ + 0.13555759164693937, + 0.9869690537452698, + 0.08669605943891608, + 0.13394811749458313 + ], + [ + -0.9298423972229523, + 0.0965215265750885, + 0.35507296752347545, + -0.6229800581932068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.3159151293221949, + -0.11623679101467133, + 0.9416404798133382, + 0.01809084415435791 + ], + [ + 0.1410306040812527, + 0.9871947169303894, + 0.07454505513796073, + 0.13606488704681396 + ], + [ + -0.9382474063192285, + 0.10925018042325974, + 0.3282627138007127, + -0.6288642883300781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.28977905115691444, + -0.10168962180614474, + 0.9516761551722067, + 0.00903993844985962 + ], + [ + 0.14788913227044473, + 0.9871548414230349, + 0.060449365510472024, + 0.1397911161184311 + ], + [ + -0.9455987991011606, + 0.12322556972503665, + 0.3010955317064949, + -0.629112720489502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.262542746485498, + -0.09303449094295502, + 0.9604248319754631, + -0.01671949028968811 + ], + [ + 0.15246973448962683, + 0.9868364930152893, + 0.05391366408124671, + 0.1344735473394394 + ], + [ + -0.9527981354123226, + 0.132281094789505, + 0.2732716864707154, + -0.6531180143356323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.23251165592651843, + -0.08905591070652008, + 0.9685078983914067, + -0.029789060354232788 + ], + [ + 0.15673008565160265, + 0.9862152934074402, + 0.053057609355572445, + 0.13660261034965515 + ], + [ + -0.9598823824037424, + 0.1394577920436859, + 0.2432642902097454, + -0.6576018929481506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.20722047682145062, + -0.08103474229574203, + 0.9749323708501166, + -0.034693241119384766 + ], + [ + 0.15439558621530405, + 0.9867832064628601, + 0.04920319293240078, + 0.14352737367153168 + ], + [ + -0.966034066627635, + 0.14032934606075287, + 0.21699307869302845, + -0.647919237613678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.18534594099397322, + -0.07674415409564972, + 0.9796720353116926, + -0.060977041721343994 + ], + [ + 0.1537476416214239, + 0.986932635307312, + 0.04822511897420471, + 0.1387559026479721 + ], + [ + -0.9705713393406953, + 0.1416839212179184, + 0.19472316955178773, + -0.6686698794364929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.16146507689055808, + -0.07534123957157136, + 0.9839983043794283, + -0.06791037321090698 + ], + [ + 0.15958132667647312, + 0.9859527349472048, + 0.049305051419161014, + 0.13695760071277618 + ], + [ + -0.9738905778836868, + 0.14906671643257144, + 0.17121999562433707, + -0.6665562391281128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.12637552841114344, + -0.08333778381347656, + 0.988475674857259, + -0.08351096510887146 + ], + [ + 0.16402900448798233, + 0.9845032095909119, + 0.062031941528323545, + 0.13811630010604858 + ], + [ + -0.9783270002483205, + 0.15429934859275818, + 0.13808692277281034, + -0.673792839050293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.09648065092693532, + -0.09091113507747652, + 0.9911744015553315, + -0.09159216284751892 + ], + [ + 0.1608444187069967, + 0.9841556549072268, + 0.07461079887655979, + 0.13232563436031342 + ], + [ + -0.9822528651303537, + 0.1522263586521149, + 0.10957449716339958, + -0.6712559461593628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.08096727617159905, + -0.0945914164185524, + 0.9922180918045371, + -0.10260593891143799 + ], + [ + 0.15171124180722395, + 0.9850567579269409, + 0.08152871236761221, + 0.12545441091060638 + ], + [ + -0.9851030695793559, + 0.14392946660518646, + 0.09410796825344253, + -0.6670140624046326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.06815627617082205, + -0.09458780288696289, + 0.9931805809093348, + -0.10822245478630066 + ], + [ + 0.14585646897804178, + 0.9857442378997803, + 0.0838702899743878, + 0.12263970077037811 + ], + [ + -0.9869551574446456, + 0.13914553821086884, + 0.08098089943299744, + -0.6694164276123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.05003596642558381, + -0.09636308252811432, + 0.9940878908020574, + -0.13189896941184998 + ], + [ + 0.1405770416223591, + 0.98610520362854, + 0.08851351686613748, + 0.11948113888502121 + ], + [ + -0.9888046984461727, + 0.13531705737113953, + 0.06288717056182447, + -0.6792222857475281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.018700700981212546, + -0.10557346791028976, + 0.9942357133218936, + -0.14024078845977783 + ], + [ + 0.1288865331880055, + 0.9863671660423279, + 0.10231369229027502, + 0.11845730245113373 + ], + [ + -0.9914830864593706, + 0.12623023986816406, + 0.03205279562569257, + -0.6887723207473755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.0408154085142087, + -0.11677221208810806, + 0.9923198290542706, + -0.17091506719589233 + ], + [ + 0.11596560429241917, + 0.9858818650245667, + 0.12078443263461017, + 0.12260045856237411 + ], + [ + -0.992414445983358, + 0.1200047954916954, + -0.0266975986626942, + -0.7104732394218445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.08878003320041902, + -0.1263715624809265, + 0.9880021652363354, + -0.15830498933792114 + ], + [ + 0.10212596828024437, + 0.9855365753173828, + 0.1352330390697593, + 0.11072146892547607 + ], + [ + -0.9908019035996188, + 0.11290666460990906, + -0.07459013291551167, + -0.6874628067016602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.10005323513663215, + -0.13014060258865356, + 0.9864343475647154, + -0.1685352623462677 + ], + [ + 0.08193267231020243, + 0.9869645237922668, + 0.13852090401281125, + 0.10239659249782562 + ], + [ + -0.9916029697711629, + 0.09468065947294235, + -0.08808622051318521, + -0.6788188219070435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.09894385499357986, + -0.12027733027935028, + 0.9877973207974016, + -0.17529579997062683 + ], + [ + 0.06706852243809533, + 0.9896050095558167, + 0.12721544529218207, + 0.10829560458660126 + ], + [ + -0.9928302662521059, + 0.07883729040622711, + -0.08984852765155446, + -0.6749123334884644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.10903951621999496, + -0.11828841269016266, + 0.986974285865755, + -0.18769752979278564 + ], + [ + 0.06871818406014626, + 0.9896221160888672, + 0.12619764307857315, + 0.12381020188331604 + ], + [ + -0.9916593724447353, + 0.08158360421657562, + -0.09977936573654897, + -0.682060718536377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.13541831278966485, + -0.1291426569223404, + 0.9823360533002639, + -0.1983516812324524 + ], + [ + 0.0818512746541613, + 0.9866216778755188, + 0.14098953636685385, + 0.12369793653488159 + ], + [ + -0.987401759906097, + 0.09949802607297897, + -0.12303610826869847, + -0.6874125599861145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.16660999996291073, + -0.14051602780818942, + 0.9759594008959164, + -0.21912741661071777 + ], + [ + 0.09807383789449227, + 0.9825238585472109, + 0.15820373884634034, + 0.1174878403544426 + ], + [ + -0.9811335646775986, + 0.12207434326410296, + -0.14991721157749846, + -0.6851377487182617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.195139231287176, + -0.15140543878078463, + 0.9690186373833205, + -0.21008318662643433 + ], + [ + 0.10523347314897924, + 0.979076683521271, + 0.17416869248228076, + 0.11658589541912079 + ], + [ + -0.9751137148204593, + 0.13596031069755557, + -0.17512337228866776, + -0.681238055229187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.22037321348006483, + -0.16109086573123932, + 0.962021526786031, + -0.22559195756912231 + ], + [ + 0.10845505802606947, + 0.9761061072349548, + 0.18829345625874366, + 0.10920196771621704 + ], + [ + -0.9693674573436277, + 0.1458309143781662, + -0.19763642812406407, + -0.6756376028060913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.24354263628033881, + -0.16151776909828186, + 0.9563467012267661, + -0.21061158180236816 + ], + [ + 0.11321266791933297, + 0.974561333656311, + 0.1934246963278189, + 0.10240135341882706 + ], + [ + -0.9632600237349345, + 0.15537771582603455, + -0.21906138919744025, + -0.6653339862823486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.267912362819847, + -0.1591596007347107, + 0.9502059873470797, + -0.22227436304092407 + ], + [ + 0.11794339521635477, + 0.9734241366386414, + 0.19630298097909865, + 0.10229851305484772 + ], + [ + -0.9561969762370932, + 0.16466248035430908, + -0.24202047602236673, + -0.6623629331588745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.29737739227577104, + -0.15647456049919128, + 0.9418505870941869, + -0.24022966623306274 + ], + [ + 0.12334991287071323, + 0.9719148278236389, + 0.2004154592987315, + 0.10421907156705856 + ], + [ + -0.9467585007098015, + 0.17577619850635529, + -0.26972441344734843, + -0.661100447177887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.3388969350129513, + -0.15320782363414764, + 0.9282653108931858, + -0.24690067768096924 + ], + [ + 0.13136695334299264, + 0.969280481338501, + 0.20793755248916737, + 0.10549101233482361 + ], + [ + -0.9316070992505888, + 0.19241274893283844, + -0.308359731403666, + -0.6571592092514038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.3791265001127146, + -0.14859151840209964, + 0.9133365980271227, + -0.24939310550689697 + ], + [ + 0.13994571453081125, + 0.9664625525474551, + 0.21532615684408873, + 0.10112637281417847 + ], + [ + -0.9147012335919231, + 0.20945337414741522, + -0.3456168391582695, + -0.6462713479995728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.413401943321258, + -0.14137554168701175, + 0.899506644724433, + -0.24848616123199463 + ], + [ + 0.14545474697959726, + 0.9649338126182558, + 0.21850788215027525, + 0.09855900704860687 + ], + [ + -0.8988560384042452, + 0.2211690247058869, + -0.378341688806774, + -0.6400049328804016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.44730363905635234, + -0.13222485780715942, + 0.8845542746065482, + -0.25255268812179565 + ], + [ + 0.1495185501502621, + 0.9640381336212158, + 0.2197151432326094, + 0.09487484395503998 + ], + [ + -0.8817958512386419, + 0.2305365949869156, + -0.41144764536151623, + -0.6267075538635254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.4791173953115745, + -0.12270499765872958, + 0.8691317903921548, + -0.25493288040161133 + ], + [ + 0.15554286361207362, + 0.962640702724457, + 0.22165121444701805, + 0.09411513060331345 + ], + [ + -0.863859389062533, + 0.24138419330120092, + -0.4421321122059993, + -0.620026707649231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.5109231567967178, + -0.11130928993225098, + 0.8523895634073164, + -0.2525079846382141 + ], + [ + 0.1597724177700272, + 0.9620075821876526, + 0.22139151114165254, + 0.09109877049922943 + ], + [ + -0.8446481894413345, + 0.24930235743522644, + -0.47372783552181796, + -0.612559974193573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.5404213482486742, + -0.0956896245479584, + 0.8359357259325767, + -0.25290101766586304 + ], + [ + 0.16406459515586538, + 0.9624572396278384, + 0.21623812117672112, + 0.09171204268932343 + ], + [ + -0.825244137405226, + 0.25400710105896, + -0.5044331239364057, + -0.6057635545730591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.5682948118664044, + -0.07995138317346573, + 0.8189316845327231, + -0.2585833668708801 + ], + [ + 0.16841064882494028, + 0.9628965854644775, + 0.21087447664954911, + 0.08791285753250122 + ], + [ + -0.8054062457901643, + 0.2577556371688843, + -0.5337444392665347, + -0.597030520439148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.5970970894715214, + -0.062430717051029205, + 0.7997360186481539, + -0.25949394702911377 + ], + [ + 0.17165088232585202, + 0.9639304876327515, + 0.20340600233434997, + 0.08887187391519547 + ], + [ + -0.7835887553821909, + 0.2587285041809082, + -0.5648437437037923, + -0.5924617648124695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + -0.6255393029999435, + -0.047514259815216064, + 0.7787445801777437, + -0.25839173793792725 + ], + [ + 0.17143739062963845, + 0.9653772711753845, + 0.1966113082227121, + 0.09081235527992249 + ], + [ + -0.7611241745299022, + 0.25649401545524597, + -0.5957357135755061, + -0.5841314792633057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + -0.6508856403054097, + -0.039294853806495667, + 0.7581584171344014, + -0.25823330879211426 + ], + [ + 0.1672507382575136, + 0.966701328754425, + 0.1936897164584665, + 0.09254050254821777 + ], + [ + -0.7405237260350915, + 0.2528723478317261, + -0.6226399072128385, + -0.577430248260498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + -0.6743290870827627, + -0.03630857914686203, + 0.7375377863965029, + -0.26115334033966064 + ], + [ + 0.16245745823779423, + 0.967024564743042, + 0.19614055357617313, + 0.09308671206235886 + ], + [ + -0.7203387326810958, + 0.2520817816257477, + -0.6461941810160976, + -0.5692445635795593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + -0.6994435933742734, + -0.027978211641311652, + 0.7141402206832252, + -0.2651357054710388 + ], + [ + 0.16332817860997176, + 0.9665329456329348, + 0.1978332575558025, + 0.09305939823389053 + ], + [ + -0.6957750765272365, + 0.25501236319541937, + -0.6714656643261125, + -0.5502591729164124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + -0.7240855189834197, + -0.025985717773437507, + 0.6892206576828308, + -0.264884352684021 + ], + [ + 0.1644964334147674, + 0.9639462828636172, + 0.20916132307609295, + 0.0891038030385971 + ], + [ + -0.669806963998748, + 0.26482498645782476, + -0.6937049860303149, + -0.5449393391609192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + -0.7474775080005998, + -0.024564452469348907, + 0.6638329552239243, + -0.26768064498901367 + ], + [ + 0.1626614603554588, + 0.9621254801750183, + 0.21875964627921152, + 0.08839864283800125 + ], + [ + -0.644064373449152, + 0.271497905254364, + -0.7151714671510503, + -0.5415374636650085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + -0.7690454240463788, + -0.023552797734737403, + 0.6387602113494604, + -0.26212209463119507 + ], + [ + 0.16017987980794016, + 0.9603328704833987, + 0.22826111593438364, + 0.09224884957075119 + ], + [ + -0.6187986201137411, + 0.27785965800285345, + -0.7347669617102951, + -0.5341410636901855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + -0.7894008098953107, + -0.02090117335319519, + 0.6135224029395925, + -0.25909751653671265 + ], + [ + 0.1587008875841019, + 0.9584969878196716, + 0.23684921981115895, + 0.0901721641421318 + ], + [ + -0.5930097865006043, + 0.28433549404144287, + -0.7533212471798886, + -0.5242879390716553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + -0.8098884987425298, + -0.022928133606910706, + 0.5861356712407765, + -0.2597893476486206 + ], + [ + 0.15074977765505723, + 0.9575383067131042, + 0.24575379663615063, + 0.08791578561067581 + ], + [ + -0.5668820719968096, + 0.2873929738998413, + -0.7720428800303376, + -0.5188168287277222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + -0.8267903277037106, + -0.027567453682422645, + 0.561834695726053, + -0.255942702293396 + ], + [ + 0.13968531477853863, + 0.9574509263038637, + 0.25253855414434556, + 0.08578857034444809 + ], + [ + -0.5448910522926543, + 0.2872764170169831, + -0.7877604392655507, + -0.5147756934165955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + -0.8377810920486333, + -0.03484443575143815, + 0.5448936556919957, + -0.24964451789855957 + ], + [ + 0.12574249627956627, + 0.958824694156647, + 0.2546448619354585, + 0.08310163021087646 + ], + [ + -0.5313304997302407, + 0.28185287117958074, + -0.7989037419135154, + -0.5159358978271484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + -0.8452637332814965, + -0.0396566204726696, + 0.5328759698157259, + -0.24440276622772217 + ], + [ + 0.10929708431955289, + 0.963327169418335, + 0.24506107065037808, + 0.07139883190393448 + ], + [ + -0.5230521461134734, + 0.2653830051422119, + -0.8099311611114539, + -0.5188858509063721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + -0.8541748480885705, + -0.03007118776440621, + 0.5191158274331095, + -0.24069887399673462 + ], + [ + 0.09944399457155782, + 0.9704529643058779, + 0.21984538505454643, + 0.0717504546046257 + ], + [ + -0.5103884340915321, + 0.2394093126058579, + -0.8259461160310558, + -0.5262731313705444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + -0.8630460492636499, + -0.013797134160995487, + 0.504936674798875, + -0.23758113384246826 + ], + [ + 0.09497889604847576, + 0.977364242076874, + 0.18904546708788503, + 0.07061939686536789 + ], + [ + -0.4961153500103057, + 0.21111327409744268, + -0.8421999681057645, + -0.5187966823577881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + -0.8717368322711719, + 0.006291750818490984, + 0.4899341345271149, + -0.23775655031204224 + ], + [ + 0.09786311339833595, + 0.9820057749748232, + 0.16151626971076685, + 0.07443182915449142 + ], + [ + -0.4801019012643496, + 0.18874615430831915, + -0.8566663788230595, + -0.4972034692764282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + -0.8804498998435836, + 0.024237588047981262, + 0.4735194009693338, + -0.24460744857788086 + ], + [ + 0.10680696944068777, + 0.9831624031066895, + 0.14826994133629937, + 0.08322000503540039 + ], + [ + -0.46195278166714926, + 0.1811194270849228, + -0.8682140076112347, + -0.48849499225616455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + -0.8902710069644094, + 0.038007818162441254, + 0.4538429996694236, + -0.24005061388015747 + ], + [ + 0.11646684345740786, + 0.9823760986328125, + 0.14619383798278976, + 0.09097577631473541 + ], + [ + -0.44028799697953075, + 0.18300974369049072, + -0.8790075781426575, + -0.48698288202285767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + -0.9002293133006044, + 0.048216093331575394, + 0.4327385593093438, + -0.24086201190948486 + ], + [ + 0.12285543645768514, + 0.9815956950187683, + 0.14620685548282544, + 0.09162235260009766 + ], + [ + -0.4177247635245029, + 0.1847839653491974, + -0.8895847665149634, + -0.4936060607433319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + -0.9089742742275883, + 0.05756688490509987, + 0.4128584828337499, + -0.24143075942993164 + ], + [ + 0.12725398401413548, + 0.9814610481262207, + 0.1433201071715819, + 0.08259967714548111 + ], + [ + -0.39695401443871997, + 0.1828121393918991, + -0.8994485186336545, + -0.48415887355804443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + -0.9165018670429199, + 0.06473004072904587, + 0.39475884233209824, + -0.24118518829345703 + ], + [ + 0.13121221170238925, + 0.9808701872825623, + 0.1437952782580081, + 0.08897364139556885 + ], + [ + -0.3778992763468095, + 0.18358579277992249, + -0.9074627536205075, + -0.48392030596733093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + -0.9232694090817838, + 0.06800752878189087, + 0.37808562748637414, + -0.23806869983673096 + ], + [ + 0.13322103104501506, + 0.9798100590705872, + 0.14907847853732778, + 0.09058572351932526 + ], + [ + -0.3603136521376891, + 0.18800854682922363, + -0.9136886646145638, + -0.4838028848171234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + -0.928679700748398, + 0.07012762129306795, + 0.3641925234161118, + -0.23503941297531128 + ], + [ + 0.13514130620519796, + 0.9784364104270937, + 0.15620184688710126, + 0.08581972122192383 + ], + [ + -0.34538519279816354, + 0.1942789256572724, + -0.918131239775201, + -0.48226526379585266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + -0.9326756053949673, + 0.0683828741312027, + 0.35417499124281726, + -0.23065108060836792 + ], + [ + 0.13355467204058158, + 0.9775521159172058, + 0.16295719858324087, + 0.08164941519498825 + ], + [ + -0.33508101964319853, + 0.19928793609142303, + -0.9208718786161267, + -0.4831695556640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + -0.9352005559602712, + 0.06562963128089906, + 0.347983801230093, + -0.2274647355079651 + ], + [ + 0.13133970292031624, + 0.9768716692924502, + 0.16873549551025196, + 0.08033942431211472 + ], + [ + -0.3288615057638825, + 0.2035056054592133, + -0.922190723209498, + -0.4844760298728943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + -0.9368462197543421, + 0.06440025568008423, + 0.3437611920350473, + -0.22846120595932007 + ], + [ + 0.1314798854101127, + 0.975652813911438, + 0.17554087286034928, + 0.0762997567653656 + ], + [ + -0.3240866759798095, + 0.20965248346328735, + -0.9225040195120822, + -0.48507821559906006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + -0.9384305969185911, + 0.06474460661411285, + 0.3393468925830285, + -0.22927498817443848 + ], + [ + 0.13307850983773645, + 0.9742251634597778, + 0.1821414035960269, + 0.07795067876577377 + ], + [ + -0.3188075827049213, + 0.21608681976795197, + -0.9228588703181373, + -0.49139299988746643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + -0.9407167205633281, + 0.06668825447559357, + 0.33257316881124005, + -0.23148584365844727 + ], + [ + 0.13648143889038988, + 0.9720282554626465, + 0.19113838433934188, + 0.07618735730648041 + ], + [ + -0.3105238087698462, + 0.22519710659980774, + -0.9235049162097717, + -0.4899383783340454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + -0.942890047913221, + 0.066226527094841, + 0.32645473699443706, + -0.23274767398834229 + ], + [ + 0.13825727241558858, + 0.9694403409957886, + 0.20265816772307416, + 0.07561929523944855 + ], + [ + -0.30305700644020495, + 0.23621907830238342, + -0.9232319257120984, + -0.49403440952301025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + -0.9451086608508684, + 0.06292239576578142, + 0.32064043534172926, + -0.2329365611076355 + ], + [ + 0.13663680998903793, + 0.967475473880768, + 0.21288879558919718, + 0.07242869585752487 + ], + [ + -0.2968163018984219, + 0.24501433968544012, + -0.922966996566411, + -0.49333369731903076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + -0.9467274976221763, + 0.055008839815855026, + 0.317302655148777, + -0.23098397254943848 + ], + [ + 0.1304796358427731, + 0.9663268327713013, + 0.2217824592356715, + 0.06908531486988068 + ], + [ + -0.29441803610215683, + 0.2513691186904907, + -0.9220258229065497, + -0.4945293366909027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + -0.9479422352928661, + 0.04716134071350098, + 0.3149307141032586, + -0.22873681783676147 + ], + [ + 0.1243649509711767, + 0.965261697769165, + 0.22978944020503325, + 0.0688689723610878 + ], + [ + -0.2931533992303217, + 0.25699344277381897, + -0.9208775712681625, + -0.500260055065155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + -0.9492305104167309, + 0.04306572675704956, + 0.3116202382661056, + -0.22645550966262817 + ], + [ + 0.12115631831649282, + 0.964219331741333, + 0.23580124409285536, + 0.06717611849308014 + ], + [ + -0.2903153022680665, + 0.26158446073532104, + -0.9204841035131005, + -0.5022996664047241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + -0.9513417746095117, + 0.04284792393445969, + 0.3051439430819351, + -0.23026561737060547 + ], + [ + 0.12063647237983247, + 0.9630286693573, + 0.24087895239906745, + 0.06604920327663422 + ], + [ + -0.2835412219545461, + 0.2659697234630585, + -0.9213383917471176, + -0.5036719441413879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + -0.9540111506876, + 0.041047073900699615, + 0.29694771253442875, + -0.22657132148742676 + ], + [ + 0.1183074304702724, + 0.9617278575897217, + 0.24714951632504426, + 0.06477564573287964 + ], + [ + -0.27543812024818615, + 0.2709144949913025, + -0.922355349695092, + -0.5029500126838684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + -0.9549492240079428, + 0.036294780671596534, + 0.29454179170617445, + -0.2220228910446167 + ], + [ + 0.11397971243434073, + 0.9612289667129519, + 0.25109250848117765, + 0.06437581777572632 + ], + [ + -0.27400878504548937, + 0.2733523547649384, + -0.9220616113430702, + -0.5034951567649841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + -0.9560188748274767, + 0.03445240855216981, + 0.2912756849871966, + -0.22142159938812256 + ], + [ + 0.11175956256185651, + 0.9609493017196657, + 0.25315263598763843, + 0.06463421881198883 + ], + [ + -0.2711794698963783, + 0.2745714485645295, + -0.9225360306384721, + -0.5056027770042419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + -0.9577650992879906, + 0.034226901829242706, + 0.2855074930970903, + -0.22389227151870728 + ], + [ + 0.11020002224692048, + 0.9607737064361572, + 0.25449916579335774, + 0.06485412269830704 + ], + [ + -0.2655973319276731, + 0.275213360786438, + -0.9239674152710518, + -0.5062283873558044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + -0.9599280529540949, + 0.03384287655353546, + 0.2781960781641598, + -0.22464030981063843 + ], + [ + 0.1080585910047675, + 0.9606180191040039, + 0.25600062880320096, + 0.06475086510181427 + ], + [ + -0.2585764190113775, + 0.2758036255836487, + -0.9257811382031357, + -0.5052996873855591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + -0.9617361912167492, + 0.03370267152786255, + 0.27189679399204725, + -0.22311973571777344 + ], + [ + 0.10659041295133762, + 0.9602475166320801, + 0.2579984104633974, + 0.06398668885231018 + ], + [ + -0.25239296939228717, + 0.27710795402526855, + -0.9270971480428816, + -0.5021752119064331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + -0.9629030769129204, + 0.032824449241161346, + 0.267843375004355, + -0.22461646795272827 + ], + [ + 0.1051957583272873, + 0.9597072601318359, + 0.2605682429824417, + 0.06355743855237961 + ], + [ + -0.24849820955318502, + 0.2790779769420624, + -0.9275581049345092, + -0.5007109045982361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + -0.9648331773876437, + 0.02825392782688141, + 0.2613403775124002, + -0.22170233726501465 + ], + [ + 0.09937303607748914, + 0.9596303701400757, + 0.26312464574203714, + 0.06391382962465286 + ], + [ + -0.24335581458631486, + 0.2798415422439575, + -0.9286910014695686, + -0.5008600950241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/pull_out/transforms.json b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e6157693f553d0d1f802e873976ab9ffd02eb9c4 --- /dev/null +++ b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/pull_out/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.5388263108206957e-08, + -7.53625063225627e-05, + 0.0002039334358414635 + ], + [ + -1.1164480895331508e-08, + 1.0, + 5.604619218502194e-05, + 0.00011212080426048487 + ], + [ + 7.53625063225627e-05, + -5.604619218502194e-05, + 1.0, + 7.474265294149518e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9997895956039429, + 0.006332067772746086, + 0.019510388374328613, + 0.016377300655176816 + ], + [ + -0.00635170191526413, + 0.9999793767929077, + 0.0009445471223443747, + -0.0010873809751230947 + ], + [ + -0.019504006952047348, + -0.00106827262789011, + 0.999809205532074, + -0.011460953045728778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9991579651832581, + 0.016028089448809624, + 0.037768106907606125, + 0.02517870806527039 + ], + [ + -0.015711510553956032, + 0.9998390078544617, + -0.008664094842970371, + -0.000907760300992965 + ], + [ + -0.0379008986055851, + 0.008063404820859432, + 0.9992489814758301, + -0.028027567064220254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9981876015663147, + 0.02294239215552807, + 0.05563440918922424, + 0.028450462739329694 + ], + [ + -0.021730517968535423, + 0.9995153546333313, + -0.022290853783488274, + 0.005314750166625277 + ], + [ + -0.05611885339021683, + 0.021041488274931908, + 0.9982023239135742, + -0.049058649775164186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9969133734703064, + 0.022666120901703835, + 0.07516644150018692, + 0.02835668830647449 + ], + [ + -0.020299451425671577, + 0.9992784261703491, + -0.032101716846227646, + 0.011721534619092448 + ], + [ + -0.0758398249745369, + 0.03047679178416729, + 0.9966541528701782, + -0.07268961841656157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9943477511405945, + 0.014307735487818718, + 0.10520380735397339, + 0.027830787003040314 + ], + [ + -0.010447276756167412, + 0.9992548823356628, + -0.03715501353144646, + 0.019303531316686266 + ], + [ + -0.10565702617168427, + 0.035845909267663956, + 0.9937563538551331, + -0.09492839029258933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9914200305938721, + -0.00013615889474749565, + 0.1307145208120346, + 0.03249644068770172 + ], + [ + 0.005150088109076023, + 0.9992637038230896, + -0.03802058845758438, + 0.02555671942012369 + ], + [ + -0.13061310350894928, + 0.038367561995983124, + 0.9906907677650452, + -0.11570378961888227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.98768550157547, + -0.01288155373185873, + 0.15592119097709656, + 0.033742364243534974 + ], + [ + 0.018968917429447174, + 0.9991121888160706, + -0.03761649504303932, + 0.03129690093380853 + ], + [ + -0.15529820322990417, + 0.04011091962456703, + 0.9870529770851135, + -0.13753631166682756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9834993481636047, + -0.019946899265050888, + 0.1798085868358612, + 0.03790950528846299 + ], + [ + 0.027210701256990433, + 0.9989063739776611, + -0.038021668791770935, + 0.03878589008957886 + ], + [ + -0.17885354161262512, + 0.042287006974220276, + 0.9829665422439575, + -0.15648127062754197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9787391424179077, + -0.024291785433888435, + 0.20366553962230682, + 0.03701208834190014 + ], + [ + 0.03255695104598999, + 0.9987725019454956, + -0.03732980415225029, + 0.04725155498185926 + ], + [ + -0.20250873267650604, + 0.0431668721139431, + 0.9783285856246948, + -0.1797772557282251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9723614454269409, + -0.030436303466558456, + 0.23148824274539948, + 0.03754080145442781 + ], + [ + 0.03897194191813469, + 0.9987152814865112, + -0.03238874301314354, + 0.05723360408682469 + ], + [ + -0.23020504415035248, + 0.04051511362195015, + 0.9722983837127686, + -0.20127330535699514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9650312066078186, + -0.03968235105276108, + 0.25911393761634827, + 0.03765659210356799 + ], + [ + 0.047069430351257324, + 0.9986411929130554, + -0.022364841774106026, + 0.06583597296002236 + ], + [ + -0.25787433981895447, + 0.033779118210077286, + 0.9655877947807312, + -0.22490327602083032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9561276435852051, + -0.050087202340364456, + 0.28863680362701416, + 0.04145852407394362 + ], + [ + 0.05486312136054039, + 0.9984579086303711, + -0.008474953472614288, + 0.07094017328802218 + ], + [ + -0.287767231464386, + 0.023938652127981186, + 0.9574011564254761, + -0.2452980594940422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9469993710517883, + -0.05421540141105652, + 0.31662747263908386, + 0.04449491162807488 + ], + [ + 0.055914729833602905, + 0.9984285831451416, + 0.0037236008793115616, + 0.075353775436659 + ], + [ + -0.31633177399635315, + 0.014177888631820679, + 0.9485426545143127, + -0.26737253897446245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9402691125869751, + -0.04771360754966736, + 0.33707189559936523, + 0.04796014827145033 + ], + [ + 0.046102285385131836, + 0.9988548755645752, + 0.012787831015884876, + 0.07743672551972068 + ], + [ + -0.3372960686683655, + 0.0035157790407538414, + 0.9413920640945435, + -0.2877276407785652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9364526867866516, + -0.036105066537857056, + 0.3489309847354889, + 0.052129201898890094 + ], + [ + 0.03163418173789978, + 0.9993281960487366, + 0.0185047946870327, + 0.08016550305399521 + ], + [ + -0.34936466813087463, + -0.006290718913078308, + 0.9369657039642334, + -0.30718487599664485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9309839010238647, + -0.027231575921177864, + 0.3640431761741638, + 0.055824886989002384 + ], + [ + 0.020803725346922874, + 0.9995509386062622, + 0.021567264571785927, + 0.07956499496767344 + ], + [ + -0.3644670248031616, + -0.012505320832133293, + 0.9311323165893555, + -0.32897519242664996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9225302934646606, + -0.019173575565218925, + 0.38544803857803345, + 0.05814293950549827 + ], + [ + 0.011256176978349686, + 0.9996769428253174, + 0.022787034511566162, + 0.07793153380313196 + ], + [ + -0.38576042652130127, + -0.01668306067585945, + 0.9224481582641602, + -0.35047283640577775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9143236875534058, + -0.009639358147978783, + 0.4048694670200348, + 0.06351673264395107 + ], + [ + 0.0015720906667411327, + 0.9997936487197876, + 0.020253365859389305, + 0.07785313260272023 + ], + [ + -0.40498116612434387, + -0.017881641164422035, + 0.9141501784324646, + -0.3686991129532333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.909500777721405, + 0.003831335576251149, + 0.41568461060523987, + 0.0687661948898607 + ], + [ + -0.009443739429116249, + 0.9998899102210999, + 0.011446596123278141, + 0.0767115705738937 + ], + [ + -0.4155949652194977, + -0.014336305670440197, + 0.909436821937561, + -0.3878058535993592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9046746492385864, + 0.020794734358787537, + 0.42559534311294556, + 0.067449774131302 + ], + [ + -0.026209808886051178, + 0.9996328353881836, + 0.00687096593901515, + 0.07917299818185981 + ], + [ + -0.42529618740081787, + -0.017370760440826416, + 0.9048874974250793, + -0.4119451206085111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8986355066299438, + 0.02808682806789875, + 0.43779608607292175, + 0.06869292569554541 + ], + [ + -0.034393128007650375, + 0.9993873834609985, + 0.006480792537331581, + 0.08081259318465783 + ], + [ + -0.43734583258628845, + -0.02088104747235775, + 0.8990509510040283, + -0.4281872213872011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8907381296157837, + 0.020314514636993408, + 0.45406264066696167, + 0.0704456925392151 + ], + [ + -0.026246879249811172, + 0.9996325969696045, + 0.006765685509890318, + 0.08250357617878101 + ], + [ + -0.4537583589553833, + -0.017944179475307465, + 0.8909440636634827, + -0.4456204078414223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8805747032165527, + 0.013543978333473206, + 0.4737137258052826, + 0.07072251825785834 + ], + [ + -0.021586846560239792, + 0.9997003078460693, + 0.01154476311057806, + 0.07899027666815918 + ], + [ + -0.47341540455818176, + -0.02039201185107231, + 0.8806031942367554, + -0.46382665215444957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.869459867477417, + 0.013174517080187798, + 0.4938279390335083, + 0.06951490170206906 + ], + [ + -0.024681346490979195, + 0.9995543956756592, + 0.016788829118013382, + 0.0754653832759739 + ], + [ + -0.4933866858482361, + -0.026785552501678467, + 0.8693975806236267, + -0.47765240068278036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.8593891263008118, + 0.010858594439923763, + 0.5112068057060242, + 0.06703227536737426 + ], + [ + -0.02451971545815468, + 0.999499499797821, + 0.01998959667980671, + 0.07327152027417559 + ], + [ + -0.5107339024543762, + -0.02971348725259304, + 0.8592252135276794, + -0.48817199394722616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8453490734100342, + -0.0008065514266490936, + 0.5342137217521667, + 0.0600994258133833 + ], + [ + -0.01324478443711996, + 0.9996598362922668, + 0.02246805652976036, + 0.07253367257389155 + ], + [ + -0.5340501666069031, + -0.026068896055221558, + 0.8450508117675781, + -0.5020726111309588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.8227485418319702, + -0.02339150197803974, + 0.5679240822792053, + 0.055867566611648586 + ], + [ + 0.005965070798993111, + 0.9994531869888306, + 0.032523639500141144, + 0.07329693151530156 + ], + [ + -0.5683743357658386, + -0.023371070623397827, + 0.82243812084198, + -0.5163070088575694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7977023124694824, + -0.053104571998119354, + 0.6007087230682373, + 0.05235701750132663 + ], + [ + 0.027630463242530823, + 0.998287558555603, + 0.051560353487730026, + 0.07335991050339927 + ], + [ + -0.6024181842803955, + -0.024531956762075424, + 0.7978036403656006, + -0.5255300866670845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.7717777490615845, + -0.07723444700241089, + 0.6311845779418945, + 0.04695889125924465 + ], + [ + 0.0402807779610157, + 0.9965409636497498, + 0.07268789410591125, + 0.06822419476903174 + ], + [ + -0.6346153020858765, + -0.030674293637275696, + 0.772219181060791, + -0.5355204477783077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.7495331764221191, + -0.083514504134655, + 0.6566776037216187, + 0.044711030157637 + ], + [ + 0.035858720541000366, + 0.9956756234169006, + 0.08569816499948502, + 0.06693802152044517 + ], + [ + -0.6609948873519897, + -0.04068600386381149, + 0.7492866516113281, + -0.5410803733778394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.7348899841308594, + -0.08174833655357361, + 0.6732413172721863, + 0.03584553424484473 + ], + [ + 0.02548922970890999, + 0.9953364729881287, + 0.09303547441959381, + 0.06864810636467185 + ], + [ + -0.6777071356773376, + -0.051210448145866394, + 0.7335464954376221, + -0.5481522037963237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.7219288349151611, + -0.07936044037342072, + 0.6874014139175415, + 0.03714097000596937 + ], + [ + 0.021741043776273727, + 0.9955124855041504, + 0.09209877252578735, + 0.0707634084234553 + ], + [ + -0.691625714302063, + -0.051543936133384705, + 0.7204145789146423, + -0.552549560306486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.7012955546379089, + -0.08360081911087036, + 0.7079516053199768, + 0.02957347658547488 + ], + [ + 0.024037901312112808, + 0.9953081607818604, + 0.0937223806977272, + 0.07607254216616804 + ], + [ + -0.712465226650238, + -0.04870941489934921, + 0.7000147700309753, + -0.5664332546971061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.6734965443611145, + -0.09712476283311844, + 0.7327818274497986, + 0.024374196795392628 + ], + [ + 0.033964015543460846, + 0.9943493604660034, + 0.10057740658521652, + 0.0863925862410837 + ], + [ + -0.738409698009491, + -0.042850323021411896, + 0.6729896068572998, + -0.5779638727834402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.6442416310310364, + -0.11318138241767883, + 0.7564011216163635, + 0.023814219950644436 + ], + [ + 0.04682755470275879, + 0.9929714798927307, + 0.10869580507278442, + 0.09047115526416084 + ], + [ + -0.763387143611908, + -0.034605950117111206, + 0.6450135707855225, + -0.5826676202214454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.6227811574935913, + -0.11833544075489044, + 0.7733953595161438, + 0.02749590078168664 + ], + [ + 0.04707494005560875, + 0.9923725128173828, + 0.113933265209198, + 0.09826853462487213 + ], + [ + -0.7809786200523376, + -0.03454795479774475, + 0.6236015558242798, + -0.5898961413990368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.6085637807846069, + -0.11737674474716187, + 0.7847757339477539, + 0.027391153106019517 + ], + [ + 0.04088759794831276, + 0.9923237562179565, + 0.11671235412359238, + 0.10500093303805541 + ], + [ + -0.7924509048461914, + -0.03893931955099106, + 0.6086915731430054, + -0.5962301704509199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.593249499797821, + -0.11648523062467575, + 0.796546459197998, + 0.02701490570691006 + ], + [ + 0.05455843359231949, + 0.9930185079574585, + 0.1045830100774765, + 0.11136157008980917 + ], + [ + -0.8031677007675171, + -0.01858549565076828, + 0.5954629778862, + -0.6014640428803184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5695338249206543, + -0.12416624277830124, + 0.8125355839729309, + 0.01753358530604149 + ], + [ + 0.08709215372800827, + 0.9920758605003357, + 0.09055653214454651, + 0.12042808601678895 + ], + [ + -0.8173410296440125, + 0.019190452992916107, + 0.5758346319198608, + -0.6248212721722185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5393905639648438, + -0.13085323572158813, + 0.8318265080451965, + 0.01924890008839694 + ], + [ + 0.11168155819177628, + 0.9902420043945312, + 0.0833543986082077, + 0.12351669912988489 + ], + [ + -0.8346167206764221, + 0.04793909192085266, + 0.5487411022186279, + -0.6296370674755948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5236328840255737, + -0.12691405415534973, + 0.8424378633499146, + 0.021376007992374012 + ], + [ + 0.11151320487260818, + 0.9905446171760559, + 0.07991337031126022, + 0.12290996392526903 + ], + [ + -0.8446143865585327, + 0.05209765583276749, + 0.5328343510627747, + -0.627507322928137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.516356348991394, + -0.12006444483995438, + 0.8479154706001282, + 0.018890215493430777 + ], + [ + 0.10826773196458817, + 0.9913308024406433, + 0.07444003224372864, + 0.12728945157252067 + ], + [ + -0.8495023846626282, + 0.053364306688308716, + 0.5248790383338928, + -0.6307764722296029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.502679705619812, + -0.12341752648353577, + 0.8556174635887146, + 0.012432392618872901 + ], + [ + 0.11691167950630188, + 0.9903689622879028, + 0.0741683766245842, + 0.13620912688207035 + ], + [ + -0.8565307259559631, + 0.06274872273206711, + 0.5122673511505127, + -0.6351919494384577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.4808233976364136, + -0.13227927684783936, + 0.8667820692062378, + 0.0064943785017186895 + ], + [ + 0.12900561094284058, + 0.9884690642356873, + 0.079287588596344, + 0.14099403809417377 + ], + [ + -0.8672753572463989, + 0.07369640469551086, + 0.4923437833786011, + -0.6392922629009594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.4572129249572754, + -0.1351775974035263, + 0.879024088382721, + 0.002879911217807736 + ], + [ + 0.13839443027973175, + 0.9871551990509033, + 0.07982207834720612, + 0.13436462459239093 + ], + [ + -0.8785234093666077, + 0.08515635132789612, + 0.4700479507446289, + -0.640093538879363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.432873010635376, + -0.12874649465084076, + 0.8922137022018433, + -0.004371534300244548 + ], + [ + 0.14350111782550812, + 0.9869690537452698, + 0.07279764115810394, + 0.13118060386377917 + ], + [ + -0.8899598121643066, + 0.0965215265750885, + 0.4457075595855713, + -0.6399243125245591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.40987420082092285, + -0.11623679101467133, + 0.9047056436538696, + -0.017050614731370914 + ], + [ + 0.1478695124387741, + 0.9871947169303894, + 0.05984316021203995, + 0.13374040065841242 + ], + [ + -0.9000766277313232, + 0.10925018042325974, + 0.4218135476112366, + -0.6452487815017542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.38687580823898315, + -0.10168962180614471, + 0.9165077805519104, + -0.027317394993521954 + ], + [ + 0.15335895121097565, + 0.9871548414230347, + 0.044792335480451584, + 0.13801423008284294 + ], + [ + -0.9092900156974792, + 0.12322556972503662, + 0.39750128984451294, + -0.64488136669821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.36270028352737427, + -0.09303449094295502, + 0.9272502660751343, + -0.05426929445306131 + ], + [ + 0.15731878578662872, + 0.9868364930152893, + 0.03747669607400894, + 0.1329558960108225 + ], + [ + -0.918531060218811, + 0.132281094789505, + 0.3725619316101074, + -0.6682052330537276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.3357228636741638, + -0.08905591070652008, + 0.9377416372299194, + -0.0685387147852212 + ], + [ + 0.16154251992702484, + 0.9862152934074402, + 0.03582518547773361, + 0.13512223078445953 + ], + [ + -0.928005576133728, + 0.1394577920436859, + 0.34548133611679077, + -0.6718779812174395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.3133211135864258, + -0.08103474229574203, + 0.9461835622787476, + -0.07457370531460471 + ], + [ + 0.15887489914894104, + 0.9867832064628601, + 0.03190168738365173, + 0.1421827570958571 + ], + [ + -0.9362632036209106, + 0.14032934606075287, + 0.322054386138916, + -0.6614934307484588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.29416346549987793, + -0.07674415409564972, + 0.9526690244674683, + -0.10191818988027651 + ], + [ + 0.15818989276885986, + 0.986932635307312, + 0.030658721923828125, + 0.13743833773884892 + ], + [ + -0.942573070526123, + 0.1416839212179184, + 0.3024596571922302, + -0.6816681456959938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.2729949951171875, + -0.07534123957157135, + 0.9590606689453125, + -0.10991881573495786 + ], + [ + 0.16417479515075684, + 0.9859527349472046, + 0.03072172775864601, + 0.1356119382572322 + ], + [ + -0.9479031562805176, + 0.1490667164325714, + 0.2815293073654175, + -0.6788876881284162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.24074101448059082, + -0.08333778381347656, + 0.9670050144195557, + -0.12666656079371114 + ], + [ + 0.1701418161392212, + 0.9845032095909119, + 0.04248809814453125, + 0.13622013704835875 + ], + [ + -0.9555603265762329, + 0.15429934859275818, + 0.25118952989578247, + -0.6850029503018403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.21346962451934814, + -0.0909111350774765, + 0.9727106094360352, + -0.1358062814582478 + ], + [ + 0.16856463253498077, + 0.9841556549072266, + 0.054987844079732895, + 0.12982618690214373 + ], + [ + -0.9622976779937744, + 0.15222635865211487, + 0.22541171312332153, + -0.6815019331195138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.2003002166748047, + -0.0945914164185524, + 0.9751575589179993, + -0.14773719783656852 + ], + [ + 0.16045314073562622, + 0.9850567579269409, + 0.06259410083293915, + 0.12255749384726375 + ], + [ + -0.9665064215660095, + 0.14392946660518646, + 0.21248459815979004, + -0.6768480603359948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.18981432914733887, + -0.09458780288696289, + 0.9772530198097229, + -0.15425834084345288 + ], + [ + 0.15506593883037567, + 0.9857442378997803, + 0.06529080867767334, + 0.11956401804754557 + ], + [ + -0.9694972634315491, + 0.13914553821086884, + 0.20177572965621948, + -0.678921565290325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.174064040184021, + -0.09636308252811432, + 0.9800081849098206, + -0.17887456835794055 + ], + [ + 0.15055008232593536, + 0.98610520362854, + 0.0702226459980011, + 0.11611509469668727 + ], + [ + -0.973158061504364, + 0.13531705737113953, + 0.18615293502807617, + -0.6881453189968078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.14512252807617188, + -0.10557346791028976, + 0.9837651252746582, + -0.18820950117978183 + ], + [ + 0.14086315035820007, + 0.9863671660423279, + 0.08507292717695236, + 0.11430911839870382 + ], + [ + -0.9793350696563721, + 0.12623023986816406, + 0.15801554918289185, + -0.6964772111620785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.08798736333847046, + -0.11677221208810806, + 0.9892536401748657, + -0.2199689667086956 + ], + [ + 0.13062578439712524, + 0.9858818650245667, + 0.1047559306025505, + 0.11740594960687574 + ], + [ + -0.9875198602676392, + 0.1200047954916954, + 0.10199862718582153, + -0.7155310225880835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.04201185703277588, + -0.1263715624809265, + 0.9910929203033447, + -0.20826917788213936 + ], + [ + 0.11903427541255951, + 0.9855365753173828, + 0.12061728537082672, + 0.10464076280347571 + ], + [ + -0.992000937461853, + 0.11290666460990906, + 0.05644679069519043, + -0.6903084713565416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.032774507999420166, + -0.13014060258865356, + 0.9909536838531494, + -0.21931140151890843 + ], + [ + 0.09972281754016876, + 0.9869645237922668, + 0.12631849944591522, + 0.09592407434439856 + ], + [ + -0.9944753646850586, + 0.09468065947294235, + 0.045325279235839844, + -0.6811412742315245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.03620278835296631, + -0.12027733027935028, + 0.99208003282547, + -0.22694955374583725 + ], + [ + 0.08373335003852844, + 0.9896050095558167, + 0.11692169308662415, + 0.10220794618622331 + ], + [ + -0.9958303570747375, + 0.07883729040622711, + 0.04589766263961792, + -0.677302046501932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.028236567974090576, + -0.11828841269016266, + 0.9925777316093445, + -0.24019750898534603 + ], + [ + 0.08547951281070709, + 0.9896221160888672, + 0.11550448834896088, + 0.11770087357394951 + ], + [ + -0.9959397912025452, + 0.08158360421657562, + 0.03805476427078247, + -0.6840735325143357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.00361555814743042, + -0.1291426569223404, + 0.9916194677352905, + -0.25162049561492666 + ], + [ + 0.10080607235431671, + 0.9866216778755188, + 0.12812422215938568, + 0.11681523038582368 + ], + [ + -0.9948995113372803, + 0.09949802607297897, + 0.016585588455200195, + -0.6883035213494104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.02602064609527588, + -0.1405160278081894, + 0.9897366166114807, + -0.2731130502440713 + ], + [ + 0.11959032714366913, + 0.9825238585472107, + 0.14263609051704407, + 0.10970768996260383 + ], + [ + -0.9924824833869934, + 0.12207434326410294, + -0.008761405944824219, + -0.684659853848544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.05311179161071777, + -0.1514054387807846, + 0.9870438575744629, + -0.26473768121940044 + ], + [ + 0.1292894333600998, + 0.9790766835212708, + 0.15714025497436523, + 0.10788474080483776 + ], + [ + -0.9901835918426514, + 0.13596031069755554, + -0.0324254035949707, + -0.6794425989970688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.07696318626403809, + -0.16109086573123932, + 0.9839341640472412, + -0.28088743125111604 + ], + [ + 0.13488654792308807, + 0.9761061072349548, + 0.1703600436449051, + 0.09962801485022238 + ], + [ + -0.9878675937652588, + 0.1458309143781662, + -0.05339515209197998, + -0.6726368835149718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.09858989715576172, + -0.16151776909828186, + 0.9819328188896179, + -0.26660609792086704 + ], + [ + 0.14072272181510925, + 0.974561333656311, + 0.1744343340396881, + 0.09245427156036551 + ], + [ + -0.9851279854774475, + 0.15537771582603455, + -0.07335269451141357, + -0.6611510640333507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.12148237228393555, + -0.1591596007347107, + 0.9797502160072327, + -0.27895412760332594 + ], + [ + 0.14621064066886902, + 0.9734241366386414, + 0.1762610375881195, + 0.0921015935249565 + ], + [ + -0.9817661643028259, + 0.16466248035430908, + -0.09498298168182373, + -0.656868049921083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.14975881576538086, + -0.15647456049919128, + 0.9762623310089111, + -0.297514480697222 + ], + [ + 0.15256378054618835, + 0.9719148278236389, + 0.1791810542345047, + 0.09370514193842233 + ], + [ + -0.9768811464309692, + 0.17577619850635529, + -0.12168049812316895, + -0.6539605171227258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.19077074527740479, + -0.15320782363414764, + 0.9696051478385925, + -0.3045961906102078 + ], + [ + 0.16203813254833221, + 0.969280481338501, + 0.18503768742084503, + 0.09448050531474027 + ], + [ + -0.9681685566902161, + 0.19241274893283844, + -0.16008484363555908, + -0.6476334995474697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.23074936866760254, + -0.1485915184020996, + 0.9616004228591919, + -0.3074070153157573 + ], + [ + 0.17207223176956177, + 0.9664625525474548, + 0.19063395261764526, + 0.0896253161686511 + ], + [ + -0.9576773643493652, + 0.20945337414741516, + -0.1974421739578247, + -0.6343595474219519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.2647101879119873, + -0.14137554168701172, + 0.9539087414741516, + -0.3068243817849593 + ], + [ + 0.17843011021614075, + 0.9649338126182556, + 0.19252395629882812, + 0.0867848146799182 + ], + [ + -0.947676956653595, + 0.22116902470588684, + -0.2302020788192749, + -0.6259264586385617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.29851770401000977, + -0.13222485780715942, + 0.945200502872467, + -0.31113949615108083 + ], + [ + 0.1830517053604126, + 0.9640381336212158, + 0.19267229735851288, + 0.08293234618488422 + ], + [ + -0.9366853833198547, + 0.2305365949869156, + -0.2635784149169922, + -0.610370048806687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.3303811550140381, + -0.12270499765872955, + 0.9358375072479248, + -0.31371275688991074 + ], + [ + 0.18972812592983246, + 0.9626407027244568, + 0.19319958984851837, + 0.08198028033183626 + ], + [ + -0.9245818853378296, + 0.24138419330120087, + -0.2947578430175781, + -0.6015129918894492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.36249732971191406, + -0.11130928993225098, + 0.9253140687942505, + -0.31139160719784825 + ], + [ + 0.19427362084388733, + 0.9620075821876526, + 0.19183114171028137, + 0.07889133420857516 + ], + [ + -0.9115117788314819, + 0.24930235743522644, + -0.3271007537841797, + -0.5917444716800343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.39233720302581787, + -0.09568962454795837, + 0.91483074426651, + -0.3118735780400678 + ], + [ + 0.19805383682250977, + 0.9624572396278381, + 0.18560925126075745, + 0.07974714880639856 + ], + [ + -0.8982463479042053, + 0.25400710105895996, + -0.35865604877471924, + -0.5826435778751846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.4207165241241455, + -0.07995138317346573, + 0.903662383556366, + -0.31758281174770076 + ], + [ + 0.201825350522995, + 0.9628965854644775, + 0.17915557324886322, + 0.07621592341129445 + ], + [ + -0.8844571709632874, + 0.2577556371688843, + -0.3889702558517456, + -0.5716349417513067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.4504382610321045, + -0.062430717051029205, + 0.8906222581863403, + -0.31837806327283874 + ], + [ + 0.2041180431842804, + 0.9639304876327515, + 0.17080354690551758, + 0.07757907742557446 + ], + [ + -0.8691613674163818, + 0.2587285041809082, + -0.42144787311553955, + -0.5645974426230124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + -0.48017680644989014, + -0.047514259815216064, + 0.8758839964866638, + -0.3170252947275304 + ], + [ + 0.20309218764305115, + 0.9653772711753845, + 0.16370812058448792, + 0.07985338191848156 + ], + [ + -0.8533369898796082, + 0.25649401545524597, + -0.453902006149292, + -0.5537463036450473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + -0.5068622827529907, + -0.039294853806495667, + 0.8611311912536621, + -0.31659095976963514 + ], + [ + 0.19880935549736023, + 0.966701328754425, + 0.16113148629665375, + 0.08162084810497347 + ], + [ + -0.8387882709503174, + 0.2528723478317261, + -0.48217225074768066, + -0.5447541122594155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + -0.531747579574585, + -0.03630857914686203, + 0.8461242318153381, + -0.319193266984845 + ], + [ + 0.19487908482551575, + 0.967024564743042, + 0.1639685481786728, + 0.08183928272448296 + ], + [ + -0.8241763710975647, + 0.2520817816257477, + -0.5071371793746948, + -0.5344574678042704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + -0.5588455200195312, + -0.027978211641311646, + 0.8287999033927917, + -0.32267222769004256 + ], + [ + 0.19639572501182556, + 0.9665329456329346, + 0.16505396366119385, + 0.08160110654170848 + ], + [ + -0.8056803345680237, + 0.2550123631954193, + -0.5346478223800659, + -0.5131431257429202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + -0.5858345031738281, + -0.0259857177734375, + 0.8100141286849976, + -0.3217861716412316 + ], + [ + 0.19997254014015198, + 0.9639462828636169, + 0.17555204033851624, + 0.07677163491564348 + ], + [ + -0.7853720188140869, + 0.2648249864578247, + -0.5595165491104126, + -0.5056344576118406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + -0.6117655038833618, + -0.024564452469348907, + 0.7906578183174133, + -0.32387615934876374 + ], + [ + 0.20032429695129395, + 0.9621254801750183, + 0.18489107489585876, + 0.07525762429168402 + ], + [ + -0.7652538418769836, + 0.271497905254364, + -0.5836743116378784, + -0.5000531737469445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + -0.6359320878982544, + -0.023552797734737396, + 0.771385669708252, + -0.31758536179203634 + ], + [ + 0.20006409287452698, + 0.9603328704833984, + 0.19425521790981293, + 0.07828173886153324 + ], + [ + -0.7453622817993164, + 0.2778596580028534, + -0.605994462966919, + -0.49056956098099386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + -0.6590254306793213, + -0.02090117335319519, + 0.7518303394317627, + -0.31377608667720447 + ], + [ + 0.2006569653749466, + 0.9584969878196716, + 0.20253470540046692, + 0.0754423673857342 + ], + [ + -0.7248603105545044, + 0.28433549404144287, + -0.6274799108505249, + -0.4786530364643444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + -0.6827473640441895, + -0.022928133606910706, + 0.7302947640419006, + -0.3135052435161654 + ], + [ + 0.19499467313289642, + 0.9575383067131042, + 0.21236172318458557, + 0.07229579109544597 + ], + [ + -0.7041543126106262, + 0.2873929738998413, + -0.6492859125137329, + -0.47105943516266247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + -0.7024502754211426, + -0.027567453682422638, + 0.7111990451812744, + -0.30884180482754037 + ], + [ + 0.1859111785888672, + 0.9574509263038635, + 0.2207368165254593, + 0.06937012944586021 + ], + [ + -0.687023401260376, + 0.28727641701698303, + -0.6674365997314453, + -0.4651316488084714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + -0.7150022983551025, + -0.03484443575143814, + 0.6982535123825073, + -0.3021577985818721 + ], + [ + 0.1731269359588623, + 0.9588246941566467, + 0.225127175450325, + 0.06617057817287682 + ], + [ + -0.6773471832275391, + 0.2818528711795807, + -0.6795293092727661, + -0.46483080101407265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + -0.7232011556625366, + -0.0396566204726696, + 0.6894981265068054, + -0.2968274171687355 + ], + [ + 0.15559782087802887, + 0.963327169418335, + 0.21860946714878082, + 0.054777285641382546 + ], + [ + -0.672881543636322, + 0.2653830051422119, + -0.6905088424682617, + -0.4663843521401902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + -0.7331891059875488, + -0.030071187764406204, + 0.6793597340583801, + -0.2929141262838663 + ], + [ + 0.14137648046016693, + 0.9704529643058777, + 0.1955346316099167, + 0.05672175977840896 + ], + [ + -0.6651665568351746, + 0.23940931260585785, + -0.7072741985321045, + -0.4719123871858455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + -0.7432698011398315, + -0.013797134160995483, + 0.6688494086265564, + -0.28954133583494457 + ], + [ + 0.13120511174201965, + 0.9773642420768738, + 0.16596505045890808, + 0.05772624418508908 + ], + [ + -0.6559993624687195, + 0.21111327409744263, + -0.724635124206543, + -0.4625027140309988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + -0.7533907890319824, + 0.006291750818490982, + 0.6575430631637573, + -0.28938183213068436 + ], + [ + 0.1287686675786972, + 0.982005774974823, + 0.1381424069404602, + 0.06358593770048834 + ], + [ + -0.6448419094085693, + 0.1887461543083191, + -0.7406443357467651, + -0.43905370737895494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + -0.7638771533966064, + 0.024237588047981262, + 0.6449064612388611, + -0.29577358103980705 + ], + [ + 0.13508723676204681, + 0.9831624031066895, + 0.12305747717618942, + 0.07345676717679363 + ], + [ + -0.6310651898384094, + 0.1811194270849228, + -0.7542895078659058, + -0.4286505354337456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + -0.7761849164962769, + 0.038007818162441254, + 0.6293591260910034, + -0.290503370269271 + ], + [ + 0.14436855912208557, + 0.9823760986328125, + 0.1187218725681305, + 0.08145840305927371 + ], + [ + -0.6137549877166748, + 0.18300974369049072, + -0.7679926156997681, + -0.42541653183866135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + -0.7889981269836426, + 0.048216093331575394, + 0.6125009655952454, + -0.29046952813124854 + ], + [ + 0.1508733481168747, + 0.9815956950187683, + 0.11707747727632523, + 0.08214004452317214 + ], + [ + -0.5955832600593567, + 0.1847839653491974, + -0.7817516326904297, + -0.43029063925270206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + -0.8004419803619385, + 0.05756688490509987, + 0.5966397523880005, + -0.29024673917076804 + ], + [ + 0.15481071174144745, + 0.9814610481262207, + 0.11299501359462738, + 0.07335463057864795 + ], + [ + -0.5790739059448242, + 0.1828121393918991, + -0.7945146560668945, + -0.4191531289707531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + -0.8103868961334229, + 0.06473004072904587, + 0.5823085904121399, + -0.2893098651870223 + ], + [ + 0.15902277827262878, + 0.9808701872825623, + 0.11227414011955261, + 0.07969478684023393 + ], + [ + -0.5639016032218933, + 0.18358579277992249, + -0.8051779270172119, + -0.41737667563532993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + -0.8193463087081909, + 0.06800752878189087, + 0.5692510604858398, + -0.28558469744753245 + ], + [ + 0.16237172484397888, + 0.9798100590705872, + 0.11665187031030655, + 0.08084866657606826 + ], + [ + -0.5498247146606445, + 0.18800854682922363, + -0.813846230506897, + -0.41587026557646506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + -0.8264330625534058, + 0.07012762129306793, + 0.5586506724357605, + -0.28213227957733406 + ], + [ + 0.1660567671060562, + 0.9784364104270935, + 0.12283053249120712, + 0.07546541187142537 + ], + [ + -0.537990391254425, + 0.19427892565727234, + -0.8202574253082275, + -0.41311959653846486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + -0.8313335180282593, + 0.0683828741312027, + 0.5515508055686951, + -0.277601273148513 + ], + [ + 0.1662677675485611, + 0.9775521159172058, + 0.12940992414951324, + 0.07063352908969911 + ], + [ + -0.5303202271461487, + 0.19928793609142303, + -0.8240417242050171, + -0.41302385517388335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + -0.833980917930603, + 0.06562963128089905, + 0.5478764772415161, + -0.2745549451221119 + ], + [ + 0.1656775176525116, + 0.97687166929245, + 0.13517671823501587, + 0.06872092952166707 + ], + [ + -0.5263334512710571, + 0.20350560545921326, + -0.8255656957626343, + -0.41351831717924636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + -0.8353480100631714, + 0.06440025568008423, + 0.5459361672401428, + -0.2758358320421424 + ], + [ + 0.16763897240161896, + 0.975652813911438, + 0.14141687750816345, + 0.06402804425432662 + ], + [ + -0.5235368609428406, + 0.20965248346328735, + -0.8258056640625, + -0.4134173935109919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + -0.8367112874984741, + 0.06474460661411285, + 0.5438037514686584, + -0.27691399450144494 + ], + [ + 0.1710018813610077, + 0.9742251634597778, + 0.14711810648441315, + 0.06506264629689129 + ], + [ + -0.5202621817588806, + 0.21608681976795197, + -0.8262166976928711, + -0.4190136858747025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + -0.8393120765686035, + 0.06668825447559357, + 0.5395443439483643, + -0.2791976162224762 + ], + [ + 0.17669625580310822, + 0.9720282554626465, + 0.15472394227981567, + 0.06250515745198432 + ], + [ + -0.5141340494155884, + 0.22519710659980774, + -0.8276185989379883, + -0.41675227082465305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + -0.841673731803894, + 0.066226527094841, + 0.5359101295471191, + -0.280580974807424 + ], + [ + 0.18142560124397278, + 0.9694403409957886, + 0.16513678431510925, + 0.06087981366421565 + ], + [ + -0.5085964202880859, + 0.23621907830238342, + -0.827967643737793, + -0.4201331652885626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + -0.8440279960632324, + 0.0629223957657814, + 0.5325949788093567, + -0.2809141253144288 + ], + [ + 0.1825973093509674, + 0.9674754738807678, + 0.1750699281692505, + 0.056657933733187435 + ], + [ + -0.5042567849159241, + 0.24501433968544006, + -0.8280658721923828, + -0.41873933362566734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + -0.8452337980270386, + 0.055008839815855026, + 0.5315578579902649, + -0.2793074141849171 + ], + [ + 0.17908881604671478, + 0.9663268327713013, + 0.18476901948451996, + 0.05228813128037886 + ], + [ + -0.5034946799278259, + 0.2513691186904907, + -0.8266236782073975, + -0.4193817295811393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + -0.8458257913589478, + 0.04716134071350098, + 0.5313704609870911, + -0.27748237252235414 + ], + [ + 0.1754535287618637, + 0.965261697769165, + 0.1936127245426178, + 0.05110780506833526 + ], + [ + -0.5037805438041687, + 0.25699344277381897, + -0.8247178792953491, + -0.4246041173777304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + -0.8467191457748413, + 0.04306572675704956, + 0.53029465675354, + -0.2755406349158484 + ], + [ + 0.17419974505901337, + 0.964219331741333, + 0.1998387575149536, + 0.04867864672310096 + ], + [ + -0.5027141571044922, + 0.26158446073532104, + -0.8239250183105469, + -0.4260355324784586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + -0.8491859436035156, + 0.042847923934459686, + 0.5263527631759644, + -0.2794208754192699 + ], + [ + 0.1753564476966858, + 0.9630286693572998, + 0.20451392233371735, + 0.04694996920745234 + ], + [ + -0.49812981486320496, + 0.26596972346305847, + -0.8253040313720703, + -0.42659809658350034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + -0.8526349067687988, + 0.041047073900699615, + 0.5208924412727356, + -0.2756471382684944 + ], + [ + 0.17507100105285645, + 0.9617278575897217, + 0.2107834815979004, + 0.04491670614431712 + ], + [ + -0.4923047423362732, + 0.2709144949913025, + -0.8271889686584473, + -0.4250165065457998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + -0.8530075550079346, + 0.03629478067159653, + 0.520635187625885, + -0.27150474771980415 + ], + [ + 0.1723031997680664, + 0.9612289667129517, + 0.21529150009155273, + 0.043914228924049815 + ], + [ + -0.49263566732406616, + 0.27335235476493835, + -0.8261891603469849, + -0.4249730464840723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + -0.8537263870239258, + 0.0344524085521698, + 0.5195814371109009, + -0.2712327123673494 + ], + [ + 0.17112965881824493, + 0.9609493017196655, + 0.21746516227722168, + 0.04378631895731303 + ], + [ + -0.4917992353439331, + 0.2745714485645294, + -0.8262835741043091, + -0.4263888145281264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + -0.8557354211807251, + 0.034226901829242706, + 0.5162803530693054, + -0.2738135949146649 + ], + [ + 0.17042717337608337, + 0.9607737064361572, + 0.21878859400749207, + 0.04369853137692144 + ], + [ + -0.4885401129722595, + 0.275213360786438, + -0.8280013799667358, + -0.426165444003649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + -0.8585556745529175, + 0.03384287655353546, + 0.5116024613380432, + -0.27453212008988565 + ], + [ + 0.16920731961727142, + 0.9606180191040039, + 0.220412939786911, + 0.04325604948623121 + ], + [ + -0.4839951694011688, + 0.2758036255836487, + -0.8304704427719116, + -0.42431166073507515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + -0.8607993125915527, + 0.03370267152786255, + 0.507827639579773, + -0.2730631151475197 + ], + [ + 0.16877274215221405, + 0.9602475166320801, + 0.22235210239887238, + 0.04211900274861942 + ], + [ + -0.4801463484764099, + 0.27710795402526855, + -0.832268476486206, + -0.42032401463216984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + -0.8618669509887695, + 0.032824449241161346, + 0.5060709118843079, + -0.2748053187181142 + ], + [ + 0.1685652732849121, + 0.9597072601318359, + 0.22482816874980927, + 0.04126043008132414 + ], + [ + -0.4783000648021698, + 0.2790779769420624, + -0.8326730728149414, + -0.4181317568810518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + -0.8643174171447754, + 0.02825392782688141, + 0.5021526217460632, + -0.27191759943962096 + ], + [ + 0.1640886515378952, + 0.9596303701400757, + 0.22843925654888153, + 0.041069903969764704 + ], + [ + -0.475426584482193, + 0.2798415422439575, + -0.8340615034103394, + -0.41745394468307495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/push_in/transforms.json b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..96ac12d48948efd8290761232fc70df32d4c7681 --- /dev/null +++ b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/push_in/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.5388263108206957e-08, + -7.53625063225627e-05, + 0.0002039334358414635 + ], + [ + -1.1164480895331508e-08, + 1.0, + 5.604619218502194e-05, + 0.00011212080426048487 + ], + [ + 7.53625063225627e-05, + -5.604619218502194e-05, + 1.0, + 7.474265294149518e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9997895956039429, + 0.006332067772746086, + 0.019510388374328613, + 0.016409549231002154 + ], + [ + -0.00635170191526413, + 0.9999793767929077, + 0.0009445471223443747, + -0.0010858197402101287 + ], + [ + -0.019504006952047348, + -0.00106827262789011, + 0.999809205532074, + -0.00980837584650221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9991579651832581, + 0.016028089448809624, + 0.037768106907606125, + 0.02530356131124595 + ], + [ + -0.015711510553956032, + 0.9998390078544617, + -0.008664094842970371, + -0.0009364019368374951 + ], + [ + -0.0379008986055851, + 0.008063404820859432, + 0.9992489814758301, + -0.02472426464611834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9981876015663147, + 0.02294239215552807, + 0.05563440918922424, + 0.028726335842747332 + ], + [ + -0.021730517968535423, + 0.9995153546333313, + -0.022290853783488274, + 0.0052042170073683105 + ], + [ + -0.05611885339021683, + 0.021041488274931908, + 0.9982023239135742, + -0.0441088861855101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9969133734703064, + 0.022666120901703835, + 0.07516644150018692, + 0.028853656514740186 + ], + [ + -0.020299451425671577, + 0.9992784261703491, + -0.032101716846227646, + 0.011509291863084333 + ], + [ + -0.0758398249745369, + 0.03047679178416729, + 0.9966541528701782, + -0.06610016947196534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9943477511405945, + 0.014307735487818718, + 0.10520380735397339, + 0.028700239956378937 + ], + [ + -0.010447276756167412, + 0.9992548823356628, + -0.03715501353144646, + 0.018996465089153654 + ], + [ + -0.10565702617168427, + 0.035845909267663956, + 0.9937563538551331, + -0.08671552786403451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9914200305938721, + -0.00013615889474749565, + 0.1307145208120346, + 0.033792783042862394 + ], + [ + 0.005150088109076023, + 0.9992637038230896, + -0.03802058845758438, + 0.025179655732941036 + ], + [ + -0.13061310350894928, + 0.038367561995983124, + 0.9906907677650452, + -0.10587875721129504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.98768550157547, + -0.01288155373185873, + 0.15592119097709656, + 0.0355464110812865 + ], + [ + 0.018968917429447174, + 0.9991121888160706, + -0.03761649504303932, + 0.030861668759756836 + ], + [ + -0.15529820322990417, + 0.04011091962456703, + 0.9870529770851135, + -0.12611586399807417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9834993481636047, + -0.019946899265050888, + 0.1798085868358612, + 0.04028713949455703 + ], + [ + 0.027210701256990433, + 0.9989063739776611, + -0.038021668791770935, + 0.03828312422125793 + ], + [ + -0.17885354161262512, + 0.042287006974220276, + 0.9829665422439575, + -0.1434833659367128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9787391424179077, + -0.024291785433888435, + 0.20366553962230682, + 0.04004182364206669 + ], + [ + 0.03255695104598999, + 0.9987725019454956, + -0.03732980415225029, + 0.046696235581247275 + ], + [ + -0.20250873267650604, + 0.0431668721139431, + 0.9783285856246948, + -0.16522360734703126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9723614454269409, + -0.030436303466558456, + 0.23148824274539948, + 0.041367053400632764 + ], + [ + 0.03897194191813469, + 0.9987152814865112, + -0.03238874301314354, + 0.05669825296264049 + ], + [ + -0.23020504415035248, + 0.04051511362195015, + 0.9722983837127686, + -0.18520225769232126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9650312066078186, + -0.03968235105276108, + 0.25911393761634827, + 0.042367754605683414 + ], + [ + 0.047069430351257324, + 0.9986411929130554, + -0.022364841774106026, + 0.06542933947322044 + ], + [ + -0.25787433981895447, + 0.033779118210077286, + 0.9655877947807312, + -0.2073471342975443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9561276435852051, + -0.050087202340364456, + 0.28863680362701416, + 0.047183551583900925 + ], + [ + 0.05486312136054039, + 0.9984579086303711, + -0.008474953472614288, + 0.07077207503732572 + ], + [ + -0.287767231464386, + 0.023938652127981186, + 0.9574011564254761, + -0.22630828449056167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9469993710517883, + -0.05421540141105652, + 0.31662747263908386, + 0.05129847715585685 + ], + [ + 0.055914729833602905, + 0.9984285831451416, + 0.0037236008793115616, + 0.07543378669522272 + ], + [ + -0.31633177399635315, + 0.014177888631820679, + 0.9485426545143127, + -0.2469906306956425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9402691125869751, + -0.04771360754966736, + 0.33707189559936523, + 0.05576015907870836 + ], + [ + 0.046102285385131836, + 0.9988548755645752, + 0.012787831015884876, + 0.07773264227050149 + ], + [ + -0.3372960686683655, + 0.0035157790407538414, + 0.9413920640945435, + -0.26594336160943527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9364526867866516, + -0.036105066537857056, + 0.3489309847354889, + 0.06078038333861296 + ], + [ + 0.03163418173789978, + 0.9993281960487366, + 0.0185047946870327, + 0.08062429961648361 + ], + [ + -0.34936466813087463, + -0.006290718913078308, + 0.9369657039642334, + -0.2839543213529035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9309839010238647, + -0.027231575921177864, + 0.3640431761741638, + 0.0654524751192282 + ], + [ + 0.020803725346922874, + 0.9995509386062622, + 0.021567264571785927, + 0.08013536890676198 + ], + [ + -0.3644670248031616, + -0.012505320832133293, + 0.9311323165893555, + -0.30435020554164227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9225302934646606, + -0.019173575565218925, + 0.38544803857803345, + 0.06897371083744301 + ], + [ + 0.011256176978349686, + 0.9996769428253174, + 0.022787034511566162, + 0.07857183064064703 + ], + [ + -0.38576042652130127, + -0.01668306067585945, + 0.9224481582641602, + -0.3245528055124046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9143236875534058, + -0.009639358147978783, + 0.4048694670200348, + 0.07556243579496037 + ], + [ + 0.0015720906667411327, + 0.9997936487197876, + 0.020253365859389305, + 0.07845571208283428 + ], + [ + -0.40498116612434387, + -0.017881641164422035, + 0.9141501784324646, + -0.3415012564048294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.909500777721405, + 0.003831335576251149, + 0.41568461060523987, + 0.08182075290886824 + ], + [ + -0.009443739429116249, + 0.9998899102210999, + 0.011446596123278141, + 0.07707105045214542 + ], + [ + -0.4155949652194977, + -0.014336305670440197, + 0.909436821937561, + -0.359245027786444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9046746492385864, + 0.020794734358787537, + 0.42559534311294556, + 0.08151904167222583 + ], + [ + -0.026209808886051178, + 0.9996328353881836, + 0.00687096593901515, + 0.07940013755174462 + ], + [ + -0.42529618740081787, + -0.017370760440826416, + 0.9048874974250793, + -0.382031484329996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8986355066299438, + 0.02808682806789875, + 0.43779608607292175, + 0.08388915347658898 + ], + [ + -0.034393128007650375, + 0.9993873834609985, + 0.006480792537331581, + 0.0810375463140528 + ], + [ + -0.43734583258628845, + -0.02088104747235775, + 0.8990509510040283, + -0.3969804941622679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8907381296157837, + 0.020314514636993408, + 0.45406264066696167, + 0.08695706129074096 + ], + [ + -0.026246879249811172, + 0.9996325969696045, + 0.006765685509890318, + 0.08274960110641338 + ], + [ + -0.4537583589553833, + -0.017944179475307465, + 0.8909440636634827, + -0.413222441890023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8805747032165527, + 0.013543978333473206, + 0.4737137258052826, + 0.088731469817398 + ], + [ + -0.021586846560239792, + 0.9997003078460693, + 0.01154476311057806, + 0.07942916848889191 + ], + [ + -0.47341540455818176, + -0.02039201185107231, + 0.8806031942367554, + -0.4303491753487548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.869459867477417, + 0.013174517080187798, + 0.4938279390335083, + 0.08910477035794376 + ], + [ + -0.024681346490979195, + 0.9995543956756592, + 0.016788829118013382, + 0.07613138641453972 + ], + [ + -0.4933866858482361, + -0.026785552501678467, + 0.8693975806236267, + -0.44316390161671915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.8593891263008118, + 0.010858594439923763, + 0.5112068057060242, + 0.08815652353704469 + ], + [ + -0.02451971545815468, + 0.999499499797821, + 0.01998959667980671, + 0.07409753666590314 + ], + [ + -0.5107339024543762, + -0.02971348725259304, + 0.8592252135276794, + -0.4526668198345121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8453490734100342, + -0.0008065514266490936, + 0.5342137217521667, + 0.08305737088041858 + ], + [ + -0.01324478443711996, + 0.9996598362922668, + 0.02246805652976036, + 0.07349924194541844 + ], + [ + -0.5340501666069031, + -0.026068896055221558, + 0.8450508117675781, + -0.4657563778979719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.8227485418319702, + -0.02339150197803974, + 0.5679240822792053, + 0.08121293887865445 + ], + [ + 0.005965070798993111, + 0.9994531869888306, + 0.032523639500141144, + 0.07474839972439876 + ], + [ + -0.5683743357658386, + -0.023371070623397827, + 0.82243812084198, + -0.4796031588365224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7977023124694824, + -0.053104571998119354, + 0.6007087230682373, + 0.08015841294911283 + ], + [ + 0.027630463242530823, + 0.998287558555603, + 0.051560353487730026, + 0.07574617479704629 + ], + [ + -0.6024181842803955, + -0.024531956762075424, + 0.7978036403656006, + -0.48860694298074264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.7717777490615845, + -0.07723444700241089, + 0.6311845779418945, + 0.07721401978869083 + ], + [ + 0.0402807779610157, + 0.9965409636497498, + 0.07268789410591125, + 0.07170840787493493 + ], + [ + -0.6346153020858765, + -0.030674293637275696, + 0.772219181060791, + -0.4985049829010136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.7495331764221191, + -0.083514504134655, + 0.6566776037216187, + 0.0772735559620148 + ], + [ + 0.035858720541000366, + 0.9956756234169006, + 0.08569816499948502, + 0.0711875173055436 + ], + [ + -0.6609948873519897, + -0.04068600386381149, + 0.7492866516113281, + -0.5039256633805834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.7348899841308594, + -0.08174833655357361, + 0.6732413172721863, + 0.07034219678275841 + ], + [ + 0.02548922970890999, + 0.9953364729881287, + 0.09303547441959381, + 0.0734152133184031 + ], + [ + -0.6777071356773376, + -0.051210448145866394, + 0.7335464954376221, + -0.5105655238648091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.7219288349151611, + -0.07936044037342072, + 0.6874014139175415, + 0.07349939189912859 + ], + [ + 0.021741043776273727, + 0.9955124855041504, + 0.09209877252578735, + 0.0756347484578771 + ], + [ + -0.691625714302063, + -0.051543936133384705, + 0.7204145789146423, + -0.514444987537447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.7012955546379089, + -0.08360081911087036, + 0.7079516053199768, + 0.06818901869383726 + ], + [ + 0.024037901312112808, + 0.9953081607818604, + 0.0937223806977272, + 0.0811846720224077 + ], + [ + -0.712465226650238, + -0.04870941489934921, + 0.7000147700309753, + -0.5282506308772347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.6734965443611145, + -0.09712476283311844, + 0.7327818274497986, + 0.06555532428843916 + ], + [ + 0.033964015543460846, + 0.9943493604660034, + 0.10057740658521652, + 0.09204487024752561 + ], + [ + -0.738409698009491, + -0.042850323021411896, + 0.6729896068572998, + -0.5401429692575754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.6442416310310364, + -0.11318138241767883, + 0.7564011216163635, + 0.06757296252349192 + ], + [ + 0.04682755470275879, + 0.9929714798927307, + 0.10869580507278442, + 0.09675934233448723 + ], + [ + -0.763387143611908, + -0.034605950117111206, + 0.6450135707855225, + -0.5453527855479028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.6227811574935913, + -0.11833544075489044, + 0.7733953595161438, + 0.07351612052149024 + ], + [ + 0.04707494005560875, + 0.9923725128173828, + 0.113933265209198, + 0.10504803470343597 + ], + [ + -0.7809786200523376, + -0.03454795479774475, + 0.6236015558242798, + -0.5527892719615589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.6085637807846069, + -0.11737674474716187, + 0.7847757339477539, + 0.0753857021243119 + ], + [ + 0.04088759794831276, + 0.9923237562179565, + 0.11671235412359238, + 0.11213871337288667 + ], + [ + -0.7924509048461914, + -0.03893931955099106, + 0.6086915731430054, + -0.5590044048206866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.593249499797821, + -0.11648523062467575, + 0.796546459197998, + 0.07704592297885043 + ], + [ + 0.05455843359231949, + 0.9930185079574585, + 0.1045830100774765, + 0.11793042030955149 + ], + [ + -0.8031677007675171, + -0.01858549565076828, + 0.5954629778862, + -0.5640630624511025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5695338249206543, + -0.12416624277830124, + 0.8125355839729309, + 0.0699119122067759 + ], + [ + 0.08709215372800827, + 0.9920758605003357, + 0.09055653214454651, + 0.12626561453519775 + ], + [ + -0.8173410296440125, + 0.019190452992916107, + 0.5758346319198608, + -0.5877013537509382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5393905639648438, + -0.13085323572158813, + 0.8318265080451965, + 0.07424569400874051 + ], + [ + 0.11168155819177628, + 0.9902420043945312, + 0.0833543986082077, + 0.12902773374860937 + ], + [ + -0.8346167206764221, + 0.04793909192085266, + 0.5487411022186279, + -0.5933566640231235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5236328840255737, + -0.12691405415534973, + 0.8424378633499146, + 0.07846683840121119 + ], + [ + 0.11151320487260818, + 0.9905446171760559, + 0.07991337031126022, + 0.12832558075628006 + ], + [ + -0.8446143865585327, + 0.05209765583276749, + 0.5328343510627747, + -0.5913978875668581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.516356348991394, + -0.12006444483995438, + 0.8479154706001282, + 0.07775376882434876 + ], + [ + 0.10826773196458817, + 0.9913308024406433, + 0.07444003224372864, + 0.13245718934811837 + ], + [ + -0.8495023846626282, + 0.053364306688308716, + 0.5248790383338928, + -0.5943385885766715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.502679705619812, + -0.12341752648353577, + 0.8556174635887146, + 0.07324487350203775 + ], + [ + 0.11691167950630188, + 0.9903689622879028, + 0.0741683766245842, + 0.1414805982785284 + ], + [ + -0.8565307259559631, + 0.06274872273206711, + 0.5122673511505127, + -0.5987828649765203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.4808233976364136, + -0.13227927684783936, + 0.8667820692062378, + 0.06953307444399054 + ], + [ + 0.12900561094284058, + 0.9884690642356873, + 0.079287588596344, + 0.1467604081739079 + ], + [ + -0.8672753572463989, + 0.07369640469551086, + 0.4923437833786011, + -0.6034854422916065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.4572129249572754, + -0.1351775974035263, + 0.879024088382721, + 0.06826186820495228 + ], + [ + 0.13839443027973175, + 0.9871551990509033, + 0.07982207834720612, + 0.14030180397358807 + ], + [ + -0.8785234093666077, + 0.08515635132789612, + 0.4700479507446289, + -0.6051312946091013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.432873010635376, + -0.12874649465084076, + 0.8922137022018433, + 0.06346620173493693 + ], + [ + 0.14350111782550812, + 0.9869690537452698, + 0.07279764115810394, + 0.1367156311253871 + ], + [ + -0.8899598121643066, + 0.0965215265750885, + 0.4457075595855713, + -0.6060358038618545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.40987420082092285, + -0.11623679101467133, + 0.9047056436538696, + 0.053232303040086734 + ], + [ + 0.1478695124387741, + 0.9871947169303894, + 0.05984316021203995, + 0.1383893734352155 + ], + [ + -0.9000766277313232, + 0.10925018042325974, + 0.4218135476112366, + -0.612479795158402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.38687580823898315, + -0.10168962180614471, + 0.9165077805519104, + 0.04539727189324119 + ], + [ + 0.15335895121097565, + 0.9871548414230347, + 0.044792335480451584, + 0.14156800215401924 + ], + [ + -0.9092900156974792, + 0.12322556972503662, + 0.39750128984451294, + -0.613344074280794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.36270028352737427, + -0.09303449094295502, + 0.9272502660751343, + 0.020830313873685093 + ], + [ + 0.15731878578662872, + 0.9868364930152893, + 0.03747669607400894, + 0.13599119866805628 + ], + [ + -0.918531060218811, + 0.132281094789505, + 0.3725619316101074, + -0.6380307956175371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.3357228636741638, + -0.08905591070652008, + 0.9377416372299194, + 0.008960594076755618 + ], + [ + 0.16154251992702484, + 0.9862152934074402, + 0.03582518547773361, + 0.13808298991485077 + ], + [ + -0.928005576133728, + 0.1394577920436859, + 0.34548133611679077, + -0.6433258046788618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.3133211135864258, + -0.08103474229574203, + 0.9461835622787476, + 0.005187223075835176 + ], + [ + 0.15887489914894104, + 0.9867832064628601, + 0.03190168738365173, + 0.14487199024720626 + ], + [ + -0.9362632036209106, + 0.14032934606075287, + 0.322054386138916, + -0.6343450444788972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.29416346549987793, + -0.07674415409564972, + 0.9526690244674683, + -0.02003589356241147 + ], + [ + 0.15818989276885986, + 0.986932635307312, + 0.030658721923828125, + 0.1400734675570953 + ], + [ + -0.942573070526123, + 0.1416839212179184, + 0.3024596571922302, + -0.6556716131769921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.2729949951171875, + -0.07534123957157135, + 0.9590606689453125, + -0.025901930686856103 + ], + [ + 0.16417479515075684, + 0.9859527349472046, + 0.03072172775864601, + 0.13830326316832017 + ], + [ + -0.9479031562805176, + 0.1490667164325714, + 0.2815293073654175, + -0.6542247901278094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.24074101448059082, + -0.08333778381347656, + 0.9670050144195557, + -0.04035536942403178 + ], + [ + 0.1701418161392212, + 0.9845032095909119, + 0.04248809814453125, + 0.14001246316373842 + ], + [ + -0.9555603265762329, + 0.15429934859275818, + 0.25118952989578247, + -0.6625827277987456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.21346962451934814, + -0.0909111350774765, + 0.9727106094360352, + -0.04737804423679004 + ], + [ + 0.16856463253498077, + 0.9841556549072266, + 0.054987844079732895, + 0.1348250818184831 + ], + [ + -0.9622976779937744, + 0.15222635865211487, + 0.22541171312332153, + -0.6610099591992118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.2003002166748047, + -0.0945914164185524, + 0.9751575589179993, + -0.05747467998630744 + ], + [ + 0.16045314073562622, + 0.9850567579269409, + 0.06259410083293915, + 0.12835132797394902 + ], + [ + -0.9665064215660095, + 0.14392946660518646, + 0.21248459815979004, + -0.6571800644732704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.18981432914733887, + -0.09458780288696289, + 0.9772530198097229, + -0.06218656872914843 + ], + [ + 0.15506593883037567, + 0.9857442378997803, + 0.06529080867767334, + 0.12571538349321065 + ], + [ + -0.9694972634315491, + 0.13914553821086884, + 0.20177572965621948, + -0.6599112899342844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.174064040184021, + -0.09636308252811432, + 0.9800081849098206, + -0.0849233704657594 + ], + [ + 0.15055008232593536, + 0.98610520362854, + 0.0702226459980011, + 0.12284718307335515 + ], + [ + -0.973158061504364, + 0.13531705737113953, + 0.18615293502807617, + -0.6702992524982484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.14512252807617188, + -0.10557346791028976, + 0.9837651252746582, + -0.09227207573977383 + ], + [ + 0.14086315035820007, + 0.9863671660423279, + 0.08507292717695236, + 0.12260548650356363 + ], + [ + -0.9793350696563721, + 0.12623023986816406, + 0.15801554918289185, + -0.6810674303326725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.08798736333847046, + -0.11677221208810806, + 0.9892536401748657, + -0.12186116768308908 + ], + [ + 0.13062578439712524, + 0.9858818650245667, + 0.1047559306025505, + 0.12779496751787248 + ], + [ + -0.9875198602676392, + 0.1200047954916954, + 0.10199862718582153, + -0.7054154562556054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.04201185703277588, + -0.1263715624809265, + 0.9910929203033447, + -0.10834080079370292 + ], + [ + 0.11903427541255951, + 0.9855365753173828, + 0.12061728537082672, + 0.11680217504747643 + ], + [ + -0.992000937461853, + 0.11290666460990906, + 0.05644679069519043, + -0.6846171420467787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.032774507999420166, + -0.13014060258865356, + 0.9909536838531494, + -0.11775912317362698 + ], + [ + 0.09972281754016876, + 0.9869645237922668, + 0.12631849944591522, + 0.10886911065125268 + ], + [ + -0.9944753646850586, + 0.09468065947294235, + 0.045325279235839844, + -0.6764963695825624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.03620278835296631, + -0.12027733027935028, + 0.99208003282547, + -0.12364204619541641 + ], + [ + 0.08373335003852844, + 0.9896050095558167, + 0.11692169308662415, + 0.1143832629869792 + ], + [ + -0.9958303570747375, + 0.07883729040622711, + 0.04589766263961792, + -0.6725226204749967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.028236567974090576, + -0.11828841269016266, + 0.9925777316093445, + -0.13519755060022526 + ], + [ + 0.08547951281070709, + 0.9896221160888672, + 0.11550448834896088, + 0.12991953019268257 + ], + [ + -0.9959397912025452, + 0.08158360421657562, + 0.03805476427078247, + -0.6800479045584182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.00361555814743042, + -0.1291426569223404, + 0.9916194677352905, + -0.14508286684997812 + ], + [ + 0.10080607235431671, + 0.9866216778755188, + 0.12812422215938568, + 0.1305806426839395 + ], + [ + -0.9948995113372803, + 0.09949802607297897, + 0.016585588455200195, + -0.6865215986228186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.02602064609527588, + -0.1405160278081894, + 0.9897366166114807, + -0.1651417829773643 + ], + [ + 0.11959032714366913, + 0.9825238585472107, + 0.14263609051704407, + 0.12526799074628137 + ], + [ + -0.9924824833869934, + 0.12207434326410294, + -0.008761405944824219, + -0.6856156435879794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.05311179161071777, + -0.1514054387807846, + 0.9870438575744629, + -0.1554286920334682 + ], + [ + 0.1292894333600998, + 0.9790766835212708, + 0.15714025497436523, + 0.12528705003340382 + ], + [ + -0.9901835918426514, + 0.13596031069755554, + -0.0324254035949707, + -0.6830335114613052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.07696318626403809, + -0.16109086573123932, + 0.9839341640472412, + -0.1702964838871286 + ], + [ + 0.13488654792308807, + 0.9761061072349548, + 0.1703600436449051, + 0.1187759205822117 + ], + [ + -0.9878675937652588, + 0.1458309143781662, + -0.05339515209197998, + -0.6786383220972109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.09858989715576172, + -0.16151776909828186, + 0.9819328188896179, + -0.1546170656838693 + ], + [ + 0.14072272181510925, + 0.974561333656311, + 0.1744343340396881, + 0.1123484352772886 + ], + [ + -0.9851279854774475, + 0.15537771582603455, + -0.07335269451141357, + -0.6695169085313466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.12148237228393555, + -0.1591596007347107, + 0.9797502160072327, + -0.16559459847852218 + ], + [ + 0.14621064066886902, + 0.9734241366386414, + 0.1762610375881195, + 0.11249543258473893 + ], + [ + -0.9817661643028259, + 0.16466248035430908, + -0.09498298168182373, + -0.667857816396666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.14975881576538086, + -0.15647456049919128, + 0.9762623310089111, + -0.1829448517689035 + ], + [ + 0.15256378054618835, + 0.9719148278236389, + 0.1791810542345047, + 0.1147330011956948 + ], + [ + -0.9768811464309692, + 0.17577619850635529, + -0.12168049812316895, + -0.6682403772330481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.19077074527740479, + -0.15320782363414764, + 0.9696051478385925, + -0.18920516475173066 + ], + [ + 0.16203813254833221, + 0.969280481338501, + 0.18503768742084503, + 0.11650151935490695 + ], + [ + -0.9681685566902161, + 0.19241274893283844, + -0.16008484363555908, + -0.6666849189553379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.23074936866760254, + -0.1485915184020996, + 0.9616004228591919, + -0.19137919569803663 + ], + [ + 0.17207223176956177, + 0.9664625525474548, + 0.19063395261764526, + 0.11262742945970583 + ], + [ + -0.9576773643493652, + 0.20945337414741516, + -0.1974421739578247, + -0.6581831485771936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.2647101879119873, + -0.14137554168701172, + 0.9539087414741516, + -0.19014794067903 + ], + [ + 0.17843011021614075, + 0.9649338126182556, + 0.19252395629882812, + 0.11033319941729554 + ], + [ + -0.947676956653595, + 0.22116902470588684, + -0.2302020788192749, + -0.6540834071222416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.29851770401000977, + -0.13222485780715942, + 0.945200502872467, + -0.1939658800925105 + ], + [ + 0.1830517053604126, + 0.9640381336212158, + 0.19267229735851288, + 0.10681734172519573 + ], + [ + -0.9366853833198547, + 0.2305365949869156, + -0.2635784149169922, + -0.6430450589203638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.3303811550140381, + -0.12270499765872955, + 0.9358375072479248, + -0.19615300391331192 + ], + [ + 0.18972812592983246, + 0.9626407027244568, + 0.19319958984851837, + 0.10624998087479064 + ], + [ + -0.9245818853378296, + 0.24138419330120087, + -0.2947578430175781, + -0.6385404234090127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.36249732971191406, + -0.11130928993225098, + 0.9253140687942505, + -0.19362436207857997 + ], + [ + 0.19427362084388733, + 0.9620075821876526, + 0.19183114171028137, + 0.1033062067898837 + ], + [ + -0.9115117788314819, + 0.24930235743522644, + -0.3271007537841797, + -0.6333754767071117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.39233720302581787, + -0.09568962454795837, + 0.91483074426651, + -0.19392845729165825 + ], + [ + 0.19805383682250977, + 0.9624572396278381, + 0.18560925126075745, + 0.10367693657224829 + ], + [ + -0.8982463479042053, + 0.25400710105895996, + -0.35865604877471924, + -0.6288835312709335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.4207165241241455, + -0.07995138317346573, + 0.903662383556366, + -0.19958392199405953 + ], + [ + 0.201825350522995, + 0.9628965854644775, + 0.17915557324886322, + 0.099609791653708 + ], + [ + -0.8844571709632874, + 0.2577556371688843, + -0.3889702558517456, + -0.6224260991269892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.4504382610321045, + -0.062430717051029205, + 0.8906222581863403, + -0.2006098307853888 + ], + [ + 0.2041180431842804, + 0.9639304876327515, + 0.17080354690551758, + 0.10016467040481647 + ], + [ + -0.8691613674163818, + 0.2587285041809082, + -0.42144787311553955, + -0.6203260870019266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + -0.48017680644989014, + -0.047514259815216064, + 0.8758839964866638, + -0.1997581811483241 + ], + [ + 0.20309218764305115, + 0.9653772711753845, + 0.16370812058448792, + 0.10177132864136341 + ], + [ + -0.8533369898796082, + 0.25649401545524597, + -0.453902006149292, + -0.614516654881564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + -0.5068622827529907, + -0.039294853806495667, + 0.8611311912536621, + -0.19987565781459338 + ], + [ + 0.19880935549736023, + 0.966701328754425, + 0.16113148629665375, + 0.10346015699146208 + ], + [ + -0.8387882709503174, + 0.2528723478317261, + -0.48217225074768066, + -0.6101063842615806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + -0.531747579574585, + -0.03630857914686203, + 0.8461242318153381, + -0.20311341369447627 + ], + [ + 0.19487908482551575, + 0.967024564743042, + 0.1639685481786728, + 0.10433414140023475 + ], + [ + -0.8241763710975647, + 0.2520817816257477, + -0.5071371793746948, + -0.6040316593548483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + -0.5588455200195312, + -0.027978211641311646, + 0.8287999033927917, + -0.20759918325203508 + ], + [ + 0.19639572501182556, + 0.9665329456329346, + 0.16505396366119385, + 0.10451768992607259 + ], + [ + -0.8056803345680237, + 0.2550123631954193, + -0.5346478223800659, + -0.5873752200899045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + -0.5858345031738281, + -0.0259857177734375, + 0.8100141286849976, + -0.20798253372681041 + ], + [ + 0.19997254014015198, + 0.9639462828636169, + 0.17555204033851624, + 0.10143597116155073 + ], + [ + -0.7853720188140869, + 0.2648249864578247, + -0.5595165491104126, + -0.5842442207099978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + -0.6117655038833618, + -0.024564452469348907, + 0.7906578183174133, + -0.21148513062926363 + ], + [ + 0.20032429695129395, + 0.9621254801750183, + 0.18489107489585876, + 0.10153966138431848 + ], + [ + -0.7652538418769836, + 0.271497905254364, + -0.5836743116378784, + -0.5830217535830726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + -0.6359320878982544, + -0.023552797734737396, + 0.771385669708252, + -0.2066588274703538 + ], + [ + 0.20006409287452698, + 0.9603328704833984, + 0.19425521790981293, + 0.10621596027996914 + ], + [ + -0.7453622817993164, + 0.2778596580028534, + -0.605994462966919, + -0.5777125663993773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + -0.6590254306793213, + -0.02090117335319519, + 0.7518303394317627, + -0.2044189463962208 + ], + [ + 0.2006569653749466, + 0.9584969878196716, + 0.20253470540046692, + 0.1049019608985294 + ], + [ + -0.7248603105545044, + 0.28433549404144287, + -0.6274799108505249, + -0.5699228416789662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + -0.6827473640441895, + -0.022928133606910706, + 0.7302947640419006, + -0.20607345178107583 + ], + [ + 0.19499467313289642, + 0.9575383067131042, + 0.21236172318458557, + 0.10353578012590565 + ], + [ + -0.7041543126106262, + 0.2873929738998413, + -0.6492859125137329, + -0.5665742222927819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + -0.7024502754211426, + -0.027567453682422638, + 0.7111990451812744, + -0.20304359975925163 + ], + [ + 0.1859111785888672, + 0.9574509263038635, + 0.2207368165254593, + 0.10220701124303597 + ], + [ + -0.687023401260376, + 0.28727641701698303, + -0.6674365997314453, + -0.5644197380247195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + -0.7150022983551025, + -0.03484443575143814, + 0.6982535123825073, + -0.19713123721524703 + ], + [ + 0.1731269359588623, + 0.9588246941566467, + 0.225127175450325, + 0.10003268224887611 + ], + [ + -0.6773471832275391, + 0.2818528711795807, + -0.6795293092727661, + -0.5670409946402243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + -0.7232011556625366, + -0.0396566204726696, + 0.6894981265068054, + -0.19197811528670886 + ], + [ + 0.15559782087802887, + 0.963327169418335, + 0.21860946714878082, + 0.08802037816648642 + ], + [ + -0.672881543636322, + 0.2653830051422119, + -0.6905088424682617, + -0.571387349672554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + -0.7331891059875488, + -0.030071187764406204, + 0.6793597340583801, + -0.18848362170960292 + ], + [ + 0.14137648046016693, + 0.9704529643058777, + 0.1955346316099167, + 0.08677914943084244 + ], + [ + -0.6651665568351746, + 0.23940931260585785, + -0.7072741985321045, + -0.5806338755552434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + -0.7432698011398315, + -0.013797134160995483, + 0.6688494086265564, + -0.18562093184999195 + ], + [ + 0.13120511174201965, + 0.9773642420768738, + 0.16596505045890808, + 0.0835125495456467 + ], + [ + -0.6559993624687195, + 0.21111327409744263, + -0.724635124206543, + -0.5750906506845774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + -0.7533907890319824, + 0.006291750818490982, + 0.6575430631637573, + -0.18613126849340011 + ], + [ + 0.1287686675786972, + 0.982005774974823, + 0.1381424069404602, + 0.0852777206084945 + ], + [ + -0.6448419094085693, + 0.1887461543083191, + -0.7406443357467651, + -0.5553532311739016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + -0.7638771533966064, + 0.024237588047981262, + 0.6449064612388611, + -0.1934413161159547 + ], + [ + 0.13508723676204681, + 0.9831624031066895, + 0.12305747717618942, + 0.09298324289400715 + ], + [ + -0.6310651898384094, + 0.1811194270849228, + -0.7542895078659058, + -0.5483394490785836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + -0.7761849164962769, + 0.038007818162441254, + 0.6293591260910034, + -0.18959785749104396 + ], + [ + 0.14436855912208557, + 0.9823760986328125, + 0.1187218725681305, + 0.10049314957019712 + ], + [ + -0.6137549877166748, + 0.18300974369049072, + -0.7679926156997681, + -0.548549232207054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + -0.7889981269836426, + 0.048216093331575394, + 0.6125009655952454, + -0.19125449568772118 + ], + [ + 0.1508733481168747, + 0.9815956950187683, + 0.11707747727632523, + 0.10110466067702317 + ], + [ + -0.5955832600593567, + 0.1847839653491974, + -0.7817516326904297, + -0.5569214822339618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + -0.8004419803619385, + 0.05756688490509987, + 0.5966397523880005, + -0.19261477968909524 + ], + [ + 0.15481071174144745, + 0.9814610481262207, + 0.11299501359462738, + 0.09184472371231427 + ], + [ + -0.5790739059448242, + 0.1828121393918991, + -0.7945146560668945, + -0.5491646181453358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + -0.8103868961334229, + 0.06473004072904587, + 0.5823085904121399, + -0.19306051139989175 + ], + [ + 0.15902277827262878, + 0.9808701872825623, + 0.11227414011955261, + 0.09825249595090377 + ], + [ + -0.5639016032218933, + 0.18358579277992249, + -0.8051779270172119, + -0.5504639362993319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + -0.8193463087081909, + 0.06800752878189087, + 0.5692510604858398, + -0.19055270222592946 + ], + [ + 0.16237172484397888, + 0.9798100590705872, + 0.11665187031030655, + 0.10032278046258225 + ], + [ + -0.5498247146606445, + 0.18800854682922363, + -0.813846230506897, + -0.5517355040577817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + -0.8264330625534058, + 0.07012762129306793, + 0.5586506724357605, + -0.1879465463732885 + ], + [ + 0.1660567671060562, + 0.9784364104270935, + 0.12283053249120712, + 0.09617403057242228 + ], + [ + -0.537990391254425, + 0.19427892565727234, + -0.8202574253082275, + -0.5514109310532405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + -0.8313335180282593, + 0.0683828741312027, + 0.5515508055686951, + -0.1837008880682228 + ], + [ + 0.1662677675485611, + 0.9775521159172058, + 0.12940992414951324, + 0.09266530130027739 + ], + [ + -0.5303202271461487, + 0.19928793609142303, + -0.8240417242050171, + -0.5533152561542416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + -0.833980917930603, + 0.06562963128089905, + 0.5478764772415161, + -0.18037452589381825 + ], + [ + 0.1656775176525116, + 0.97687166929245, + 0.13517671823501587, + 0.09195791910256236 + ], + [ + -0.5263334512710571, + 0.20350560545921326, + -0.8255656957626343, + -0.5554337425665422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + -0.8353480100631714, + 0.06440025568008423, + 0.5459361672401428, + -0.18108657987649776 + ], + [ + 0.16763897240161896, + 0.975652813911438, + 0.14141687750816345, + 0.08857146927640458 + ], + [ + -0.5235368609428406, + 0.20965248346328735, + -0.8258056640625, + -0.5567390376871283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + -0.8367112874984741, + 0.06474460661411285, + 0.5438037514686584, + -0.18163598184743202 + ], + [ + 0.1710018813610077, + 0.9742251634597778, + 0.14711810648441315, + 0.09083871123465626 + ], + [ + -0.5202621817588806, + 0.21608681976795197, + -0.8262166976928711, + -0.5637723139002303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + -0.8393120765686035, + 0.06668825447559357, + 0.5395443439483643, + -0.18377407109441835 + ], + [ + 0.17669625580310822, + 0.9720282554626465, + 0.15472394227981567, + 0.0898695571609765 + ], + [ + -0.5141340494155884, + 0.22519710659980774, + -0.8276185989379883, + -0.5631244858434378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + -0.841673731803894, + 0.066226527094841, + 0.5359101295471191, + -0.18491437316926057 + ], + [ + 0.18142560124397278, + 0.9694403409957886, + 0.16513678431510925, + 0.09035877681468144 + ], + [ + -0.5085964202880859, + 0.23621907830238342, + -0.827967643737793, + -0.5679356537574579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + -0.8440279960632324, + 0.0629223957657814, + 0.5325949788093567, + -0.18495899690084222 + ], + [ + 0.1825973093509674, + 0.9674754738807678, + 0.1750699281692505, + 0.08819945798186231 + ], + [ + -0.5042567849159241, + 0.24501433968544006, + -0.8280658721923828, + -0.5679280610123941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + -0.8452337980270386, + 0.055008839815855026, + 0.5315578579902649, + -0.18266053091395984 + ], + [ + 0.17908881604671478, + 0.9663268327713013, + 0.18476901948451996, + 0.08588249845938249 + ], + [ + -0.5034946799278259, + 0.2513691186904907, + -0.8266236782073975, + -0.5696769438006661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + -0.8458257913589478, + 0.04716134071350098, + 0.5313704609870911, + -0.1799912631511688 + ], + [ + 0.1754535287618637, + 0.965261697769165, + 0.1936127245426178, + 0.08663013965384034 + ], + [ + -0.5037805438041687, + 0.25699344277381897, + -0.8247178792953491, + -0.5759159927525797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + -0.8467191457748413, + 0.04306572675704956, + 0.53029465675354, + -0.17737038440940794 + ], + [ + 0.17419974505901337, + 0.964219331741333, + 0.1998387575149536, + 0.08567359026305932 + ], + [ + -0.5027141571044922, + 0.26158446073532104, + -0.8239250183105469, + -0.5785638003309896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + -0.8491859436035156, + 0.042847923934459686, + 0.5263527631759644, + -0.18111035932194103 + ], + [ + 0.1753564476966858, + 0.9630286693572998, + 0.20451392233371735, + 0.08514843734581609 + ], + [ + -0.49812981486320496, + 0.26596972346305847, + -0.8253040313720703, + -0.5807457916992755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + -0.8526349067687988, + 0.041047073900699615, + 0.5208924412727356, + -0.1774955047063591 + ], + [ + 0.17507100105285645, + 0.9617278575897217, + 0.2107834815979004, + 0.08463458532144216 + ], + [ + -0.4923047423362732, + 0.2709144949913025, + -0.8271889686584473, + -0.580883518821937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + -0.8530075550079346, + 0.03629478067159653, + 0.520635187625885, + -0.17254103436942927 + ], + [ + 0.1723031997680664, + 0.9612289667129517, + 0.21529150009155273, + 0.08483740662740283 + ], + [ + -0.49263566732406616, + 0.27335235476493835, + -0.8261891603469849, + -0.582017267045896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + -0.8537263870239258, + 0.0344524085521698, + 0.5195814371109009, + -0.1716104864088957 + ], + [ + 0.17112965881824493, + 0.9609493017196655, + 0.21746516227722168, + 0.08548211866666464 + ], + [ + -0.4917992353439331, + 0.2745714485645294, + -0.8262835741043091, + -0.5848167394803575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + -0.8557354211807251, + 0.034226901829242706, + 0.5162803530693054, + -0.17397094812274963 + ], + [ + 0.17042717337608337, + 0.9607737064361572, + 0.21878859400749207, + 0.08600971401969264 + ], + [ + -0.4885401129722595, + 0.275213360786438, + -0.8280013799667358, + -0.5862913307079599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + -0.8585556745529175, + 0.03384287655353546, + 0.5116024613380432, + -0.17474849953139124 + ], + [ + 0.16920731961727142, + 0.9606180191040039, + 0.220412939786911, + 0.08624568071739733 + ], + [ + -0.4839951694011688, + 0.2758036255836487, + -0.8304704427719116, + -0.5862877140360431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + -0.8607993125915527, + 0.03370267152786255, + 0.507827639579773, + -0.17317635628802716 + ], + [ + 0.16877274215221405, + 0.9602475166320801, + 0.22235210239887238, + 0.08585437495600094 + ], + [ + -0.4801463484764099, + 0.27710795402526855, + -0.832268476486206, + -0.5840264091806964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + -0.8618669509887695, + 0.032824449241161346, + 0.5060709118843079, + -0.17442761718734237 + ], + [ + 0.1685652732849121, + 0.9597072601318359, + 0.22482816874980927, + 0.08585444702343507 + ], + [ + -0.4783000648021698, + 0.2790779769420624, + -0.8326730728149414, + -0.5832900523154203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + -0.8643174171447754, + 0.02825392782688141, + 0.5021526217460632, + -0.17148707509040834 + ], + [ + 0.1640886515378952, + 0.9596303701400757, + 0.22843925654888153, + 0.08675775527954102 + ], + [ + -0.475426584482193, + 0.2798415422439575, + -0.8340615034103394, + -0.5842662453651428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/tilt_down/transforms.json b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b03d3353d60ec1b5768bca7fda95f1247700d518 --- /dev/null +++ b/dynpose_eval/camera_controls/cd8c6e16-e488-429e-8104-5d76a54c0220/tilt_down/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.5388263108206957e-08, + -7.53625063225627e-05, + 0.0002039334358414635 + ], + [ + -1.1164480895331508e-08, + 1.0, + 5.604619218502194e-05, + 0.00011212080426048487 + ], + [ + 7.53625063225627e-05, + -5.604619218502194e-05, + 1.0, + 7.474265294149518e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9997895956039429, + 0.006289839697489273, + 0.019524042956715566, + 0.016393424943089485 + ], + [ + -0.00635170191526413, + 0.9999749925417547, + 0.003108129906533416, + -0.0010866003576666117 + ], + [ + -0.019504006952047348, + -0.0032314869349013976, + 0.9998045539830642, + -0.010634664446115494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9991579651832581, + 0.015864507377685022, + 0.03783711083614585, + 0.02524113468825817 + ], + [ + -0.015711510553956032, + 0.9998671384721753, + -0.004337461274300534, + -0.00092208111891523 + ], + [ + -0.0379008986055851, + 0.0037393300673196714, + 0.999274518282357, + -0.026375915855169296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9981876015663147, + 0.022580794344005548, + 0.05578215279500964, + 0.028588399291038513 + ], + [ + -0.021730517968535423, + 0.9996389856159718, + -0.01580268163514829, + 0.005259483586996794 + ], + [ + -0.05611885339021683, + 0.014561865128707758, + 0.9983178731141988, + -0.04658376798033714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9969133734703064, + 0.022014750309071924, + 0.07535978857030384, + 0.028605172410607338 + ], + [ + -0.020299451425671577, + 0.9995188246735356, + -0.02345234225401526, + 0.01161541324108839 + ], + [ + -0.0758398249745369, + 0.021850189601603943, + 0.9968805868734741, + -0.06939489394426346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9943477511405945, + 0.013168809205567364, + 0.10535243158403464, + 0.028265513479709625 + ], + [ + -0.010447276756167412, + 0.999598351163947, + -0.02634295451349414, + 0.01914999820291996 + ], + [ + -0.10565702617168427, + 0.025093409634326904, + 0.9940859826149839, + -0.09082195907831192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9914200305938721, + -0.0018330079344719493, + 0.1307017389795431, + 0.03314461186528206 + ], + [ + 0.005150088109076023, + 0.9996730649898624, + -0.02504551973257679, + 0.025368187576532364 + ], + [ + -0.13061310350894928, + 0.025503752945231734, + 0.9911053555168184, + -0.11079127341508865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.98768550157547, + -0.015241477858900392, + 0.15570821935575407, + 0.034644387662410736 + ], + [ + 0.018968917429447174, + 0.999567296774079, + -0.022480786461395903, + 0.031079284846782684 + ], + [ + -0.15529820322990417, + 0.02515755979179606, + 0.9875472457715815, + -0.13182608783245087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9834993481636047, + -0.02305607175213584, + 0.17943640724657828, + 0.03909832239151001 + ], + [ + 0.027210701256990433, + 0.9994148260478448, + -0.020726715771348048, + 0.038534507155418396 + ], + [ + -0.17885354161262512, + 0.025267304589864557, + 0.9835512073342408, + -0.14998231828212738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9787391424179077, + -0.028252843637580755, + 0.20315393103654658, + 0.038526955991983414 + ], + [ + 0.03255695104598999, + 0.9993100134439886, + -0.017875176952573853, + 0.04697389528155327 + ], + [ + -0.20250873267650604, + 0.024109211001592783, + 0.9789836292009167, + -0.17250043153762817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9723614454269409, + -0.03543734098939887, + 0.23077558354744224, + 0.03945392742753029 + ], + [ + 0.03897194191813469, + 0.9991822446010105, + -0.010774331660903866, + 0.05696592852473259 + ], + [ + -0.23020504415035248, + 0.019470319921258812, + 0.9729473408383545, + -0.1932377815246582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9650312066078188, + -0.04583742791772866, + 0.2580962065858591, + 0.0400121733546257 + ], + [ + 0.04706943035125734, + 0.9988906041677694, + 0.0014068531338006327, + 0.0656326562166214 + ], + [ + -0.2578743398189545, + 0.010790785490133998, + 0.9661182004315373, + -0.21612520515918732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9561276435852053, + -0.05756352276505051, + 0.28723922624387793, + 0.04432103782892227 + ], + [ + 0.054863121360540404, + 0.9983414090468549, + 0.01744852788169093, + 0.07085612416267395 + ], + [ + -0.28776723146438604, + -0.0009241806976288588, + 0.9576999421951439, + -0.23580317199230194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9469993710517883, + -0.06309862904647512, + 0.3149775058514991, + 0.047896694391965866 + ], + [ + 0.055914729833602905, + 0.9979289402192544, + 0.03180143263438669, + 0.07539378106594086 + ], + [ + -0.31633177399635315, + -0.012504057115444549, + 0.9485661961691282, + -0.2571815848350525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9402691125869751, + -0.057900348748507593, + 0.33547220564922253, + 0.051860153675079346 + ], + [ + 0.046102285385131836, + 0.9980093736173568, + 0.04303348966915148, + 0.07758468389511108 + ], + [ + -0.3372960686683655, + -0.024997028042184562, + 0.9410666966966299, + -0.27683550119400024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9364526867866516, + -0.047408435755995355, + 0.3475756725626101, + 0.056454792618751526 + ], + [ + 0.03163418173789978, + 0.9982014918745797, + 0.05092202336705416, + 0.08039490133523941 + ], + [ + -0.34936466813087463, + -0.036690793206871394, + 0.93626817164928, + -0.29556959867477417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9309839010238647, + -0.039815226594725237, + 0.3628825437759921, + 0.060638681054115295 + ], + [ + 0.020803725346922874, + 0.9982055924218678, + 0.056149986887594934, + 0.07985018193721771 + ], + [ + -0.3644670248031616, + -0.04472542287245754, + 0.93014160781843, + -0.3166626989841461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9225302934646606, + -0.03333485707095764, + 0.38448225413881865, + 0.06355832517147064 + ], + [ + 0.011256176978349686, + 0.9981628320558705, + 0.05953318117325979, + 0.0782516822218895 + ], + [ + -0.38576042652130127, + -0.05059336788742059, + 0.9212107469652444, + -0.3375128209590912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9143236875534058, + -0.02539585177764229, + 0.4041871512840062, + 0.06953958421945572 + ], + [ + 0.0015720906667411327, + 0.9982469550566343, + 0.05916549306156904, + 0.07815442234277725 + ], + [ + -0.40498116612434387, + -0.05346099380281131, + 0.9127607703886358, + -0.35510018467903137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.909500777721405, + -0.013255465161006197, + 0.4154908750739216, + 0.07529347389936447 + ], + [ + -0.009443739429116249, + 0.9985747219606768, + 0.05252981806484463, + 0.07689131051301956 + ], + [ + -0.4155949652194977, + -0.05169969792990788, + 0.9080792938890985, + -0.3735254406929016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9046746492385864, + 0.0023643870184351786, + 0.4260964993173559, + 0.07448440790176392 + ], + [ + -0.026209808886051178, + 0.9983998331426198, + 0.05010777324870517, + 0.07928656786680222 + ], + [ + -0.42529618740081787, + -0.05649913856126704, + 0.9032889757194817, + -0.39698830246925354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8986355066299438, + 0.008172869012128254, + 0.43861998028338317, + 0.0762910395860672 + ], + [ + -0.034393128007650375, + 0.9980616048877871, + 0.05186690410799353, + 0.08092506974935532 + ], + [ + -0.43734583258628845, + -0.06169495374983015, + 0.8971746559765256, + -0.4125838577747345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8907381296157839, + -0.001313665164673636, + 0.454514945230876, + 0.07870137691497803 + ], + [ + -0.02624687924981118, + 0.9981784280172078, + 0.0543224563666898, + 0.0826265886425972 + ], + [ + -0.4537583589553834, + -0.06031668024722144, + 0.8890811077951194, + -0.42942142486572266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8805747032165527, + -0.01003672241681736, + 0.47380101051870693, + 0.07972699403762817 + ], + [ + -0.021586846560239792, + 0.9978884594322515, + 0.061258547115753854, + 0.07920972257852554 + ], + [ + -0.47341540455818176, + -0.06417059767202547, + 0.8784986933636988, + -0.4470879137516022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.869459867477417, + -0.012474796540270576, + 0.49384611036400544, + 0.07930983603000641 + ], + [ + -0.024681346490979195, + 0.9973356803765318, + 0.0686468888265654, + 0.0757983848452568 + ], + [ + -0.4933866858482361, + -0.07187450185371988, + 0.8668354370930594, + -0.46040815114974976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.8593891263008118, + -0.016795381070507317, + 0.5110462038290314, + 0.07759439945220947 + ], + [ + -0.02451971545815468, + 0.9969569563224884, + 0.0739977115302622, + 0.07368452847003937 + ], + [ + -0.5107339024543762, + -0.07612353392125315, + 0.8563621117668251, + -0.47041940689086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.8453490734100344, + -0.03084130774125862, + 0.5333233210448558, + 0.07157839834690094 + ], + [ + -0.013244784437119964, + 0.9968152512380811, + 0.07863813807096266, + 0.073016457259655 + ], + [ + -0.5340501666069032, + -0.07354042803936992, + 0.8422483406064788, + -0.48391449451446533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.8227485418319702, + -0.056509747191319196, + 0.5655895809417278, + 0.06854025274515152 + ], + [ + 0.005965070798993111, + 0.995849384005956, + 0.09082105748901671, + 0.07402266561985016 + ], + [ + -0.5683743357658386, + -0.071349108031802, + 0.8196706499193669, + -0.4979550838470459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7977023124694826, + -0.08937683624651561, + 0.5963915213011829, + 0.06625771522521973 + ], + [ + 0.02763046324253083, + 0.993334489133374, + 0.11190671256374861, + 0.07455304265022278 + ], + [ + -0.6024181842803956, + -0.07278967579524186, + 0.7948547845869739, + -0.5070685148239136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.7717777490615847, + -0.116660351067221, + 0.6250995870453993, + 0.06208645552396774 + ], + [ + 0.04028077796101571, + 0.9900220971569321, + 0.13503210478443392, + 0.06996630132198334 + ], + [ + -0.6346153020858766, + -0.07903527486345546, + 0.7687761710768635, + -0.5170127153396606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.7495331764221191, + -0.12593295785009212, + 0.6498777098482078, + 0.0609922930598259 + ], + [ + 0.035858720541000366, + 0.9880202124269085, + 0.15010057423873913, + 0.06906276941299438 + ], + [ + -0.6609948873519897, + -0.08920158272884017, + 0.74506973823394, + -0.5225030183792114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.7348899841308594, + -0.12668669946817887, + 0.666248558714782, + 0.053093865513801575 + ], + [ + 0.02548922970890999, + 0.9868629866377528, + 0.15953601338049367, + 0.07103165984153748 + ], + [ + -0.6777071356773376, + -0.10025926739601465, + 0.7284648586372112, + -0.5293588638305664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.7219288349151611, + -0.12672535117728054, + 0.6802642638865379, + 0.05532018095254898 + ], + [ + 0.021741043776273727, + 0.9867558925867765, + 0.16074856497238743, + 0.0731990784406662 + ], + [ + -0.691625714302063, + -0.10125937206638781, + 0.7151227044595946, + -0.5334972739219666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.7012955546379089, + -0.1338925030733994, + 0.7001838116179783, + 0.04888124763965607 + ], + [ + 0.024037901312112808, + 0.9860861515742455, + 0.16448805803496336, + 0.07862860709428787 + ], + [ + -0.712465226650238, + -0.09852379081419231, + 0.6947563227527747, + -0.5473419427871704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.6734965443611145, + -0.15071944549915614, + 0.7236615748707974, + 0.044964760541915894 + ], + [ + 0.033964015543460846, + 0.9842679203363982, + 0.1733872151319688, + 0.08921872824430466 + ], + [ + -0.738409698009491, + -0.092197237999889, + 0.66802008235245, + -0.5590534210205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.6442416310310364, + -0.17008234236223313, + 0.7456706236167854, + 0.045693591237068176 + ], + [ + 0.04682755470275879, + 0.9819023438088409, + 0.18350728907453545, + 0.09361524879932404 + ], + [ + -0.763387143611908, + -0.08330510538693175, + 0.6405469051501773, + -0.5640102028846741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.6227811574935913, + -0.17815608628052193, + 0.7618425477623094, + 0.05050601065158844 + ], + [ + 0.04707494005560875, + 0.9804983154770319, + 0.19080630614164396, + 0.10165828466415405 + ], + [ + -0.7809786200523376, + -0.0829668856620891, + 0.6190225823753953, + -0.5713427066802979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.6085637807846069, + -0.17975846450573132, + 0.7728758938142772, + 0.05138842761516571 + ], + [ + 0.04088759794831276, + 0.9798123452267756, + 0.195693584209578, + 0.10856982320547104 + ], + [ + -0.7924509048461914, + -0.08749099326454841, + 0.6036282199499818, + -0.5776172876358032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.5932494997978212, + -0.1815084337534666, + 0.7842893337862727, + 0.05203041434288025 + ], + [ + 0.0545584335923195, + 0.9810751753933242, + 0.18578176274834168, + 0.11464599519968033 + ], + [ + -0.8031677007675173, + -0.06742534403280283, + 0.5919251655942194, + -0.5827635526657104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5695338249206544, + -0.19220619125723085, + 0.7991796488339158, + 0.04372274875640869 + ], + [ + 0.08709215372800828, + 0.9809137954957281, + 0.17384799195760967, + 0.12334685027599335 + ], + [ + -0.8173410296440127, + -0.029410045024651815, + 0.5754032030289743, + -0.6062613129615784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5393905639648438, + -0.20226429014545386, + 0.8174026337842512, + 0.046747297048568726 + ], + [ + 0.11168155819177628, + 0.9793308969768426, + 0.1686362276059561, + 0.12627221643924713 + ], + [ + -0.8346167206764221, + 0.00032799601511296204, + 0.5508310505199618, + -0.6114968657493591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5236328840255737, + -0.20104876815060746, + 0.8278817086835772, + 0.0499214231967926 + ], + [ + 0.11151320487260818, + 0.9795700108492587, + 0.1673540534786857, + 0.12561777234077454 + ], + [ + -0.8446143865585327, + 0.004687633271022291, + 0.5353546838406049, + -0.6094526052474976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.516356348991394, + -0.19651525873205034, + 0.8335213670226089, + 0.04832199215888977 + ], + [ + 0.10826773196458817, + 0.9804852589821332, + 0.16409367808296732, + 0.12987332046031952 + ], + [ + -0.8495023846626282, + 0.005512662348568818, + 0.5275560298816294, + -0.6125575304031372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.502679705619812, + -0.20237234116892402, + 0.840451405716659, + 0.04283863306045532 + ], + [ + 0.11691167950630188, + 0.9791954829726387, + 0.1658548633001892, + 0.13884486258029938 + ], + [ + -0.8565307259559631, + 0.014886695280980711, + 0.5158814084291852, + -0.616987407207489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.4808233976364136, + -0.21407317994605315, + 0.8502832682163158, + 0.038013726472854614 + ], + [ + 0.12900561094284058, + 0.9764564353236191, + 0.17288852643101874, + 0.14387722313404083 + ], + [ + -0.8672753572463989, + 0.026562449675582873, + 0.49711970124290134, + -0.621388852596283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.4572129249572754, + -0.21998701327369494, + 0.8617203982660401, + 0.035570889711380005 + ], + [ + 0.13839443027973175, + 0.9747204828594591, + 0.1754050498107711, + 0.1373332142829895 + ], + [ + -0.8785234093666077, + 0.03905984623754787, + 0.47609978847149714, + -0.6226124167442322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.432873010635376, + -0.21676222223607056, + 0.875005765291223, + 0.02954733371734619 + ], + [ + 0.14350111782550812, + 0.9748514335030405, + 0.17050540227829855, + 0.13394811749458313 + ], + [ + -0.8899598121643066, + 0.05175711290792096, + 0.4530925236941654, + -0.6229800581932068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.40987420082092285, + -0.2074779509394442, + 0.8882320603977998, + 0.01809084415435791 + ], + [ + 0.1478695124387741, + 0.9760198191656883, + 0.15974957137724288, + 0.13606488704681396 + ], + [ + -0.9000766277313232, + 0.06586517697338143, + 0.4307250275212214, + -0.6288642883300781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.38687580823898327, + -0.19615398215937527, + 0.9010276945123747, + 0.00903993844985962 + ], + [ + 0.15335895121097567, + 0.9771925196590636, + 0.14688707834626202, + 0.1397911161184311 + ], + [ + -0.9092900156974795, + 0.0813535792616793, + 0.4081340608224522, + -0.629112720489502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.36270028352737427, + -0.19063324163491036, + 0.9121992324186576, + -0.01671949028968811 + ], + [ + 0.15731878578662872, + 0.9773299990450983, + 0.1416927650300011, + 0.1344735473394394 + ], + [ + -0.918531060218811, + 0.09211408843166391, + 0.38446804241206833, + -0.6531180143356323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.3357228636741638, + -0.1897838953684996, + 0.9226442469799375, + -0.029789060354232788 + ], + [ + 0.16154251992702484, + 0.9765818873868728, + 0.1420980861698376, + 0.13660261034965515 + ], + [ + -0.928005576133728, + 0.10134067943344657, + 0.3585190316548207, + -0.6576018929481506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.3133211135864258, + -0.18473696339480256, + 0.9315053501408918, + -0.034693241119384766 + ], + [ + 0.15887489914894104, + 0.9772686741338862, + 0.14037361850306515, + 0.14352737367153168 + ], + [ + -0.9362632036209106, + 0.10401080182031802, + 0.3355489623018481, + -0.647919237613678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.29416346549987793, + -0.18321663568970828, + 0.938029636938087, + -0.060977041721343994 + ], + [ + 0.15818989276885986, + 0.9772507040037957, + 0.14126940712243558, + 0.1387559026479721 + ], + [ + -0.942573070526123, + 0.10683049753787935, + 0.3164544557378453, + -0.6686698794364929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.27299499511718756, + -0.18458339522447784, + 0.9441412178829054, + -0.06791037321090698 + ], + [ + 0.16417479515075686, + 0.9759620880362382, + 0.14333395558030038, + 0.13695760071277618 + ], + [ + -0.9479031562805178, + 0.11587474253372465, + 0.29673671983154265, + -0.6665562391281128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.24074101448059082, + -0.19549383825857763, + 0.9506976613658182, + -0.08351096510887146 + ], + [ + 0.1701418161392212, + 0.9728384277836177, + 0.1569624210002033, + 0.13811630010604858 + ], + [ + -0.9555603265762329, + 0.123966122965365, + 0.26746377186892006, + -0.673792839050293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.2134696245193482, + -0.20574749283478852, + 0.9550386030850779, + -0.09159216284751892 + ], + [ + 0.1685646325349808, + 0.9706674873095954, + 0.17143700056430605, + 0.13232563436031342 + ], + [ + -0.9622976779937746, + 0.12438912899398363, + 0.24188974610303562, + -0.6712559461593628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.2003002166748047, + -0.21176241685916766, + 0.9565753914778192, + -0.10260593891143799 + ], + [ + 0.16045314073562622, + 0.9702694396115517, + 0.18119617091016404, + 0.12545441091060638 + ], + [ + -0.9665064215660095, + 0.11719187607545677, + 0.2283231481788382, + -0.6670140624046326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.18981432914733887, + -0.21408578223630453, + 0.9581949671264587, + -0.10822245478630066 + ], + [ + 0.15506593883037567, + 0.9702256511865709, + 0.18605584653538246, + 0.12263970077037811 + ], + [ + -0.9694972634315491, + 0.11326734839810318, + 0.21736014738022896, + -0.6694164276123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.174064040184021, + -0.21826462027617324, + 0.9602408248456524, + -0.13189896941184998 + ], + [ + 0.15055008232593536, + 0.9695616753337565, + 0.19309285423920827, + 0.11948113888502121 + ], + [ + -0.973158061504364, + 0.1109537938082419, + 0.20162558586327667, + -0.6792222857475281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.14512252807617188, + -0.22995544562851147, + 0.9623201503964581, + -0.14024078845977783 + ], + [ + 0.14086315035820007, + 0.9675108983510473, + 0.20995297272669833, + 0.11845730245113373 + ], + [ + -0.9793350696563721, + 0.10508652012742038, + 0.17279991472293738, + -0.6887723207473755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.08798736333847046, + -0.24385203172248537, + 0.9658129739965128, + -0.17091506719589233 + ], + [ + 0.13062578439712524, + 0.9640251210558103, + 0.23150037311860755, + 0.12260045856237411 + ], + [ + -0.9875198602676392, + 0.10579092857269641, + 0.11667540580826148, + -0.7104732394218445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.04201185703277588, + -0.25569903490623713, + 0.965843130134134, + -0.15830498933792114 + ], + [ + 0.11903427541255951, + 0.9610923635085976, + 0.24926359466235853, + 0.11072146892547607 + ], + [ + -0.992000937461853, + 0.10449640099372405, + 0.07081424484155684, + -0.6874628067016602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.032774507999420166, + -0.26150472042469797, + 0.9646455624631599, + -0.1685352623462677 + ], + [ + 0.09972281754016876, + 0.9612034211489259, + 0.25718343200596055, + 0.10239659249782562 + ], + [ + -0.9944753646850586, + 0.08776810376525726, + 0.057580970619547214, + -0.6788188219070435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.03620278835296631, + -0.253972516396375, + 0.9665336976150426, + -0.17529579997062683 + ], + [ + 0.08373335003852844, + 0.9645376195038915, + 0.25031168133744164, + 0.10829560458660126 + ], + [ + -0.9958303570747375, + 0.07186912366424023, + 0.056184898843996446, + -0.6749123334884644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.028236567974090576, + -0.2541619606995667, + 0.966749398550039, + -0.18769752979278564 + ], + [ + 0.08547951281070709, + 0.9642063400798184, + 0.2509967195619184, + 0.12381020188331604 + ], + [ + -0.9959397912025452, + 0.07554997587425931, + 0.048951513828180186, + -0.682060718536377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.00361555814743042, + -0.2668658115320897, + 0.9637269495370052, + -0.1983516812324524 + ], + [ + 0.10080607235431671, + 0.9589212596006648, + 0.2651568770439983, + 0.12369793653488159 + ], + [ + -0.9948995113372803, + 0.09619083620439477, + 0.030368766308886665, + -0.6874125599861145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.026020646095275886, + -0.27993998377869456, + 0.959665009164405, + -0.21912741661071777 + ], + [ + 0.11959032714366916, + 0.9522239501957511, + 0.2810119848086302, + 0.1174878403544426 + ], + [ + -0.9924824833869936, + 0.12207868053642656, + 0.00870076295373822, + -0.6851377487182617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.05311179161071779, + -0.2924018968820928, + 0.9548195192640506, + -0.21008318662643433 + ], + [ + 0.12928943336009982, + 0.946107481987466, + 0.29692565479553296, + 0.11658589541912079 + ], + [ + -0.9901835918426516, + 0.13921829907878894, + -0.012445002405843616, + -0.681238055229187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.07696318626403809, + -0.30359200634029987, + 0.9496886857742673, + -0.22559195756912231 + ], + [ + 0.13488654792308807, + 0.9405863696194833, + 0.31161347586090077, + 0.10920196771621704 + ], + [ + -0.9878675937652588, + 0.15208296079048225, + -0.0314399569417383, + -0.6756376028060913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.09858989715576172, + -0.30577055184327134, + 0.9469870221774206, + -0.21061158180236816 + ], + [ + 0.14072272181510925, + 0.9377763648796076, + 0.31744703404351765, + 0.10240135341882706 + ], + [ + -0.9851279854774475, + 0.1645596575754887, + -0.04942642477499869, + -0.6653339862823486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.12148237228393555, + -0.30515828952154594, + 0.9445214039970381, + -0.22227436304092407 + ], + [ + 0.14621064066886902, + 0.9356875474381565, + 0.32110950893969553, + 0.10229851305484772 + ], + [ + -0.9817661643028259, + 0.1771081797781507, + -0.06905209556033144, + -0.6623629331588745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.14975881576538086, + -0.30401405218224825, + 0.9408229818122521, + -0.24022966623306274 + ], + [ + 0.15256378054618835, + 0.9330522556980101, + 0.32578792315998706, + 0.10421907156705856 + ], + [ + -0.9768811464309692, + 0.1923251140290271, + -0.09335130475022765, + -0.661100447177887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.19077074527740479, + -0.30178887825697, + 0.9340932784782314, + -0.24690067768096924 + ], + [ + 0.16203813254833221, + 0.9288340720945097, + 0.3331829284134792, + 0.10549101233482361 + ], + [ + -0.9681685566902161, + 0.21492024939408497, + -0.12829306105201968, + -0.6571592092514038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.2307493686676026, + -0.29799130277755637, + 0.9262591408741687, + -0.24939310550689697 + ], + [ + 0.1720722317695618, + 0.9244479286121965, + 0.34027517783668565, + 0.10112637281417847 + ], + [ + -0.9576773643493655, + 0.23790174321243246, + -0.16203977467095804, + -0.6462713479995728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.26471018791198736, + -0.29164475252207067, + 0.9191693365068464, + -0.24848616123199463 + ], + [ + 0.17843011021614077, + 0.9218990332263062, + 0.34389665456261465, + 0.09855900704860687 + ], + [ + -0.9476769566535952, + 0.25504035261998675, + -0.19199779456426494, + -0.6400049328804016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.29851770401000977, + -0.28319543044767265, + 0.9114207326070904, + -0.25255268812179565 + ], + [ + 0.1830517053604126, + 0.9202449320490328, + 0.3458921830330303, + 0.09487484395503998 + ], + [ + -0.9366853833198547, + 0.27009199169924636, + -0.22286995862666076, + -0.6267075538635254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.33038115501403814, + -0.2742426148321221, + 0.903127535087088, + -0.25493288040161133 + ], + [ + 0.18972812592983251, + 0.9180294991370586, + 0.3481738685967594, + 0.09411513060331345 + ], + [ + -0.9245818853378298, + 0.28637878680553197, + -0.25126819389616045, + -0.620026707649231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.36249732971191406, + -0.26321297776606606, + 0.8940440773638139, + -0.2525079846382141 + ], + [ + 0.19427362084388733, + 0.9168766062464913, + 0.3487048379852506, + 0.09109877049922943 + ], + [ + -0.9115117788314819, + 0.30009372489569636, + -0.28123002120535795, + -0.612559974193573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.392337203025818, + -0.24798816752909383, + 0.885761629145736, + -0.25290101766586304 + ], + [ + 0.19805383682250982, + 0.9176083105039972, + 0.34462983149985293, + 0.09171204268932343 + ], + [ + -0.8982463479042055, + 0.3106395357546211, + -0.3108968438843084, + -0.6057635545730591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.4207165241241455, + -0.23249545967966906, + 0.8768943997736913, + -0.2585833668708801 + ], + [ + 0.201825350522995, + 0.9183911983269144, + 0.3403294882329961, + 0.08791285753250122 + ], + [ + -0.8844571709632874, + 0.3201617039130252, + -0.33945885137556564, + -0.597030520439148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.4504382610321045, + -0.21488746376647394, + 0.8665615841499403, + -0.25949394702911377 + ], + [ + 0.2041180431842804, + 0.9201096030481782, + 0.33426659270998527, + 0.08887187391519547 + ], + [ + -0.8691613674163818, + 0.3274472859189554, + -0.3705901018289776, + -0.5924617648124695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + -0.48017680644989014, + -0.19950416875188218, + 0.854182923522742, + -0.25839173793792725 + ], + [ + 0.20309218764305115, + 0.9220459894650009, + 0.3295221051141256, + 0.09081235527992249 + ], + [ + -0.8533369898796082, + 0.3317067280481639, + -0.4022273706727195, + -0.5841314792633057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + -0.5068622827529907, + -0.19065775369899268, + 0.8406786752618859, + -0.25823330879211426 + ], + [ + 0.19880935549736023, + 0.9230888871859141, + 0.32921379261144357, + 0.09254050254821777 + ], + [ + -0.8387882709503174, + 0.3340007775333675, + -0.42997439958225386, + -0.577430248260498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + -0.531747579574585, + -0.18685746482153992, + 0.8260319705829957, + -0.26115334033966064 + ], + [ + 0.19487908482551575, + 0.9221857182094837, + 0.33405941797642913, + 0.09308671206235886 + ], + [ + -0.8241763710975647, + 0.3386116269534156, + -0.4539554046640413, + -0.5692445635795593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + -0.5588455200195314, + -0.17731978471723212, + 0.8100924355518829, + -0.2651357054710388 + ], + [ + 0.19639572501182562, + 0.9207810721544317, + 0.3370325845912877, + 0.09305939823389053 + ], + [ + -0.8056803345680239, + 0.34744778242567076, + -0.4797495574211016, + -0.5502591729164124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + -0.5858345031738282, + -0.17367779211735002, + 0.7916022806452488, + -0.264884352684021 + ], + [ + 0.19997254014015203, + 0.9155868386874274, + 0.34887203375444564, + 0.0891038030385971 + ], + [ + -0.7853720188140871, + 0.3626799530173685, + -0.5016515661892538, + -0.5449393391609192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + -0.6117655038833618, + -0.17041246209347213, + 0.772465397771843, + -0.26768064498901367 + ], + [ + 0.20032429695129395, + 0.9113127676215137, + 0.3596931869637963, + 0.08839864283800125 + ], + [ + -0.7652538418769836, + 0.3747914223842694, + -0.5233719560032186, + -0.5415374636650085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + -0.6359320878982545, + -0.16748328218657768, + 0.7533524645877209, + -0.26212209463119507 + ], + [ + 0.20006409287452703, + 0.907019169760748, + 0.3705273775345034, + 0.09224884957075119 + ], + [ + -0.7453622817993165, + 0.38634899279945034, + -0.5432952553215218, + -0.5341410636901855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + -0.6590254306793213, + -0.16280828920733562, + 0.7342882126951245, + -0.25909751653671265 + ], + [ + 0.2006569653749466, + 0.9028457535567911, + 0.38027138708494435, + 0.0901721641421318 + ], + [ + -0.7248603105545044, + 0.3979485351892832, + -0.5623296853568002, + -0.5242879390716553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + -0.6827473640441895, + -0.16226475378086158, + 0.712408795129698, + -0.2597893476486206 + ], + [ + 0.19499467313289642, + 0.8991992633552712, + 0.3916858372194009, + 0.08791578561067581 + ], + [ + -0.7041543126106262, + 0.40633837592939065, + -0.582285189475785, + -0.5188168287277222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + -0.7024502754211427, + -0.16466240891188855, + 0.6924235246297046, + -0.255942702293396 + ], + [ + 0.18591117858886722, + 0.8966433984108348, + 0.40183035541903733, + 0.08578857034444809 + ], + [ + -0.6870234012603761, + 0.41099505145083703, + -0.5992348639040564, + -0.5147756934165955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + -0.7150022983551027, + -0.17076414390010744, + 0.6779466862633138, + -0.24964451789855957 + ], + [ + 0.17312693595886233, + 0.8962602681892445, + 0.40834369214691224, + 0.08310163021087646 + ], + [ + -0.6773471832275392, + 0.4093374365417202, + -0.6112642523478281, + -0.5159358978271484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + -0.7232011556625366, + -0.1752164242949163, + 0.668041554591488, + -0.24440276622772217 + ], + [ + 0.15559782087802887, + 0.9010770613602336, + 0.4047832308248717, + 0.07139883190393448 + ], + [ + -0.672881543636322, + 0.39668549154013866, + -0.624396686207357, + -0.5188858509063721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + -0.7331891059875489, + -0.16524308663504356, + 0.6596428176769294, + -0.24069887399673462 + ], + [ + 0.14137648046016696, + 0.9117929727329314, + 0.3855467844033136, + 0.0717504546046257 + ], + [ + -0.6651665568351747, + 0.37593664872990884, + -0.6451552115680113, + -0.5262731313705444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + -0.7432698011398317, + -0.14860839222399308, + 0.652277117559516, + -0.23758113384246826 + ], + [ + 0.13120511174201968, + 0.9236980159338625, + 0.3599544902125492, + 0.07061939686536789 + ], + [ + -0.6559993624687196, + 0.3531254077325497, + -0.6670587111699349, + -0.5187966823577881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + -0.7533907890319826, + -0.1280456855878723, + 0.6449858668571513, + -0.23775655031204224 + ], + [ + 0.12876866757869723, + 0.9331394946576216, + 0.33566255404695566, + 0.07443182915449142 + ], + [ + -0.6448419094085694, + 0.33593905064319857, + -0.6865304779053101, + -0.4972034692764282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + -0.7638771533966064, + -0.10927488824417, + 0.6360430828342042, + -0.24460744857788086 + ], + [ + 0.13508723676204681, + 0.9366536172069991, + 0.32315856006693217, + 0.08322000503540039 + ], + [ + -0.6310651898384094, + 0.3327747477642409, + -0.7007266769537226, + -0.48849499225616455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + -0.7761849164962769, + -0.09394366356745128, + 0.6234677954080918, + -0.24005061388015747 + ], + [ + 0.14436855912208557, + 0.936086436310837, + 0.32078008969695443, + 0.09097577631473541 + ], + [ + -0.6137549877166748, + 0.33899375642473384, + -0.7130136444417309, + -0.48698288202285767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + -0.7889981269836426, + -0.0817649312825772, + 0.6089308010961694, + -0.24086201190948486 + ], + [ + 0.1508733481168747, + 0.9349733338694485, + 0.3210328785620194, + 0.09162235260009766 + ], + [ + -0.5955832600593567, + 0.3451657409519476, + -0.7253560093756851, + -0.4936060607433319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + -0.8004419803619385, + -0.07057360055643082, + 0.5952413857182588, + -0.24143075942993164 + ], + [ + 0.15481071174144745, + 0.9350127694665216, + 0.3190372752842768, + 0.08259967714548111 + ], + [ + -0.5790739059448242, + 0.3475205469892201, + -0.7374979908002817, + -0.48415887355804443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + -0.8103868961334229, + -0.06178857362735979, + 0.5826280501397556, + -0.24118518829345703 + ], + [ + 0.15902277827262878, + 0.9338979740856164, + 0.3202286383790419, + 0.08897364139556885 + ], + [ + -0.5639016032218933, + 0.3521602015487017, + -0.7469929249407554, + -0.48392030596733093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + -0.8193463087081909, + -0.057018714267687724, + 0.5704565365201216, + -0.23806869983673096 + ], + [ + 0.16237172484397888, + 0.9312189604779753, + 0.3262922897481939, + 0.09058572351932526 + ], + [ + -0.5498247146606445, + 0.3599723808053902, + -0.753732569051133, + -0.4838028848171234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + -0.826433062553406, + -0.0538637043272593, + 0.5604526371044185, + -0.23503941297531128 + ], + [ + 0.16605676710605624, + 0.9278179425430001, + 0.33403445100289225, + 0.08581972122192383 + ], + [ + -0.5379903912544252, + 0.3691240687215276, + -0.7578350523816457, + -0.48226526379585266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + -0.8313335180282593, + -0.05520862113028797, + 0.5530248789618896, + -0.23065108060836792 + ], + [ + 0.1662677675485611, + 0.9247764800989596, + 0.34226236962068646, + 0.08164941519498825 + ], + [ + -0.5303202271461487, + 0.3764844028277264, + -0.7596182851470906, + -0.4831695556640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + -0.8339809179306032, + -0.0582690377092894, + 0.54870812100886, + -0.2274647355079651 + ], + [ + 0.16567751765251162, + 0.9220837861432489, + 0.3497320327775795, + 0.08033942431211472 + ], + [ + -0.5263334512710572, + 0.38257843083791626, + -0.759346425375771, + -0.4844760298728943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + -0.8353480100631714, + -0.06021686925213808, + 0.5464134151812055, + -0.22846120595932007 + ], + [ + 0.16763897240161896, + 0.9187319158371056, + 0.35753155575382134, + 0.0762997567653656 + ], + [ + -0.5235368609428406, + 0.3902634631126354, + -0.7573662178757139, + -0.48507821559906006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + -0.8367112874984741, + -0.06057884762449415, + 0.544283554241253, + -0.22927498817443848 + ], + [ + 0.1710018813610077, + 0.9152698160006165, + 0.3647458982524514, + 0.07795067876577377 + ], + [ + -0.5202621817588806, + 0.3982605104796346, + -0.7554575507706845, + -0.49139299988746643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + -0.8393120765686035, + -0.05888723545432067, + 0.5404514001020071, + -0.23148584365844727 + ], + [ + 0.17669625580310822, + 0.9105950718756678, + 0.37362419997654217, + 0.07618735730648041 + ], + [ + -0.5141340494155884, + 0.40908300625492616, + -0.7538682750470642, + -0.4899383783340454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + -0.841673731803894, + -0.059664105491402726, + 0.5366803651692174, + -0.23274767398834229 + ], + [ + 0.18142560124397278, + 0.9048558655295608, + 0.385124129211239, + 0.07561929523944855 + ], + [ + -0.5085964202880859, + 0.42151638609400477, + -0.7507688114759364, + -0.49403440952301025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + -0.8440279960632326, + -0.06326321031494508, + 0.5325546033624081, + -0.2329365611076355 + ], + [ + 0.18259730935096743, + 0.8997890671039772, + 0.3962800865930028, + 0.07242869585752487 + ], + [ + -0.5042567849159242, + 0.43171453992100206, + -0.7478954949470024, + -0.49333369731903076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + -0.8452337980270386, + -0.0718612878683516, + 0.5295429011468163, + -0.23098397254943848 + ], + [ + 0.17908881604671478, + 0.8955266475198081, + 0.4073808560512127, + 0.06908531486988068 + ], + [ + -0.5034946799278259, + 0.43916733590377566, + -0.7440599372896927, + -0.4945293366909027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + -0.8458257913589478, + -0.08058454951652308, + 0.5273375477308132, + -0.22873681783676147 + ], + [ + 0.1754535287618637, + 0.8915049926060044, + 0.41765402002566027, + 0.0688689723610878 + ], + [ + -0.5037805438041687, + 0.44578576427779354, + -0.7399190918103288, + -0.500260055065155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + -0.8467191457748413, + -0.08544312136080409, + 0.5251347948999291, + -0.22645550966262817 + ], + [ + 0.17419974505901337, + 0.8880933355098313, + 0.4253759233100122, + 0.06717611849308014 + ], + [ + -0.5027141571044922, + 0.45165225409679394, + -0.7370814793939059, + -0.5022996664047241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + -0.8491859436035158, + -0.0858362620543944, + 0.5210713118230512, + -0.23026561737060547 + ], + [ + 0.17535644769668582, + 0.8848839687393529, + 0.43154434801130853, + 0.06604920327663422 + ], + [ + -0.49812981486320507, + 0.4578346233230405, + -0.7363790434855251, + -0.5036719441413879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + -0.8526349067687988, + -0.08737661814023297, + 0.5151496134651133, + -0.22657132148742676 + ], + [ + 0.17507100105285645, + 0.8811559737846195, + 0.4392201020471709, + 0.06477564573287964 + ], + [ + -0.4923047423362732, + 0.4646821476764644, + -0.7360073064157764, + -0.5029500126838684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + -0.8530075550079348, + -0.09303359868953574, + 0.5135397347948008, + -0.2220228910446167 + ], + [ + 0.17230319976806643, + 0.878609938246707, + 0.4453719040014064, + 0.06437581777572632 + ], + [ + -0.4926356673240663, + 0.4683900803985904, + -0.7334308223101855, + -0.5034951567649841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + -0.853726387023926, + -0.09566743607411299, + 0.5118589453358027, + -0.22142159938812256 + ], + [ + 0.17112965881824496, + 0.8768335200921638, + 0.4493079515461043, + 0.06463421881198883 + ], + [ + -0.4917992353439332, + 0.47118020340721023, + -0.732204371141388, + -0.5056027770042419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + -0.8557354211807251, + -0.09616624912468914, + 0.5083984031283767, + -0.22389227151870728 + ], + [ + 0.17042717337608337, + 0.8753578795054286, + 0.4524413184431829, + 0.06485412269830704 + ], + [ + -0.4885401129722595, + 0.4738149979933438, + -0.7326854897285413, + -0.5062283873558044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + -0.8585556745529175, + -0.09645621404683445, + 0.5035659018562646, + -0.22464030981063843 + ], + [ + 0.16920731961727142, + 0.8738160557265733, + 0.45586658509619127, + 0.06475086510181427 + ], + [ + -0.4839951694011688, + 0.4765938273898853, + -0.7338985760285412, + -0.5052996873855591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + -0.8607993125915527, + -0.09671989317948447, + 0.49966993490966405, + -0.22311973571777344 + ], + [ + 0.16877274215221405, + 0.8719756122747794, + 0.45953703032214854, + 0.06398668885231018 + ], + [ + -0.4801463484764099, + 0.4798997756793057, + -0.7342723203551207, + -0.5021752119064331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + -0.8618669509887695, + -0.09819855273320378, + 0.4975361861859946, + -0.22461646795272827 + ], + [ + 0.1685652732849121, + 0.8698214774515057, + 0.4636769651138902, + 0.06355743855237961 + ], + [ + -0.4783000648021698, + 0.4834952119129249, + -0.7331175509169228, + -0.5007109045982361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + -0.8643174171447754, + -0.10267546347395126, + 0.492354840703837, + -0.22170233726501465 + ], + [ + 0.1640886515378952, + 0.8678073279657257, + 0.46902599368987175, + 0.06391382962465286 + ], + [ + -0.475426584482193, + 0.48617717479143874, + -0.7332132261139367, + -0.5008600950241089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 394.52750651041663, + "fy": 394.5257568359375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/d1c8e3fa-9f53-4da6-a712-878f033c225d/pan_left/transforms.json b/dynpose_eval/camera_controls/d1c8e3fa-9f53-4da6-a712-878f033c225d/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b8f89bcce9975480060d6a46afc61a73acaa1c98 --- /dev/null +++ b/dynpose_eval/camera_controls/d1c8e3fa-9f53-4da6-a712-878f033c225d/pan_left/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, + -0.00011253420962020755, + -5.574015449383296e-05, + 0.00018979643937200308 + ], + [ + 0.00011254544369876385, + -1.0, + -0.0002015733771258965, + 0.0006245888653211296 + ], + [ + -5.571746805799194e-05, + -0.0002015796344494447, + 1.0, + 4.784312113770284e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + -0.9999931060339503, + 0.003095196560025216, + -0.0020521904954481475, + 0.0198550745844841 + ], + [ + -0.0030923091199160802, + -0.999994218349457, + -0.0014085929540210488, + 0.0057707070372998714 + ], + [ + -0.0020565383333943357, + -0.001402237336151302, + 0.9999969276767001, + -0.007365192752331495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + -0.9999960765315156, + 0.0027892126236110926, + -0.0003298657538416642, + 0.02040906623005867 + ], + [ + -0.002790170663503103, + -0.999991774559021, + 0.0029398417858697867, + 0.006776006892323494 + ], + [ + -0.0003216631071801003, + 0.0029407506808638573, + 0.999995633108398, + -0.00807630829513073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + -0.99997325192872, + 0.005520398262888194, + 0.004793548081494703, + 0.010155512019991875 + ], + [ + -0.0054906359460455655, + -0.9999657273292544, + 0.006199874896396635, + 0.008461052551865578 + ], + [ + 0.004827609494632356, + 0.006173389963805677, + 0.9999692740659057, + -0.005858601536601782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + -0.9999154755865498, + 0.008457090705633163, + 0.009876816943776547, + -0.0005496422527357936 + ], + [ + -0.008361221387730834, + -0.9999179244041443, + 0.00970773815035299, + 0.010513395071029663 + ], + [ + 0.00995810542585071, + 0.009624335914850235, + 0.9999041082575063, + -0.004057812970131636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + -0.9998410498582078, + 0.010805686004459858, + 0.014181778537242654, + -0.0030235806480050087 + ], + [ + -0.01064247511143685, + -0.999876856803894, + 0.01153398625408274, + 0.016756149008870125 + ], + [ + 0.014304664219122265, + 0.011381222866475582, + 0.9998329162169114, + -0.0035106989089399576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + -0.9997414851813221, + 0.013924610801041126, + 0.017975669345813464, + -0.001469360780902207 + ], + [ + -0.013670609906145194, + -0.9998060464859009, + 0.014176610948535114, + 0.02020459808409214 + ], + [ + 0.01816958623241362, + 0.013927207328379154, + 0.9997378991694793, + -0.00497785396873951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + -0.9996338862075609, + 0.01727939210832119, + 0.020821540176748837, + 5.220435923547484e-05 + ], + [ + -0.016912856281230838, + -0.9997011423110962, + 0.017652966157713598, + 0.02328365109860897 + ], + [ + 0.02112034882916182, + 0.017294352874159813, + 0.9996273282201166, + -0.006029188167303801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + -0.9995232399517866, + 0.01972360722720623, + 0.023753170269079693, + -0.0008599032880738378 + ], + [ + -0.0192195032118536, + -0.9995890855789185, + 0.021267139497812247, + 0.027263017371296883 + ], + [ + 0.02416287399857155, + 0.020800475031137466, + 0.9994916004521761, + -0.006298392545431852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + -0.9994168538947051, + 0.022259438410401348, + 0.025893125989802184, + -0.0012180613121017814 + ], + [ + -0.021634025640085965, + -0.9994733333587649, + 0.024188134842755112, + 0.029857568442821503 + ], + [ + 0.026417903089205937, + 0.023613857105374343, + 0.9993720571345254, + -0.007284204009920359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + -0.9993135254545387, + 0.02423972636461258, + 0.028017223633989195, + -0.002004670910537243 + ], + [ + -0.023519456278944858, + -0.999391496181488, + 0.025757902370880402, + 0.030252227559685707 + ], + [ + 0.028624538690205346, + 0.025081271305680275, + 0.9992755140175199, + -0.007948300801217556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + -0.9992060512312267, + 0.025910003110766418, + 0.030264992880332877, + -0.0019808842334896326 + ], + [ + -0.025108613630339224, + -0.9993317127227785, + 0.026565587262008094, + 0.030096465721726418 + ], + [ + 0.030933080843167416, + 0.02578458189964295, + 0.9991888341182126, + -0.008577952161431313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + -0.9990958023718995, + 0.027549339458346374, + 0.03238143239810105, + -0.001465681823901832 + ], + [ + -0.02666361484047496, + -0.9992668628692629, + 0.027473594511678936, + 0.03135792165994644 + ], + [ + 0.03311457123089287, + 0.026585346087813384, + 0.9990979124305087, + -0.00897922832518816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + -0.9989799907744289, + 0.02844351902604103, + 0.035071151178512276, + -0.004273709841072559 + ], + [ + -0.027435908502756193, + -0.9992061853408813, + 0.028884592151576814, + 0.033324580639600754 + ], + [ + 0.035864888967333454, + 0.02789291925728321, + 0.9989673319716976, + -0.007837173528969288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + -0.9988762179141519, + 0.028960755094885826, + 0.037517177441292876, + -0.004496376030147076 + ], + [ + -0.027810851343810786, + -0.9991380572319031, + 0.030817756692483655, + 0.03566249832510948 + ], + [ + 0.038377346123606326, + 0.02973974123597145, + 0.9988206827412162, + -0.007613005582243204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + -0.9987484425394261, + 0.029790261760354042, + 0.04017530450568253, + -0.00348727242089808 + ], + [ + -0.028455048104871847, + -0.9990366697311401, + 0.03340677505198399, + 0.037328124046325684 + ], + [ + 0.041131799504719645, + 0.032221775501966476, + 0.9986340154597182, + -0.007679825648665428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + -0.998595522751874, + 0.030920255929231644, + 0.04302233954164667, + -0.0020824922248721123 + ], + [ + -0.02942636369900683, + -0.9989563226699829, + 0.034934137990277093, + 0.03833671659231186 + ], + [ + 0.04405761032932989, + 0.03361907973885536, + 0.998463182343873, + -0.007328817620873451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + -0.998425132091956, + 0.03194970637559891, + 0.04611336110774908, + -0.0022306584287434816 + ], + [ + -0.030324398808306025, + -0.9989085793495178, + 0.03552542373713805, + 0.03965744376182556 + ], + [ + 0.04719805904654432, + 0.034071117639541626, + 0.9983043406608179, + -0.006490651518106461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + -0.9982924705035339, + 0.03248542547225952, + 0.04854722306409346, + 0.0006807309109717607 + ], + [ + -0.030729258159707704, + -0.9988613128662109, + 0.036493247291415315, + 0.03910035640001297 + ], + [ + 0.049677444540681105, + 0.03493911027908325, + 0.9981540244953014, + -0.0063893841579556465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + -0.9981773356282928, + 0.032697197049856186, + 0.050724177132466096, + 0.0032348984386771917 + ], + [ + -0.030802836975989102, + -0.9988146424293518, + 0.03768908233959601, + 0.03899091109633446 + ], + [ + 0.05189637893315999, + 0.03605794161558151, + 0.998001278192377, + -0.005783726926892996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + -0.998073216273331, + 0.03257891908288002, + 0.05280639839772012, + 0.0041406359523534775 + ], + [ + -0.030560972910369338, + -0.9987879991531372, + 0.03858140587200107, + 0.041257429867982864 + ], + [ + 0.05399933793606254, + 0.036893248558044434, + 0.9978591932839734, + -0.004221900831907988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + -0.9979703472119015, + 0.03203019127249718, + 0.0550381840819627, + 0.004235509783029556 + ], + [ + -0.029854730171524707, + -0.9987574219703674, + 0.03990419342127265, + 0.04459737613797188 + ], + [ + 0.05624793600402506, + 0.03818005323410034, + 0.9976865730030823, + -0.0021707587875425816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + -0.9978451657780015, + 0.03141549229621887, + 0.05760297555541508, + 0.006047872826457024 + ], + [ + -0.02902856644859679, + -0.9987035393714905, + 0.041816370040276184, + 0.04735719412565231 + ], + [ + 0.05884197686695828, + 0.04005412757396698, + 0.9974634083609407, + -0.0006793449283577502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + -0.9977804249197757, + 0.029934482648968704, + 0.059482289105102816, + 0.011923957616090775 + ], + [ + -0.02741152477464169, + -0.9987080693244936, + 0.042787958040158725, + 0.056110527366399765 + ], + [ + 0.06068627693943007, + 0.04106248915195466, + 0.997311886299523, + -0.00017476272478234023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + -0.9976855623112107, + 0.029381530359387398, + 0.061321124031733655, + 0.015949798747897148 + ], + [ + -0.026634764908619313, + -0.9986255168914795, + 0.04513988804581185, + 0.06163846701383591 + ], + [ + 0.06256311855900125, + 0.043402139097452164, + 0.9970968251617095, + 0.0015711876330897212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + -0.9975901535751311, + 0.02917564287781716, + 0.06294970398165144, + 0.018001386895775795 + ], + [ + -0.026191145037209453, + -0.9985170364379885, + 0.04772616177476241, + 0.06572715193033218 + ], + [ + 0.064248791659408, + 0.04596242308616639, + 0.9968748899958298, + 0.0027566440403461456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + -0.9975018244850514, + 0.02930386364459992, + 0.0642761602605575, + 0.02040145918726921 + ], + [ + -0.026133248180564173, + -0.9984259009361269, + 0.04962607692516366, + 0.06772147119045258 + ], + [ + 0.06562921909828506, + 0.04782235622406007, + 0.9966974876516161, + 0.004667462315410376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + -0.9974463253885146, + 0.02895420417189598, + 0.06528756811398646, + 0.020763210952281952 + ], + [ + -0.025675039033867787, + -0.9983930587768555, + 0.050518110207760605, + 0.06972114741802216 + ], + [ + 0.06664536572513499, + 0.048712845891714096, + 0.9965868899932031, + 0.008041770197451115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + -0.997428111190983, + 0.02772592380642891, + 0.06609429317569017, + 0.019974101334810257 + ], + [ + -0.02436035805770471, + -0.9983915686607361, + 0.0511938849538899, + 0.07255162298679352 + ], + [ + 0.06740738263925691, + 0.04945213720202446, + 0.9964992371065896, + 0.012112675234675407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + -0.9974161713324617, + 0.026008181273937225, + 0.06696717174345697, + 0.01956995390355587 + ], + [ + -0.02254765591073251, + -0.9983965754508972, + 0.05192219369857999, + 0.0767897516489029 + ], + [ + 0.06821019693666912, + 0.050278082489967346, + 0.9964032920041667, + 0.016375044360756874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + -0.9973857640837284, + 0.024905672296881676, + 0.06783316653087791, + 0.020927483215928078 + ], + [ + -0.021356754448749612, + -0.9983898997306824, + 0.05255020779726709, + 0.08051879703998566 + ], + [ + 0.06903274526981222, + 0.05096413567662239, + 0.9963117415515366, + 0.020800041034817696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + -0.9973333175259935, + 0.024341758340597153, + 0.06880233674654691, + 0.022772276774048805 + ], + [ + -0.020678748211145518, + -0.9983558654785156, + 0.05345943810525179, + 0.08362667262554169 + ], + [ + 0.06999051412934594, + 0.05189412832260132, + 0.9961969301801863, + 0.025598526000976562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + -0.9973039357719726, + 0.023186232894659046, + 0.06962242228679637, + 0.027099309489130974 + ], + [ + -0.019427858112278026, + -0.998342037200928, + 0.05418241722382301, + 0.08727258443832397 + ], + [ + 0.07076327774827253, + 0.052683725953102126, + 0.996100896631877, + 0.030111441388726234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + -0.9972895751767862, + 0.02098875679075718, + 0.0705196194679539, + 0.03164566308259964 + ], + [ + -0.0171795569169232, + -0.998382568359375, + 0.054195087802378854, + 0.09052388370037079 + ], + [ + 0.07154304588719093, + 0.05283669754862785, + 0.9960370881313562, + 0.0348079577088356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + -0.9972946117659306, + 0.018373318016529083, + 0.07117482648880703, + 0.0364714078605175 + ], + [ + -0.01450875922648668, + -0.9984117150306702, + 0.054438176330150086, + 0.09363668411970139 + ], + [ + 0.0720619915673627, + 0.05325824394822121, + 0.9959772302196986, + 0.040082961320877075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + -0.997305059733792, + 0.016030602157115936, + 0.07159314703658683, + 0.03977299854159355 + ], + [ + -0.01207466167730577, + -0.9983939528465271, + 0.055350747869168715, + 0.09708023071289062 + ], + [ + 0.07236547213705438, + 0.054337117820978165, + 0.9958969330984343, + 0.045640431344509125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + -0.9972596019924986, + 0.014878393150866035, + 0.07246993990369827, + 0.0456237718462944 + ], + [ + -0.010845837276459769, + -0.9983873367309573, + 0.055723580373342116, + 0.10142268985509872 + ], + [ + 0.07318214867532684, + 0.05478487908840181, + 0.9958127364722109, + 0.05124498903751373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + -0.99708839854283, + 0.015437092632055286, + 0.07467523799514851, + 0.05463418737053871 + ], + [ + -0.011421262310991184, + -0.998480558395386, + 0.05390849093845737, + 0.10974740982055664 + ], + [ + 0.07539396342953018, + 0.05289864912629129, + 0.9957496803750059, + 0.058254554867744446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + -0.9969231806108773, + 0.015993578359484673, + 0.07673605311163899, + 0.06710857152938843 + ], + [ + -0.01187801567095026, + -0.9984815120697021, + 0.05379248221878375, + 0.11510174721479416 + ], + [ + 0.07747986204811147, + 0.052715498954057693, + 0.9955992792866417, + 0.06366507709026337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + -0.9967972589246223, + 0.013552256859838966, + 0.07881317219884809, + 0.0819534957408905 + ], + [ + -0.009238036129782592, + -0.9984519481658938, + 0.05484905134315335, + 0.11640822142362595 + ], + [ + 0.07943449180525018, + 0.05394530668854715, + 0.9953793456431996, + 0.06881260126829147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + -0.9966011319385077, + 0.01095634512603283, + 0.08164665435048289, + 0.09515603631734848 + ], + [ + -0.006543739799193496, + -0.9985131025314331, + 0.05411803972292959, + 0.12367060035467148 + ], + [ + 0.08211818668052001, + 0.05339982360601425, + 0.9951909445975373, + 0.0752718523144722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + -0.9964239560734108, + 0.00872366689145565, + 0.08404300507161826, + 0.11305002123117447 + ], + [ + -0.004083951958568016, + -0.9984658360481262, + 0.05522096054593025, + 0.12838825583457947 + ], + [ + 0.08439579548923874, + 0.05468025803565979, + 0.9949308749716085, + 0.08031005412340164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + -0.996099306799639, + 0.007156579289585354, + 0.08794884453492172, + 0.13199591636657715 + ], + [ + -0.0022474824167680436, + -0.9984399676322939, + 0.05579038178785215, + 0.13602052628993988 + ], + [ + 0.08821090930798173, + 0.05537509918212892, + 0.9945614156498623, + 0.08633743971586227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + -0.9956745510693945, + 0.005497006233781576, + 0.09274663122706975, + 0.15382416546344757 + ], + [ + -0.0002635826041997048, + -0.9984112977981567, + 0.056345235888854844, + 0.1434561014175415 + ], + [ + 0.09290901432406437, + 0.05607707425951958, + 0.9940941756987836, + 0.09211733937263489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + -0.9952507459795605, + 0.0028278077952563763, + 0.09730312017684076, + 0.1774100512266159 + ], + [ + 0.002763850050131366, + -0.9983541369438171, + 0.057283643845206955, + 0.15002426505088806 + ], + [ + 0.09730495806439678, + 0.0572805255651474, + 0.9936048679648689, + 0.09802109003067017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + -0.9948051536346756, + 0.0002821272355504334, + 0.10179671711518787, + 0.2004779577255249 + ], + [ + 0.005591210215086978, + -0.9983352422714233, + 0.05740678976324571, + 0.15807603299617767 + ], + [ + 0.1016434446957924, + 0.0576777383685112, + 0.9931474792154069, + 0.1038951724767685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + -0.9942979310689478, + -0.0027377945370972157, + 0.1066024045278667, + 0.2234732210636139 + ], + [ + 0.009040315043390491, + -0.9982357025146484, + 0.05868350180034612, + 0.16317643225193024 + ], + [ + 0.10625366292691596, + 0.059312604367733, + 0.992568446328231, + 0.10873345285654068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + -0.9937608433566044, + -0.005039794836193324, + 0.1114181600451522, + 0.24755656719207764 + ], + [ + 0.011898264927123599, + -0.9980682134628298, + 0.060977231363713816, + 0.169372096657753 + ], + [ + 0.11089561593682104, + 0.06192246824502946, + 0.991901080772804, + 0.11375205218791962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + -0.9932015223964077, + -0.006292608566582205, + 0.11623723167091062, + 0.27151402831077576 + ], + [ + 0.013518389841897755, + -0.9980167150497439, + 0.06148079719993544, + 0.17752015590667725 + ], + [ + 0.11561983215472682, + 0.06263416260480882, + 0.9913168316916978, + 0.11893279105424881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + -0.9926819204790621, + -0.008216653019189836, + 0.12047865789271359, + 0.29497405886650085 + ], + [ + 0.01584610824036772, + -0.9979187846183779, + 0.06250561602623447, + 0.1856984943151474 + ], + [ + 0.11971433665991464, + 0.06395731866359712, + 0.9907461828778907, + 0.12462592869997025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + -0.9923193771914074, + -0.010258183814585209, + 0.12327611568584756, + 0.31776338815689087 + ], + [ + 0.018434717091267146, + -0.997690737247467, + 0.06537059447014901, + 0.19618770480155945 + ], + [ + 0.12232085450988503, + 0.06714107096195221, + 0.9902169748166116, + 0.12926524877548218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + -0.9917950433397148, + -0.011526459828019142, + 0.12731750931429348, + 0.339454710483551 + ], + [ + 0.02036889582062813, + -0.9974520802497864, + 0.06836984556933323, + 0.20463024079799652 + ], + [ + 0.12620505173401067, + 0.07040219008922577, + 0.9895027937465841, + 0.13426083326339722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + -0.991241694597406, + -0.012140696868300438, + 0.13150107882141562, + 0.3627373278141022 + ], + [ + 0.021404425078085577, + -0.9973687529563904, + 0.06926335260093561, + 0.21124228835105896 + ], + [ + 0.13031416280743624, + 0.07147142291069031, + 0.9888933563586856, + 0.13924656808376312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + -0.9907197971333391, + -0.012590758502483368, + 0.13533560877879167, + 0.38337835669517517 + ], + [ + 0.022266013407181512, + -0.9972832202911377, + 0.07021675751389851, + 0.21573524177074432 + ], + [ + 0.13408385306727946, + 0.07257851958274841, + 0.988308609798415, + 0.14450806379318237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + -0.9902470823696891, + -0.012255302630364895, + 0.13878216077961705, + 0.4046592116355896 + ], + [ + 0.022244045448169526, + -0.997252881526947, + 0.07065364179626527, + 0.22067226469516754 + ], + [ + 0.1375350277265637, + 0.07305164635181427, + 0.9877993538425559, + 0.14882653951644897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + -0.9897642637382829, + -0.011412316933274269, + 0.14225484621942566, + 0.42804965376853943 + ], + [ + 0.021855569327626154, + -0.9971602559089661, + 0.07206751134640464, + 0.22568026185035706 + ], + [ + 0.14102842757327436, + 0.0744389146566391, + 0.987203034267943, + 0.15325570106506348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.9892669338173469, + -0.011379138566553593, + 0.1456758626215016, + 0.4490162432193756 + ], + [ + 0.022410741396319912, + -0.9969832301139832, + 0.07431152377122204, + 0.2315102070569992 + ], + [ + 0.14439079371194202, + 0.07677863538265228, + 0.9865375734003502, + 0.15713894367218018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.9886840113476317, + -0.012006152421236038, + 0.1495316880915209, + 0.4652109146118164 + ], + [ + 0.023488033999214276, + -0.9968874454498291, + 0.07525804594641321, + 0.23309950530529022 + ], + [ + 0.1481626997527347, + 0.077918641269207, + 0.985888671370029, + 0.16083790361881256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.9881024262477593, + -0.014791073277592659, + 0.15308439356278616, + 0.47979500889778137 + ], + [ + 0.02609827887762986, + -0.9970545172691345, + 0.07211881915977182, + 0.2322925627231598 + ], + [ + 0.15156677685853787, + 0.07525601983070374, + 0.9855780288170721, + 0.1647070050239563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.9877014927049548, + -0.019580908119678497, + 0.15512038084432897, + 0.49893471598625183 + ], + [ + 0.030499245759488664, + -0.9971970319747925, + 0.06832194255472636, + 0.22600199282169342 + ], + [ + 0.15334777738388675, + 0.07221274077892303, + 0.9855301775682382, + 0.16774910688400269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.9871053688576423, + -0.023909544572234154, + 0.1582762467301846, + 0.5053181052207947 + ], + [ + 0.03488011621583877, + -0.9971497058868408, + 0.06690173217347817, + 0.2226300686597824 + ], + [ + 0.15622552269552875, + 0.07155974954366684, + 0.9851257854571512, + 0.1732366979122162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.9873042049424104, + -0.027995722368359573, + 0.15635421698612625, + 0.5307180285453796 + ], + [ + 0.038682071981373446, + -0.9970875382423403, + 0.06572759803441758, + 0.23398858308792114 + ], + [ + 0.15405874691603663, + 0.07094123959541322, + 0.9855116388913993, + 0.17255641520023346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.9862703146851859, + -0.028204781934618957, + 0.16271233122160786, + 0.5316380262374878 + ], + [ + 0.039841937453074225, + -0.9968410730361941, + 0.06870552761211143, + 0.235044464468956 + ], + [ + 0.160260516680507, + 0.07424499839544298, + 0.9842785682102045, + 0.17817385494709015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.9852786448773608, + -0.028370453044772148, + 0.16858571889924379, + 0.5424899458885193 + ], + [ + 0.04079732788455651, + -0.9966621398925781, + 0.07071167486751886, + 0.23818902671337128 + ], + [ + 0.16601687925108374, + 0.07654855400323868, + 0.9831473829078156, + 0.18141478300094604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.9935342005603612, + -0.05076024681329727, + 0.10155377493541631, + 0.7845655679702759 + ], + [ + 0.05667468883994772, + -0.9968081712722778, + 0.056226487268446125, + 0.2982245087623596 + ], + [ + 0.09837556349916496, + 0.061618465930223465, + 0.9932398373173207, + 0.12679138779640198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.9914610842749544, + -0.051858752965927124, + 0.11964797233306634, + 0.78250652551651 + ], + [ + 0.05927624924457616, + -0.996479332447052, + 0.05928994531126826, + 0.29438796639442444 + ], + [ + 0.11615202279768606, + 0.06587595492601395, + 0.9910444098821154, + 0.1654496043920517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.9851875432699299, + -0.0381888821721077, + 0.16717388879587017, + 0.6439670920372009 + ], + [ + 0.049343238581385014, + -0.9967876076698303, + 0.06308482903290502, + 0.25970330834388733 + ], + [ + 0.1642277229632751, + 0.07039928436279297, + 0.983907113297474, + 0.18050235509872437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.981725548007104, + -0.0415024608373642, + 0.18572148422109389, + 0.6115250587463379 + ], + [ + 0.05464006081081505, + -0.9963101148605347, + 0.0661863129213177, + 0.24412015080451965 + ], + [ + 0.18228929286579193, + 0.07512462139129639, + 0.9803708008749087, + 0.188600093126297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.9868778618930084, + -0.050759147852659225, + 0.1532825773713464, + 0.7630710601806641 + ], + [ + 0.060163981134056264, + -0.9965395331382751, + 0.05735163105114464, + 0.2813281714916229 + ], + [ + 0.1498410321457092, + 0.06582114845514297, + 0.9865167005253277, + 0.15899068117141724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.9832615938019025, + -0.05915745720267296, + 0.1723284291441471, + 0.7494602203369141 + ], + [ + 0.06931058627422496, + -0.9961593151092529, + 0.053503558512171125, + 0.3076079487800598 + ], + [ + 0.1685014370091102, + 0.0645521804690361, + 0.9835854126815133, + 0.15712133049964905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.9766182061449336, + -0.05027667060494424, + 0.20901932568280077, + 0.7010868787765503 + ], + [ + 0.06535583596928125, + -0.9956856369972231, + 0.06586921898583571, + 0.26384130120277405 + ], + [ + 0.20480585818150077, + 0.07798971980810167, + 0.9756906206769032, + 0.22337737679481506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.9779719301505841, + -0.05145734176039696, + 0.20229447448438934, + 0.7883058786392212 + ], + [ + 0.06552979831349881, + -0.9958287477493286, + 0.06348964301263138, + 0.2767360210418701 + ], + [ + 0.19818364647234546, + 0.075347401201725, + 0.9772645415393851, + 0.19345223903656006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.9707939449366351, + -0.04307705909013749, + 0.23601596538698788, + 0.6592209935188293 + ], + [ + 0.06277796630516502, + -0.9950834512710574, + 0.0766015806770625, + 0.2399774044752121 + ], + [ + 0.23155581194798636, + 0.08918094635009767, + 0.9687252853813753, + 0.21976850926876068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.9695031690014992, + -0.043230608105659485, + 0.24123591530867508, + 0.6780479550361633 + ], + [ + 0.06256808871934995, + -0.9953613877296448, + 0.07308150559089527, + 0.2568795084953308 + ], + [ + 0.23695755704587704, + 0.08594642579555511, + 0.9677108410960632, + 0.22772417962551117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.9687608091811056, + -0.03855285793542862, + 0.2449820394317132, + 0.6773065328598022 + ], + [ + 0.0580056532371735, + -0.9956663250923157, + 0.0726903121880709, + 0.2562447488307953 + ], + [ + 0.24111794661744873, + 0.08462986350059509, + 0.9667988001087371, + 0.22997793555259705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.9686925371270254, + -0.03818778321146966, + 0.2453087967332149, + 0.6930679082870483 + ], + [ + 0.058356197510869956, + -0.99543833732605, + 0.07547886511439429, + 0.25928306579589844 + ], + [ + 0.24130740525973216, + 0.08743110299110414, + 0.9665021962492985, + 0.22302976250648499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.9675254868769092, + -0.03668803721666336, + 0.2500968771903495, + 0.6991561651229858 + ], + [ + 0.058767079636656186, + -0.9949480891227722, + 0.08139226866067832, + 0.25005167722702026 + ], + [ + 0.24584728175718623, + 0.09344655275344849, + 0.9647936691559151, + 0.2224782258272171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.9703460085424059, + -0.03808925300836564, + 0.2387002901992719, + 0.7641609907150269 + ], + [ + 0.061619269563193226, + -0.9938598275184634, + 0.09190032595248349, + 0.2204393446445465 + ], + [ + 0.23373421968632105, + 0.10388365387916568, + 0.9667349969833471, + 0.1989423930644989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.9691620583935138, + -0.04008393734693528, + 0.24314234070537505, + 0.7619660496711731 + ], + [ + 0.0648903173715907, + -0.9933708906173708, + 0.09488689106951137, + 0.22312255203723907 + ], + [ + 0.23772708641511903, + 0.10773835331201556, + 0.9653383986027108, + 0.20477285981178284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.9687702498253534, + -0.040863022208213806, + 0.2445699820213595, + 0.762634813785553 + ], + [ + 0.0654962625024684, + -0.9934674501419067, + 0.09344870263701915, + 0.2319163680076599 + ], + [ + 0.23915371476821193, + 0.1065487414598465, + 0.9651180774333538, + 0.20603957772254944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.9647775255202743, + -0.03664746135473251, + 0.2605020257556756, + 0.6865688562393188 + ], + [ + 0.06027172791094799, + -0.9947015643119812, + 0.08328350008864562, + 0.2653048038482666 + ], + [ + 0.2560696386643905, + 0.09605094790458679, + 0.9618744976214956, + 0.23102575540542603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + -0.9636828230723569, + -0.03962279856204987, + 0.26409363192871377, + 0.683313250541687 + ], + [ + 0.06364851298694038, + -0.994511127471924, + 0.08304503784519533, + 0.26920658349990845 + ], + [ + 0.25935357097371037, + 0.09683823585510257, + 0.9609152365772718, + 0.234663724899292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + -0.9687555233203057, + -0.03562447428703309, + 0.2454456799499309, + 0.7614019513130188 + ], + [ + 0.05901949826273134, + -0.9943146705627444, + 0.08862869150888292, + 0.2361946702003479 + ], + [ + 0.2408928973653152, + 0.10034561157226565, + 0.9653503838665239, + 0.20855170488357544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + -0.9624239612128045, + -0.04605592787265778, + 0.26761723037109375, + 0.6965153217315674 + ], + [ + 0.06947849687256516, + -0.9944728016853335, + 0.0787184249186095, + 0.28198689222335815 + ], + [ + 0.2625125910235109, + 0.09435414522886279, + 0.9603043196712736, + 0.24261340498924255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + -0.9666121226443715, + -0.03388233482837677, + 0.2539941204380408, + 0.6986821293830872 + ], + [ + 0.05600757347616239, + -0.99518883228302, + 0.08038876948910742, + 0.2612742781639099 + ], + [ + 0.25004834783697066, + 0.09193035215139389, + 0.9638592589327202, + 0.21390850841999054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + -0.9665040951996833, + -0.03282955661416054, + 0.25454291600585044, + 0.6961902379989624 + ], + [ + 0.05605556103930089, + -0.994842529296875, + 0.0845346127262583, + 0.2577419877052307 + ], + [ + 0.2504548872402164, + 0.09597159922122955, + 0.963359644771418, + 0.21650998294353485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + -0.9677162671664812, + -0.030867155641317368, + 0.25014475781473017, + 0.7078256011009216 + ], + [ + 0.05458686336656939, + -0.9945840239524841, + 0.08844726452814819, + 0.25421202182769775 + ], + [ + 0.2460598665983271, + 0.09924647957086563, + 0.9641601165479249, + 0.21039000153541565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + -0.9666859079043862, + -0.031190669164061546, + 0.25405806377392814, + 0.6807799935340881 + ], + [ + 0.05563070824626019, + -0.994424045085907, + 0.08958846851776571, + 0.2614828050136566 + ], + [ + 0.24984710565882257, + 0.10073734074831009, + 0.9630308175322398, + 0.22040043771266937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + -0.9684795726368354, + -0.03583092615008354, + 0.24650248593132892, + 0.778684139251709 + ], + [ + 0.05638013495155704, + -0.9954500198364258, + 0.07681509810276044, + 0.32599812746047974 + ], + [ + 0.24262855083795715, + 0.088291697204113, + 0.9660931689580949, + 0.22401291131973267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + -0.9667613329301112, + -0.03618498519062996, + 0.2531071313707726, + 0.75495845079422 + ], + [ + 0.05838490286887842, + -0.9950225949287415, + 0.08075390942089435, + 0.3067152798175812 + ], + [ + 0.24892523306855704, + 0.09284738451242447, + 0.9640620300786359, + 0.23470982909202576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + -0.9655965351656043, + -0.0398758426308632, + 0.2569694565755261, + 0.7333841919898987 + ], + [ + 0.06423421481391212, + -0.9941263198852541, + 0.08710262757606428, + 0.2754797339439392 + ], + [ + 0.25198679286052145, + 0.10061222314834598, + 0.9624862613135237, + 0.2335529327392578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + -0.9652164493168837, + -0.04055478051304817, + 0.25828758044840033, + 0.7291492223739624 + ], + [ + 0.06420262925728928, + -0.9944132566452026, + 0.0837873310915247, + 0.27093052864074707 + ], + [ + 0.2534466247105007, + 0.09745565056800842, + 0.9624277867505849, + 0.23301227390766144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + -0.9652446731781932, + -0.04324360936880112, + 0.2577455259721256, + 0.7151536345481873 + ], + [ + 0.06743477951058663, + -0.9940306544303894, + 0.08576516968477468, + 0.25857847929000854 + ], + [ + 0.25249814015843314, + 0.10016538202762604, + 0.9623988440452113, + 0.2279779464006424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + -0.9664999923997413, + -0.04824255779385567, + 0.2520920808994062, + 0.7365119457244873 + ], + [ + 0.07092723644885383, + -0.994131326675415, + 0.0816833930864351, + 0.29552149772644043 + ], + [ + 0.24667203013724967, + 0.0968271940946579, + 0.9642496839770608, + 0.22184263169765472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + -0.9736711840836849, + -0.06167704984545709, + 0.21945479244560667, + 0.7881243228912354 + ], + [ + 0.07868698047796041, + -0.9944650530815127, + 0.0696251544699555, + 0.3455464243888855 + ], + [ + 0.21394583793648536, + 0.08506024628877641, + 0.9731350899040438, + 0.1582474708557129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + -0.969979547823445, + -0.048934824764728546, + 0.23821219492480317, + 0.6978356242179871 + ], + [ + 0.0678067547364637, + -0.9951201677322388, + 0.07168035669340418, + 0.290858656167984 + ], + [ + 0.23354210425135252, + 0.08568087965250015, + 0.96856436174064, + 0.20468270778656006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + -0.9744359340506963, + -0.05766075849533081, + 0.21714008064982787, + 0.7710477113723755 + ], + [ + 0.07548878475570533, + -0.9943432807922363, + 0.07471858042090612, + 0.3004596531391144 + ], + [ + 0.21160345514002957, + 0.08920010924339294, + 0.973276594660621, + 0.166025772690773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + -0.9759403103988823, + -0.04937664791941643, + 0.2123734884450026, + 0.7947884202003479 + ], + [ + 0.06517494467434795, + -0.9955515265464783, + 0.06803985742498772, + 0.3039420247077942 + ], + [ + 0.2080691622604064, + 0.0802442729473114, + 0.9748169372623968, + 0.17870089411735535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + -0.9723196444675782, + -0.04636489227414131, + 0.22900828263073914, + 0.7060092091560364 + ], + [ + 0.06648925913256143, + -0.9944977164268494, + 0.0809535640486474, + 0.2597125470638275 + ], + [ + 0.22399481284565928, + 0.09393933415412903, + 0.970052430568074, + 0.19275079667568207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + -0.969420508863857, + -0.039143495261669166, + 0.24226359851317425, + 0.7040000557899475 + ], + [ + 0.0603462993178658, + -0.9949079155921938, + 0.0807251682449805, + 0.2585385739803314 + ], + [ + 0.23787011268177982, + 0.09287634491920473, + 0.9668463261327175, + 0.22934851050376892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + -0.9680317044230597, + -0.04034510627388954, + 0.24756195344820797, + 0.7040159702301025 + ], + [ + 0.05983831981239628, + -0.9956278204917908, + 0.07172622091175734, + 0.2606038451194763 + ], + [ + 0.24358576411800806, + 0.08424694836139679, + 0.9662134675489841, + 0.22367587685585022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + -0.9653881228427847, + -0.04107929766178131, + 0.25756205663859794, + 0.7044047713279724 + ], + [ + 0.06065589442721805, + -0.9958037734031677, + 0.06852547727224394, + 0.25927233695983887 + ], + [ + 0.25366630043142746, + 0.08177633583545685, + 0.9638288721889879, + 0.22987833619117737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + -0.9646080690492782, + -0.040579553693532944, + 0.2605466584806596, + 0.7344108819961548 + ], + [ + 0.06040045642207582, + -0.995819628238678, + 0.06852076240222729, + 0.2606598138809204 + ], + [ + 0.25667693532165686, + 0.08183281868696213, + 0.9630266762849712, + 0.22985084354877472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + -0.962727330431905, + -0.03816800564527512, + 0.26776714336456586, + 0.7440006732940674 + ], + [ + 0.059229881629478794, + -0.9957145452499392, + 0.07102361585258489, + 0.26659807562828064 + ], + [ + 0.2639088099781849, + 0.08423618972301485, + 0.9608623331378882, + 0.22976066172122955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + -0.9610838190931694, + -0.038900904357433326, + 0.2735042186163861, + 0.7648639678955078 + ], + [ + 0.060992525837144464, + -0.9954844713211062, + 0.07273629216049994, + 0.2766031324863434 + ], + [ + 0.2694397012619291, + 0.08658738434314729, + 0.9591167079658368, + 0.2302871197462082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + -0.9592935086214461, + -0.04242647811770439, + 0.27920599400445945, + 0.786970853805542 + ], + [ + 0.06510300993883666, + -0.995245099067688, + 0.07244885115336559, + 0.2834508717060089 + ], + [ + 0.27480463878096684, + 0.08767686039209366, + 0.9574942358416494, + 0.23189876973628998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + -0.9574020279821946, + -0.047641828656196594, + 0.28480102678854974, + 0.8025566935539246 + ], + [ + 0.07089474220865129, + -0.9948893189430237, + 0.07189729713867207, + 0.288521945476532 + ], + [ + 0.279920168402264, + 0.08902551233768463, + 0.9558865877106085, + 0.23297828435897827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + -0.9552346406065071, + -0.05263248085975647, + 0.291129817020011, + 0.8149972558021545 + ], + [ + 0.07705581319528064, + -0.9943459630012512, + 0.07306529661867105, + 0.29576560854911804 + ], + [ + 0.28563814173568486, + 0.0922277495265007, + 0.9538893367939801, + 0.2353973686695099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + -0.9540362954450363, + -0.053535409271717085, + 0.2948707567722885, + 0.8449998497962952 + ], + [ + 0.07971399227025347, + -0.993802070617676, + 0.07747951216874878, + 0.3118707537651062 + ], + [ + 0.2888952629757124, + 0.09742359071969989, + 0.9523907388061352, + 0.236178919672966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + -0.9532728423311166, + -0.0535200759768486, + 0.2973322587273221, + 0.8733915686607361 + ], + [ + 0.08194975517973281, + -0.993091881275177, + 0.08398055220805263, + 0.326446533203125 + ], + [ + 0.2907836051707571, + 0.1044226884841919, + 0.9510734698016831, + 0.23340031504631042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + -0.9521273923258191, + -0.05554754287004472, + 0.3006125137240805, + 0.8901843428611755 + ], + [ + 0.08506508375853249, + -0.9926568865776064, + 0.08600157955013016, + 0.342805415391922 + ], + [ + 0.2936279026502706, + 0.1074560880661011, + 0.9498609600086705, + 0.2370612621307373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + -0.9511231642579262, + -0.05576685070991516, + 0.30373464786353405, + 0.9029067158699036 + ], + [ + 0.08641148965259281, + -0.9923301935195923, + 0.08839572184326729, + 0.3534427583217621 + ], + [ + 0.29647551838440406, + 0.11032138764858246, + 0.9486471791869988, + 0.24173091351985931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + -0.9501050317287947, + -0.05625513195991516, + 0.3068154827491435, + 0.9196298122406006 + ], + [ + 0.08782516272143545, + -0.9920554757118225, + 0.0900701565192105, + 0.37285467982292175 + ], + [ + 0.29931106994851053, + 0.11252222955226898, + 0.9474975754801919, + 0.24752570688724518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + -0.9494394362809923, + -0.056575726717710495, + 0.30881046463008605, + 0.9361758232116699 + ], + [ + 0.08916223196778442, + -0.9917179942131042, + 0.0924417418292944, + 0.38741979002952576 + ], + [ + 0.3010229368409899, + 0.11530207097530365, + 0.9466206168589566, + 0.2517430782318115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + -0.9489873172054198, + -0.058249834924936295, + 0.30988703116999367, + 0.9468987584114075 + ], + [ + 0.09145235756194033, + -0.991390585899353, + 0.093707670845346, + 0.39866694808006287 + ], + [ + 0.30176065493512044, + 0.11726728826761246, + 0.9461442196257787, + 0.25929421186447144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + -0.9488363745520735, + -0.058186501264572144, + 0.3103609237440211, + 0.9547120928764343 + ], + [ + 0.09176431996980167, + -0.9912675619125366, + 0.0946991954059921, + 0.41028064489364624 + ], + [ + 0.30214050720012314, + 0.1183340921998024, + 0.9458901682400169, + 0.2690868675708771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + -0.9487057170847962, + -0.05759633332490921, + 0.3108698965099898, + 0.9619093537330627 + ], + [ + 0.09177344750593729, + -0.9910982251167297, + 0.09644670829805668, + 0.4201942980289459 + ], + [ + 0.3025476249677521, + 0.12002915143966675, + 0.9455463922852321, + 0.27911123633384705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + -0.9483140218995029, + -0.055180732160806656, + 0.31249899523842484, + 0.9708504676818848 + ], + [ + 0.09017189576766002, + -0.9910291433334351, + 0.09864210488039088, + 0.43403011560440063 + ], + [ + 0.3042524712661135, + 0.12172231823205948, + 0.9447825761083903, + 0.2895295023918152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + -0.9478115140380913, + -0.05161140114068985, + 0.3146262178611566, + 0.9841374158859253 + ], + [ + 0.0881055414105312, + -0.9907830953598022, + 0.1028895303883807, + 0.44687265157699585 + ], + [ + 0.30641606113669057, + 0.12524019181728363, + 0.9436228710435841, + 0.2996138632297516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + -0.947371152616026, + -0.048565238714218154, + 0.3164322434833708, + 0.9975550174713135 + ], + [ + 0.08633361122550622, + -0.9905633330345156, + 0.10644624544097504, + 0.4569958448410034 + ], + [ + 0.3082765883511539, + 0.12816283106803897, + 0.9426239323917267, + 0.3097476661205292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + -0.9472946282352774, + -0.04374401271343232, + 0.31736305426761907, + 1.0043104887008667 + ], + [ + 0.08177734165092383, + -0.9908335208892824, + 0.10752418066980386, + 0.46099424362182617 + ], + [ + 0.3097504118639215, + 0.12781019508838656, + 0.9421885110363616, + 0.3231669068336487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + -0.9473305199731545, + -0.03790397569537163, + 0.31800653904852083, + 1.014137864112854 + ], + [ + 0.07573131873683832, + -0.9913227558135986, + 0.10744281060381573, + 0.4650157392024994 + ], + [ + 0.31117461174672284, + 0.12586690485477448, + 0.941980838910737, + 0.33714497089385986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + -0.9467426578206163, + -0.0336369127035141, + 0.32022940032856645, + 1.0254017114639282 + ], + [ + 0.07088840908371578, + -0.9919012188911438, + 0.10538879175683591, + 0.4673842489719391 + ], + [ + 0.31409097957384347, + 0.12247661501169205, + 0.9414596988971845, + 0.35122549533843994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + -0.946262463789978, + -0.031324200332164764, + 0.32187903556759423, + 1.036173701286316 + ], + [ + 0.0675175350717316, + -0.9925006031990051, + 0.1019017080887759, + 0.4665343761444092 + ], + [ + 0.31627313440227606, + 0.1181582361459732, + 0.9412809843686755, + 0.36651599407196045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + -0.9459172138816473, + -0.031016934663057334, + 0.32292185314744054, + 1.0477750301361084 + ], + [ + 0.06658166493584369, + -0.9927898049354555, + 0.09967566354068406, + 0.4697050452232361 + ], + [ + 0.3175019024348676, + 0.11578560620546344, + 0.941162158452291, + 0.3818640410900116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + -0.9460091698641462, + -0.03183485195040703, + 0.3225728615213774, + 1.058828353881836 + ], + [ + 0.0677109837875247, + -0.9926187992095947, + 0.10061397843791602, + 0.47254830598831177 + ], + [ + 0.31698885250891845, + 0.11702346801757812, + 0.94118203767396, + 0.3959605097770691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + -0.9464997058640814, + -0.03341456502676011, + 0.3209700574265981, + 1.0662562847137451 + ], + [ + 0.06997512882090481, + -0.9922114014625552, + 0.10305362308604867, + 0.4828111231327057 + ], + [ + 0.31502664428986676, + 0.12000013887882235, + 0.9414659609624149, + 0.40967947244644165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + -0.9469831558084638, + -0.03456377983093262, + 0.31941852888204914, + 1.072874903678894 + ], + [ + 0.07205222589562428, + -0.9917199611663818, + 0.10630145448769218, + 0.4933966100215912 + ], + [ + 0.31309955566980174, + 0.12368050962686539, + 0.9416325343270263, + 0.422301709651947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + -0.9471439034843564, + -0.03700243309140206, + 0.31866788122100803, + 1.0779614448547363 + ], + [ + 0.0753001182703125, + -0.991217374801636, + 0.10871066696165048, + 0.5013973712921143 + ], + [ + 0.31184658178954944, + 0.12696038186550143, + 0.9416118164456824, + 0.4352050721645355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + -0.9473454679253109, + -0.03813685476779938, + 0.3179342020716296, + 1.0862478017807007 + ], + [ + 0.07698839401892932, + -0.9908849596977234, + 0.1105429107455493, + 0.5099661946296692 + ], + [ + 0.31082046644841255, + 0.1291995644569397, + 0.9416464714181604, + 0.4464246928691864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + -0.9478562845842665, + -0.03574165329337121, + 0.3166876208154827, + 1.0963212251663208 + ], + [ + 0.07544408145765472, + -0.9906114339828493, + 0.11400526528226848, + 0.5138359665870667 + ], + [ + 0.3096396287007423, + 0.13195280730724337, + 0.9416537247785858, + 0.45684677362442017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + -0.9477712185794602, + -0.033400759100914, + 0.31719727789125907, + 1.1047401428222656 + ], + [ + 0.07243976734945143, + -0.9910542368888855, + 0.11208913053326254, + 0.5116961002349854 + ], + [ + 0.31061584313652435, + 0.12921254336833954, + 0.9417122350393379, + 0.4684145748615265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + -0.9470399979412025, + -0.034169409424066544, + 0.31929242482805315, + 1.1157214641571045 + ], + [ + 0.07207046808936403, + -0.9915730357170105, + 0.10765101527353459, + 0.5031234622001648 + ], + [ + 0.31292340400981444, + 0.12496137619018555, + 0.9415219825877815, + 0.4800044000148773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + -0.9466530658500224, + -0.03825069963932038, + 0.3199763862056465, + 1.1360775232315063 + ], + [ + 0.0746841057886162, + -0.9919382929801943, + 0.10237506027407062, + 0.49430960416793823 + ], + [ + 0.31348093065409316, + 0.12081081420183185, + 0.9418781823131709, + 0.4884502589702606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + -0.9453381663505456, + -0.04422370344400406, + 0.3230790342668376, + 1.1434382200241089 + ], + [ + 0.07865737897509197, + -0.9924308657646179, + 0.09430772135174192, + 0.4874706566333771 + ], + [ + 0.31646297579328697, + 0.11456523835659027, + 0.941661281200518, + 0.4993855059146881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + -0.936590482940533, + -0.05496519804000856, + 0.34608822293837643, + 1.1669315099716187 + ], + [ + 0.08992002686464308, + -0.9922501444816592, + 0.08575564848232264, + 0.5007553696632385 + ], + [ + 0.3386925048425076, + 0.11143819242715838, + 0.9342745177965474, + 0.579630970954895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + -0.9416280347038165, + -0.05431464686989784, + 0.3322448125921761, + 1.1423537731170654 + ], + [ + 0.09044731679601353, + -0.9914301037788391, + 0.09426346878226452, + 0.4780433475971222 + ], + [ + 0.3242776259263724, + 0.11881177127361298, + 0.9384709936335165, + 0.5196881294250488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + -0.9388323026882162, + -0.058800563216209425, + 0.3393174967390424, + 1.1361792087554932 + ], + [ + 0.09419218785846867, + -0.9915875196456911, + 0.08878047229560965, + 0.5027099847793579 + ], + [ + 0.33124266470269276, + 0.11531104147434237, + 0.9364729904775839, + 0.5604366064071655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + -0.9457863398942844, + -0.050164688378572464, + 0.3208920596312295, + 1.1488252878189087 + ], + [ + 0.0842899956684345, + -0.9920593500137329, + 0.09334597623512644, + 0.4855806231498718 + ], + [ + 0.3136612859082373, + 0.11533333361148834, + 0.9425045188621807, + 0.5376709699630737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + -0.9464043219646876, + -0.049790412187576294, + 0.3191234860950974, + 1.1525862216949463 + ], + [ + 0.0832660633861093, + -0.992260217666626, + 0.09212207119748062, + 0.48741212487220764 + ], + [ + 0.31206673734082063, + 0.11375688761472702, + 0.9432251610902082, + 0.5475345253944397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + -0.9465890195526143, + -0.04849555715918541, + 0.3187748101472335, + 1.1534672975540161 + ], + [ + 0.08183401264996581, + -0.9923878908157349, + 0.09202977582130618, + 0.4890625774860382 + ], + [ + 0.31188523258192363, + 0.11320099979639053, + 0.9433520909016755, + 0.5577021241188049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + -0.9470308986593559, + -0.045171063393354416, + 0.3179496816889846, + 1.159623622894287 + ], + [ + 0.07901857597663675, + -0.9923961162567139, + 0.09437168276811612, + 0.49344685673713684 + ], + [ + 0.31126917782068225, + 0.11449682712554932, + 0.9433991890055167, + 0.5675858855247498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + -0.9480414175926585, + -0.03836362063884735, + 0.31582547507611813, + 1.1656103134155273 + ], + [ + 0.07266297909975056, + -0.9925744533538818, + 0.09754995209347778, + 0.4998684823513031 + ], + [ + 0.30973792671072164, + 0.11543021351099014, + 0.9437893151871888, + 0.5778726935386658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + -0.949253013830478, + -0.030387232080101967, + 0.3130421541660866, + 1.1685302257537842 + ], + [ + 0.06473588468176909, + -0.9928871989250183, + 0.09992148447308406, + 0.5063881874084473 + ], + [ + 0.3077791994262009, + 0.11511582881212234, + 0.9444682617080883, + 0.5892624258995056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + -0.9509686779239187, + -0.021308530122041706, + 0.30855222390746706, + 1.1772791147232056 + ], + [ + 0.05579430256138768, + -0.9930759668350222, + 0.10337842593292546, + 0.5097255110740662 + ], + [ + 0.30421295888473227, + 0.115525096654892, + 0.945573071087324, + 0.6006717681884766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + -0.9517362746708731, + -0.011251028627157211, + 0.30671075001097675, + 1.1751338243484497 + ], + [ + 0.045497331105921406, + -0.9934586882591248, + 0.10473720858156114, + 0.5127319693565369 + ], + [ + 0.3035260574219184, + 0.11363672465085983, + 0.9460225591252223, + 0.6152517199516296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + -0.954076562519128, + -0.00045378832146525383, + 0.29956254961215223, + 1.1892105340957642 + ], + [ + 0.035241056054184004, + -0.9932249784469604, + 0.11073464162656585, + 0.5161159634590149 + ], + [ + 0.2974827631357071, + 0.11620622128248215, + 0.9476286586748618, + 0.6282137036323547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + -0.9548761110303963, + 0.01233520545065403, + 0.2967481803489962, + 1.1921428442001343 + ], + [ + 0.022394434718297558, + -0.9933026432991028, + 0.11335032910106888, + 0.5208912491798401 + ], + [ + 0.29615895685177246, + 0.11488103121519089, + 0.9482047387504099, + 0.6412720084190369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + -0.9555504409508271, + 0.024981783702969558, + 0.2937674467784673, + 1.1958856582641602 + ], + [ + 0.009478348638601405, + -0.9932855963706972, + 0.11529898438783232, + 0.5205664038658142 + ], + [ + 0.2946753403589161, + 0.11295841634273532, + 0.9488976764657368, + 0.6540060043334961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + -0.9559563640578267, + 0.035266414284706116, + 0.2913823791282519, + 1.203221082687378 + ], + [ + -0.0016429191126988802, + -0.9933825731277466, + 0.11484044426019323, + 0.5217424035072327 + ], + [ + 0.29350419793487303, + 0.10930373519659042, + 0.9496883840925575, + 0.6672819256782532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + -0.9565594941137415, + 0.045746512711048126, + 0.28792563236348123, + 1.2145435810089111 + ], + [ + -0.011591117785718467, + -0.992798924446106, + 0.11923043579720688, + 0.5277765393257141 + ], + [ + 0.29130665008749146, + 0.11071363091468811, + 0.9502015492180556, + 0.678108811378479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + -0.9578590226947891, + 0.05776000022888185, + 0.2813713818319012, + 1.2151554822921753 + ], + [ + -0.022596585435685938, + -0.9916900396347048, + 0.12664997024371372, + 0.5366818904876709 + ], + [ + 0.2863485024417956, + 0.11495478451251986, + 0.9512044360147255, + 0.6875433325767517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + -0.961477247129444, + 0.06765466928482056, + 0.26642886777498154, + 1.2185519933700562 + ], + [ + -0.03228499865610219, + -0.9903241395950317, + 0.13496570186228388, + 0.5398519039154053 + ], + [ + 0.2729820050426685, + 0.12116479873657227, + 0.9543583830067208, + 0.6967962980270386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + -0.965318980500231, + 0.07741153985261917, + 0.24933246374586068, + 1.2087361812591553 + ], + [ + -0.04491049477959982, + -0.9900302290916443, + 0.133503692385807, + 0.5375791192054749 + ], + [ + 0.2571814017738835, + 0.1176760122179985, + 0.9591715708110632, + 0.7087349891662598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + -0.9690442682349643, + 0.09030011296272279, + 0.22978049273893975, + 1.168071985244751 + ], + [ + -0.06010876217534652, + -0.9889979958534243, + 0.13516628621260462, + 0.5411062240600586 + ], + [ + 0.23945797594975635, + 0.11717028915882113, + 0.9638106616419317, + 0.7534191608428955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + -0.9745202813046009, + 0.10795541107654572, + 0.19661088921913034, + 1.1940028667449951 + ], + [ + -0.08153143174405454, + -0.9870883822441101, + 0.13787379224085833, + 0.5029603838920593 + ], + [ + 0.20895653854049487, + 0.11833084374666214, + 0.9707393722805132, + 0.7023872137069702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + -0.9756789210787451, + 0.11449357122182846, + 0.18692736968206547, + 1.1779719591140747 + ], + [ + -0.08821394264950723, + -0.9857359528541565, + 0.14332808428216012, + 0.4958896338939667 + ], + [ + 0.20067117774084786, + 0.12335259467363358, + 0.9718617435235227, + 0.7371171712875366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + -0.9770259565668591, + 0.12053541094064713, + 0.17575988971417794, + 1.180477261543274 + ], + [ + -0.09767842405774439, + -0.9862399697303772, + 0.1333779231106096, + 0.48967763781547546 + ], + [ + 0.18941819007700642, + 0.11314573884010315, + 0.9753557509125516, + 0.6894364356994629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + -0.9736612876228977, + 0.11252199113368988, + 0.1982988821082623, + 1.0977753400802612 + ], + [ + -0.08743337822858885, + -0.9875131249427795, + 0.1310468215896281, + 0.5603082776069641 + ], + [ + 0.210568393179572, + 0.11025728285312653, + 0.9713414747230147, + 0.8021005988121033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + -0.9737898092877332, + 0.11682985723018649, + 0.1951517476586655, + 1.0832555294036865 + ], + [ + -0.091997364532323, + -0.9869956970214846, + 0.1318178100331477, + 0.5588396191596985 + ], + [ + 0.20801419051883785, + 0.11040938645601275, + 0.9718744016940256, + 0.8137499094009399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + -0.9738045274585748, + 0.12123783677816394, + 0.19236973974312122, + 1.065431833267212 + ], + [ + -0.09665581813940066, + -0.9864698052406313, + 0.13241991438623646, + 0.5579769015312195 + ], + [ + 0.20582123829187987, + 0.1103574559092522, + 0.9723470697053431, + 0.8274641036987305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + -0.9743365218255149, + 0.12387740612030029, + 0.18794357894740998, + 1.048538327217102 + ], + [ + -0.09997233238822013, + -0.9862267971038818, + 0.1317657551651675, + 0.5556226372718811 + ], + [ + 0.20167778988734644, + 0.10959502309560776, + 0.9733010957798442, + 0.8411722183227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + -0.974761308628888, + 0.12554122507572174, + 0.18460719850524349, + 1.0298731327056885 + ], + [ + -0.10204141524118097, + -0.9860184788703918, + 0.13173882047921903, + 0.5539456009864807 + ], + [ + 0.19856475510745986, + 0.10957632213830948, + 0.9739430303162953, + 0.8546472787857056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + -0.9751942574780839, + 0.12528526782989502, + 0.18248214724186074, + 1.0151491165161133 + ], + [ + -0.1016722963492373, + -0.9858216643333435, + 0.13348539109868113, + 0.5529492497444153 + ], + [ + 0.19661860965040595, + 0.11162080615758896, + 0.974105683668999, + 0.867484450340271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + -0.9756910610624527, + 0.12334085255861282, + 0.18114619073301538, + 0.9966397881507874 + ], + [ + -0.09924785162203825, + -0.9856489896774292, + 0.1365501350763687, + 0.5526748299598694 + ], + [ + 0.1953887720896998, + 0.11525237560272217, + 0.973930242019444, + 0.88126140832901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 221.82080078125, + "fy": 223.962158203125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/d7cd2302-4762-4076-9629-d888e7b71679/tilt_down/transforms.json b/dynpose_eval/camera_controls/d7cd2302-4762-4076-9629-d888e7b71679/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9c03e5fb44644a258a749902e0bd462abb871488 --- /dev/null +++ b/dynpose_eval/camera_controls/d7cd2302-4762-4076-9629-d888e7b71679/tilt_down/transforms.json @@ -0,0 +1,4563 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 130, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -5.2422161388676614e-05, + -8.962961146607995e-05, + 0.00026436729240231216 + ], + [ + 5.241802864475176e-05, + 1.0, + -4.614870704244822e-05, + 0.00021185606601648033 + ], + [ + 8.963202708400786e-05, + 4.614400677382946e-05, + 1.0, + 0.000626104068942368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999892711639404, + -0.0017734184933419232, + 0.004283664286115615, + -0.0029654137324541807 + ], + [ + 0.0017658373108133674, + 0.9999968519335246, + 0.0017729289558699765, + 0.00426509790122509 + ], + [ + -0.004286795388907194, + -0.0017653456771445741, + 0.9999892379132078, + 0.0015375630464404821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999963641166687, + -0.003251449691833489, + 0.007882205987545214, + -0.0032362770289182663 + ], + [ + 0.003224280197173357, + 0.9999888404453451, + 0.003457195219704877, + 0.007276568561792374 + ], + [ + -0.00789335835725069, + -0.0034316550630286726, + 0.9999629562717973, + -5.6202484302048106e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999146461486816, + -0.004387618602453828, + 0.012305000581940062, + -0.007132424041628838 + ], + [ + 0.004327777773141861, + 0.9999787157440871, + 0.004885529788184111, + 0.011193463578820229 + ], + [ + -0.012326173484325409, + -0.004831859334230441, + 0.9999123436793553, + 0.0002427083090879023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998610615730286, + -0.0061541899568900065, + 0.015491647725671997, + -0.007719939108937979 + ], + [ + 0.0060379477217793465, + 0.999953329152085, + 0.007539149847125716, + 0.010438351891934872 + ], + [ + -0.0155373215675354, + -0.007444564813270747, + 0.9998515736252493, + -0.0015565201174467802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998034834861755, + -0.008627887909422573, + 0.017847713754588008, + -0.006335883401334286 + ], + [ + 0.008454598486423492, + 0.999916599051194, + 0.009762139307456235, + 0.011218640953302383 + ], + [ + -0.01793045364320278, + -0.009609325520703123, + 0.9997930331553513, + -0.001269913394935429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997358918190002, + -0.009852393321185019, + 0.02076378598957804, + -0.007395452354103327 + ], + [ + 0.009622683748602867, + 0.9998917052887102, + 0.011134042407142232, + 0.015111750923097134 + ], + [ + -0.0208712350577116, + -0.010931297960652918, + 0.999722380850031, + -0.001488987822085619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996679425239563, + -0.010620193018137816, + 0.023477022784653613, + -0.008782689459621906 + ], + [ + 0.010347893461585045, + 0.9998781483782306, + 0.01168976765520942, + 0.022057922556996346 + ], + [ + -0.023598307743668556, + -0.01144294827740278, + 0.9996560286242495, + -0.0012966315262019634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9996185302734375, + -0.011844433602782487, + 0.02494906567781929, + -0.008416002616286278 + ], + [ + 0.011548762209713459, + 0.99986175892463, + 0.011961912579772202, + 0.030113188549876213 + ], + [ + -0.025087298825383186, + -0.011669218917399773, + 0.9996171523122441, + -0.001409893506206572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9995676279067993, + -0.013337652665609875, + 0.026205281052017266, + -0.008477290160953999 + ], + [ + 0.013030091300606728, + 0.9998446135577421, + 0.011872549626144983, + 0.04030228033661842 + ], + [ + -0.02635956183075905, + -0.011525958672899938, + 0.9995860771539374, + -0.002543753944337368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995502233505249, + -0.014229134813911805, + 0.026398571295868794, + -0.004088041838258505 + ], + [ + 0.01394523773342371, + 0.999843286262557, + 0.010907398337615946, + 0.05324845761060715 + ], + [ + -0.02654963731765747, + -0.010534357193302415, + 0.9995920013222265, + -0.004658735357224941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995203614234924, + -0.014247035796173244, + 0.027497789896444465, + -0.0010381625033915043 + ], + [ + 0.013971613720059395, + 0.999850534420432, + 0.01018246509294689, + 0.06578938663005829 + ], + [ + -0.02763875015079975, + -0.009793392213438536, + 0.9995700073230864, + -0.00568820396438241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994587898254395, + -0.015533331359057573, + 0.02899778563886871, + 0.0013371845707297325 + ], + [ + 0.01527093630284071, + 0.9998406046238977, + 0.009248411413711185, + 0.07855424284934998 + ], + [ + -0.029136821627616882, + -0.008800582616725132, + 0.9995367070745691, + -0.0063473922200500965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993495345115664, + -0.018054972526367286, + 0.031217820877337227, + 0.0018825808074325323 + ], + [ + 0.01779809966683388, + 0.9998055916966153, + 0.008486831960092802, + 0.09115292131900787 + ], + [ + -0.03136498481035233, + -0.007925694813445254, + 0.9994765995217786, + -0.007926088757812977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9991909265518188, + -0.02061784112355157, + 0.034531394267889134, + 0.0020492991898208857 + ], + [ + 0.02035360224545002, + 0.9997609447636479, + 0.007986311579383553, + 0.10319309681653976 + ], + [ + -0.03468780219554901, + -0.007277011731042744, + 0.9993716923238135, + -0.008305742405354977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9989941120147707, + -0.02268776098879803, + 0.03867919969646601, + 0.0021366789005696774 + ], + [ + 0.022424699738621715, + 0.999722441912067, + 0.007221465581806292, + 0.11637816578149796 + ], + [ + -0.03883230686187745, + -0.006346832731307653, + 0.9992255638010799, + -0.010830636136233807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9987589716911316, + -0.02542391531859113, + 0.04282753308980062, + 0.002984296064823866 + ], + [ + 0.02517242729663849, + 0.9996626004053568, + 0.0064012813195201005, + 0.12988188862800598 + ], + [ + -0.042975831776857376, + -0.005315265898978508, + 0.999061977535854, + -0.011047162115573883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9984966516494751, + -0.027514954959048692, + 0.04740609073964261, + 0.003953397739678621 + ], + [ + 0.02726818062365055, + 0.999611067373995, + 0.005844501238870503, + 0.14302678406238556 + ], + [ + -0.04754846543073654, + -0.0045430364492787395, + 0.9988585980183897, + -0.012591980397701263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9982295036315918, + -0.028560603071450683, + 0.0521737860346659, + 0.004958266392350197 + ], + [ + 0.028293777257204056, + 0.9995825502223161, + 0.005845761737774075, + 0.15458795428276062 + ], + [ + -0.052318964153528214, + -0.00435921964290189, + 0.9986208946578, + -0.01282813772559166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9979436397552492, + -0.029854957582246794, + 0.05671987165446428, + 0.005987775977700949 + ], + [ + 0.02958845905959607, + 0.9995468258978676, + 0.0055327019756224345, + 0.16556455194950104 + ], + [ + -0.05685934424400331, + -0.0038430697864078244, + 0.9983748301790033, + -0.012138491496443748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9976694583892822, + -0.03188118113290399, + 0.06032598801968016, + 0.007313581183552742 + ], + [ + 0.031617481261491776, + 0.99948588288362, + 0.00532098380638835, + 0.1758302003145218 + ], + [ + -0.060464613139629364, + -0.0034012257049580133, + 0.9981645482185649, + -0.013344836421310902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9974198937416077, + -0.033664606717864906, + 0.06340513988042777, + 0.00802279356867075 + ], + [ + 0.03341156616806984, + 0.9994289129637053, + 0.005047238259002614, + 0.18506082892417908 + ], + [ + -0.06353884190320969, + -0.002915752567213099, + 0.9979751226509915, + -0.013918655924499035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9971674680709839, + -0.03539932570523237, + 0.06636240076262276, + 0.007804947439581156 + ], + [ + 0.03511970862746239, + 0.9993686310678619, + 0.005375749976028922, + 0.19212961196899414 + ], + [ + -0.06651079654693604, + -0.003029898825111333, + 0.9977811255559338, + -0.013336210511624813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9969435930252075, + -0.037618013269302863, + 0.06847152044585897, + 0.008034312166273594 + ], + [ + 0.03730681538581848, + 0.999286934248401, + 0.005818416249693855, + 0.19873639941215515 + ], + [ + -0.06864156574010849, + -0.003246180054564754, + 0.9976360920359567, + -0.013058020733296871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9967525601387026, + -0.039126447913821326, + 0.07038114773560421, + 0.0080858264118433 + ], + [ + 0.03876695409417153, + 0.9992273391264292, + 0.0064670683403329115, + 0.20464332401752472 + ], + [ + -0.07057979702949525, + -0.003717605610369304, + 0.99749919145878, + -0.013074800372123718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9965673089027405, + -0.04044068101654487, + 0.07223685036677255, + 0.0078769251704216 + ], + [ + 0.040036361664533615, + 0.9991734557325886, + 0.007036935948476728, + 0.21046830713748932 + ], + [ + -0.07246171683073044, + -0.00412067992341446, + 0.9973626785688727, + -0.014345044270157814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9963439702987671, + -0.04359804422502772, + 0.07347065222455014, + 0.007144733797758818 + ], + [ + 0.043140143156051636, + 0.9990384863959553, + 0.0078085764569578685, + 0.21470162272453308 + ], + [ + -0.07374045252799988, + -0.004610499123386555, + 0.9972668251161501, + -0.01358500961214304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9961438775062561, + -0.04644967065431889, + 0.07442951009056374, + 0.007028214167803526 + ], + [ + 0.045952945947647095, + 0.9989085391162571, + 0.008373304381290273, + 0.21911205351352692 + ], + [ + -0.07473721355199814, + -0.004920756912538583, + 0.9971910987157893, + -0.013783427886664867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9959034323692322, + -0.0475573467155648, + 0.07690667405575054, + 0.0028396928682923317 + ], + [ + 0.04696241021156311, + 0.9988512418765455, + 0.009526974068327306, + 0.2221447229385376 + ], + [ + -0.07727140933275223, + -0.0058762231931308575, + 0.9969927857178208, + -0.014339555986225605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9958340525627136, + -0.04809267484234222, + 0.07747057381700254, + 0.0065264892764389515 + ], + [ + 0.04740072786808014, + 0.9988181148886763, + 0.010746999866014198, + 0.2242373377084732 + ], + [ + -0.0778958722949028, + -0.007030070189017963, + 0.9969367156128145, + -0.014675881713628769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9956286549568176, + -0.048911717037289366, + 0.07956908385984678, + 0.00250372476875782 + ], + [ + 0.0480228029191494, + 0.9987609918109904, + 0.013048223677859556, + 0.22239266335964203 + ], + [ + -0.08010870963335037, + -0.009170054702397923, + 0.9967439250030713, + -0.014231937937438488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.995551347732544, + -0.04856133729885078, + 0.08074222556018325, + 0.0006164601072669029 + ], + [ + 0.047500286251306534, + 0.998758436434041, + 0.015011571668597375, + 0.2219962477684021 + ], + [ + -0.08137096464633942, + -0.011109511467116974, + 0.9966219685534728, + -0.013144207186996937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9955349564552307, + -0.04843731070651947, + 0.08101806727054306, + -2.0350358681753278e-05 + ], + [ + 0.047247178852558136, + 0.9987461854446633, + 0.016544000828890394, + 0.2228238731622696 + ], + [ + -0.0817178338766098, + -0.012642261454657787, + 0.9965753481023697, + -0.012750179506838322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9955862164497375, + -0.04845750021907651, + 0.08037392194754256, + 0.0013420901959761977 + ], + [ + 0.04720471426844597, + 0.9987333773992326, + 0.017415630432021094, + 0.22628775238990784 + ], + [ + -0.08111603558063507, + -0.013544735645808291, + 0.9966126043776833, + -0.011337706819176674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9955291152000427, + -0.04842709441808567, + 0.08109634227728063, + -0.003781532170251012 + ], + [ + 0.046933241188526154, + 0.9986932040239436, + 0.020227793767012975, + 0.22289733588695526 + ], + [ + -0.08196993917226791, + -0.0163312446074025, + 0.9965009895579346, + -0.010139168240129948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.995570957660675, + -0.048934840089783084, + 0.08027342282518637, + -0.004523784853518009 + ], + [ + 0.04709712415933609, + 0.9985865979222527, + 0.02463016264337093, + 0.21246270835399628 + ], + [ + -0.08136523514986038, + -0.020740429060696036, + 0.9964685403932455, + -0.009426015429198742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9955288171768188, + -0.048848388460097744, + 0.0808466741529133, + -0.011890608817338943 + ], + [ + 0.046882107853889465, + 0.9985608506653422, + 0.02604429682171233, + 0.21400418877601624 + ], + [ + -0.08200255036354065, + -0.02213758435247786, + 0.9963862382923231, + -0.008373909629881382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.995668888092041, + -0.047278812457323995, + 0.08005147126422799, + -0.012789607048034668 + ], + [ + 0.04514540359377861, + 0.9985807966912039, + 0.028254809353623782, + 0.21266938745975494 + ], + [ + -0.08127371966838837, + -0.02451847761551178, + 0.9963902087679136, + -0.007116767577826977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9956463575363159, + -0.046831079635058025, + 0.08059233487231511, + -0.019485296681523323 + ], + [ + 0.04456352815032005, + 0.998564698678339, + 0.029709360313363645, + 0.21395187079906464 + ], + [ + -0.08186798542737961, + -0.02598853986640055, + 0.9963042926614277, + -0.006508097983896732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9955893754959106, + -0.04712273020405406, + 0.08112484197037068, + -0.025905193760991096 + ], + [ + 0.044672343879938126, + 0.998496674151318, + 0.0317606419924854, + 0.21315674483776093 + ], + [ + -0.08249953389167786, + -0.027996524011266906, + 0.9961978057982204, + -0.0066681173630058765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9955140948295593, + -0.04570258954607698, + 0.08284314507811294, + -0.03377960994839668 + ], + [ + 0.04296966269612312, + 0.9984812736172795, + 0.03447814698659317, + 0.20988450944423676 + ], + [ + -0.08429306745529175, + -0.03076374042747419, + 0.9959659745891684, + -0.00541733531281352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9954365491867065, + -0.04574934756775099, + 0.08374409597005793, + -0.037570416927337646 + ], + [ + 0.04276368021965027, + 0.9983958939518165, + 0.0371063107012634, + 0.20747719705104828 + ], + [ + -0.08530735224485397, + -0.03335577258926823, + 0.9957961644888166, + -0.005520510487258434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9952174425125124, + -0.04750734738525997, + 0.08535401918567351, + -0.04352492839097977 + ], + [ + 0.0442856177687645, + 0.9982475244226994, + 0.039251446543346134, + 0.20660366117954254 + ], + [ + -0.08706917613744737, + -0.035283768688970346, + 0.9955772018583963, + -0.003971602767705917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.994977653026581, + -0.048058658699317136, + 0.08780595770036548, + -0.051719509065151215 + ], + [ + 0.044523186981678016, + 0.9981338814563588, + 0.04178992248371712, + 0.20497950911521912 + ], + [ + -0.08965047448873521, + -0.03767064038584334, + 0.9952606339460665, + -0.0027799606323242188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.994931161403656, + -0.04761646566842405, + 0.08856979280115458, + -0.05185377225279808 + ], + [ + 0.04380854591727257, + 0.9980504848880063, + 0.044452485293180855, + 0.20279011130332947 + ], + [ + -0.09051380306482315, + -0.040347052620375023, + 0.995077560560025, + -0.0018591111293062568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9947782754898071, + -0.04915255864406047, + 0.08944405899436357, + -0.05408072844147682 + ], + [ + 0.04511447250843048, + 0.9978933099425212, + 0.04662258595761811, + 0.20236200094223022 + ], + [ + -0.09154725074768066, + -0.042343910696860214, + 0.9949000445788723, + -0.0010802632896229625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9944815039634705, + -0.05162588346975785, + 0.09133051658562495, + -0.05959489941596985 + ], + [ + 0.04728298261761665, + 0.9976743430591043, + 0.04909384873808306, + 0.20195066928863525 + ], + [ + -0.0936526209115982, + -0.044504548792183664, + 0.994609746311464, + 0.0008205227786675096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9941423535346987, + -0.053252124672961164, + 0.09404911482915039, + -0.06897053122520447 + ], + [ + 0.04859125241637231, + 0.9975069944017375, + 0.05117267260055786, + 0.20285804569721222 + ], + [ + -0.09653969854116443, + -0.04630295961617205, + 0.9942515577257696, + 0.003767033340409398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9942610859870913, + -0.0537167655750203, + 0.09251715299029678, + -0.0616791769862175 + ], + [ + 0.04872066527605058, + 0.9972726300885949, + 0.05544053185890596, + 0.19597133994102478 + ], + [ + -0.09524291008710864, + -0.05061486168958965, + 0.9941664657770105, + 0.0031967225950211287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9944064617156982, + -0.053057610275917294, + 0.09132738318741691, + -0.05483115091919899 + ], + [ + 0.047776833176612854, + 0.9971099131682032, + 0.05906962371059829, + 0.19258388876914978 + ], + [ + -0.09419753402471542, + -0.05437588159592282, + 0.9940674456519752, + 0.0021336807403713465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9925872087478638, + -0.05354263275668978, + 0.10910438197214041, + -0.12133387476205826 + ], + [ + 0.04785523563623428, + 0.997388242881958, + 0.054097688087749396, + 0.2240680754184723 + ], + [ + -0.11171596497297287, + -0.0484754577679892, + 0.9925571133240373, + 0.01930881477892399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9930957555770874, + -0.0532911937815452, + 0.10450289731310972, + -0.10087300837039948 + ], + [ + 0.04792807251214981, + 0.9974341849910854, + 0.05317832969257024, + 0.23951679468154907 + ], + [ + -0.10706870257854462, + -0.04780255661174395, + 0.9931018375094371, + 0.016308618709445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9937858581542969, + -0.05444858362947055, + 0.09708250771033647, + -0.07041718810796738 + ], + [ + 0.04672527685761452, + 0.99568893257382, + 0.08012704662033222, + 0.14553411304950714 + ], + [ + -0.10102678090333939, + -0.07509291736790562, + 0.9920456863478445, + 0.007761768996715546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9937758445739748, + -0.05172379500482732, + 0.09866207695703301, + -0.07304640114307404 + ], + [ + 0.04544958472251893, + 0.9968617620819108, + 0.06481494927817055, + 0.21568146347999573 + ], + [ + -0.10170492529869082, + -0.059927381127004985, + 0.9930079837741616, + 0.011715518310666084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9940493106842041, + -0.05191864250040216, + 0.09576237906333705, + -0.06044160947203636 + ], + [ + 0.044285181909799576, + 0.9957957665959697, + 0.08018505844173303, + 0.1666971743106842 + ], + [ + -0.09952287375926971, + -0.07546704926115705, + 0.9921693182961436, + 0.007819712162017822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9930011630058289, + -0.055830552620199, + 0.1040751753440405, + -0.09437436610460281 + ], + [ + 0.04650067538022995, + 0.9948544684703746, + 0.09001232906641024, + 0.13720625638961792 + ], + [ + -0.10856509208679199, + -0.08454278136276625, + 0.990487802717975, + 0.01284229289740324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9936324954032898, + -0.05561086471402627, + 0.09798932851416832, + -0.06909428536891937 + ], + [ + 0.04689398407936096, + 0.9949163972219051, + 0.08911965992960744, + 0.15110677480697632 + ], + [ + -0.10244721174240112, + -0.08395707940769565, + 0.99118908045917, + 0.009481334127485752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.994159996509552, + -0.05468521685316668, + 0.09303462358119272, + -0.04832785576581955 + ], + [ + 0.04662836343050003, + 0.9951449362834645, + 0.08667378304800588, + 0.17128010094165802 + ], + [ + -0.09732270240783691, + -0.08182955718684774, + 0.9918831813196304, + 0.008188129402697086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9944531321525574, + -0.05594277834879664, + 0.08906979796266613, + -0.03438851982355118 + ], + [ + 0.04808708652853966, + 0.9949569657304473, + 0.08802423555881918, + 0.17674647271633148 + ], + [ + -0.09354493021965027, + -0.08325286680919858, + 0.9921281551086054, + 0.005976229906082153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9944067597389223, + -0.058219960816752, + 0.08812270662397462, + -0.03317354992032051 + ], + [ + 0.05007771402597429, + 0.9945041615596453, + 0.09194422042802393, + 0.17053167521953583 + ], + [ + -0.09299138188362123, + -0.08701696625501268, + 0.9918571540807143, + 0.007700481452047825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.994533121585846, + -0.05853376475834175, + 0.08647322469148502, + -0.02780364453792572 + ], + [ + 0.05032208189368248, + 0.9942742405384314, + 0.09426773615636364, + 0.1698092669248581 + ], + [ + -0.09149595350027084, + -0.08940087815765786, + 0.9917842383915925, + 0.006630318704992533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9946370124816895, + -0.05876241566363211, + 0.08511253806621838, + -0.02396540343761444 + ], + [ + 0.05053330212831497, + 0.9941163664823806, + 0.09580711553194207, + 0.1721590906381607 + ], + [ + -0.09024163335561752, + -0.0909922890848348, + 0.9917544386889319, + 0.005544369108974934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9954708814620972, + -0.05670527683163215, + 0.07630394240795559, + 0.009479568339884281 + ], + [ + 0.04938989505171776, + 0.9942930120329342, + 0.09456214016438565, + 0.18576723337173462 + ], + [ + -0.08123065531253815, + -0.09036521014912022, + 0.9925903801569288, + 0.002346060937270522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9958861470222473, + -0.0554541611879624, + 0.07166314401315674, + 0.02313101850450039 + ], + [ + 0.04862847551703453, + 0.9944109466792085, + 0.09371336828324289, + 0.19678933918476105 + ], + [ + -0.07645940780639648, + -0.08984297282820011, + 0.9930167164941588, + -0.0002908374008256942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9955936670303345, + -0.05771569532759817, + 0.07390626408436315, + 0.006729539018124342 + ], + [ + 0.05008450895547867, + 0.9936002067230804, + 0.1012432342549405, + 0.1729612648487091 + ], + [ + -0.07927660644054413, + -0.09709556757278316, + 0.9921127500995743, + 0.0021645589731633663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9961610436439514, + -0.056823232043908475, + 0.0665908074276762, + 0.02723350003361702 + ], + [ + 0.04974355548620224, + 0.9933810451360063, + 0.10353578301659125, + 0.1707981675863266 + ], + [ + -0.07203328609466553, + -0.09982584494368028, + 0.9923940527849866, + 0.001746706198900938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9964751005172732, + -0.05610052557904889, + 0.06237079902387925, + 0.03237628564238548 + ], + [ + 0.04935233294963838, + 0.9932555812558401, + 0.10491753103178965, + 0.17136263847351074 + ], + [ + -0.06783606857061387, + -0.10146956667321906, + 0.9925231636712762, + 0.00079718156484887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9969766139984131, + -0.054269725339001776, + 0.05560936805325213, + 0.04782920703291893 + ], + [ + 0.04810524731874466, + 0.993120950397629, + 0.10675524549836439, + 0.17108479142189026 + ], + [ + -0.06102040782570839, + -0.10375737584461447, + 0.9927289992770458, + -0.0007018100004643202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9973499774932864, + -0.05380421054511878, + 0.048970635138773935, + 0.06153417006134987 + ], + [ + 0.04819641262292863, + 0.9928441501523192, + 0.10925947494626805, + 0.16794627904891968 + ], + [ + -0.05449882522225381, + -0.10660972727207446, + 0.9928062696362133, + -0.0022666514851152897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9970771074295046, + -0.05683516713570039, + 0.051058525729525295, + 0.040405310690402985 + ], + [ + 0.050033446401357665, + 0.9907898133966623, + 0.12582612263313506, + 0.10782894492149353 + ], + [ + -0.057739619165658965, + -0.1229037164954202, + 0.9907375254798634, + 0.002507072640582919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9977890253067017, + -0.05288970384148507, + 0.04024588326502849, + 0.07348006218671799 + ], + [ + 0.04770409315824509, + 0.9915784078219722, + 0.12040160961019321, + 0.1353270709514618 + ], + [ + -0.046274952590465546, + -0.11821551700576022, + 0.9919091373725903, + -0.002169049810618162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9982413649559021, + -0.049309722504114674, + 0.03290565790707593, + 0.09437510371208191 + ], + [ + 0.045132704079151154, + 0.9920535091927797, + 0.11744330276392939, + 0.1541340947151184 + ], + [ + -0.03843526914715767, + -0.11575163547638842, + 0.9925342784930458, + -0.005703160539269447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9983701705932619, + -0.04875252093839436, + 0.029668881198614702, + 0.09851961582899094 + ], + [ + 0.04487037286162377, + 0.9917822646172728, + 0.11981055648152066, + 0.151987224817276 + ], + [ + -0.03526613488793374, + -0.11828402731575945, + 0.9923533415100954, + -0.009220598265528679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9986293911933901, + -0.047238073495632915, + 0.02253710714012201, + 0.1184532642364502 + ], + [ + 0.044202364981174476, + 0.9917723085721587, + 0.12014109815449452, + 0.15702897310256958 + ], + [ + -0.028026912361383445, + -0.1189802312817222, + 0.9925009607919328, + -0.012792645022273064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.998908579349518, + -0.04379656156635629, + 0.016234173598573515, + 0.13721276819705963 + ], + [ + 0.041522465646266944, + 0.9918106229353346, + 0.12077915974090596, + 0.16008102893829346 + ], + [ + -0.02139093913137913, + -0.11997325455844998, + 0.9925466762865394, + -0.013748176395893097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9991263151168823, + -0.04062616601530565, + 0.00980587974504525, + 0.15605193376541138 + ], + [ + 0.03912726044654846, + 0.991742338683345, + 0.12213197737547891, + 0.16120247542858124 + ], + [ + -0.014686660841107368, + -0.12164159499351444, + 0.992465443832561, + -0.014836442656815052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9992402195930481, + -0.038903394952811685, + 0.0023408186857791693, + 0.1772199124097824 + ], + [ + 0.0383116751909256, + 0.9915157382815872, + 0.12421258093768094, + 0.16022996604442596 + ], + [ + -0.007153249811381102, + -0.12402852766798576, + 0.9922528808502036, + -0.017080631107091904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9992865324020388, + -0.03754912562452882, + -0.004056225086435298, + 0.19444605708122253 + ], + [ + 0.037760205566883094, + 0.9911903636352306, + 0.1269479366273043, + 0.15716879069805145 + ], + [ + -0.0007462928770110013, + -0.12701053114389566, + 0.9919010806367191, + -0.019415918737649918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9992984533309937, + -0.036070807130418464, + -0.01007647736956235, + 0.2084982544183731 + ], + [ + 0.03707592189311981, + 0.9908138265491891, + 0.13005127388873736, + 0.15388719737529755 + ], + [ + 0.005292858928442001, + -0.130333629262025, + 0.991456064803289, + -0.020325202494859695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9992678165435793, + -0.03442419867181903, + -0.01669748898624009, + 0.2210194170475006 + ], + [ + 0.03634075447916985, + 0.9904723919131105, + 0.13283012854801832, + 0.1501363217830658 + ], + [ + 0.01196582987904549, + -0.13333967108073183, + 0.9909981889887254, + -0.02342522144317627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9992245435714724, + -0.03103891182058037, + -0.024226243191377343, + 0.23562383651733398 + ], + [ + 0.034051567316055305, + 0.9901369784956396, + 0.13590169734921725, + 0.14362475275993347 + ], + [ + 0.019769059494137767, + -0.13662125112322598, + 0.9904260851268842, + -0.022130530327558517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9990600347518921, + -0.02885531379975427, + -0.03234783861872263, + 0.24919848144054413 + ], + [ + 0.03308851271867752, + 0.9897304096916608, + 0.13906418714511837, + 0.13816989958286285 + ], + [ + 0.028002899140119553, + -0.1400038163520405, + 0.9897548927621472, + -0.02109602838754654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9986950159072876, + -0.027861977592654952, + -0.04280178599278124, + 0.2687043845653534 + ], + [ + 0.03371062129735947, + 0.9891992389198425, + 0.1426479088081166, + 0.13076069951057434 + ], + [ + 0.038365039974451065, + -0.14390463464215497, + 0.9888476263715531, + -0.019465627148747444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9978370666503906, + -0.025939923779417968, + -0.060400783117011685, + 0.31529220938682556 + ], + [ + 0.034426458179950714, + 0.988978035862075, + 0.14400443112461025, + 0.13155488669872284 + ], + [ + 0.05599958077073097, + -0.14577234657074623, + 0.9877319726641909, + -0.019266430288553238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9972267150878906, + -0.024041160896260134, + -0.07043326351587775, + 0.3310396075248718 + ], + [ + 0.03410043567419052, + 0.9887997806267559, + 0.1453002931905718, + 0.13151821494102478 + ], + [ + 0.0661512017250061, + -0.14729913936153158, + 0.9868773681228153, + -0.016880160197615623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9967191815376282, + -0.020421841328252647, + -0.07831885854362232, + 0.33998292684555054 + ], + [ + 0.03198499605059624, + 0.9882650857780136, + 0.14936208873164203, + 0.12295786291360855 + ], + [ + 0.074349544942379, + -0.15137708708388273, + 0.9856759499024993, + -0.015047422610223293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.995907723903656, + -0.01823964226419178, + -0.08851616659495923, + 0.356270432472229 + ], + [ + 0.031559430062770844, + 0.9879530273915068, + 0.15150197292713213, + 0.1232176348567009 + ], + [ + 0.08468646556138992, + -0.1536754966334729, + 0.9844856477896535, + -0.015249161049723625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9948312640190125, + -0.016910313800578593, + -0.10012393497861516, + 0.3758048713207245 + ], + [ + 0.03224008157849312, + 0.9876171095104709, + 0.15353493807335966, + 0.12300527095794678 + ], + [ + 0.0962877869606018, + -0.15596936338755144, + 0.983057582578185, + -0.01589641533792019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9921640753746033, + -0.01196240082549785, + -0.12436785035127924, + 0.4471491873264313 + ], + [ + 0.030681390315294266, + 0.9882538603128228, + 0.1497097812555526, + 0.1461220234632492 + ], + [ + 0.12111611664295197, + -0.15235243952550756, + 0.9808769757910989, + -0.014063986949622631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9910541772842407, + -0.007898238201693093, + -0.13322626617080838, + 0.4546279013156891 + ], + [ + 0.028390778228640556, + 0.987875508377781, + 0.15262997687408314, + 0.14178338646888733 + ], + [ + 0.130405455827713, + -0.1550469707585301, + 0.9792623829070294, + -0.013106683269143105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9897275567054749, + -0.00571128562873977, + -0.14285232035411477, + 0.4629890024662018 + ], + [ + 0.028349896892905235, + 0.9871997799742903, + 0.15694874476649923, + 0.1326705664396286 + ], + [ + 0.14012739062309265, + -0.15938633926733023, + 0.9772207007607628, + -0.013592403382062912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.98764568567276, + -0.0021560179514250794, + -0.15668863001853087, + 0.48745039105415344 + ], + [ + 0.02784324809908867, + 0.986409409847211, + 0.16192971956524355, + 0.12076033651828766 + ], + [ + 0.15421000123023987, + -0.16429190666825033, + 0.9742830162334256, + -0.013802674598991871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9860328435897827, + 0.0011751425695238407, + -0.16654667805712955, + 0.49435457587242126 + ], + [ + 0.026547446846961975, + 0.9860812679998582, + 0.16413081587889253, + 0.11990747600793839 + ], + [ + 0.1644214540719986, + -0.16625977095322778, + 0.9722773578501991, + -0.01204140018671751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9838194847106934, + 0.005010706771797592, + -0.1790923465950857, + 0.5087361931800842 + ], + [ + 0.025346364825963974, + 0.9856625337272448, + 0.1668140107854497, + 0.11708036810159683 + ], + [ + 0.17736046016216278, + -0.1686542190737066, + 0.969587042113205, + -0.00920269638299942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9809864163398743, + 0.010195106225164096, + -0.19380833133532704, + 0.534588634967804 + ], + [ + 0.023431014269590378, + 0.98509304553176, + 0.1704190586959233, + 0.11218670755624771 + ], + [ + 0.19265669584274292, + -0.17171991715314758, + 0.9661240669224398, + -0.009743541479110718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9768226742744446, + 0.0179665421990768, + -0.21329481831015787, + 0.5789094567298889 + ], + [ + 0.019933640956878662, + 0.9845053105229817, + 0.17421795071795243, + 0.10719422250986099 + ], + [ + 0.2131199687719345, + -0.17443179448489876, + 0.9613290129726333, + -0.0035759443417191505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9716066122055054, + 0.02592021835247469, + -0.23517810595191002, + 0.6315361857414246 + ], + [ + 0.016366804018616676, + 0.9842370832211018, + 0.17609520313002028, + 0.11137835681438446 + ], + [ + 0.23603542149066925, + -0.1749443729189427, + 0.9558670050945185, + 0.00539430882781744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.965361475944519, + 0.03576873229334424, + -0.25845272925882173, + 0.691132128238678 + ], + [ + 0.012225940823554993, + 0.9832695051943567, + 0.18174602621458905, + 0.09899166971445084 + ], + [ + 0.2606295049190521, + -0.1786104437797767, + 0.9487732129322503, + 0.015293322503566742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9619173407554626, + 0.0414320576199377, + -0.2701822828909523, + 0.7018812894821167 + ], + [ + 0.009586811065673828, + 0.9827236051524237, + 0.18483069679333905, + 0.09715264290571213 + ], + [ + 0.27317240834236145, + -0.1803820319464293, + 0.9449016425308372, + 0.019340042024850845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9593711495399475, + 0.045278016039898186, + -0.27849052054693496, + 0.6983078122138977 + ], + [ + 0.008115512318909168, + 0.9822029745203128, + 0.1876472833288389, + 0.09804806113243103 + ], + [ + 0.28203049302101135, + -0.18228347019924973, + 0.9419296827831962, + 0.024447813630104065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9568442106246948, + 0.04639641553084462, + -0.286873704615934, + 0.6932336688041687 + ], + [ + 0.009790080599486828, + 0.9814657303442703, + 0.19138761178945202, + 0.09597291797399521 + ], + [ + 0.29043638706207275, + -0.18593664024475312, + 0.9386555541032247, + 0.027860350906848907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9369973540306094, + 0.06461885049734194, + -0.343307917285626, + 0.8982325792312622 + ], + [ + 0.00563687039539218, + 0.9798183865538463, + 0.19981033602885778, + 0.07753624767065048 + ], + [ + 0.34929093718528753, + -0.18915694143778283, + 0.9177230045869238, + 0.07206196337938309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9316593408584595, + 0.07001348994006297, + -0.35652345056892787, + 0.9219174385070801 + ], + [ + 0.0055389851331710815, + 0.9784071854349938, + 0.20661235350865187, + 0.06493525952100754 + ], + [ + 0.3632907569408417, + -0.1944671144946018, + 0.9111544255186855, + 0.0791526511311531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9275323748588562, + 0.07171026238446795, + -0.36679868199824356, + 0.9287671446800232 + ], + [ + 0.007514037657529116, + 0.9776438755132484, + 0.2101332861185434, + 0.06263665854930878 + ], + [ + 0.3736672103404999, + -0.19766156643440974, + 0.9062575175289524, + 0.08893346786499023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.924480676651001, + 0.07312782568541733, + -0.37414938403713077, + 0.9238357543945312 + ], + [ + 0.00873605813831091, + 0.9771084200736031, + 0.2125625074911637, + 0.06398738920688629 + ], + [ + 0.3811287581920624, + -0.19977852323025694, + 0.9026790135074497, + 0.0978415310382843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9214916229248047, + 0.07507748240467733, + -0.38107294758655963, + 0.9193163514137268 + ], + [ + 0.010153260082006454, + 0.9761479238591461, + 0.21686890459899463, + 0.06360336393117905 + ], + [ + 0.3882655203342438, + -0.20371200663722877, + 0.8987498298511687, + 0.10512171685695648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8791270852088928, + 0.11212729848601996, + -0.46320955487022025, + 1.2549142837524414 + ], + [ + 0.006840760353952646, + 0.968860849862183, + 0.24751140356878662, + -0.03840981796383858 + ], + [ + 0.47653838992118835, + -0.22076268269182595, + 0.8509847668799305, + 0.22183436155319214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9106835722923281, + 0.08359481352985977, + -0.40455820052149155, + 0.9561482071876526 + ], + [ + 0.012932974845170978, + 0.9730623720044419, + 0.2301790351624742, + 0.04521092399954796 + ], + [ + 0.4129021465778352, + -0.21485239885857188, + 0.8850707469456959, + 0.12714393436908722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8729270696640015, + 0.11677054855827453, + -0.4736696463473864, + 1.2348735332489014 + ], + [ + 0.007765692193061113, + 0.96748258183733, + 0.2528183042792615, + -0.028640039265155792 + ], + [ + 0.4877888858318329, + -0.22437031926798603, + 0.8436349575681558, + 0.23631605505943298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8697399497032166, + 0.11827209214771763, + -0.47912854517547376, + 1.2274459600448608 + ], + [ + 0.0095698656514287, + 0.9666337354566724, + 0.25598368378636327, + -0.025386713445186615 + ], + [ + 0.49341753125190735, + -0.22722443080802315, + 0.8395881191750835, + 0.24010546505451202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.866613030433655, + 0.11984489204251934, + -0.48437500021487356, + 1.2210050821304321 + ], + [ + 0.011697243899106981, + 0.9655824477442666, + 0.25983403172061786, + -0.02178134024143219 + ], + [ + 0.4988437592983247, + -0.23084140877739015, + 0.8353844701876877, + 0.24392637610435486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8637440204620364, + 0.12249884989769186, + -0.4888153179707003, + 1.2150168418884277 + ], + [ + 0.01253363769501448, + 0.964482332025942, + 0.2638498231844599, + -0.019688667729496956 + ], + [ + 0.5037750005722047, + -0.23402533686445018, + 0.8315304818422808, + 0.24709773063659668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8609215021133423, + 0.12410450164227119, + -0.493368265588087, + 1.208202600479126 + ], + [ + 0.01417284831404686, + 0.9635615951227448, + 0.2671109044912276, + -0.01726248674094677 + ], + [ + 0.5085403919219971, + -0.23695395784589726, + 0.8277919915802395, + 0.2515709400177002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8583977818489075, + 0.1257541089165419, + -0.49733202440002106, + 1.2000502347946167 + ], + [ + 0.014903458766639233, + 0.9629644350296663, + 0.2692161861356854, + -0.013491528108716011 + ], + [ + 0.5127680897712708, + -0.23850655028978773, + 0.8247323931026187, + 0.2568657398223877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8559733629226685, + 0.12849202357766037, + -0.5007987096694302, + 1.1940677165985107 + ], + [ + 0.014479090459644794, + 0.9622882689481919, + 0.2716462290673535, + -0.010886583477258682 + ], + [ + 0.5168170928955078, + -0.23977304488880968, + 0.8218326542647519, + 0.2623862028121948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8538550734519961, + 0.12967658008321511, + -0.5040987899479615, + 1.1880598068237305 + ], + [ + 0.015722924843430523, + 0.9616015781980383, + 0.27399848761037826, + -0.009049191139638424 + ], + [ + 0.5202733278274537, + -0.2418809046806264, + 0.8190294847245809, + 0.26674962043762207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.852077841758728, + 0.13024185066512048, + -0.5069522036685626, + 1.1820224523544312 + ], + [ + 0.01734917238354683, + 0.960987015763702, + 0.27604885809611035, + -0.007007895968854427 + ], + [ + 0.523127555847168, + -0.24401030354886644, + 0.8165761180645889, + 0.2694240212440491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8506916165351868, + 0.13337030828849752, + -0.5084644824710233, + 1.1761192083358765 + ], + [ + 0.016196807846426964, + 0.9601688218607324, + 0.2789506473388586, + -0.005270685069262981 + ], + [ + 0.5254155397415161, + -0.245536471103309, + 0.8146473521792957, + 0.2722819149494171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8492884039878847, + 0.13634840595220463, + -0.5100179816175974, + 1.1719061136245728 + ], + [ + 0.015146830119192604, + 0.9593817242314507, + 0.28170418317143886, + -0.0031334925442934036 + ], + [ + 0.5277118682861329, + -0.24697325317889476, + 0.8127265319208888, + 0.27697595953941345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8482427597045901, + 0.13871132327725405, + -0.511119799655898, + 1.1669871807098389 + ], + [ + 0.014586246572434906, + 0.9586065007288944, + 0.28436045189902276, + -0.002656172029674053 + ], + [ + 0.5294067263603212, + -0.24866200265719507, + 0.8111077012730705, + 0.27847278118133545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8471019864082339, + 0.14309923604996683, + -0.5118015289777155, + 1.1619763374328613 + ], + [ + 0.011643771082162859, + 0.9578352732760872, + 0.28708190125016053, + -0.001065465621650219 + ], + [ + 0.5313028097152711, + -0.24914694421048444, + 0.8097179300957582, + 0.2830735146999359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8459817171096802, + 0.14698719146755726, + -0.5125522053202274, + 1.1573796272277832 + ], + [ + 0.008982349187135696, + 0.9571892237743528, + 0.2893236178450694, + 0.0006439657881855965 + ], + [ + 0.533136248588562, + -0.24936640191448456, + 0.8084442578706531, + 0.2882317304611206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8448807001113894, + 0.1502364654711445, + -0.5134253762050965, + 1.1526871919631958 + ], + [ + 0.007035559043288233, + 0.956551127661076, + 0.29147969438429266, + 0.0017777727916836739 + ], + [ + 0.5349085330963136, + -0.2498778040287546, + 0.807114604453985, + 0.29117459058761597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8436527848243713, + 0.1519657232764637, + -0.5149334574602672, + 1.1490488052368164 + ], + [ + 0.006887895055115223, + 0.9559630959526051, + 0.2934061032888131, + 0.002871178090572357 + ], + [ + 0.5368450284004211, + -0.2510796748783342, + 0.8054541823722408, + 0.2941078543663025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8424559831619263, + 0.154478385680452, + -0.5161437675611943, + 1.1454384326934814 + ], + [ + 0.00584784522652626, + 0.9553341031745398, + 0.29547004955619444, + 0.0037817033007740974 + ], + [ + 0.5387334823608398, + -0.2519388494470737, + 0.8039235932359589, + 0.296913206577301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8411813974380493, + 0.15670872067441832, + -0.5175482719377089, + 1.142700433731079 + ], + [ + 0.00526446383446455, + 0.9546694887944783, + 0.29762133203061963, + 0.0045410022139549255 + ], + [ + 0.5407273769378662, + -0.253078155499234, + 0.8022252731674399, + 0.3000522553920746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8399360179901123, + 0.15801436879918268, + -0.5191713763166543, + 1.139224648475647 + ], + [ + 0.005679331719875336, + 0.9540591429417962, + 0.29956452824230667, + 0.005848203785717487 + ], + [ + 0.5426557064056396, + -0.2545635875104558, + 0.8004512450871456, + 0.3042084574699402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8388729691505432, + 0.15968835086179728, + -0.520376571572644, + 1.1364465951919556 + ], + [ + 0.005670318379998207, + 0.9533839776820077, + 0.3017064989387515, + 0.006564004346728325 + ], + [ + 0.5442976951599121, + -0.25604413840096596, + 0.798862596304954, + 0.3070226013660431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8377788066864014, + 0.16056539769289158, + -0.5218672279663966, + 1.1340603828430176 + ], + [ + 0.006732311099767685, + 0.9526733740374689, + 0.30392130239893933, + 0.007666359655559063 + ], + [ + 0.5459682941436768, + -0.2581322001512802, + 0.7970485810729111, + 0.31089839339256287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8372304439544678, + 0.16213911326332278, + -0.5222604782802875, + 1.1317082643508911 + ], + [ + 0.006818812340497971, + 0.9518643927377659, + 0.3064435695200596, + 0.007869124412536621 + ], + [ + 0.5468077063560486, + -0.2601250971700973, + 0.7958242954377783, + 0.3120919466018677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1642.4326171875, + "fy": 1643.20703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/dc3d4c43-874f-4441-a0e4-242f36f79fdd/boom_down/transforms.json b/dynpose_eval/camera_controls/dc3d4c43-874f-4441-a0e4-242f36f79fdd/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0d1cc7d73121fd8b0c1536246bd7083ccf93157a --- /dev/null +++ b/dynpose_eval/camera_controls/dc3d4c43-874f-4441-a0e4-242f36f79fdd/boom_down/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, + 0.004741516790720595 + ], + [ + -0.007471270859241486, + 0.9998800158500671, + 0.013567662797868252, + 0.0020829675873710205 + ], + [ + 0.020011689513921738, + -0.013415821827948093, + 0.9997097253799438, + -0.0001056922720001713 + ], + [ + 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, + 0.007538605832001742 + ], + [ + -0.014125500805675983, + 0.9996051788330078, + 0.024288492277264595, + 0.004746264880601348 + ], + [ + 0.03954945132136345, + -0.023713359609246254, + 0.9989361763000488, + -4.1713917846759654e-05 + ], + [ + 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, + 0.0100277744030126 + ], + [ + -0.01978994347155094, + 0.9992818236351013, + 0.032313402742147446, + 0.00978408858273961 + ], + [ + 0.05729004368185997, + -0.03113323077559471, + 0.997871994972229, + 0.0006697629732001541 + ], + [ + 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, + 0.012456366372834735 + ], + [ + -0.02316771261394024, + 0.9989053606987, + 0.04063643887639046, + 0.011026875977600072 + ], + [ + 0.07312841713428497, + -0.038845185190439224, + 0.9965657591819763, + 0.0021307615821539354 + ], + [ + 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, + 0.014723548188242092 + ], + [ + -0.02744949981570244, + 0.9986283779144287, + 0.044586148113012314, + 0.012400030314984944 + ], + [ + 0.08685748279094696, + -0.042051542550325394, + 0.9953328371047974, + 0.0032421917314132474 + ], + [ + 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, + 0.014047017399252964 + ], + [ + -0.029054027050733566, + 0.9983898401260376, + 0.0487191267311573, + 0.013846730068325996 + ], + [ + 0.09726981073617935, + -0.04568447545170784, + 0.9942089915275574, + 0.002868054458527129 + ], + [ + 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, + 0.014962903793682071 + ], + [ + -0.030361944809556007, + 0.9982192516326904, + 0.05134700983762741, + 0.014195123632602832 + ], + [ + 0.10912898182868958, + -0.04775308072566986, + 0.9928799271583557, + 0.004050751134534092 + ], + [ + 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, + 0.015333681121593765 + ], + [ + -0.03272728994488716, + 0.9981131553649902, + 0.05195219814777374, + 0.014819634491342958 + ], + [ + 0.11898300051689148, + -0.04771958291530609, + 0.9917489290237427, + 0.004959859340569052 + ], + [ + 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, + 0.014853885303400144 + ], + [ + -0.03424010053277016, + 0.9980710744857788, + 0.05178538337349892, + 0.015536236752043752 + ], + [ + 0.1282174289226532, + -0.04700072482228279, + 0.9906316995620728, + 0.005916536319218263 + ], + [ + 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, + 0.015250009633287662 + ], + [ + -0.034741729497909546, + 0.9980592131614685, + 0.051680345088243484, + 0.015391343030609001 + ], + [ + 0.13869093358516693, + -0.04639637842774391, + 0.9892482757568359, + 0.00745570715203756 + ], + [ + 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, + 0.014271757416740185 + ], + [ + -0.03526021167635918, + 0.9980391263961792, + 0.05171617865562439, + 0.014897487820478297 + ], + [ + 0.1472216248512268, + -0.045996442437171936, + 0.9880334734916687, + 0.009930042977280477 + ], + [ + 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, + 0.015153996853017005 + ], + [ + -0.03499995544552803, + 0.9979668259620667, + 0.05326554551720619, + 0.012777780090701305 + ], + [ + 0.15639525651931763, + -0.04717213287949562, + 0.9865674376487732, + 0.014379420056313026 + ], + [ + 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, + 0.014543453738594255 + ], + [ + -0.036173608154058456, + 0.9978906512260437, + 0.05390436202287674, + 0.015353383159092746 + ], + [ + 0.16254593431949615, + -0.047346219420433044, + 0.9855644106864929, + 0.018223113460200172 + ], + [ + 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, + 0.012983606744776754 + ], + [ + -0.0354483537375927, + 0.9975430369377136, + 0.060425952076911926, + 0.01454880741863128 + ], + [ + 0.16959333419799805, + -0.05358239263296127, + 0.9840564131736755, + 0.022069978955037452 + ], + [ + 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, + 0.012835323787098672 + ], + [ + -0.03369137644767761, + 0.9973088502883911, + 0.06511516869068146, + 0.014710769781201076 + ], + [ + 0.1783352941274643, + -0.05810755863785744, + 0.9822525382041931, + 0.02998297448669161 + ], + [ + 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, + 0.01232949555421076 + ], + [ + -0.03195686265826225, + 0.9969675540924072, + 0.07095398753881454, + 0.016166932041514197 + ], + [ + 0.18539516627788544, + -0.06384556740522385, + 0.9805877804756165, + 0.03791243040135928 + ], + [ + 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, + 0.010066324632082667 + ], + [ + -0.03040722757577896, + 0.9964414834976196, + 0.07861188799142838, + 0.01654952925496868 + ], + [ + 0.19019611179828644, + -0.07144319266080856, + 0.9791431427001953, + 0.04609276801347732 + ], + [ + 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, + 0.009512547156264803 + ], + [ + -0.027856674045324326, + 0.99586421251297, + 0.08647830784320831, + 0.017460878647300376 + ], + [ + 0.19523634016513824, + -0.07942540943622589, + 0.977534830570221, + 0.0565217792612164 + ], + [ + 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, + 0.009758627106349508 + ], + [ + -0.027121582999825478, + 0.9951980710029602, + 0.09404877573251724, + 0.01828010573224047 + ], + [ + 0.20031405985355377, + -0.08676432818174362, + 0.9758822917938232, + 0.06763169514406629 + ], + [ + 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, + 0.007496291771531105 + ], + [ + -0.02711298316717148, + 0.994489848613739, + 0.10126602649688721, + 0.02066388534100241 + ], + [ + 0.20268656313419342, + -0.09372983872890472, + 0.9747475981712341, + 0.07654944037189003 + ], + [ + 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, + 0.005515503088998444 + ], + [ + -0.025703925639390945, + 0.9934921264648438, + 0.11096283793449402, + 0.02155055053093854 + ], + [ + 0.20517203211784363, + -0.10339365899562836, + 0.9732493162155151, + 0.08642492548507803 + ], + [ + 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, + 0.0030231494213916175 + ], + [ + -0.02549554780125618, + 0.9925021529197693, + 0.11953841894865036, + 0.022974743741807066 + ], + [ + 0.20786337554454803, + -0.11170046776533127, + 0.9717591404914856, + 0.09750581973490595 + ], + [ + 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, + 0.001562654524708965 + ], + [ + -0.025169499218463898, + 0.991256833076477, + 0.1295238882303238, + 0.021964105640483254 + ], + [ + 0.21110394597053528, + -0.12137287110090256, + 0.9698988199234009, + 0.11065827834130335 + ], + [ + 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, + 0.0009480904446359129 + ], + [ + -0.025347648188471794, + 0.9901321530342102, + 0.13782522082328796, + 0.020934078731660206 + ], + [ + 0.21436287462711334, + -0.12927910685539246, + 0.96816086769104, + 0.12371194968704416 + ], + [ + 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, + -0.001030919059891911 + ], + [ + -0.02585967257618904, + 0.9888810515403748, + 0.14644281566143036, + 0.01918488313706138 + ], + [ + 0.21506267786026, + -0.13755832612514496, + 0.9668638706207275, + 0.13676734838415594 + ], + [ + 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, + -0.002551433311368362 + ], + [ + -0.026594672352075577, + 0.98764568567276, + 0.1544303596019745, + 0.01742069735465681 + ], + [ + 0.21578609943389893, + -0.14517095685005188, + 0.9655888080596924, + 0.14959606443132673 + ], + [ + 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, + -0.0033543561029584466 + ], + [ + -0.026871735230088234, + 0.9863292574882507, + 0.16258081793785095, + 0.014877814761981245 + ], + [ + 0.21688832342624664, + -0.15301266312599182, + 0.9641299843788147, + 0.16197005049521182 + ], + [ + 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, + -0.004605976092245649 + ], + [ + -0.02716098725795746, + 0.9851467609405518, + 0.16955284774303436, + 0.01356322006048525 + ], + [ + 0.21765130758285522, + -0.15971802175045013, + 0.9628697037696838, + 0.1734820025808671 + ], + [ + 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, + -0.005222729819693735 + ], + [ + -0.026600684970617294, + 0.9837398529052734, + 0.17761845886707306, + 0.012242549338511058 + ], + [ + 0.2181900590658188, + -0.16768358647823334, + 0.9613924026489258, + 0.18459172377816768 + ], + [ + 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, + -0.005885319874285399 + ], + [ + -0.026520133018493652, + 0.9823246598243713, + 0.18529677391052246, + 0.01142110925230409 + ], + [ + 0.21884843707084656, + -0.17516008019447327, + 0.9599084854125977, + 0.19531648837718643 + ], + [ + 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, + -0.00605440865419492 + ], + [ + -0.027156904339790344, + 0.9807915091514587, + 0.19315941631793976, + 0.010454620042142745 + ], + [ + 0.21988007426261902, + -0.1826373189687729, + 0.9582778215408325, + 0.20600853656269924 + ], + [ + 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, + -0.00632230444271274 + ], + [ + -0.027053795754909515, + 0.9794498085975647, + 0.1998654007911682, + 0.011178347327503838 + ], + [ + 0.21993350982666016, + -0.18920740485191345, + 0.9569900035858154, + 0.21532942031611915 + ], + [ + 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, + -0.006425097171498948 + ], + [ + -0.025883354246616364, + 0.9778666496276855, + 0.20762182772159576, + 0.011398829879755736 + ], + [ + 0.22044280171394348, + -0.19699545204639435, + 0.9552998542785645, + 0.2245081670269245 + ], + [ + 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, + -0.005807277320751122 + ], + [ + -0.02450401894748211, + 0.9763690829277039, + 0.21471604704856873, + 0.011988528605018343 + ], + [ + 0.22156165540218353, + -0.20413517951965332, + 0.9535403847694397, + 0.23385849595069885 + ], + [ + 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, + -0.005113331683199196 + ], + [ + -0.023420579731464386, + 0.9747386574745178, + 0.22211717069149017, + 0.012260102173861337 + ], + [ + 0.22241488099098206, + -0.2115296572446823, + 0.951728343963623, + 0.24239389379234874 + ], + [ + 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, + -0.003915206311630602 + ], + [ + -0.02139783836901188, + 0.9729858636856079, + 0.2298709601163864, + 0.012028149521651387 + ], + [ + 0.2228107750415802, + -0.21950004994869232, + 0.9498289823532104, + 0.2499726784830334 + ], + [ + 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, + -0.002643833904988876 + ], + [ + -0.019522804766893387, + 0.9712104201316833, + 0.23742197453975677, + 0.011652304482560199 + ], + [ + 0.22290270030498505, + -0.22726239264011383, + 0.9479800462722778, + 0.25664212201573267 + ], + [ + 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, + -0.0012635866352239578 + ], + [ + -0.017504097893834114, + 0.9696489572525024, + 0.24387386441230774, + 0.011583953187996598 + ], + [ + 0.22264696657657623, + -0.2340068519115448, + 0.9463979601860046, + 0.2629671370782772 + ], + [ + 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, + 0.00022815100950415897 + ], + [ + -0.01507570594549179, + 0.9680557250976562, + 0.25028160214424133, + 0.011392617222516478 + ], + [ + 0.22245225310325623, + -0.2407895028591156, + 0.944740891456604, + 0.26866125647260364 + ], + [ + 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, + 0.00238766850895804 + ], + [ + -0.01240541972219944, + 0.9662948250770569, + 0.2571389675140381, + 0.010292578034666405 + ], + [ + 0.22170338034629822, + -0.24810010194778442, + 0.9430238604545593, + 0.27370601416635915 + ], + [ + 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, + 0.004602732757466431 + ], + [ + -0.009485293179750443, + 0.9646185040473938, + 0.2634789049625397, + 0.009309471257719679 + ], + [ + 0.2209801822900772, + -0.25495412945747375, + 0.9413639903068542, + 0.28002871207329405 + ], + [ + 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, + 0.006427271751796498 + ], + [ + -0.007069854065775871, + 0.9632666110992432, + 0.2684538662433624, + 0.009040336551911693 + ], + [ + 0.21980063617229462, + -0.2603980600833893, + 0.940149188041687, + 0.28391690043842094 + ], + [ + 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, + 0.008533703322138857 + ], + [ + -0.0025193560868501663, + 0.9620450735092163, + 0.2728789746761322, + 0.008895512948892702 + ], + [ + 0.21808436512947083, + -0.2657829821109772, + 0.9390413165092468, + 0.28828668065932617 + ], + [ + 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, + 0.011492670875261811 + ], + [ + 0.0021068938076496124, + 0.9605703949928284, + 0.27802902460098267, + 0.007483531440756905 + ], + [ + 0.217320516705513, + -0.27182459831237793, + 0.9374877214431763, + 0.2940412729728122 + ], + [ + 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, + 0.013882590833456577 + ], + [ + 0.005148548632860184, + 0.9593745470046997, + 0.2820885181427002, + 0.006049053211297312 + ], + [ + 0.21510648727416992, + -0.2765510082244873, + 0.9366155862808228, + 0.29759213578801197 + ], + [ + 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, + 0.01587118177416445 + ], + [ + 0.009402107447385788, + 0.9585438370704651, + 0.2847900092601776, + 0.005846339777237225 + ], + [ + 0.21199250221252441, + -0.2802395522594452, + 0.9362291097640991, + 0.3010942311347032 + ], + [ + 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, + 0.01847576159326469 + ], + [ + 0.013248797506093979, + 0.9577229022979736, + 0.2873869836330414, + 0.005202624095337727 + ], + [ + 0.20964916050434113, + -0.28368446230888367, + 0.9357191920280457, + 0.3052723583804459 + ], + [ + 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, + 0.020662793873989282 + ], + [ + 0.016892453655600548, + 0.9569905996322632, + 0.28962671756744385, + 0.004555839932515841 + ], + [ + 0.20657852292060852, + -0.2867586016654968, + 0.9354650378227234, + 0.30929889759095774 + ], + [ + 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, + 0.02303066755480626 + ], + [ + 0.021392822265625, + 0.9562446475028992, + 0.29178500175476074, + 0.00331068380790598 + ], + [ + 0.20392626523971558, + -0.2898896336555481, + 0.9350818395614624, + 0.3140707938110127 + ], + [ + 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, + 0.02537641940372331 + ], + [ + 0.026010874658823013, + 0.9556035995483398, + 0.29350513219833374, + 0.0027167816497698574 + ], + [ + 0.20081070065498352, + -0.2926144003868103, + 0.9349074363708496, + 0.316490607351816 + ], + [ + 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, + 0.027571960245924336 + ], + [ + 0.03035176359117031, + 0.9551934003829956, + 0.2944219708442688, + 0.0026567976389612474 + ], + [ + 0.19760791957378387, + -0.29447823762893677, + 0.9350046515464783, + 0.32006753768239704 + ], + [ + 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, + 0.029917687675406954 + ], + [ + 0.034173980355262756, + 0.9545990824699402, + 0.2959268391132355, + 0.0015931914897025154 + ], + [ + 0.19462504982948303, + -0.2967875897884369, + 0.9349001049995422, + 0.32261356566132615 + ], + [ + 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, + 0.03100804292573398 + ], + [ + 0.038956865668296814, + 0.9540799260139465, + 0.29700809717178345, + 0.0005208699017011861 + ], + [ + 0.19038887321949005, + -0.29887574911117554, + 0.9351071119308472, + 0.32501869797706606 + ], + [ + 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, + 0.032418264697517164 + ], + [ + 0.04336421564221382, + 0.9537000060081482, + 0.2976168990135193, + 0.00018077213473681464 + ], + [ + 0.1856764256954193, + -0.3004004955291748, + 0.9355660676956177, + 0.32711731681302814 + ], + [ + 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, + 0.03317827730588302 + ], + [ + 0.04717865586280823, + 0.9530366063117981, + 0.29915785789489746, + -0.0008109774158782321 + ], + [ + 0.1807902753353119, + -0.30269211530685425, + 0.9357843399047852, + 0.3274282647782013 + ], + [ + 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, + 0.03440007663824979 + ], + [ + 0.05083436518907547, + 0.9529752135276794, + 0.29875433444976807, + -0.0007082872969262771 + ], + [ + 0.17662455141544342, + -0.30300432443618774, + 0.9364786148071289, + 0.3270290031152613 + ], + [ + 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, + 0.03466602397785217 + ], + [ + 0.05359019339084625, + 0.9529814720153809, + 0.2982523441314697, + -0.0008487574881365367 + ], + [ + 0.17172399163246155, + -0.30302709341049194, + 0.9373822212219238, + 0.3253484677867729 + ], + [ + 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, + 0.03370362622272067 + ], + [ + 0.05493822693824768, + 0.9529649019241333, + 0.29805988073349, + -0.0015094750944305846 + ], + [ + 0.16512392461299896, + -0.30307161808013916, + 0.938552975654602, + 0.32062896389921175 + ], + [ + 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, + 0.03384140139336095 + ], + [ + 0.05646662414073944, + 0.9532430768013, + 0.2968824803829193, + -0.001977523366192814 + ], + [ + 0.160202294588089, + -0.30215463042259216, + 0.9397009015083313, + 0.3154874318036712 + ], + [ + 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, + 0.0340789841691486 + ], + [ + 0.05671796202659607, + 0.9539000988006592, + 0.29471635818481445, + -0.00243654515312499 + ], + [ + 0.15605242550373077, + -0.3000335097312927, + 0.9410778880119324, + 0.3087273322734512 + ], + [ + 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, + 0.034236278851367846 + ], + [ + 0.056750159710645676, + 0.9551856517791748, + 0.2905164062976837, + -0.002482137616191593 + ], + [ + 0.15193474292755127, + -0.2958587110042572, + 0.9430713057518005, + 0.3006932126624244 + ], + [ + 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, + 0.03619029580169365 + ], + [ + 0.057611193507909775, + 0.9565677642822266, + 0.2857605218887329, + -0.0020560806351048663 + ], + [ + 0.14957180619239807, + -0.2912754416465759, + 0.9448739886283875, + 0.2925894011469448 + ], + [ + 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, + 0.037837675202857045 + ], + [ + 0.057222045958042145, + 0.9583196640014648, + 0.2799091339111328, + -0.0005536692107424926 + ], + [ + 0.14742888510227203, + -0.28540581464767456, + 0.9469996094703674, + 0.28286585036446066 + ], + [ + 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, + 0.039425250280554554 + ], + [ + 0.05622229725122452, + 0.9600461721420288, + 0.27413567900657654, + 0.0008462512756095275 + ], + [ + 0.1463339477777481, + -0.2795284688472748, + 0.9489205479621887, + 0.2723800438291886 + ], + [ + 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, + 0.0425959988771116 + ], + [ + 0.05665567144751549, + 0.9619931578636169, + 0.2671316862106323, + 0.002759474509653928 + ], + [ + 0.14672192931175232, + -0.2726789116859436, + 0.9508516788482666, + 0.26017980866071555 + ], + [ + 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, + 0.0450177073259564 + ], + [ + 0.056959688663482666, + 0.9637471437454224, + 0.2606664299964905, + 0.005623183217870094 + ], + [ + 0.14720948040485382, + -0.2663438320159912, + 0.952570378780365, + 0.24759935040433867 + ], + [ + 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, + 0.04659306624700793 + ], + [ + 0.05579366534948349, + 0.9655846953392029, + 0.2540340721607208, + 0.008666872965688466 + ], + [ + 0.14763405919075012, + -0.25961199402809143, + 0.9543614387512207, + 0.2344214097041042 + ], + [ + 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, + 0.048158975051982064 + ], + [ + 0.054884083569049835, + 0.9677056074142456, + 0.24603578448295593, + 0.013731054110186436 + ], + [ + 0.14962172508239746, + -0.25159570574760437, + 0.9561971426010132, + 0.2200190237590245 + ], + [ + 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, + 0.04994249445613192 + ], + [ + 0.05381033197045326, + 0.9695010185241699, + 0.23910711705684662, + 0.017347946988434344 + ], + [ + 0.15240222215652466, + -0.24462248384952545, + 0.9575663805007935, + 0.2046762460294892 + ], + [ + 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, + 0.052443338229375726 + ], + [ + 0.05234561860561371, + 0.9713449478149414, + 0.23183821141719818, + 0.021326960886225987 + ], + [ + 0.15659886598587036, + -0.23726855218410492, + 0.9587389826774597, + 0.190054153694826 + ], + [ + 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, + 0.0546915329335367 + ], + [ + 0.05093008652329445, + 0.973081111907959, + 0.2247648984193802, + 0.02528358555140616 + ], + [ + 0.15990373492240906, + -0.23009879887104034, + 0.9599402546882629, + 0.17451185490153417 + ], + [ + 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, + 0.05748120426129894 + ], + [ + 0.048474326729774475, + 0.9747839570045471, + 0.21782203018665314, + 0.02940487223638206 + ], + [ + 0.1636502742767334, + -0.22288240492343903, + 0.9610109329223633, + 0.15934823991871683 + ], + [ + 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, + 0.060252175973180465 + ], + [ + 0.04654581844806671, + 0.9765920639038086, + 0.21000346541404724, + 0.03387496192477831 + ], + [ + 0.1676313281059265, + -0.21488642692565918, + 0.9621452689170837, + 0.14470044777673835 + ], + [ + 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, + 0.06282512429444229 + ], + [ + 0.04378340393304825, + 0.9782547354698181, + 0.20273296535015106, + 0.03861475716806761 + ], + [ + 0.17169149219989777, + -0.20727629959583282, + 0.963098406791687, + 0.1310258450377889 + ], + [ + 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, + 0.06493997345326327 + ], + [ + 0.041275497525930405, + 0.9798911213874817, + 0.1952170878648758, + 0.04348410836600956 + ], + [ + 0.17551331222057343, + -0.19945628941059113, + 0.9640603065490723, + 0.11718257666886353 + ], + [ + 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, + 0.06745812220483267 + ], + [ + 0.03864259645342827, + 0.98136967420578, + 0.1882028579711914, + 0.04811016515116481 + ], + [ + 0.17949700355529785, + -0.19209712743759155, + 0.9648209810256958, + 0.10390841841948133 + ], + [ + 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, + 0.06871925143196303 + ], + [ + 0.03584720939397812, + 0.9827774167060852, + 0.1812831461429596, + 0.05306566937223953 + ], + [ + 0.18272890150547028, + -0.18478739261627197, + 0.9656416177749634, + 0.08997030757805881 + ], + [ + 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, + 0.07039414324774211 + ], + [ + 0.03216338902711868, + 0.984148383140564, + 0.17440615594387054, + 0.057284686620495906 + ], + [ + 0.18551580607891083, + -0.17734254896640778, + 0.9665058255195618, + 0.07580658209924938 + ], + [ + 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, + 0.07204222779705369 + ], + [ + 0.02841673418879509, + 0.9855149984359741, + 0.16719050705432892, + 0.061865227598649986 + ], + [ + 0.18841075897216797, + -0.16954080760478973, + 0.9673454761505127, + 0.06325091861125802 + ], + [ + 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, + 0.07311491104735046 + ], + [ + 0.02536703273653984, + 0.9868818521499634, + 0.15943892300128937, + 0.06732396237912172 + ], + [ + 0.19004443287849426, + -0.16134239733219147, + 0.9684274792671204, + 0.05121841287913442 + ], + [ + 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, + 0.07462804173158498 + ], + [ + 0.021110985428094864, + 0.9880064129829407, + 0.15296298265457153, + 0.07005172969710803 + ], + [ + 0.19218073785305023, + -0.15415412187576294, + 0.9691764712333679, + 0.03978744054667088 + ], + [ + 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, + 0.07496294815155889 + ], + [ + 0.015551316551864147, + 0.9892717003822327, + 0.14525724947452545, + 0.07333731555826023 + ], + [ + 0.19351784884929657, + -0.1455058604478836, + 0.9702467918395996, + 0.02552119337585794 + ], + [ + 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, + 0.075602419488132 + ], + [ + 0.010889244265854359, + 0.9903997778892517, + 0.13780321180820465, + 0.07605792392013955 + ], + [ + 0.19527055323123932, + -0.13726429641246796, + 0.9710962772369385, + 0.013159928023189056 + ], + [ + 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, + 0.07662378483835389 + ], + [ + 0.006747099105268717, + 0.9914432168006897, + 0.1303642988204956, + 0.07843144202933591 + ], + [ + 0.1969551295042038, + -0.12913113832473755, + 0.9718713164329529, + 0.0017910737873000262 + ], + [ + 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, + 0.07806713546493224 + ], + [ + 0.002912718802690506, + 0.9925035834312439, + 0.12218087166547775, + 0.08038923197558949 + ], + [ + 0.1996919810771942, + -0.12029776722192764, + 0.9724462032318115, + -0.007141838299243579 + ], + [ + 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, + 0.07855933626659778 + ], + [ + -0.0010767122730612755, + 0.9933903813362122, + 0.11477971076965332, + 0.08227621619941808 + ], + [ + 0.20078368484973907, + -0.11222760379314423, + 0.9731859564781189, + -0.016947592868461828 + ], + [ + 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, + 0.07900096442581726 + ], + [ + -0.003920256160199642, + 0.9941923022270203, + 0.10754681378602982, + 0.08348743596560314 + ], + [ + 0.20191314816474915, + -0.10454552620649338, + 0.9738076329231262, + -0.02575492219326376 + ], + [ + 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, + 0.07968116825869104 + ], + [ + -0.005475547164678574, + 0.9949202537536621, + 0.10051733255386353, + 0.08471613365906377 + ], + [ + 0.20341041684150696, + -0.09730912744998932, + 0.9742459058761597, + -0.0340982014078553 + ], + [ + 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, + 0.08030395692511767 + ], + [ + -0.007124694995582104, + 0.99555504322052, + 0.09391185641288757, + 0.08626729460636608 + ], + [ + 0.2050551325082779, + -0.09046396613121033, + 0.9745607376098633, + -0.04213061770345984 + ], + [ + 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, + 0.08115864300928197 + ], + [ + -0.009734737686812878, + 0.9961656332015991, + 0.08694373816251755, + 0.0870582042418483 + ], + [ + 0.20713311433792114, + -0.08305317908525467, + 0.9747810363769531, + -0.04813555052050022 + ], + [ + 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, + 0.08162431920714239 + ], + [ + -0.01104892697185278, + 0.9967403411865234, + 0.07991627603769302, + 0.0875316275174127 + ], + [ + 0.2082635909318924, + -0.07587461918592453, + 0.9751253128051758, + -0.05410567285383449 + ], + [ + 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, + 0.08313527367696041 + ], + [ + -0.011291936039924622, + 0.9972667694091797, + 0.07301739603281021, + 0.08875077318775805 + ], + [ + 0.20986194908618927, + -0.06903214007616043, + 0.9752910137176514, + -0.05836753001859208 + ], + [ + 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, + 0.08313394634350509 + ], + [ + -0.012719144113361835, + 0.997651219367981, + 0.06730692833662033, + 0.08753671755372476 + ], + [ + 0.21070504188537598, + -0.0631268098950386, + 0.9755092859268188, + -0.06277039331548354 + ], + [ + 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, + 0.08398946506135604 + ], + [ + -0.013943168334662914, + 0.9981301426887512, + 0.05951351299881935, + 0.08712406098028691 + ], + [ + 0.2117491215467453, + -0.05522187426686287, + 0.9757627248764038, + -0.0654388205844815 + ], + [ + 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, + 0.0852755660019001 + ], + [ + -0.014763306826353073, + 0.9984660148620605, + 0.05336347222328186, + 0.08580585672840976 + ], + [ + 0.21220915019512177, + -0.049024708569049835, + 0.9759937524795532, + -0.06859183251982977 + ], + [ + 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, + 0.0858661291979942 + ], + [ + -0.015534642152488232, + 0.9987710118293762, + 0.04706515744328499, + 0.08428329368701064 + ], + [ + 0.2122393548488617, + -0.04270439222455025, + 0.9762842059135437, + -0.07015065218971557 + ], + [ + 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, + 0.0866970231725263 + ], + [ + -0.016257936134934425, + 0.9990931153297424, + 0.03935222700238228, + 0.0848977162991846 + ], + [ + 0.21252985298633575, + -0.03500497713685036, + 0.9765273928642273, + -0.07066132675762438 + ], + [ + 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, + 0.0873999216758153 + ], + [ + -0.015357794240117073, + 0.9993051886558533, + 0.033959463238716125, + 0.08582565958940369 + ], + [ + 0.21243569254875183, + -0.029927022755146027, + 0.9767166972160339, + -0.07051492561312282 + ], + [ + 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, + 0.08859598885188584 + ], + [ + -0.015821423381567, + 0.9994646310806274, + 0.028638601303100586, + 0.08739330464535776 + ], + [ + 0.21283292770385742, + -0.02461942657828331, + 0.9767783880233765, + -0.07033377758407293 + ], + [ + 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, + 0.08977249768726966 + ], + [ + -0.01693318597972393, + 0.9995819926261902, + 0.023433784022927284, + 0.0910387983576966 + ], + [ + 0.21223612129688263, + -0.019309693947434425, + 0.9770275950431824, + -0.06889847806897484 + ], + [ + 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, + 0.09111988104785941 + ], + [ + -0.017794260755181313, + 0.9996532201766968, + 0.01941225677728653, + 0.09360847663791741 + ], + [ + 0.21173551678657532, + -0.015207423828542233, + 0.97720867395401, + -0.06753892985822148 + ], + [ + 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, + 0.09160679504275322 + ], + [ + -0.01828673481941223, + 0.9997041821479797, + 0.016034618020057678, + 0.09516467888440405 + ], + [ + 0.21119457483291626, + -0.01181323267519474, + 0.9773726463317871, + -0.06746848582157067 + ], + [ + 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, + 0.09200163236780076 + ], + [ + -0.019239308312535286, + 0.9997388124465942, + 0.012337151914834976, + 0.09693532015095238 + ], + [ + 0.21079084277153015, + -0.008006168529391289, + 0.9774984121322632, + -0.06695403887600708 + ], + [ + 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, + 0.09269191121854702 + ], + [ + -0.020546067506074905, + 0.9997543692588806, + 0.008312314748764038, + 0.09992682533103879 + ], + [ + 0.2098584622144699, + -0.0038163247518241405, + 0.9777243137359619, + -0.0656178914667929 + ], + [ + 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, + 0.09402717480107266 + ], + [ + -0.020847978070378304, + 0.9997711777687073, + 0.004788621794432402, + 0.10217463466174463 + ], + [ + 0.20969760417938232, + -0.0003104526549577713, + 0.977766215801239, + -0.06289124198477059 + ], + [ + 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, + 0.09487607515096164 + ], + [ + -0.021123727783560753, + 0.9997749924659729, + 0.0019317150581628084, + 0.10545270240732602 + ], + [ + 0.20899182558059692, + 0.0025262029375880957, + 0.9779140949249268, + -0.061931229444189356 + ], + [ + 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, + 0.09604292774901671 + ], + [ + -0.02092941477894783, + 0.9997808337211609, + 0.0004887388786301017, + 0.10747427866801995 + ], + [ + 0.20874838531017303, + 0.0038918661884963512, + 0.9779616594314575, + -0.06131697987174975 + ], + [ + 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, + 0.09675464683971485 + ], + [ + -0.02137792855501175, + 0.99977046251297, + -0.0014044058043509722, + 0.11032117497833337 + ], + [ + 0.208368182182312, + 0.005829373374581337, + 0.9780330657958984, + -0.060921361986078136 + ], + [ + 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, + 0.09834166273881657 + ], + [ + -0.02193331904709339, + 0.999756932258606, + -0.002249429700896144, + 0.11141466151202928 + ], + [ + 0.20888642966747284, + 0.006782975047826767, + 0.9779163599014282, + -0.05925147855544791 + ], + [ + 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, + 0.10026126129537069 + ], + [ + -0.023598521947860718, + 0.9997124075889587, + -0.004271809943020344, + 0.11430552357635579 + ], + [ + 0.20843379199504852, + 0.009099151007831097, + 0.9779941439628601, + -0.05866611554060413 + ], + [ + 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, + 0.10230068230547575 + ], + [ + -0.023904552683234215, + 0.9997037649154663, + -0.004582418128848076, + 0.11562741391611199 + ], + [ + 0.20825761556625366, + 0.009462843649089336, + 0.9780282378196716, + -0.057072894459105086 + ], + [ + 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, + 0.10359651630415637 + ], + [ + -0.023991480469703674, + 0.9996976852416992, + -0.005378809757530689, + 0.11660360794733553 + ], + [ + 0.2086104303598404, + 0.010268156416714191, + 0.9779449105262756, + -0.054972421465551154 + ], + [ + 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, + 0.10488230727393838 + ], + [ + -0.023982981219887733, + 0.9996967911720276, + -0.005581855773925781, + 0.11808150335833305 + ], + [ + 0.20899395644664764, + 0.010473750531673431, + 0.9778608679771423, + -0.05317125902080736 + ], + [ + 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, + 0.10610514951541143 + ], + [ + -0.024167796596884727, + 0.9996939301490784, + -0.005292945075780153, + 0.11900231332651205 + ], + [ + 0.20927847921848297, + 0.010236388072371483, + 0.9778025150299072, + -0.04963938693727265 + ], + [ + 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, + 0.10688717587373588 + ], + [ + -0.024944668635725975, + 0.9996765851974487, + -0.004947521258145571, + 0.12077560374403701 + ], + [ + 0.20932112634181976, + 0.010062362998723984, + 0.9777951836585999, + -0.04690682445065815 + ], + [ + 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, + 0.10725077782608881 + ], + [ + -0.024418525397777557, + 0.9996975660324097, + -0.002909634495154023, + 0.1211716507569331 + ], + [ + 0.2096087634563446, + 0.007965649478137493, + 0.9777528643608093, + -0.04376757257938886 + ], + [ + 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, + 0.10723320023164529 + ], + [ + -0.024729236960411072, + 0.9996933341026306, + -0.0013132418971508741, + 0.12214525202680536 + ], + [ + 0.21043796837329865, + 0.006489766761660576, + 0.9775856733322144, + -0.039518343364553794 + ], + [ + 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, + 0.10728644853880426 + ], + [ + -0.024486050009727478, + 0.9996974468231201, + 0.0023444911930710077, + 0.12160004390513195 + ], + [ + 0.21132072806358337, + 0.0028837474528700113, + 0.9774125218391418, + -0.034187385804966844 + ], + [ + 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, + 0.10727111678570508 + ], + [ + -0.024887477979063988, + 0.9996793866157532, + 0.004657420329749584, + 0.12180608958005906 + ], + [ + 0.21189944446086884, + 0.0007222183048725128, + 0.9772912263870239, + -0.029203441366553305 + ], + [ + 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/camera_controls/dc3d4c43-874f-4441-a0e4-242f36f79fdd/pan_left/transforms.json b/dynpose_eval/camera_controls/dc3d4c43-874f-4441-a0e4-242f36f79fdd/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..016fc60d1d3489432e51bd2d6e83328c46d8b6d2 --- /dev/null +++ b/dynpose_eval/camera_controls/dc3d4c43-874f-4441-a0e4-242f36f79fdd/pan_left/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": [ + [ + 0.9997256142031188, + 0.007740614004433155, + -0.022108496977146334, + 0.004735012073069811 + ], + [ + -0.007441404014579903, + 0.9998800158500671, + 0.013584066708486204, + 0.001242732279933989 + ], + [ + 0.02221099556452473, + -0.013415821827948093, + 0.9996632805162331, + -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": [ + [ + 0.9989356461776385, + 0.01507107075303793, + -0.043594586077828394, + 0.0075132763013243675 + ], + [ + -0.014018495300403857, + 0.9996051788330078, + 0.024350409023801835, + 0.0030662561766803265 + ], + [ + 0.0439443632005422, + -0.023713359609246254, + 0.9987524900412925, + -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": [ + [ + 0.9977659226190638, + 0.0215990673750639, + -0.06321934460084719, + 0.009973322972655296 + ], + [ + -0.019576246039092436, + 0.9992818236351015, + 0.03244331133531721, + 0.00726489070802927 + ], + [ + 0.06387468786750337, + -0.031133230775594718, + 0.9974721508416938, + 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": [ + [ + 0.9963798829529261, + 0.026059826835989952, + -0.08091955493637822, + 0.012368770316243172 + ], + [ + -0.022809220359586144, + 0.9989053606987, + 0.04083873821391382, + 0.007669210899621248 + ], + [ + 0.08189523061940289, + -0.038845185190439224, + 0.9958836523250644, + 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": [ + [ + 0.9948408653729692, + 0.031194027513265617, + -0.09653290275516047, + 0.014592480845749378 + ], + [ + -0.026957402553674247, + 0.9986283779144289, + 0.044885388393628475, + 0.008204112760722637 + ], + [ + 0.09780064280116423, + -0.0420515425503254, + 0.9943172095481121, + 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": [ + [ + 0.9934828844349285, + 0.03362467512488365, + -0.10890892914707595, + 0.01387748122215271 + ], + [ + -0.028408423618574024, + 0.9983898401260376, + 0.049098383525519144, + 0.008812831714749336 + ], + [ + 0.11038448365043914, + -0.04568447545170784, + 0.9928384564893329, + 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": [ + [ + 0.9917907611307666, + 0.03574921190738678, + -0.12277226908427095, + 0.014752614311873913 + ], + [ + -0.029567633730613992, + 0.9982192516326904, + 0.05180847563339602, + 0.0083232456818223 + ], + [ + 0.12440575238792327, + -0.04775308072566986, + 0.9910816783705282, + 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": [ + [ + 0.990140533843085, + 0.03863868489861488, + -0.13464315441277097, + 0.015073925256729126 + ], + [ + -0.03180791195175811, + 0.9981131553649902, + 0.05252012125644286, + 0.008109630085527897 + ], + [ + 0.13641841221379006, + -0.04771958291530609, + 0.9895013438297149, + 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": [ + [ + 0.9884587960186979, + 0.04055911675095558, + -0.14595957339750854, + 0.014547135680913925 + ], + [ + -0.033208107840460535, + 0.9980710744857788, + 0.052453140890615965, + 0.007987800054252148 + ], + [ + 0.14780547688723028, + -0.04700072482228279, + 0.9878989899068198, + 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": [ + [ + 0.9864770559211407, + 0.041535794734954834, + -0.15854893158240144, + 0.014900969341397285 + ], + [ + -0.0335964491570856, + 0.9980592131614685, + 0.05243209361623101, + 0.007004290819168091 + ], + [ + 0.16041902753307907, + -0.04639637842774391, + 0.9859579411678467, + 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": [ + [ + 0.9846692392939843, + 0.042452011257410056, + -0.16918724021226267, + 0.013879343867301941 + ], + [ + -0.03399848088987738, + 0.9980391263961794, + 0.05255424777677595, + 0.00567191606387496 + ], + [ + 0.17108653813545224, + -0.04599644243717194, + 0.9841817657489261, + 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": [ + [ + 0.9826539320559371, + 0.04286029562354088, + -0.18042810836153783, + 0.014721792191267014 + ], + [ + -0.03358171565169503, + 0.9979668259620667, + 0.0541708740406061, + 0.0027142490725964308 + ], + [ + 0.18238305346442066, + -0.04717213287949562, + 0.9820953146714443, + 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": [ + [ + 0.9810450428666886, + 0.04441335424780846, + -0.1886215133045674, + 0.014058265835046768 + ], + [ + -0.034617363960544434, + 0.9978906512260439, + 0.05491673956454372, + 0.004452056717127562 + ], + [ + 0.19066269488235094, + -0.04734621942043306, + 0.980513194789245, + 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": [ + [ + 0.9792579742056147, + 0.04513101652264595, + -0.19752723664531113, + 0.012452653609216213 + ], + [ + -0.03357072054970047, + 0.9975430369377136, + 0.06148892736810975, + 0.0028130069840699434 + ], + [ + 0.19981697428910167, + -0.05358239263296127, + 0.9783670579586078, + 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": [ + [ + 0.9770538731895794, + 0.04470577090978623, + -0.20824787383061813, + 0.012271805666387081 + ], + [ + -0.03152462768508511, + 0.9973088502883913, + 0.06619132790533663, + 0.0021396498195827007 + ], + [ + 0.21064657494782368, + -0.05810755863785745, + 0.975833769861886, + 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": [ + [ + 0.9751029462500586, + 0.044491034001111984, + -0.2172436768267833, + 0.01173129677772522 + ], + [ + -0.029440008089872214, + 0.9969675540924072, + 0.07203468152414881, + 0.0027623262722045183 + ], + [ + 0.21978980438320359, + -0.06384556740522385, + 0.9734558052559417, + 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": [ + [ + 0.9735837566863497, + 0.04472470283508301, + -0.22390692700116377, + 0.009427400305867195 + ], + [ + -0.027446571570820897, + 0.9964414834976196, + 0.07969387762827142, + 0.002314650919288397 + ], + [ + 0.22667444004107573, + -0.07144319266080856, + 0.9713467728221813, + 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": [ + [ + 0.97198217045479, + 0.044114578515291214, + -0.2308776986390332, + 0.008845267817378044 + ], + [ + -0.02441119711964494, + 0.99586421251297, + 0.08751334453372232, + 0.002397386357188225 + ], + [ + 0.23378345226343222, + -0.07942540943622589, + 0.9690391483045561, + 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": [ + [ + 0.9702686910874921, + 0.04530676454305649, + -0.23775199923813434, + 0.009035241790115833 + ], + [ + -0.02316780766520628, + 0.9951980710029602, + 0.09509997460141488, + 0.0023903886321932077 + ], + [ + 0.24091899444339246, + -0.08676432818174362, + 0.9666591995776809, + 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": [ + [ + 0.9691664530852211, + 0.04695357382297516, + -0.24189202594930162, + 0.006707156077027321 + ], + [ + -0.022632484967926268, + 0.994489848613739, + 0.10236060083287993, + 0.003949770238250494 + ], + [ + 0.24536535175695134, + -0.09372983872890472, + 0.9648888885114849, + 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": [ + [ + 0.9680532538590694, + 0.047782797366380705, + -0.24614987210138398, + 0.004672277253121138 + ], + [ + -0.020551851266094167, + 0.993492126464844, + 0.11203153397721766, + 0.004018336534500122 + ], + [ + 0.24990112793715905, + -0.10339365899562838, + 0.9627352806109628, + 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": [ + [ + 0.9668369930908393, + 0.04962318763136864, + -0.2505268947874048, + 0.002105745952576399 + ], + [ + -0.01968230399230361, + 0.9925021529197693, + 0.12063193388147161, + 0.004625964444130659 + ], + [ + 0.2546346296949776, + -0.11170046776533127, + 0.9605645295250217, + 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": [ + [ + 0.9654594779409693, + 0.05175486952066423, + -0.2553614704621395, + 0.0005623503238894045 + ], + [ + -0.018586187685289232, + 0.9912568330764773, + 0.1306311407763741, + 0.0028053601272404194 + ], + [ + 0.25988957978060206, + -0.12137287110090259, + 0.9579801684871136, + 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": [ + [ + 0.9640359362102633, + 0.05408520996570587, + -0.26021060902924803, + -0.000142703705932945 + ], + [ + -0.01803855009530129, + 0.9901321530342102, + 0.13897087995020374, + 0.000965026905760169 + ], + [ + 0.26515916660811095, + -0.12927910685539246, + 0.9554985735784012, + 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": [ + [ + 0.963286134094539, + 0.056497167795896544, + -0.2624649768654627, + -0.00221783434972167 + ], + [ + -0.017770293930712357, + 0.988881051540375, + 0.14764293947971732, + -0.0015899288700893521 + ], + [ + 0.2678880615161719, + -0.137558326125145, + 0.9535794073999443, + 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": [ + [ + 0.9625190223465441, + 0.05900343880057335, + -0.2647183005126051, + -0.003840584075078368 + ], + [ + -0.017722597846316378, + 0.98764568567276, + 0.15569817625742166, + -0.004158115945756435 + ], + [ + 0.27063462612706063, + -0.14517095685005188, + 0.9516734135721665, + 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": [ + [ + 0.9616500310561809, + 0.061169721186161055, + -0.26737142686520143, + -0.004742240533232689 + ], + [ + -0.017172742839085996, + 0.986329257488251, + 0.16388932063743272, + -0.007501084357500076 + ], + [ + 0.2737413231956978, + -0.15301266312599185, + 0.9495540319497414, + 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": [ + [ + 0.9608653584790904, + 0.06305588781833649, + -0.2697437425536822, + -0.00608964404091239 + ], + [ + -0.01667164484930014, + 0.9851467609405518, + 0.17090331671626016, + -0.009616703726351261 + ], + [ + 0.27651362605540086, + -0.15971802175045013, + 0.947644644756535, + 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": [ + [ + 0.9601584449143789, + 0.06432826817035675, + -0.2719514649412156, + -0.0067903934977948666 + ], + [ + -0.015222220287545047, + 0.9837398529052734, + 0.17895305915445425, + -0.011730942875146866 + ], + [ + 0.27904123627601507, + -0.16768358647823334, + 0.9455253789316144, + 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": [ + [ + 0.9594027859739859, + 0.06600880622863771, + -0.2742064341018158, + -0.007549407426267862 + ], + [ + -0.014241711607178588, + 0.9823246598243716, + 0.18664240013315261, + -0.013343377970159054 + ], + [ + 0.2816797876547267, + -0.1751600801944733, + 0.9433850942230579, + 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": [ + [ + 0.9585235800222296, + 0.06849576532840729, + -0.2766602831202582, + -0.007838752120733261 + ], + [ + -0.013930540800502605, + 0.9807915091514587, + 0.19456103823379756, + -0.015095410868525505 + ], + [ + 0.28467266078469206, + -0.1826373189687729, + 0.9410659416409364, + 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": [ + [ + 0.9579317015819313, + 0.06984730809926987, + -0.2783671216282444, + -0.008200551383197308 + ], + [ + -0.012927910636561079, + 0.9794498085975647, + 0.20127333510610826, + -0.01515979878604412 + ], + [ + 0.28670502634071915, + -0.18920740485191345, + 0.9391489996687533, + 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": [ + [ + 0.9572216181847859, + 0.07049509882926941, + -0.2806371283242706, + -0.008380003273487091 + ], + [ + -0.01075510035068164, + 0.9778666496276855, + 0.2089523849827003, + -0.015718480572104454 + ], + [ + 0.28915580733387936, + -0.19699545204639435, + 0.9367933387344468, + 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": [ + [ + 0.9563203413752807, + 0.07093840837478639, + -0.28358267589122194, + -0.007834088988602161 + ], + [ + -0.008389750450182134, + 0.9763690829277041, + 0.21594684506175454, + -0.015907730907201767 + ], + [ + 0.2922002862690608, + -0.20413517951965338, + 0.9343167692143207, + 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": [ + [ + 0.9554870968075923, + 0.07169219106435776, + -0.2861898803077025, + -0.007221925538033247 + ], + [ + -0.0062650974041824625, + 0.9747386574745178, + 0.22326063160679843, + -0.016408681869506836 + ], + [ + 0.2949663780568109, + -0.2115296572446823, + 0.9317993645662244, + 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": [ + [ + 0.9547913878269846, + 0.07154200971126556, + -0.28853964930233794, + -0.0060795024037361145 + ], + [ + -0.0031440527672338286, + 0.9729858636856079, + 0.23084332505812794, + -0.01740671694278717 + ], + [ + 0.29725999757817184, + -0.21950004994869232, + 0.929223455920367, + 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": [ + [ + 0.9541763515128087, + 0.07142922282218933, + -0.29059486328799955, + -0.004864742513746023 + ], + [ + -0.0001533937401056281, + 0.9712104201316833, + 0.238223236420555, + -0.018544994294643402 + ], + [ + 0.29924484737621443, + -0.22726239264011383, + 0.9267169488319669, + 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": [ + [ + 0.9536525151678086, + 0.07086361944675446, + -0.29244699946835795, + -0.003526458516716957 + ], + [ + 0.0029211014598131703, + 0.9696489572525024, + 0.24448378750487948, + -0.0193796269595623 + ], + [ + 0.30089594540644643, + -0.2340068519115448, + 0.9245011632269277, + 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": [ + [ + 0.9530981253966075, + 0.06991834193468095, + -0.2944746854779489, + -0.002063290448859334 + ], + [ + 0.0064275243431361475, + 0.9680557250976565, + 0.25065283603514577, + -0.020333578810095787 + ], + [ + 0.30259311440535713, + -0.24078950285911566, + 0.9222026697073701, + 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": [ + [ + 0.9527049168576383, + 0.06870718300342561, + -0.29602817897551065, + 7.818336598575115e-05 + ], + [ + 0.010241565085480941, + 0.9662948250770571, + 0.25723423838453024, + -0.022187920287251472 + ], + [ + 0.30372434318663927, + -0.24810010194778448, + 0.9198901638779711, + 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": [ + [ + 0.9522843953418847, + 0.06715272367000581, + -0.29773304489225505, + 0.0022890674881637096 + ], + [ + 0.014286795254526686, + 0.964618504047394, + 0.2632622107867365, + -0.023925283923745155 + ], + [ + 0.3048775850936504, + -0.2549541294574738, + 0.9176317678234899, + 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": [ + [ + 0.9519919835978758, + 0.06565304845571518, + -0.29899986117686783, + 0.004110105335712433 + ], + [ + 0.017730102515144314, + 0.9632666110992432, + 0.2679610132133459, + -0.024957308545708656 + ], + [ + 0.30560902863950623, + -0.2603980600833893, + 0.915858033240527, + 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": [ + [ + 0.9518082568913697, + 0.06187641620635986, + -0.3003870907539738, + 0.0062978328205645084 + ], + [ + 0.023267713857371645, + 0.9620450735092163, + 0.27189684710794465, + -0.025867460295557976 + ], + [ + 0.3058099250394938, + -0.2657829821109772, + 0.9142426779431613, + 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": [ + [ + 0.9512975359001759, + 0.05844621732831001, + -0.30268298128474475, + 0.009331634268164635 + ], + [ + 0.028968166598813495, + 0.9605703949928284, + 0.27652381967200207, + -0.028033357113599777 + ], + [ + 0.3069100871357229, + -0.27182459831237793, + 0.9120951887013836, + 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": [ + [ + 0.9512575300918366, + 0.055856864899396896, + -0.30329714187243484, + 0.011770356446504593 + ], + [ + 0.03300444118168481, + 0.9593745470046997, + 0.2801984055687222, + -0.03022981621325016 + ], + [ + 0.3066265588211516, + -0.2765510082244873, + 0.9107687471345846, + 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": [ + [ + 0.9514309551353007, + 0.051570817828178406, + -0.3035121395359015, + 0.013877687975764275 + ], + [ + 0.03812551593154103, + 0.9585438370704651, + 0.2823830625831126, + -0.031206615269184113 + ], + [ + 0.30549240422852625, + -0.2802395522594452, + 0.9100220645251849, + 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": [ + [ + 0.9513529585920008, + 0.04785328358411789, + -0.304364371994498, + 0.016585757955908775 + ], + [ + 0.04284085764847045, + 0.9577229022979736, + 0.28448456884864415, + -0.03262340649962425 + ], + [ + 0.30511024978293494, + -0.28368446230888367, + 0.9090824562751108, + 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": [ + [ + 0.9514864624506423, + 0.044028349220752716, + -0.3045242178398837, + 0.018886860460042953 + ], + [ + 0.04732605333242552, + 0.9569905996322632, + 0.2862328338876847, + -0.03404546156525612 + ], + [ + 0.30402916509011, + -0.2867586016654968, + 0.9084799336778663, + 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": [ + [ + 0.9514232034236769, + 0.03949858620762825, + -0.30534204815260557, + 0.02140425518155098 + ], + [ + 0.05266210620424111, + 0.9562446475028992, + 0.28778958053349946, + -0.03606409579515457 + ], + [ + 0.3033489882557342, + -0.2898896336555481, + 0.9077132584998908, + 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": [ + [ + 0.9514645881217136, + 0.034621208906173706, + -0.3058047486669685, + 0.023921746760606766 + ], + [ + 0.058074087873322404, + 0.9556035995483398, + 0.2888758012450333, + -0.03743463009595871 + ], + [ + 0.3022293368960779, + -0.2926144003868103, + 0.9072123676396926, + 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": [ + [ + 0.9515158349376847, + 0.02980106882750988, + -0.3061527197092824, + 0.0262947715818882 + ], + [ + 0.06312571979122104, + 0.9551934003829956, + 0.28917238797948536, + -0.03828006237745285 + ], + [ + 0.3010527084166283, + -0.29447823762893677, + 0.9070004713597689, + 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": [ + [ + 0.9515089853251036, + 0.025645511224865913, + -0.3065501836932284, + 0.02879704348742962 + ], + [ + 0.06773075832610058, + 0.9545990824699402, + 0.2900915362733701, + -0.040120381861925125 + ], + [ + 0.30007206843890544, + -0.2967875897884369, + 0.9065725950480087, + 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": [ + [ + 0.9517884461096676, + 0.020118193700909615, + -0.30609484976241097, + 0.030112022534012794 + ], + [ + 0.07324499198801727, + 0.9540799260139465, + 0.29045932299889526, + -0.04197176545858383 + ], + [ + 0.2978824652427097, + -0.29887574911117554, + 0.9066086646014161, + 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": [ + [ + 0.952203069456005, + 0.014690347947180271, + -0.3051123544507934, + 0.03175164386630058 + ], + [ + 0.0783322639665961, + 0.9537000060081482, + 0.2903796311702239, + -0.04309637099504471 + ], + [ + 0.29525144046591134, + -0.3004004955291748, + 0.9069653736418344, + 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": [ + [ + 0.952685549992659, + 0.009935775771737099, + -0.3037951697511826, + 0.03271906077861786 + ], + [ + 0.08294345931760343, + 0.9530366063117981, + 0.29127586935019867, + -0.044858887791633606 + ], + [ + 0.2924219649004468, + -0.30269211530685425, + 0.9071200851654725, + 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": [ + [ + 0.9529370583517272, + 0.005162043496966362, + -0.3031241883484778, + 0.0341571569442749 + ], + [ + 0.0871624760989979, + 0.9529752135276794, + 0.2902429806162275, + -0.045554179698228836 + ], + [ + 0.2903680835539987, + -0.30300432443618774, + 0.9076754949908936, + 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": [ + [ + 0.9534632808619445, + 0.0009825881570577624, + -0.3015074667480254, + 0.034618958830833435 + ], + [ + 0.0904722018910518, + 0.9529814720153811, + 0.2892077977727602, + -0.046495769172906876 + ], + [ + 0.287615196529654, + -0.303027093410492, + 0.9085439211674592, + 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": [ + [ + 0.9545926496434977, + -0.0023456215858459473, + -0.29790490053221147, + 0.03381795063614845 + ], + [ + 0.09242082071981027, + 0.9529649019241333, + 0.2886456186735863, + -0.04795650392770767 + ], + [ + 0.28321586393063297, + -0.30307161808013916, + 0.909910090617602, + 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": [ + [ + 0.9552031732543033, + -0.005500493571162224, + -0.2958997518962526, + 0.03411411494016647 + ], + [ + 0.09441875807264237, + 0.9532430768013, + 0.2870762702213226, + -0.049239154905080795 + ], + [ + 0.280485328357019, + -0.30215463042259216, + 0.9110601187974998, + 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": [ + [ + 0.955708455367503, + -0.007384823635220529, + -0.2942224451800778, + 0.034451328217983246 + ], + [ + 0.09501414895135608, + 0.9539000988006594, + 0.2846874962080699, + -0.050532348453998566 + ], + [ + 0.2785564419047109, + -0.3000335097312928, + 0.912352047996816, + 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": [ + [ + 0.9562238301418734, + -0.009379912167787552, + -0.29248585332329746, + 0.034717097878456116 + ], + [ + 0.09511019577238436, + 0.9551856517791748, + 0.28031127985766713, + -0.05144543573260307 + ], + [ + 0.27674899040457357, + -0.2958587110042572, + 0.9142634467979766, + 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": [ + [ + 0.9561663003133496, + -0.011693608015775682, + -0.2925906220976003, + 0.03679954260587692 + ], + [ + 0.09593299349221199, + 0.9565677642822268, + 0.275272567189595, + -0.051894064992666245 + ], + [ + 0.2766638278416932, + -0.291275441646576, + 0.9157596332871178, + 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": [ + [ + 0.9561715520643321, + -0.01292257197201252, + -0.29252183238235485, + 0.03852181136608124 + ], + [ + 0.09534453685176571, + 0.9583196640014648, + 0.2693193366303784, + -0.051288239657878876 + ], + [ + 0.2768491198028743, + -0.28540581464767456, + 0.9175500538738479, + 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": [ + [ + 0.9559419638780966, + -0.013235142454504967, + -0.2932571582555041, + 0.04013705626130104 + ], + [ + 0.09413673419844878, + 0.9600461721420288, + 0.26353290589042655, + -0.05078648403286934 + ], + [ + 0.27805252641999906, + -0.2795284688472748, + 0.9189943542636901, + 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": [ + [ + 0.9551572576786904, + -0.01467706635594368, + -0.2957350201690482, + 0.0433976873755455 + ], + [ + 0.09414706906712765, + 0.9619931578636169, + 0.2563309038547129, + -0.04978637024760246 + ], + [ + 0.2807328670159249, + -0.2726789116859436, + 0.9202365440942611, + 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": [ + [ + 0.9543502092888998, + -0.01588554121553898, + -0.2982671697949229, + 0.04589875414967537 + ], + [ + 0.09407612763110336, + 0.9637471437454224, + 0.24968194982756062, + -0.04782833904027939 + ], + [ + 0.2834878009658832, + -0.2663438320159912, + 0.921246777120204, + 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": [ + [ + 0.9536957360004465, + -0.01574324630200863, + -0.3003608393027504, + 0.047479450702667236 + ], + [ + 0.0924977481142374, + 0.9655846953392029, + 0.24308518981106925, + -0.045697979629039764 + ], + [ + 0.28619687293737295, + -0.25961199402809143, + 0.9223301584190485, + 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": [ + [ + 0.9525545739112653, + -0.01566770486533642, + -0.3039643158187832, + 0.04905427247285843 + ], + [ + 0.09094080458196518, + 0.9677056074142458, + 0.2351077198590953, + -0.041566409170627594 + ], + [ + 0.29046436307889384, + -0.2515957057476044, + 0.9232172495767981, + 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": [ + [ + 0.9511708255266181, + -0.015086513012647629, + -0.3082960891031681, + 0.05081725865602493 + ], + [ + 0.08934868126263491, + 0.9695010185241699, + 0.22822046010521277, + -0.03886681795120239 + ], + [ + 0.29545030707725173, + -0.24462248384952545, + 0.9235090288847179, + 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": [ + [ + 0.9493643390821749, + -0.013880185782909393, + -0.3138705461408917, + 0.053259819746017456 + ], + [ + 0.08728817983420038, + 0.9713449478149414, + 0.2210651345679869, + -0.03581097722053528 + ], + [ + 0.30180815148392026, + -0.23726855218410492, + 0.9233718002144803, + 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": [ + [ + 0.9477872829577563, + -0.012949097901582721, + -0.31864025923014083, + 0.05546412616968155 + ], + [ + 0.08527564986698699, + 0.9730811119079592, + 0.21410557399214905, + -0.032774195075035095 + ], + [ + 0.3072903430598614, + -0.2300987988710404, + 0.9233781143579569, + 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": [ + [ + 0.9461242768652126, + -0.01093772239983082, + -0.3236189639268439, + 0.05814298242330551 + ], + [ + 0.08222630351450685, + 0.9747839570045473, + 0.20744886646323324, + -0.029573652893304825 + ], + [ + 0.3131895479861088, + -0.22288240492343908, + 0.9231661456636169, + 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": [ + [ + 0.9443002362952546, + -0.009580688551068306, + -0.32894568118671935, + 0.06083989888429642 + ], + [ + 0.07952853136638248, + 0.9765920639038086, + 0.19985790302015988, + -0.02603362686932087 + ], + [ + 0.3193309649717145, + -0.21488642692565918, + 0.922958024761862, + 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": [ + [ + 0.9424701420793872, + -0.007360203191637993, + -0.3342093286682896, + 0.06328281760215759 + ], + [ + 0.07606372362725597, + 0.9782547354698181, + 0.19295582822912202, + -0.0222178902477026 + ], + [ + 0.3255216575278559, + -0.20727629959583282, + 0.9225357229608134, + 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": [ + [ + 0.9406514793452442, + -0.005528874695301056, + -0.3393290608705157, + 0.06528843194246292 + ], + [ + 0.0727796984327251, + 0.9798911213874817, + 0.1857861501471445, + -0.01827373541891575 + ], + [ + 0.3314783495494158, + -0.19945628941059113, + 0.9221384392867067, + 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": [ + [ + 0.9387399925949442, + -0.0035013407468795776, + -0.3446083963881364, + 0.06768173724412918 + ], + [ + 0.06942474630234398, + 0.98136967420578, + 0.17914734329607607, + -0.01456554513424635 + ], + [ + 0.3375609757540878, + -0.19209712743759155, + 0.9214940517228882, + 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": [ + [ + 0.9370535665626741, + -0.0014898888766765594, + -0.3491824804019979, + 0.06881565600633621 + ], + [ + 0.06589672864667688, + 0.9827774167060852, + 0.1726447874987588, + -0.010525810532271862 + ], + [ + 0.342911428120215, + -0.18478739261627197, + 0.9210132126571251, + 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": [ + [ + 0.9355400224759706, + 0.0012689987197518349, + -0.35321834921837414, + 0.07031096518039703 + ], + [ + 0.06147236513766321, + 0.984148383140564, + 0.16635245459328, + -0.00722251832485199 + ], + [ + 0.347830364918605, + -0.17734254896640778, + 0.9206322079467717, + 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": [ + [ + 0.9339476273635842, + 0.004011685959994793, + -0.357387297081602, + 0.0717759057879448 + ], + [ + 0.05690020690885656, + 0.9855149984359741, + 0.15975776314398485, + -0.0035597176756709814 + ], + [ + 0.35285144497126975, + -0.16954080760478973, + 0.9201911443319902, + 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": [ + [ + 0.9327308721294355, + 0.005734346807003021, + -0.3605276498578808, + 0.07272940874099731 + ], + [ + 0.05289170225200443, + 0.9868818521499634, + 0.15253433826700488, + 0.000978963915258646 + ], + [ + 0.35667289264650526, + -0.16134239733219147, + 0.920191891248207, + 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": [ + [ + 0.9313617964960688, + 0.008936267346143723, + -0.3639853554798229, + 0.07401977479457855 + ], + [ + 0.047890586441219254, + 0.9880064129829407, + 0.14679863588822645, + 0.002800873015075922 + ], + [ + 0.3609316854397406, + -0.15415412187576294, + 0.9197634406953421, + 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": [ + [ + 0.9302993346135204, + 0.013021253980696201, + -0.3665700012786659, + 0.0740656852722168 + ], + [ + 0.041361396216194, + 0.9892717003822327, + 0.14010976723429322, + 0.005169013515114784 + ], + [ + 0.36446173745152327, + -0.1455058604478836, + 0.9197802111548778, + 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": [ + [ + 0.9289954350957607, + 0.016334405168890953, + -0.36973044969421937, + 0.0744631290435791 + ], + [ + 0.03573141855052096, + 0.9903997778892517, + 0.1335348889006384, + 0.006979620084166527 + ], + [ + 0.3683621862888432, + -0.13726429641246796, + 0.9194932671505422, + 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": [ + [ + 0.9276554774745803, + 0.019118601456284523, + -0.3729474650648389, + 0.07527423650026321 + ], + [ + 0.030586593970141827, + 0.9914432168006897, + 0.12690482269244727, + 0.008447214961051941 + ], + [ + 0.37218247992170206, + -0.12913113832473755, + 0.9191329503300764, + 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": [ + [ + 0.9258601932044057, + 0.021566076204180717, + -0.377250357052191, + 0.0765267014503479 + ], + [ + 0.025576782057374677, + 0.9925035834312439, + 0.11950931993509563, + 0.009496118873357773 + ], + [ + 0.37699968210228757, + -0.12029776722192764, + 0.918367979178975, + 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": [ + [ + 0.9246638730584865, + 0.024093732237815857, + -0.3800213051701015, + 0.07681810855865479 + ], + [ + 0.02052944276832673, + 0.9933903813362122, + 0.1129339775856063, + 0.010484978556632996 + ], + [ + 0.38023052284768794, + -0.11222760379314423, + 0.9180575926830757, + -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": [ + [ + 0.9234012675628596, + 0.025532688945531845, + -0.3829858295970008, + 0.07713428884744644 + ], + [ + 0.016610293009450973, + 0.9941923022270203, + 0.10632865902487786, + 0.01080278865993023 + ], + [ + 0.38347642460375847, + -0.10454552620649338, + 0.9176143291788004, + -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": [ + [ + 0.9219538376150683, + 0.025780804455280304, + -0.3864407374051818, + 0.07777468860149384 + ], + [ + 0.013965520955086812, + 0.9949202537536621, + 0.09969292846009513, + 0.01114219892770052 + ], + [ + 0.3870478589765585, + -0.09730912744998932, + 0.9169104850844256, + -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": [ + [ + 0.9204324989580337, + 0.0262005552649498, + -0.3900224703188533, + 0.0783444195985794 + ], + [ + 0.011282073209346138, + 0.99555504322052, + 0.09350354473384333, + 0.01180981658399105 + ], + [ + 0.39073865898301513, + -0.09046396613121033, + 0.9160455987748772, + -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": [ + [ + 0.918721503093214, + 0.027498163282871246, + -0.3939475219601124, + 0.07907894998788834 + ], + [ + 0.00755801823080856, + 0.9961656332015991, + 0.0871599396737184, + 0.011717946268618107 + ], + [ + 0.3948337243044315, + -0.08305317908525467, + 0.9149909978176537, + -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": [ + [ + 0.9173618796456242, + 0.027417737990617752, + -0.3971089353747293, + 0.07952766865491867 + ], + [ + 0.005064294909184095, + 0.9967403411865234, + 0.08051734521228887, + 0.011310307309031487 + ], + [ + 0.39802210465857674, + -0.07587461918592453, + 0.9142327401621513, + -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": [ + [ + 0.9157942520059024, + 0.026336494833230972, + -0.40078338256654206, + 0.08109917491674423 + ], + [ + 0.0036165557407746383, + 0.9972667694091797, + 0.07379680526632483, + 0.011651157401502132 + ], + [ + 0.40163148736533627, + -0.06903214007616043, + 0.9131958976415554, + -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": [ + [ + 0.9145330293458372, + 0.02658955380320549, + -0.4036364093794199, + 0.08105593919754028 + ], + [ + 0.001221234904099142, + 0.997651219367981, + 0.06848728213614862, + 0.009569017216563225 + ], + [ + 0.4045093954778157, + -0.0631268098950386, + 0.9123525253845369, + -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": [ + [ + 0.9131641729211523, + 0.026207156479358673, + -0.406748535965171, + 0.08191931992769241 + ], + [ + -0.0014262521082445004, + 0.9981301426887512, + 0.06110839531188096, + 0.008280167356133461 + ], + [ + 0.4075894576309609, + -0.05522187426686287, + 0.9114940590931694, + -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": [ + [ + 0.9120380848182859, + 0.0257331132888794, + -0.4092974322005486, + 0.08322124183177948 + ], + [ + -0.0033701204309425944, + 0.9984660148620608, + 0.05526533890654216, + 0.006096384953707457 + ], + [ + 0.4100917037560292, + -0.04902470856904985, + 0.91072571217471, + -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": [ + [ + 0.911084754426032, + 0.025155302137136466, + -0.41145083866051224, + 0.08383679389953613 + ], + [ + -0.005323059307980803, + 0.9987710118293764, + 0.049275949423332153, + 0.003710170043632388 + ], + [ + 0.4121847237124226, + -0.042704392224550254, + 0.9100989770354727, + -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": [ + [ + 0.910008222242236, + 0.02423984371125698, + -0.4138809735334788, + 0.0847211703658104 + ], + [ + -0.007554998347806713, + 0.9990931153297424, + 0.041902747611335334, + 0.003459033789113164 + ], + [ + 0.41452134932130263, + -0.03500497713685036, + 0.9093661189979781, + -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": [ + [ + 0.9091167877643435, + 0.022214414551854134, + -0.4159485359643207, + 0.08557049930095673 + ], + [ + -0.007737182793260201, + 0.9993051886558533, + 0.036458784809798084, + 0.003529938170686364 + ], + [ + 0.41646946335303714, + -0.029927022755146027, + 0.9086570399131341, + -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": [ + [ + 0.9079995859469658, + 0.02154926210641861, + -0.41841646556038564, + 0.08680323511362076 + ], + [ + -0.00925937153190015, + 0.9994646310806274, + 0.031380741884968026, + 0.0042445664294064045 + ], + [ + 0.41886867554731444, + -0.02461942657828331, + 0.9077130091993725, + -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": [ + [ + 0.907296503848476, + 0.0215176846832037, + -0.4199405482449102, + 0.08796428889036179 + ], + [ + -0.011411120818089824, + 0.9995819926261904, + 0.026564286979553552, + 0.007040311582386494 + ], + [ + 0.42033658654143313, + -0.01930969394743443, + 0.9071627454176602, + -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": [ + [ + 0.906555962100222, + 0.021498968824744225, + -0.42153772114246646, + 0.08929517865180969 + ], + [ + -0.013078803613743101, + 0.9996532201766968, + 0.022856428527743198, + 0.008763959631323814 + ], + [ + 0.42188292926449106, + -0.015207423828542233, + 0.9065227606161057, + -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": [ + [ + 0.9058374718473474, + 0.021259378641843796, + -0.423091663726388, + 0.08978456258773804 + ], + [ + -0.01426021002065624, + 0.9997041821479797, + 0.01970177797995494, + 0.009475748986005783 + ], + [ + 0.42338535999108673, + -0.01181323267519474, + 0.9058726594735459, + -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": [ + [ + 0.9050466750833096, + 0.02140695042908192, + -0.424773166894373, + 0.09014876186847687 + ], + [ + -0.015975745721578644, + 0.9997388124465945, + 0.01634416869571431, + 0.010403305292129517 + ], + [ + 0.42501209313081334, + -0.00800616852939129, + 0.9051522776914351, + -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": [ + [ + 0.9044730222055668, + 0.021832801401615146, + -0.4259716913402283, + 0.09078383445739746 + ], + [ + -0.018125321286508612, + 0.9997543692588808, + 0.012755712238348165, + 0.01255333423614502 + ], + [ + 0.42614554759546175, + -0.0038163247518241414, + 0.9046465498182393, + -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": [ + [ + 0.9035806231326737, + 0.02138861082494259, + -0.4278838638586404, + 0.09213994443416595 + ], + [ + -0.019197857616844952, + 0.9997711777687073, + 0.009434582727202934, + 0.013959530740976334 + ], + [ + 0.42798774064683176, + -0.0003104526549577713, + 0.9037844609290804, + -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": [ + [ + 0.9029274115245585, + 0.02106090448796749, + -0.42927672978635295, + 0.09300006181001663 + ], + [ + -0.02010554787808935, + 0.9997749924659729, + 0.006760942468455587, + 0.01639711484313011 + ], + [ + 0.42932252350862743, + 0.0025262029375880957, + 0.9031476795189884, + -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": [ + [ + 0.9020854090208321, + 0.020570188760757446, + -0.4310670534934867, + 0.09419333934783936 + ], + [ + -0.020238218508884735, + 0.9997808337211609, + 0.005356657564877551, + 0.017578018829226494 + ], + [ + 0.43108277024428954, + 0.0038918661884963512, + 0.9023040179928513, + -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": [ + [ + 0.9012840970894976, + 0.020615689456462864, + -0.4327378200852674, + 0.09488364309072495 + ], + [ + -0.021107887889978, + 0.9997704625129702, + 0.0036667770303908226, + 0.019585704430937767 + ], + [ + 0.43271407493258596, + 0.005829373374581338, + 0.9015123440593157, + -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": [ + [ + 0.9000823873633805, + 0.020979078486561775, + -0.43521440208584666, + 0.0964200496673584 + ], + [ + -0.021839968042152463, + 0.999756932258606, + 0.0030242708738838953, + 0.019840287044644356 + ], + [ + 0.43517204828711575, + 0.006782975047826767, + 0.9003217401860737, + -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": [ + [ + 0.8992737317377063, + 0.022188827395439148, + -0.43682307915913243, + 0.09821019321680069 + ], + [ + -0.02393459382270945, + 0.9997124075889587, + 0.001507918053101775, + 0.021895132958889008 + ], + [ + 0.43673088912417307, + 0.009099151007831097, + 0.8995461754439802, + -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": [ + [ + 0.8983800018992462, + 0.022425005212426186, + -0.43864617351224666, + 0.10020893812179565 + ], + [ + -0.024303268379707702, + 0.9997037649154663, + 0.0013331695154838242, + 0.022377735003829002 + ], + [ + 0.43854612131597365, + 0.009462843649089336, + 0.8986588718155009, + -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": [ + [ + 0.8972472010129399, + 0.02234027162194252, + -0.4409630525817436, + 0.10149390250444412 + ], + [ + -0.02457882974817694, + 0.9996976852416992, + 0.0006354980299044236, + 0.02251441404223442 + ], + [ + 0.4408439373754358, + 0.010268156416714191, + 0.8975250317169353, + -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": [ + [ + 0.896100228329694, + 0.022285444661974907, + -0.4432919430696721, + 0.10276612639427185 + ], + [ + -0.024619093008216988, + 0.9996967911720276, + 0.0004906745633897037, + 0.023152312263846397 + ], + [ + 0.44316847672868304, + 0.010473750531673431, + 0.8963771818750252, + -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": [ + [ + 0.8949899192151463, + 0.022523632273077965, + -0.4455173331460853, + 0.10394742339849472 + ], + [ + -0.0247252858476345, + 0.9996939301490784, + 0.0008705743370806992, + 0.023233314976096153 + ], + [ + 0.4454005672082554, + 0.010236388072371483, + 0.8952729053162378, + -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": [ + [ + 0.8939692513495666, + 0.023355158045887947, + -0.44751932587234117, + 0.10463016480207443 + ], + [ + -0.0253889891562967, + 0.9996765851974487, + 0.0014538533514155373, + 0.02416820265352726 + ], + [ + 0.4474085379279852, + 0.010062362998723984, + 0.8942730876572916, + -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": [ + [ + 0.8928763373042494, + 0.02326539903879166, + -0.44970059395652023, + 0.104982890188694 + ], + [ + -0.024362185432782266, + 0.9996975660324099, + 0.003348772377458584, + 0.02372214011847973 + ], + [ + 0.4496424882008769, + 0.007965649478137495, + 0.8931730684968002, + -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": [ + [ + 0.8915028053305067, + 0.023898590356111526, + -0.45238435024643725, + 0.10488350689411163 + ], + [ + -0.024248846395798794, + 0.9996933341026306, + 0.0050252575453949835, + 0.02385607548058033 + ], + [ + 0.4523657003968386, + 0.006489766761660576, + 0.8918089259151637, + -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": [ + [ + 0.8901235465749288, + 0.024428412318229675, + -0.4550641171995726, + 0.10486413538455963 + ], + [ + -0.02306377782192788, + 0.9996974468231201, + 0.008551341217260028, + 0.0224703811109066 + ], + [ + 0.4551353132635525, + 0.0028837474528700113, + 0.890417618074666, + -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": [ + [ + 0.888854262286519, + 0.02530921809375286, + -0.4574905185696975, + 0.1047401949763298 + ], + [ + -0.022834028648791516, + 0.9996793866157532, + 0.010940075865940225, + 0.021838150918483734 + ], + [ + 0.4576207279816202, + 0.0007222183048725128, + 0.8891472234998262, + -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/camera_controls/dc3d4c43-874f-4441-a0e4-242f36f79fdd/tilt_up/transforms.json b/dynpose_eval/camera_controls/dc3d4c43-874f-4441-a0e4-242f36f79fdd/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c4d95f2bc34654f0ad8c3fe758c65035cc7e0ad2 --- /dev/null +++ b/dynpose_eval/camera_controls/dc3d4c43-874f-4441-a0e4-242f36f79fdd/tilt_up/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, + 0.00769679549110713, + -0.019926035158493702, + 0.004735012073069811 + ], + [ + -0.007471270859241486, + 0.9999074449169992, + 0.01136790084778949, + 0.001242732279933989 + ], + [ + 0.020011689513921738, + -0.01121643488317861, + 0.9997368208098936, + -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, + 0.014898450790337818, + -0.039264804601542955, + 0.0075132763013243675 + ], + [ + -0.014125500805675983, + 0.999702371487026, + 0.019890018855915223, + 0.0030662561766803265 + ], + [ + 0.03954945132136345, + -0.019317835349909704, + 0.9990308448603145, + -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": [ + [ + 0.9981614351272585, + 0.021224824218556898, + -0.05677409483812197, + 0.009973322972655296 + ], + [ + -0.019789943471550945, + 0.9994733258688453, + 0.025717502229788768, + 0.00726489070802927 + ], + [ + 0.057290043681859984, + -0.024546660747031393, + 0.9980557388515698, + 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, + 0.0254239214601386, + -0.07237494189069618, + 0.012368770316243172 + ], + [ + -0.02316771261394024, + 0.9992242787241259, + 0.03184463228559916, + 0.007669210899621248 + ], + [ + 0.07312841713428497, + -0.03007403613569519, + 0.9968690050036351, + 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": [ + [ + 0.995842516422272, + 0.030250736836127057, + -0.08592200817894297, + 0.014592480845749378 + ], + [ + -0.027449499815702445, + 0.9990583983811246, + 0.03359878574741792, + 0.008204112760722637 + ], + [ + 0.08685748279094697, + -0.031100583659188587, + 0.9957351769150296, + 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, + 0.032357411875398694, + -0.09622136567780964, + 0.01387748122215271 + ], + [ + -0.029054027050733566, + 0.9989459343667969, + 0.035536550034981414, + 0.008812831714749336 + ], + [ + 0.09726981073617935, + -0.03255734859911366, + 0.9947253938568856, + 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, + 0.03408977666491585, + -0.10802254238400344, + 0.014752614311873913 + ], + [ + -0.030361944809556007, + 0.998891596534266, + 0.03596898834579015, + 0.0083232456818223 + ], + [ + 0.10912898182868958, + -0.03245770754611478, + 0.993497560990275, + 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, + 0.03657014890498487, + -0.11785862179672084, + 0.015073925256729126 + ], + [ + -0.03272728994488716, + 0.9988728816578273, + 0.034378308475418326, + 0.008109630085527897 + ], + [ + 0.11898300051689148, + -0.030258353109495408, + 0.9924351509698014, + 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, + 0.03804939205700797, + -0.1271390516853251, + 0.014547135680913925 + ], + [ + -0.03424010053277016, + 0.9989007210986847, + 0.032014762920643355, + 0.007987800054252148 + ], + [ + 0.1282174289226532, + -0.027378331877908297, + 0.9913680745589116, + 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, + 0.03851617619441408, + -0.13769047573962961, + 0.014900969341397285 + ], + [ + -0.034741729497909546, + 0.9989545669236602, + 0.029712358830827065, + 0.007004290819168091 + ], + [ + 0.13869093358516693, + -0.02462349536633568, + 0.9900295240522008, + 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": [ + [ + 0.9884748458862307, + 0.03892340425720786, + -0.1462957756514433, + 0.013879343867301941 + ], + [ + -0.035260211676359184, + 0.9989983026515986, + 0.027550902918312414, + 0.00567191606387496 + ], + [ + 0.14722162485122683, + -0.022074954064211543, + 0.9888571756628716, + 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, + 0.03876899076819967, + -0.15550381352768786, + 0.014721792191267014 + ], + [ + -0.03499995544552803, + 0.999025120081709, + 0.026903782369289263, + 0.0027142490725964308 + ], + [ + 0.15639525651931763, + -0.02111340122231934, + 0.9874688569459251, + 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": [ + [ + 0.9860376715660097, + 0.03980580301158787, + -0.1616947919675647, + 0.014058265835046768 + ], + [ + -0.03617360815405846, + 0.9990240146226611, + 0.02534660246763523, + 0.004452056717127562 + ], + [ + 0.16254593431949618, + -0.019143623417052457, + 0.9865152780305475, + 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, + 0.03995829916353205, + -0.16858772270963396, + 0.012452653609216213 + ], + [ + -0.0354483537375927, + 0.9989307426727456, + 0.02967789700424385, + 0.0028130069840699434 + ], + [ + 0.16959333419799805, + -0.023252904694166465, + 0.985239767534683, + 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": [ + [ + 0.9833928346633913, + 0.038877875770199216, + -0.177276895084122, + 0.012271805666387081 + ], + [ + -0.03369137644767762, + 0.9989142729958914, + 0.03217457477976352, + 0.0021396498195827007 + ], + [ + 0.17833529412746432, + -0.025667546969186123, + 0.9836349496698543, + 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, + 0.03803051633780559, + -0.18424517454326955, + 0.01173129677772522 + ], + [ + -0.03195686265826225, + 0.998847038201736, + 0.035824105519539844, + 0.0027623262722045183 + ], + [ + 0.18539516627788544, + -0.02929653634522584, + 0.9822272469513171, + 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, + 0.03768830308222912, + -0.18888818983790762, + 0.009427400305867195 + ], + [ + -0.03040722757577896, + 0.998684069115885, + 0.04129877798013142, + 0.002314650919288397 + ], + [ + 0.19019611179828644, + -0.03478190130524433, + 0.981129778885534, + 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, + 0.03647023335492408, + -0.19381213571372355, + 0.008845267817378044 + ], + [ + -0.027856674045324326, + 0.9985071190075664, + 0.046984686683130376, + 0.002397386357188225 + ], + [ + 0.19523634016513824, + -0.04066296970158695, + 0.9799128856878607, + 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, + 0.03703504844485916, + -0.19872018900709787, + 0.009035241790115833 + ], + [ + -0.027121582999825478, + 0.9982588616507344, + 0.052379555941019146, + 0.0023903886321932077 + ], + [ + 0.20031405985355377, + -0.04590863385796464, + 0.9786555540223995, + 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, + 0.038153724486506724, + -0.20090110558536275, + 0.006707156077027321 + ], + [ + -0.02711298316717148, + 0.9979815994294223, + 0.05742468387843167, + 0.003949770238250494 + ], + [ + 0.20268656313419342, + -0.05076416665920486, + 0.977926971809313, + 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": [ + [ + 0.9783883690834048, + 0.03844066173611998, + -0.20317128816449595, + 0.004672277253121138 + ], + [ + -0.025703925639390952, + 0.997556692969223, + 0.06496153525296067, + 0.004018336534500122 + ], + [ + 0.20517203211784368, + -0.05833531580877155, + 0.9769859114459959, + 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, + 0.03972162583108929, + -0.20561954457537485, + 0.002105745952576399 + ], + [ + -0.02549554780125618, + 0.9971232747026023, + 0.07138019474251203, + 0.004625964444130659 + ], + [ + 0.20786337554454803, + -0.06455498968876583, + 0.9760253454362894, + 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": [ + [ + 0.9771395325660708, + 0.0412592155541791, + -0.20855709455722357, + 0.0005623503238894045 + ], + [ + -0.025169499218463905, + 0.9965392196370646, + 0.07922203271981118, + 0.0028053601272404194 + ], + [ + 0.21110394597053533, + -0.07216169991504, + 0.974796278097867, + 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, + 0.0429813387271245, + -0.211533797418726, + -0.000142703705932945 + ], + [ + -0.025347648188471794, + 0.9960260889577058, + 0.08537858093670377, + 0.000965026905760169 + ], + [ + 0.21436287462711334, + -0.07800391895591315, + 0.9736343984397403, + 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": [ + [ + 0.9762578010559084, + 0.04491628164212921, + -0.2119037604896979, + -0.00221783434972167 + ], + [ + -0.025859672576189048, + 0.9954360288723367, + 0.09186046362455234, + -0.0015899288700893521 + ], + [ + 0.21506267786026007, + -0.08419974012618223, + 0.9729637409280627, + 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, + 0.04694385580144482, + -0.21229033260272887, + -0.003840584075078368 + ], + [ + -0.026594672352075577, + 0.9948590041891603, + 0.09771539376456335, + -0.004158115945756435 + ], + [ + 0.21578609943389893, + -0.0897320970329171, + 0.9723088520243823, + 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": [ + [ + 0.9758265018463137, + 0.04860638765645427, + -0.2130728849423525, + -0.004742240533232689 + ], + [ + -0.02687173523008824, + 0.994241314814414, + 0.10374070779964058, + -0.007501084357500076 + ], + [ + 0.2168883234262467, + -0.0955072863374308, + 0.971513180616538, + 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, + 0.05000355265357104, + -0.21356370936977195, + -0.00608964404091239 + ], + [ + -0.02716098725795746, + 0.9937160883339334, + 0.10858473445074869, + -0.009616703726351261 + ], + [ + 0.21765130758285522, + -0.10013995771543706, + 0.9708758426174515, + 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, + 0.050796921461110194, + -0.21385548898968923, + -0.0067903934977948666 + ], + [ + -0.026600684970617294, + 0.9930627593265826, + 0.11453720427475544, + -0.011730942875146866 + ], + [ + 0.2181900590658188, + -0.10604734153061629, + 0.9701273619476807, + 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": [ + [ + 0.9753984212875368, + 0.05199309336842209, + -0.2142304243775207, + -0.007549407426267862 + ], + [ + -0.02652013301849366, + 0.9924066250367113, + 0.12010712844772736, + -0.013343377970159054 + ], + [ + 0.2188484370708466, + -0.11147089453394306, + 0.969370720484503, + 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, + 0.05397819227257075, + -0.21487460933226177, + -0.007838752120733261 + ], + [ + -0.027156904339790344, + 0.9916746870979537, + 0.1258723937369076, + -0.015095410868525505 + ], + [ + 0.21988007426261902, + -0.11690899710147375, + 0.9684962880330893, + 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, + 0.05488178219248186, + -0.21468731925436002, + -0.008200551383197308 + ], + [ + -0.027053795754909515, + 0.9910825388856194, + 0.1304741626194823, + -0.01515979878604412 + ], + [ + 0.21993350982666016, + -0.12142242783628186, + 0.9679286662932954, + 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, + 0.05504311194674562, + -0.21502380458602732, + -0.008380003273487091 + ], + [ + -0.025883354246616364, + 0.9903508148736669, + 0.13614430314777984, + -0.015718480572104454 + ], + [ + 0.22044280171394348, + -0.1271828262575282, + 0.9670726696669476, + 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": [ + [ + 0.974838435649872, + 0.05494780190439302, + -0.2160341422601834, + -0.007834088988602161 + ], + [ + -0.024504018947482116, + 0.9896847072362597, + 0.14115150449048716, + -0.015907730907201767 + ], + [ + 0.2215616554021836, + -0.132306213963005, + 0.9661291335274742, + 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, + 0.055184065231082706, + -0.2167293782292448, + -0.007221925538033247 + ], + [ + -0.023420579731464386, + 0.9889365722933883, + 0.14647847579703194, + -0.016408681869506836 + ], + [ + 0.22241488099098206, + -0.1376923730830681, + 0.9651800075594946, + 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, + 0.054537427933660704, + -0.21709024847560265, + -0.0060795024037361145 + ], + [ + -0.02139783836901188, + 0.9881225882343592, + 0.1521706274479038, + -0.01740671694278717 + ], + [ + 0.2228107750415802, + -0.14366433058692082, + 0.964217780256424, + 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, + 0.0539510475300563, + -0.2171544194823634, + -0.004864742513746023 + ], + [ + -0.019522804766893387, + 0.9872993790869132, + 0.1576667695531099, + -0.018544994294643402 + ], + [ + 0.22290270030498505, + -0.14942968789444497, + 0.9633198490712563, + 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, + 0.05293087025841795, + -0.21697093180835847, + -0.003526458516716957 + ], + [ + -0.017504097893834114, + 0.986626594729674, + 0.1620540792957267, + -0.0193796269595623 + ], + [ + 0.22264696657657623, + -0.1541630420803834, + 0.9626328803039631, + 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": [ + [ + 0.9748269915580752, + 0.05151822322221387, + -0.2169289302205172, + -0.002063290448859334 + ], + [ + -0.015075705945491794, + 0.9859424618932903, + 0.16640381336386365, + -0.020333578810095787 + ], + [ + 0.22245225310325628, + -0.15894458577848727, + 0.9618999715817982, + 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": [ + [ + 0.9750352501869204, + 0.04988387147373038, + -0.2163743945300941, + 7.818336598575115e-05 + ], + [ + -0.012405419722199443, + 0.9851547451142089, + 0.17121993389744083, + -0.022187920287251472 + ], + [ + 0.22170338034629827, + -0.16426124212997567, + 0.96117943502087, + 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": [ + [ + 0.9752321839332583, + 0.04789649930822748, + -0.2159354919960061, + 0.0022890674881637096 + ], + [ + -0.009485293179750444, + 0.9844306232376645, + 0.1755173488370727, + -0.023925283923745155 + ], + [ + 0.22098018229007726, + -0.16912193773094125, + 0.9605027540574745, + 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, + 0.04600718026929689, + -0.2150480058605735, + 0.004110105335712433 + ], + [ + -0.007069854065775871, + 0.98392728338527, + 0.17842965944515016, + -0.024957308545708656 + ], + [ + 0.21980063617229462, + -0.17254122463459667, + 0.9601651791604554, + 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, + 0.041844898594681865, + -0.21404704882084583, + 0.0062978328205645084 + ], + [ + -0.0025193560868501663, + 0.9835193606733367, + 0.18078530212481808, + -0.025867460295557976 + ], + [ + 0.21808436512947083, + -0.1758939433300758, + 0.9599481800550588, + 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, + 0.03794168479294719, + -0.2139931547542058, + 0.009331634268164635 + ], + [ + 0.0021068938076496124, + 0.9829446775737958, + 0.18388959482961154, + -0.028033357113599777 + ], + [ + 0.217320516705513, + -0.17994512394765547, + 0.9593704146323604, + 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, + 0.03504563566236914, + -0.21229487899035362, + 0.011770356446504593 + ], + [ + 0.005148548632860184, + 0.9825580949087828, + 0.18588449004056454, + -0.03022981621325016 + ], + [ + 0.21510648727416992, + -0.18262354757884372, + 0.9593632557503271, + 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, + 0.030511649722806164, + -0.20999585995300576, + 0.013877687975764275 + ], + [ + 0.009402107447385788, + 0.9824111258230648, + 0.18649401282411412, + -0.031206615269184113 + ], + [ + 0.21199250221252441, + -0.18422122995106543, + 0.9597508484265949, + 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, + 0.02648553639803767, + -0.20839102680146357, + 0.016585757955908775 + ], + [ + 0.013248797506093979, + 0.9822705320587332, + 0.187000101060949, + -0.03262340649962425 + ], + [ + 0.20964916050434113, + -0.1855884811867061, + 0.9600021854849657, + 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, + 0.022434879817348735, + -0.20605029002820358, + 0.018886860460042953 + ], + [ + 0.016892453655600548, + 0.9821874065317123, + 0.18714310503975162, + -0.03404546156525612 + ], + [ + 0.20657852292060852, + -0.1865598376090407, + 0.9604794425749615, + 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, + 0.017621447013358476, + -0.20428670310776853, + 0.02140425518155098 + ], + [ + 0.021392822265625, + 0.9820873332692516, + 0.1872078603025513, + -0.03606409579515457 + ], + [ + 0.20392626523971558, + -0.18760042379954317, + 0.9608434458166575, + 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, + 0.012510520247610724, + -0.2021014368667004, + 0.023921746760606766 + ], + [ + 0.026010874658823013, + 0.982048471643221, + 0.18682692910744758, + -0.03743463009595871 + ], + [ + 0.20081070065498352, + -0.18821356510261944, + 0.9613796106671958, + 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, + 0.0074792356872493675, + -0.19978534069843287, + 0.0262947715818882 + ], + [ + 0.03035176359117031, + 0.9821521464889094, + 0.1856229786375629, + -0.03828006237745285 + ], + [ + 0.19760791957378387, + -0.18793931431516084, + 0.9620966401486615, + 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, + 0.0031122477345310903, + -0.1975780517239748, + 0.02879704348742962 + ], + [ + 0.034173980355262756, + 0.9821394870792782, + 0.18502467478597226, + -0.040120381861925125 + ], + [ + 0.19462504982948303, + -0.1881284446217216, + 0.9626675272931962, + 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, + -0.002504876388681602, + -0.19431749261725395, + 0.030112022534012794 + ], + [ + 0.038956865668296814, + 0.9821543208754143, + 0.18399783964529326, + -0.04197176545858383 + ], + [ + 0.19038887321949005, + -0.1880600257736844, + 0.9635276077499895, + 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, + -0.007944677616407264, + -0.19050740670137042, + 0.03175164386630058 + ], + [ + 0.04336421564221382, + 0.9822516513508164, + 0.18248620073024588, + -0.04309637099504471 + ], + [ + 0.1856764256954193, + -0.187399420353616, + 0.9645754413153715, + 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, + -0.012657991747723984, + -0.1864154650206327, + 0.03271906077861786 + ], + [ + 0.04717865586280823, + 0.9821781944099698, + 0.18193457982512395, + -0.044858887791633606 + ], + [ + 0.1807902753353119, + -0.18752542558769844, + 0.9654786700068132, + 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, + -0.017454346915243182, + -0.18296369195929274, + 0.0341571569442749 + ], + [ + 0.05083436518907547, + 0.9824655566030679, + 0.17938043382508137, + -0.045554179698228836 + ], + [ + 0.17662455141544342, + -0.18562544987205476, + 0.9666162676977389, + 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": [ + [ + 0.9836863875389101, + -0.021524087168332855, + -0.17859941371275692, + 0.034618958830833435 + ], + [ + 0.053590193390846266, + 0.9828012395187806, + 0.1767197509755701, + -0.046495769172906876 + ], + [ + 0.17172399163246158, + -0.18340802650734817, + 0.9679216620245871, + 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, + -0.02446965761171805, + -0.17229438424175672, + 0.03381795063614845 + ], + [ + 0.05493822693824768, + 0.9831467163168555, + 0.17436837728647891, + -0.04795650392770767 + ], + [ + 0.16512392461299896, + -0.18117334153082468, + 0.9694897184160217, + 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, + -0.027428928104024444, + -0.16763324999265328, + 0.03411411494016647 + ], + [ + 0.05646662414073944, + 0.9836513837285382, + 0.1710015377616695, + -0.049239154905080795 + ], + [ + 0.160202294588089, + -0.17798217622302828, + 0.9709055308979853, + 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": [ + [ + 0.9861190319061282, + -0.029152595298878734, + -0.163460746445947, + 0.034451328217983246 + ], + [ + 0.05671796202659608, + 0.9843914140058034, + 0.16660334421998413, + -0.050532348453998566 + ], + [ + 0.1560524255037308, + -0.17356185724871415, + 0.9723805736310522, + 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, + -0.03095947847081965, + -0.15920509170812963, + 0.034717097878456116 + ], + [ + 0.056750159710645676, + 0.9854676102639869, + 0.16010309432835737, + -0.05144543573260307 + ], + [ + 0.15193474292755127, + -0.16701823093598603, + 0.9741769732161197, + 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": [ + [ + 0.9870710372924807, + -0.033321796116651176, + -0.15678147755622313, + 0.03679954260587692 + ], + [ + 0.05761119350790979, + 0.9865400350682431, + 0.153035037627233, + -0.051894064992666245 + ], + [ + 0.1495718061923981, + -0.16008882067237132, + 0.9757047744008716, + 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, + -0.03457423272212509, + -0.15431869755765112, + 0.03852181136608124 + ], + [ + 0.057222045958042145, + 0.987801016998773, + 0.14482697426567567, + -0.051288239657878876 + ], + [ + 0.14742888510227203, + -0.15183488167421036, + 0.9773489182879929, + 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, + -0.03502491438459592, + -0.15279995221217962, + 0.04013705626130104 + ], + [ + 0.05622229725122452, + 0.9890164503338289, + 0.1366948576868625, + -0.05078648403286934 + ], + [ + 0.1463339477777481, + -0.14359559451304188, + 0.9787577210308015, + 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, + -0.03684394986828892, + -0.15290427194406803, + 0.0433976873755455 + ], + [ + 0.05665567144751549, + 0.9902437388068448, + 0.12730872439857008, + -0.04978637024760246 + ], + [ + 0.14672192931175232, + -0.13438713247931292, + 0.980006531953122, + 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, + -0.038441014199929575, + -0.15309254836755795, + 0.04589875414967537 + ], + [ + 0.056959688663482666, + 0.99132149162464, + 0.11847888017564041, + -0.04782833904027939 + ], + [ + 0.14720948040485382, + -0.12571370513594526, + 0.9810838025998203, + 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, + -0.03863613361822913, + -0.1530228610156137, + 0.047479450702667236 + ], + [ + 0.05579366534948349, + 0.9924233000579153, + 0.1094673795886999, + -0.045697979629039764 + ], + [ + 0.14763405919075012, + -0.11663313652534042, + 0.982140954589922, + 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": [ + [ + 0.9872188568115237, + -0.03913057348174251, + -0.1544918299488322, + 0.04905427247285843 + ], + [ + 0.05488408356904985, + 0.9935668662018912, + 0.09905873133081843, + -0.041566409170627594 + ], + [ + 0.1496217250823975, + -0.10627180054466033, + 0.983015604697084, + 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, + -0.03924651647567464, + -0.1567855372224764, + 0.05081725865602493 + ], + [ + 0.05381033197045326, + 0.9945094205956624, + 0.08975216260970663, + -0.03886681795120239 + ], + [ + 0.15240222215652466, + -0.09700882972410592, + 0.9835460434700865, + 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, + -0.03895367469920972, + -0.1604552124103528, + 0.053259819746017456 + ], + [ + 0.05234561860561371, + 0.9954115858246966, + 0.08009830662816633, + -0.03581097722053528 + ], + [ + 0.15659886598587036, + -0.08739803172944019, + 0.983787775290368, + 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": [ + [ + 0.9858179092407229, + -0.03882035526152648, + -0.16326682918701224, + 0.05546412616968155 + ], + [ + 0.05093008652329446, + 0.9962000583928529, + 0.07065092760594828, + -0.032774195075035095 + ], + [ + 0.15990373492240909, + -0.0779641517461202, + 0.9840489524690176, + 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": [ + [ + 0.9853267669677737, + -0.03766796458209714, + -0.1664701222417333, + 0.05814298242330551 + ], + [ + 0.04847432672977449, + 0.996939451647196, + 0.061334569513990723, + -0.029573652893304825 + ], + [ + 0.16365027427673343, + -0.06850412364556098, + 0.9841370659945295, + 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, + -0.037235308372967374, + -0.16994206519990648, + 0.06083989888429642 + ], + [ + 0.04654581844806671, + 0.9976065462902571, + 0.05113407439892081, + -0.02603362686932087 + ], + [ + 0.1676313281059265, + -0.05826438894582018, + 0.9841264938803214, + 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, + -0.035956692530611546, + -0.1734994948581633, + 0.06328281760215759 + ], + [ + 0.04378340393304825, + 0.9981789002900591, + 0.041495369916626786, + -0.0222178902477026 + ], + [ + 0.17169149219989777, + -0.04843518896688556, + 0.9839593680678941, + 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, + -0.035054711142771415, + -0.1768608407384196, + 0.06528843194246292 + ], + [ + 0.041275497525930405, + 0.9986474379095654, + 0.03161670326140489, + -0.01827373541891575 + ], + [ + 0.17551331222057343, + -0.03839857196024221, + 0.983727927691568, + 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, + -0.03400354518352901, + -0.18043332144731958, + 0.06768173724412918 + ], + [ + 0.03864259645342827, + 0.9990051918184597, + 0.022257131869267706, + -0.01456554513424635 + ], + [ + 0.17949700355529785, + -0.028851155594795883, + 0.9833353663008391, + 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, + -0.032861129521085025, + -0.1832894362822164, + 0.06881565600633621 + ], + [ + 0.03584720939397812, + 0.9992727338696181, + 0.01300127715707904, + -0.010525810532271862 + ], + [ + 0.18272890150547028, + -0.01934429866179979, + 0.9829729968611811, + 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, + -0.030899914276277585, + -0.18573043423596877, + 0.07031096518039703 + ], + [ + 0.03216338902711868, + 0.999475443536333, + 0.0037927611517770813, + -0.00722251832485199 + ], + [ + 0.18551580607891083, + -0.009698646735780796, + 0.9825934188099608, + 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, + -0.028991042969333546, + -0.18832324326042207, + 0.0717759057879448 + ], + [ + 0.02841673418879509, + 0.9995796230002083, + -0.005749354233580304, + -0.0035597176756709814 + ], + [ + 0.18841075897216797, + 0.00029247963330112286, + 0.9820902555915167, + 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, + -0.027909668160399165, + -0.1896876853198938, + 0.07272940874099731 + ], + [ + 0.02536703273653984, + 0.9995530508260921, + -0.015819571897025136, + 0.000978963915258646 + ], + [ + 0.19004443287849426, + 0.01071428250115888, + 0.9817170447369512, + 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, + -0.025439099208580455, + -0.19165584810668612, + 0.07401977479457855 + ], + [ + 0.021110985428094864, + 0.999474669791409, + -0.024591270877157966, + 0.002800873015075922 + ], + [ + 0.19218073785305023, + 0.020081237050827323, + 0.9811540498831767, + 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, + -0.021945040224591365, + -0.1928974168786912, + 0.0740656852722168 + ], + [ + 0.015551316551864147, + 0.9992803215526405, + -0.0345977551253008, + 0.005169013515114784 + ], + [ + 0.19351784884929657, + 0.030939678484226907, + 0.980608754190481, + 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, + -0.019326665014442412, + -0.1946166491188981, + 0.0744631290435791 + ], + [ + 0.010889244265854359, + 0.9989575587653183, + -0.04433103893855157, + 0.006979620084166527 + ], + [ + 0.19527055323123932, + 0.04135573897240459, + 0.9798771196364863, + 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, + -0.017247757767695424, + -0.19631443826591746, + 0.07527423650026321 + ], + [ + 0.006747099105268717, + 0.9985163890279141, + -0.054032614129935104, + 0.008447214961051941 + ], + [ + 0.1969551295042038, + 0.05164845046953256, + 0.9790511448102494, + 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, + -0.015721790288709004, + -0.19909343373399843, + 0.0765267014503479 + ], + [ + 0.002912718802690506, + 0.9979155878593327, + -0.06446710814173698, + 0.009496118873357773 + ], + [ + 0.1996919810771942, + 0.06258848364521184, + 0.9778577875609212, + 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, + -0.013825848136408317, + -0.20030998653517965, + 0.07681810855865479 + ], + [ + -0.0010767122730612755, + 0.9972503617727276, + -0.07409822993725265, + 0.010484978556632996 + ], + [ + 0.20078368484973907, + 0.07280489210867011, + 0.9769265011373306, + -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, + -0.013043079403367531, + -0.20152955998777425, + 0.07713428884744644 + ], + [ + -0.003920256160199642, + 0.9964962735823225, + -0.08354536312408058, + 0.01080278865993023 + ], + [ + 0.20191314816474915, + 0.08261400571329555, + 0.9759129054629507, + -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, + -0.013534153701429224, + -0.203033524258964, + 0.07777468860149384 + ], + [ + -0.005475547164678574, + 0.9956719958310426, + -0.09277565516246115, + 0.01114219892770052 + ], + [ + 0.20341041684150696, + 0.09194633667737964, + 0.9747666503184992, + -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, + -0.013891009300595737, + -0.20470811985087664, + 0.0783444195985794 + ], + [ + -0.007124694995582104, + 0.9948030396248119, + -0.10156866253900129, + 0.01180981658399105 + ], + [ + 0.2050551325082779, + 0.10086621176947154, + 0.9735390941211071, + -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, + -0.013468640900982551, + -0.20692387995103648, + 0.07907894998788834 + ], + [ + -0.009734737686812878, + 0.9938051551344884, + -0.11070906017906085, + 0.011717946268618107 + ], + [ + 0.20713311433792114, + 0.11031707699021458, + 0.9720730641061038, + -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, + -0.01424447397283597, + -0.20806944711365905, + 0.07952766865491867 + ], + [ + -0.01104892697185278, + 0.9927249048452434, + -0.11989654800853285, + 0.011310307309031487 + ], + [ + 0.2082635909318924, + 0.1195590104603943, + 0.9707378515993556, + -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, + -0.0161156510787967, + -0.2095467267883404, + 0.08109917491674423 + ], + [ + -0.011291936039924622, + 0.9915875971734376, + -0.12894412209574616, + 0.011651157401502132 + ], + [ + 0.20986194908618927, + 0.12843045084615332, + 0.969259313650043, + -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, + -0.016511366319581913, + -0.21044184798167376, + 0.08105593919754028 + ], + [ + -0.012719144113361835, + 0.9905177280700898, + -0.13679476776323704, + 0.009569017216563225 + ], + [ + 0.21070504188537598, + 0.13638901064180917, + 0.9679883257731597, + -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, + -0.01759000384356488, + -0.21147739564774704, + 0.08191931992769241 + ], + [ + -0.013943168334662914, + 0.9890828908530008, + -0.14669926719380158, + 0.008280167356133461 + ], + [ + 0.2117491215467453, + 0.14630679225620963, + 0.966310857434329, + -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": [ + [ + 0.9771127700805666, + -0.01863858687180536, + -0.21190395680451962, + 0.08322124183177948 + ], + [ + -0.014763306826353077, + 0.9878103047925675, + -0.1549607845484287, + 0.006096384953707457 + ], + [ + 0.21220915019512182, + 0.15454255839456518, + 0.964926849338468, + -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": [ + [ + 0.9770942330360415, + -0.01970224788518933, + -0.21189311646104292, + 0.08383679389953613 + ], + [ + -0.015534642152488235, + 0.986444887618612, + -0.16335589002831016, + 0.003710170043632388 + ], + [ + 0.21223935484886175, + 0.16290578533307373, + 0.9635435750066116, + -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, + -0.021158971159101713, + -0.21209799776524063, + 0.0847211703658104 + ], + [ + -0.016257936134934425, + 0.9847644442558794, + -0.1731318578388909, + 0.003459033789113164 + ], + [ + 0.21252985298633575, + 0.17260144950093637, + 0.9617899131664523, + -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, + -0.02361700426224848, + -0.2116766829945708, + 0.08557049930095673 + ], + [ + -0.015357794240117073, + 0.9834346451416071, + -0.1806111955366384, + 0.003529938170686364 + ], + [ + 0.21243569254875183, + 0.17971785262077544, + 0.9605064428523955, + -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, + -0.024840331139959017, + -0.2119696569789088, + 0.08680323511362076 + ], + [ + -0.015821423381567, + 0.9820408570134658, + -0.18800391863466692, + 0.0042445664294064045 + ], + [ + 0.21283292770385742, + 0.1870260613067322, + 0.9590220997801249, + -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": [ + [ + 0.9770717024803164, + -0.02522633209651025, + -0.21141083484817427, + 0.08796428889036179 + ], + [ + -0.016933185979723934, + 0.9806035633124924, + -0.1952689269572124, + 0.007040311582386494 + ], + [ + 0.21223612129688268, + 0.19437159004589238, + 0.9576927851556783, + -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, + -0.02561509691341056, + -0.21093228716851745, + 0.08929517865180969 + ], + [ + -0.017794260755181313, + 0.9793548300818173, + -0.20136413066442968, + 0.008763959631323814 + ], + [ + 0.21173551678657532, + 0.20051935874394386, + 0.9565354384231528, + -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, + -0.02620687972323457, + -0.21035862263820398, + 0.08978456258773804 + ], + [ + -0.01828673481941223, + 0.9782075492784233, + -0.20682251162267398, + 0.009475748986005783 + ], + [ + 0.21119457483291626, + 0.20596882381695808, + 0.9554965650798006, + -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": [ + [ + 0.9773418307304385, + -0.026450693923161725, + -0.21000783703224088, + 0.09014876186847687 + ], + [ + -0.01923930831253529, + 0.9769532268702178, + -0.2125847852913405, + 0.010403305292129517 + ], + [ + 0.2107908427715302, + 0.21180840679912807, + 0.9543083585848089, + -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": [ + [ + 0.9775158762931826, + -0.02630436714225551, + -0.2092147050328582, + 0.09078383445739746 + ], + [ + -0.02054606750607491, + 0.9755854619564394, + -0.21865703704190656, + 0.01255333423614502 + ], + [ + 0.20985846221446997, + 0.21803925628701223, + 0.953109794684157, + -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, + -0.027177428000635415, + -0.20897155945172224, + 0.09213994443416595 + ], + [ + -0.020847978070378304, + 0.9743116676864073, + -0.22423673429179727, + 0.013959530740976334 + ], + [ + 0.20969760417938232, + 0.22355790640194192, + 0.9518659210352615, + -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, + -0.027806884341413502, + -0.20820800992534297, + 0.09300006181001663 + ], + [ + -0.021123727783560753, + 0.973159495027212, + -0.22916012812394704, + 0.01639711484313011 + ], + [ + 0.20899182558059692, + 0.2284455104755889, + 0.9508601408712367, + -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, + -0.0286921242852006, + -0.20782369998933084, + 0.09419333934783936 + ], + [ + -0.02092941477894783, + 0.9723221220492494, + -0.2327050607862143, + 0.017578018829226494 + ], + [ + 0.20874838531017303, + 0.23187593688119365, + 0.9500829983932078, + -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": [ + [ + 0.9778168201446535, + -0.02902522778284321, + -0.20744120527199542, + 0.09488364309072495 + ], + [ + -0.021377928555011753, + 0.9713521498514417, + -0.23668111679651094, + 0.019585704430937767 + ], + [ + 0.20836818218231207, + 0.23586543315664207, + 0.9491839425663997, + -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, + -0.029256656361849532, + -0.20798715698684797, + 0.0964200496673584 + ], + [ + -0.02193331904709339, + 0.970615259502691, + -0.23963514256811733, + 0.019840287044644356 + ], + [ + 0.20888642966747284, + 0.23885165687122, + 0.9483228889588357, + -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, + -0.028444798659509038, + -0.20782789848849106, + 0.09821019321680069 + ], + [ + -0.023598521947860718, + 0.9695578358659299, + -0.24372268905146371, + 0.021895132958889008 + ], + [ + 0.20843379199504852, + 0.24320470751176637, + 0.947315581218227, + -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, + -0.02863253221791325, + -0.20766039798447716, + 0.10020893812179565 + ], + [ + -0.023904552683234215, + 0.9689358163448822, + -0.24615442296684809, + 0.022377735003829002 + ], + [ + 0.20825761556625366, + 0.24564935219803521, + 0.9467233889300849, + -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, + -0.029262124704555408, + -0.20793660348322815, + 0.10149390250444412 + ], + [ + -0.023991480469703674, + 0.9681917866109766, + -0.24905633461340476, + 0.02251441404223442 + ], + [ + 0.2086104303598404, + 0.24849220781917553, + 0.9459034336091581, + -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, + -0.02986813434683279, + -0.20823436022957026, + 0.10276612639427185 + ], + [ + -0.023982981219887733, + 0.9675906960042242, + -0.251382331120527, + 0.023152312263846397 + ], + [ + 0.20899395644664764, + 0.2507511828269416, + 0.9452224187365107, + -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, + -0.030164943439016784, + -0.20849855044317278, + 0.10394742339849472 + ], + [ + -0.024167796596884727, + 0.9671042449504819, + -0.2532298336358575, + 0.023233314976096153 + ], + [ + 0.20927847921848297, + 0.2525856404329861, + 0.9446708613515283, + -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, + -0.029829178327349912, + -0.2086810822432672, + 0.10463016480207443 + ], + [ + -0.024944668635725975, + 0.9666144705882859, + -0.25501807427702033, + 0.02416820265352726 + ], + [ + 0.20932112634181976, + 0.2544929782699174, + 0.9441493506571832, + -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": [ + [ + 0.9774804115295412, + -0.030434492489791392, + -0.20882012225372495, + 0.104982890188694 + ], + [ + -0.024418525397777564, + 0.9665858355123429, + -0.2551774129716931, + 0.02372214011847973 + ], + [ + 0.20960876345634466, + 0.25452999421118744, + 0.9440755252543247, + -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, + -0.0304836261714837, + -0.2096817293357982, + 0.10488350689411163 + ], + [ + -0.024729236960411072, + 0.9664244033935413, + -0.2557584004073999, + 0.02385607548058033 + ], + [ + 0.21043796837329865, + 0.25513651647752084, + 0.9437273036935698, + -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, + -0.030636460595551394, + -0.21051704491695478, + 0.10486413538455963 + ], + [ + -0.024486050009727478, + 0.9668022887638507, + -0.25434979116287776, + 0.0224703811109066 + ], + [ + 0.21132072806358337, + 0.2536824537260039, + 0.943922012943271, + -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, + -0.03038385680032739, + -0.21118140690847284, + 0.1047401949763298 + ], + [ + -0.024887477979063988, + 0.966821566623357, + -0.25423734167217404, + 0.021838150918483734 + ], + [ + 0.21189944446086884, + 0.253639191313456, + 0.9438039115209202, + -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/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/move_left/transforms.json b/dynpose_eval/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..73dda4a26092c0c194cf690a63b0bc65473d0035 --- /dev/null +++ b/dynpose_eval/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/move_left/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, + -0.0006719927093004716 + ], + [ + 0.0001462117797927931, + 1.0, + -7.287204061867669e-05, + 3.6245024547855735e-06 + ], + [ + -0.0011244481429457664, + 7.30364045011811e-05, + 0.9999993443489075, + 0.0003612614528986277 + ], + [ + 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, + -0.0014997877754421552 + ], + [ + 0.00046008056960999966, + 0.9999998211860657, + -0.0003939048619940877, + 0.00013214098421899094 + ], + [ + -0.004279180429875851, + 0.0003958700690418482, + 0.9999907612800598, + 0.0001165473840588638 + ], + [ + 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, + -0.002363432872560666 + ], + [ + 0.0015587233938276768, + 0.9999988079071045, + -8.429709123447537e-05, + 1.847222132103828e-05 + ], + [ + -0.007453242316842079, + 9.591241541784257e-05, + 0.9999722242355347, + 0.0007964970053625152 + ], + [ + 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, + -0.003041397010898124 + ], + [ + 0.0018650648416951299, + 0.9999979734420776, + -0.0007324466132558882, + 3.975610444386904e-05 + ], + [ + -0.012499069795012474, + 0.0007557023200206459, + 0.9999216198921204, + -6.504901295299688e-05 + ], + [ + 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, + -0.0036783351332438426 + ], + [ + 0.0022323133889585733, + 0.9999971389770508, + -0.0008826872799545527, + 0.00022202036508142648 + ], + [ + -0.013856133446097374, + 0.0009135360596701503, + 0.9999035596847534, + 0.0003551455071158331 + ], + [ + 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, + -0.004500289573193049 + ], + [ + 0.00323684886097908, + 0.999994695186615, + -0.00040062988409772515, + 0.00022367311987292135 + ], + [ + -0.017292605713009834, + 0.00045654590940102935, + 0.9998503923416138, + 0.0003167405292377666 + ], + [ + 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, + -0.0053188190974219896 + ], + [ + 0.003936393186450005, + 0.9999922513961792, + 0.00018474830721970648, + 0.0001623461152617396 + ], + [ + -0.020563732832670212, + -0.00010376311547588557, + 0.9997885227203369, + 0.00048091656832974596 + ], + [ + 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, + -0.0058495181603263145 + ], + [ + 0.004105954896658659, + 0.9999915361404419, + 0.0003575376176740974, + 0.00013370644142427906 + ], + [ + -0.025184011086821556, + -0.00025402192841283977, + 0.9996827840805054, + 0.001098362751766061 + ], + [ + 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, + -0.006516014970839024 + ], + [ + 0.004521728027611971, + 0.9999896883964539, + 0.0004634743672795594, + 0.00012593401611824944 + ], + [ + -0.02645575813949108, + -0.00034368998603895307, + 0.9996499419212341, + 0.0019714384657246145 + ], + [ + 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, + -0.007303208493712276 + ], + [ + 0.005488790571689606, + 0.999984860420227, + -0.0003298255614936352, + 0.00039874782904540424 + ], + [ + -0.02969367802143097, + 0.0004926699330098927, + 0.9995589256286621, + 0.0014719875574093124 + ], + [ + 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, + -0.00777644554877447 + ], + [ + 0.006003374699503183, + 0.9999818801879883, + -0.00039772834861651063, + 0.00026898142532445486 + ], + [ + -0.03294191509485245, + 0.00059528584824875, + 0.999457061290741, + 0.002067148900176916 + ], + [ + 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, + -0.008583309549386756 + ], + [ + 0.006849620025604963, + 0.9999763369560242, + -0.0006693146424368024, + 0.00011468692576851356 + ], + [ + -0.03837589547038078, + 0.0009317037183791399, + 0.9992629289627075, + 0.002150008842264387 + ], + [ + 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, + -0.00925393277788629 + ], + [ + 0.007131143007427454, + 0.999974250793457, + -0.0007777118589729071, + 0.00022332423832267524 + ], + [ + -0.03994673863053322, + 0.001061983872205019, + 0.999201238155365, + 0.0024051920169813916 + ], + [ + 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, + -0.010017111020708328 + ], + [ + 0.007404918782413006, + 0.9999722838401794, + -0.0007849653484299779, + 0.00020207734896114676 + ], + [ + -0.04323393478989601, + 0.0011044052662327886, + 0.9990643858909607, + 0.002926709284215714 + ], + [ + 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, + -0.010842915793711489 + ], + [ + 0.007498119026422501, + 0.9999713897705078, + -0.0009834428783506155, + 0.0004000789344762311 + ], + [ + -0.04668575897812843, + 0.0013324632309377193, + 0.9989087581634521, + 0.0031643009278923273 + ], + [ + 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, + -0.011588437635112896 + ], + [ + 0.008361885324120522, + 0.9999649524688721, + -0.0004333007091190666, + 0.0003009376126092228 + ], + [ + -0.052111003547906876, + 0.0008684884523972869, + 0.9986408948898315, + 0.0029350060565077295 + ], + [ + 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, + -0.012431749368481567 + ], + [ + 0.008643358945846558, + 0.9999626278877258, + -0.00025294802617281675, + 0.00042240567390120236 + ], + [ + -0.05352290719747543, + 0.0007152297766879201, + 0.9985663890838623, + 0.003859718448266086 + ], + [ + 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, + -0.012809629467400638 + ], + [ + 0.009254192002117634, + 0.9999569058418274, + -0.0007746684714220464, + 0.0005364649664525959 + ], + [ + -0.05681129917502403, + 0.0012992152478545904, + 0.9983841180801392, + 0.004437086456031962 + ], + [ + 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, + -0.013660887556357519 + ], + [ + 0.009817700833082199, + 0.9999516606330872, + -0.0005352874286472797, + 0.0005003986936627013 + ], + [ + -0.060010723769664764, + 0.0011235440615564585, + 0.998197078704834, + 0.005406421577238073 + ], + [ + 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, + -0.014727440596830971 + ], + [ + 0.010692953132092953, + 0.9999427795410156, + -0.00027672210126183927, + 3.590929290195075e-05 + ], + [ + -0.06550883501768112, + 0.0009766662260517478, + 0.9978514909744263, + 0.0043937324409871695 + ], + [ + 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, + -0.015384968838682681 + ], + [ + 0.010899966582655907, + 0.9999405145645142, + -0.0003340088005643338, + 0.00025018180498260665 + ], + [ + -0.06707616150379181, + 0.0010644474532455206, + 0.9977473020553589, + 0.00578354306123925 + ], + [ + 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, + -0.015605140363590588 + ], + [ + 0.011384447105228901, + 0.9999348521232605, + -0.000804756535217166, + 0.0003293795847437447 + ], + [ + -0.07038397341966629, + 0.0016041467897593975, + 0.9975186586380005, + 0.007135967744721307 + ], + [ + 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, + -0.015877429369573644 + ], + [ + 0.01214040257036686, + 0.9999257922172546, + -0.0010107153793796897, + 0.0006332563397455772 + ], + [ + -0.07403276115655899, + 0.0019068688852712512, + 0.9972540140151978, + 0.010883405349320835 + ], + [ + 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, + -0.01681797578366417 + ], + [ + 0.013266068883240223, + 0.9999109506607056, + -0.0014571056235581636, + 0.00019117417872290714 + ], + [ + -0.07976034283638, + 0.002510788617655635, + 0.9968109130859375, + 0.010317959901735639 + ], + [ + 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, + -0.017605754358675146 + ], + [ + 0.013416603207588196, + 0.9999088048934937, + -0.0015275066252797842, + 0.00031799443931591626 + ], + [ + -0.08116699010133743, + 0.0026116848457604647, + 0.9966970682144165, + 0.01104177346434256 + ], + [ + 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, + -0.018172790049904526 + ], + [ + 0.013941220007836819, + 0.9999014139175415, + -0.0016863375203683972, + 0.00027783657918035076 + ], + [ + -0.08359081298112869, + 0.0028460673056542873, + 0.9964960813522339, + 0.011552316844087057 + ], + [ + 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, + -0.019045619463378738 + ], + [ + 0.014344553463160992, + 0.9998951554298401, + -0.001975986175239086, + 0.0002635845364156094 + ], + [ + -0.08624205738306046, + 0.003206053748726845, + 0.9962690472602844, + 0.010994426923041995 + ], + [ + 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, + -0.020049735201955448 + ], + [ + 0.015422230586409569, + 0.9998796582221985, + -0.0016654238570481539, + 0.0003111351861129279 + ], + [ + -0.0913744568824768, + 0.003068016143515706, + 0.9958118796348572, + 0.011928562204720397 + ], + [ + 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, + -0.02093171338089789 + ], + [ + 0.015462498180568218, + 0.9998789429664612, + -0.0017280373722314835, + 0.0004705078315431948 + ], + [ + -0.09244418144226074, + 0.003150428179651499, + 0.9957128763198853, + 0.012393721234467294 + ], + [ + 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, + -0.02109459454588818 + ], + [ + 0.01649169810116291, + 0.9998607635498047, + -0.0025446966756135225, + 0.000380126898755517 + ], + [ + -0.09443929046392441, + 0.004091336391866207, + 0.9955222010612488, + 0.0137923171630863 + ], + [ + 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, + -0.022291870106651325 + ], + [ + 0.016811229288578033, + 0.9998540878295898, + -0.0030296016484498978, + 0.00032485158575435325 + ], + [ + -0.09732967615127563, + 0.004652095027267933, + 0.9952413439750671, + 0.01286947416198073 + ], + [ + 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, + -0.022656270498503946 + ], + [ + 0.017792508006095886, + 0.9998288154602051, + -0.005071447696536779, + 0.00041182932321621904 + ], + [ + -0.10277973115444183, + 0.006874355021864176, + 0.9946804046630859, + 0.012489411266840469 + ], + [ + 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, + -0.02342663320402305 + ], + [ + 0.018157176673412323, + 0.9998201131820679, + -0.005478742998093367, + 0.0003425440130134423 + ], + [ + -0.1041327640414238, + 0.007340886164456606, + 0.9945363402366638, + 0.012771866098046303 + ], + [ + 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, + -0.023966083824258265 + ], + [ + 0.018585296347737312, + 0.9998113512992859, + -0.005647864192724228, + 2.8024729802226113e-05 + ], + [ + -0.10663121938705444, + 0.007598705589771271, + 0.994269609451294, + 0.012021878649565308 + ], + [ + 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, + -0.02479650613597849 + ], + [ + 0.019286612048745155, + 0.9997955560684204, + -0.006072601769119501, + 7.017204512117629e-05 + ], + [ + -0.10997549444437027, + 0.008158286102116108, + 0.9939008355140686, + 0.012742011252828318 + ], + [ + 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, + -0.02601305703547868 + ], + [ + 0.020046910271048546, + 0.9997594356536865, + -0.008896755054593086, + -0.00034313327156599964 + ], + [ + -0.11695698648691177, + 0.011182451620697975, + 0.9930739998817444, + 0.012621698833324693 + ], + [ + 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, + -0.026859000272522075 + ], + [ + 0.020409442484378815, + 0.9997432231903076, + -0.009846330620348454, + -0.00013447375615324947 + ], + [ + -0.1186557412147522, + 0.012200863100588322, + 0.9928604960441589, + 0.013487221328823856 + ], + [ + 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, + -0.02676537215822574 + ], + [ + 0.02090948075056076, + 0.9997187852859497, + -0.011185732670128345, + -0.000112964056850872 + ], + [ + -0.12121633440256119, + 0.013640607707202435, + 0.9925323724746704, + 0.013646625287153505 + ], + [ + 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, + -0.027509415437552066 + ], + [ + 0.021338026970624924, + 0.9996983408927917, + -0.012164504267275333, + -0.00040538903258769137 + ], + [ + -0.12505562603473663, + 0.014740564860403538, + 0.99204021692276, + 0.01377471626143564 + ], + [ + 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, + -0.028272158362799234 + ], + [ + 0.022220538929104805, + 0.999657154083252, + -0.013849969021975994, + -0.0005749273328510389 + ], + [ + -0.1323762983083725, + 0.01667333021759987, + 0.9910593032836914, + 0.013613669389877658 + ], + [ + 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, + -0.02931865972814838 + ], + [ + 0.02302226796746254, + 0.9996331334114075, + -0.01426676008850336, + -0.0006846119742017393 + ], + [ + -0.13415968418121338, + 0.017230628058314323, + 0.9908099174499512, + 0.014462602958835738 + ], + [ + 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, + -0.029185030344083457 + ], + [ + 0.023022832348942757, + 0.999625563621521, + -0.01478908583521843, + -0.00047226551122906985 + ], + [ + -0.1360829919576645, + 0.017788823693990707, + 0.990537703037262, + 0.015123796141283079 + ], + [ + 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, + -0.030239638208289343 + ], + [ + 0.02401633933186531, + 0.99959397315979, + -0.015334092080593109, + -0.0007272104539842619 + ], + [ + -0.14020061492919922, + 0.01855461299419403, + 0.9899492263793945, + 0.014977446843804133 + ], + [ + 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, + -0.030880652533637164 + ], + [ + 0.025477686896920204, + 0.9995409250259399, + -0.01639449968934059, + -0.0007431363479958643 + ], + [ + -0.14789500832557678, + 0.01998809725046158, + 0.9888010621070862, + 0.015280591054923007 + ], + [ + 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, + -0.03211546867069874 + ], + [ + 0.025668993592262268, + 0.9995380640029907, + -0.016271226108074188, + -0.0011803694836668333 + ], + [ + -0.149714395403862, + 0.01993679255247116, + 0.9885282516479492, + 0.014810006726871838 + ], + [ + 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, + -0.03206908415551439 + ], + [ + 0.02593199908733368, + 0.9995285272598267, + -0.016441194340586662, + -0.000761573410868137 + ], + [ + -0.15127603709697723, + 0.020180998370051384, + 0.9882855415344238, + 0.017464099402981575 + ], + [ + 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, + -0.03286349324302541 + ], + [ + 0.02620084024965763, + 0.9995003938674927, + -0.017675625160336494, + -0.000918472158743746 + ], + [ + -0.15492312610149384, + 0.02152794413268566, + 0.9876919388771057, + 0.0160543347774732 + ], + [ + 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, + -0.033385403792966506 + ], + [ + 0.02762346900999546, + 0.9994674921035767, + -0.017369097098708153, + -0.0012739866888185852 + ], + [ + -0.16253402829170227, + 0.02163529209792614, + 0.9864656925201416, + 0.016765645321345692 + ], + [ + 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, + -0.034516912328098164 + ], + [ + 0.028125081211328506, + 0.9994491338729858, + -0.017619505524635315, + -0.0014403255074358467 + ], + [ + -0.16466055810451508, + 0.02201789617538452, + 0.9861044883728027, + 0.01671753636740073 + ], + [ + 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, + -0.03472979074212337 + ], + [ + 0.028659695759415627, + 0.999426007270813, + -0.01806476339697838, + -0.0011143349593204233 + ], + [ + -0.16659227013587952, + 0.022595100104808807, + 0.9857669472694397, + 0.018044470216740265 + ], + [ + 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, + -0.035349852174068955 + ], + [ + 0.029381174594163895, + 0.9994022846221924, + -0.018215391784906387, + -0.0012425777592315257 + ], + [ + -0.1703646183013916, + 0.02296346426010132, + 0.9851135015487671, + 0.01707026814533906 + ], + [ + 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, + -0.03577002558217507 + ], + [ + 0.030838819220662117, + 0.999343991279602, + -0.018987338989973068, + -0.0012474124763170353 + ], + [ + -0.17829027771949768, + 0.024191606789827347, + 0.9836804866790771, + 0.017181096604150355 + ], + [ + 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, + -0.036740814992273704 + ], + [ + 0.030841108411550522, + 0.9993411302566528, + -0.019134413450956345, + -0.0013090989706482778 + ], + [ + -0.18006016314029694, + 0.024385210126638412, + 0.983353316783905, + 0.017972641656495106 + ], + [ + 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, + -0.03719793141565541 + ], + [ + 0.030974332243204117, + 0.9993324875831604, + -0.01936873234808445, + -0.0011549896528859711 + ], + [ + -0.18175694346427917, + 0.024686390534043312, + 0.9830335974693298, + 0.01890369286252694 + ], + [ + 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, + -0.037630294553107686 + ], + [ + 0.031733639538288116, + 0.99931401014328, + -0.019090047106146812, + -0.0014680379730028412 + ], + [ + -0.18545468151569366, + 0.024655045941472054, + 0.9823434948921204, + 0.018949438507358234 + ], + [ + 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, + -0.03844928052840812 + ], + [ + 0.03329186514019966, + 0.9992466568946838, + -0.01994507946074009, + -0.0017408699459264603 + ], + [ + -0.19328740239143372, + 0.02601657621562481, + 0.9807971715927124, + 0.018867637781482757 + ], + [ + 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, + -0.039027602011055665 + ], + [ + 0.03366999700665474, + 0.9992319345474243, + -0.020047320052981377, + -0.001902659581250963 + ], + [ + -0.19480079412460327, + 0.02623532898724079, + 0.9804918766021729, + 0.0186323789795014 + ], + [ + 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, + -0.039755620258023046 + ], + [ + 0.03451426327228546, + 0.9992008805274963, + -0.02015981823205948, + -0.0017904709548350762 + ], + [ + -0.19632640480995178, + 0.02655751258134842, + 0.9801788926124573, + 0.01858045890400506 + ], + [ + 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, + -0.0404371326883333 + ], + [ + 0.03482615575194359, + 0.9991863369941711, + -0.02034161612391472, + -0.0021750784985899853 + ], + [ + -0.19993312656879425, + 0.026908189058303833, + 0.9794399738311768, + 0.01858002654831819 + ], + [ + 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, + -0.04094321687113155 + ], + [ + 0.035403214395046234, + 0.9991679787635803, + -0.020248685032129288, + -0.0021109830572227524 + ], + [ + -0.20810562372207642, + 0.02718794345855713, + 0.9777284264564514, + 0.01902302261441946 + ], + [ + 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, + -0.041820197225068564 + ], + [ + 0.03521477058529854, + 0.9991747736930847, + -0.02024027146399021, + -0.002129391975963378 + ], + [ + -0.21001645922660828, + 0.027199337258934975, + 0.9773194193840027, + 0.019571318654249416 + ], + [ + 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, + -0.04253663296877134 + ], + [ + 0.03599321469664574, + 0.9991483092308044, + -0.020177822560071945, + -0.002077132614559936 + ], + [ + -0.21179835498332977, + 0.027358930557966232, + 0.9769303798675537, + 0.020279522739689457 + ], + [ + 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, + -0.0428377832540057 + ], + [ + 0.037370115518569946, + 0.9990905523300171, + -0.020532172173261642, + -0.0022341432788049466 + ], + [ + -0.2153431475162506, + 0.028115112334489822, + 0.9761336445808411, + 0.020691617248071868 + ], + [ + 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, + -0.04336317499553918 + ], + [ + 0.03843672201037407, + 0.9990527629852295, + -0.02040143869817257, + -0.0023657912599520216 + ], + [ + -0.22253698110580444, + 0.02846193127334118, + 0.9745087027549744, + 0.021196090015159416 + ], + [ + 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, + -0.04417255993067015 + ], + [ + 0.03895608335733414, + 0.9990358352661133, + -0.020245149731636047, + -0.002785105895276906 + ], + [ + -0.22433795034885406, + 0.028487492352724075, + 0.9740949273109436, + 0.020773242524063047 + ], + [ + 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, + -0.044891164203484865 + ], + [ + 0.039415810257196426, + 0.9990173578262329, + -0.02026691660284996, + -0.002760860812850297 + ], + [ + -0.2260907143354416, + 0.02867329865694046, + 0.9736841320991516, + 0.021323899490137896 + ], + [ + 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, + -0.04517433455947674 + ], + [ + 0.04066598042845726, + 0.9989604353904724, + -0.020600290969014168, + -0.0021800297208958205 + ], + [ + -0.2295360267162323, + 0.0294059906154871, + 0.9728558659553528, + 0.02401744178637411 + ], + [ + 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, + -0.0455355510190882 + ], + [ + 0.04138178005814552, + 0.9989354610443115, + -0.020382976159453392, + -0.002328868642816264 + ], + [ + -0.23644961416721344, + 0.029612021520733833, + 0.9711924195289612, + 0.02428852799677789 + ], + [ + 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, + -0.04647513707027291 + ], + [ + 0.04154057428240776, + 0.998933732509613, + -0.020143790170550346, + -0.0024120193638020393 + ], + [ + -0.23851598799228668, + 0.029492927715182304, + 0.9706906080245972, + 0.024900689709818725 + ], + [ + 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, + -0.04700881176900985 + ], + [ + 0.0421367883682251, + 0.9989094734191895, + -0.02010730281472206, + -0.0022896878371918296 + ], + [ + -0.24007248878479004, + 0.029658377170562744, + 0.9703018069267273, + 0.02451393921680824 + ], + [ + 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, + -0.04772556019627085 + ], + [ + 0.043022070080041885, + 0.9988752603530884, + -0.019931990653276443, + -0.002118880300538031 + ], + [ + -0.24406060576438904, + 0.02985365316271782, + 0.969300389289856, + 0.0252424826130572 + ], + [ + 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, + -0.04798756709153003 + ], + [ + 0.044427432119846344, + 0.998826265335083, + -0.019295239821076393, + -0.0020654866429553795 + ], + [ + -0.25138652324676514, + 0.029870228841900826, + 0.9674257636070251, + 0.02642304790629582 + ], + [ + 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, + -0.04890834374560252 + ], + [ + 0.04470992088317871, + 0.9988219141960144, + -0.01886436901986599, + -0.002404537738413748 + ], + [ + -0.25336146354675293, + 0.029602957889437675, + 0.9669186472892761, + 0.02643168819221584 + ], + [ + 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, + -0.04925984178453384 + ], + [ + 0.04542551562190056, + 0.9987949728965759, + -0.0185776986181736, + -0.002433433859712548 + ], + [ + -0.2548992335796356, + 0.029570192098617554, + 0.9665153622627258, + 0.026789979037424232 + ], + [ + 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, + -0.05022943239997735 + ], + [ + 0.04573097825050354, + 0.9987821578979492, + -0.01851830631494522, + -0.0021988281443940877 + ], + [ + -0.2587513029575348, + 0.0297483392059803, + 0.9654858112335205, + 0.02875895803850709 + ], + [ + 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, + -0.050197078242446444 + ], + [ + 0.046424366533756256, + 0.9987545013427734, + -0.018281521275639534, + -0.0024313096140483118 + ], + [ + -0.26592472195625305, + 0.029997484758496284, + 0.9635269641876221, + 0.02947719292244827 + ], + [ + 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, + -0.05109283605383502 + ], + [ + 0.04683170095086098, + 0.9987401962280273, + -0.018021132797002792, + -0.003016920819775098 + ], + [ + -0.26785504817962646, + 0.029936064034700394, + 0.9629940390586853, + 0.028098447155207394 + ], + [ + 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, + -0.05179972502995622 + ], + [ + 0.047377023845911026, + 0.9987152814865112, + -0.01797661744058132, + -0.003051786662686165 + ], + [ + -0.26958808302879333, + 0.030113546177744865, + 0.9625048041343689, + 0.027526999075868818 + ], + [ + 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, + -0.05214388557154724 + ], + [ + 0.047806594520807266, + 0.9986976981163025, + -0.01781631074845791, + -0.002797760638511844 + ], + [ + -0.2731163501739502, + 0.030226612463593483, + 0.9615060091018677, + 0.029170252953778317 + ], + [ + 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, + -0.05243397191768946 + ], + [ + 0.048580799251794815, + 0.9986708760261536, + -0.017215143889188766, + -0.0029794303606254895 + ], + [ + -0.2809295654296875, + 0.03020160272717476, + 0.9592530727386475, + 0.029773237296577663 + ], + [ + 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, + -0.053194327042861436 + ], + [ + 0.0491655059158802, + 0.9986438751220703, + -0.017120471224188805, + -0.0035595808135853576 + ], + [ + -0.2828879952430725, + 0.03036242537200451, + 0.958672285079956, + 0.02878483298488639 + ], + [ + 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, + -0.053730604997036455 + ], + [ + 0.049761898815631866, + 0.9986082315444946, + -0.017473168671131134, + -0.0030057402435840694 + ], + [ + -0.28475067019462585, + 0.030953887850046158, + 0.958101749420166, + 0.031213937913340456 + ], + [ + 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, + -0.054724276434592545 + ], + [ + 0.05007600784301758, + 0.9985957741737366, + -0.017288586124777794, + -0.0031270726997819215 + ], + [ + -0.28819286823272705, + 0.031021492555737495, + 0.9570697546005249, + 0.0307559618293637 + ], + [ + 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, + -0.054554267701777556 + ], + [ + 0.05141720920801163, + 0.998530387878418, + -0.017127685248851776, + -0.0032229560512033375 + ], + [ + -0.2950986623764038, + 0.03157554566860199, + 0.954944908618927, + 0.030483523759087833 + ], + [ + 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, + -0.05537810893447111 + ], + [ + 0.05172959342598915, + 0.9985193014144897, + -0.016828401014208794, + -0.003556776436685463 + ], + [ + -0.29680708050727844, + 0.03146164119243622, + 0.9544190764427185, + 0.029687138993970377 + ], + [ + 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, + -0.05613515523798539 + ], + [ + 0.05217790603637695, + 0.9984990954399109, + -0.0166422501206398, + -0.0035269358689247665 + ], + [ + -0.2985427975654602, + 0.031499262899160385, + 0.9538763165473938, + 0.030654576882682364 + ], + [ + 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, + -0.056376408379186296 + ], + [ + 0.053299177438020706, + 0.9984463453292847, + -0.016250930726528168, + -0.0034191793642204373 + ], + [ + -0.30204135179519653, + 0.031631093472242355, + 0.952769935131073, + 0.031721620984149705 + ], + [ + 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, + -0.05688792044917744 + ], + [ + 0.05446667596697807, + 0.9983948469161987, + -0.015526307746767998, + -0.0034889667708840645 + ], + [ + -0.30939698219299316, + 0.03165893256664276, + 0.9504058361053467, + 0.0317810631564094 + ], + [ + 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, + -0.05758265688488581 + ], + [ + 0.0544075109064579, + 0.998401403427124, + -0.015310889109969139, + -0.0037251293689783936 + ], + [ + -0.31098997592926025, + 0.031514234840869904, + 0.9498905539512634, + 0.031948518352300836 + ], + [ + 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, + -0.05844690972431141 + ], + [ + 0.05453957989811897, + 0.9983957409858704, + -0.015209339559078217, + -0.003787153802642769 + ], + [ + -0.31273406744003296, + 0.03154547140002251, + 0.9493167400360107, + 0.0327064051208171 + ], + [ + 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, + -0.05898012270530066 + ], + [ + 0.055212803184986115, + 0.9983643293380737, + -0.014838993549346924, + -0.003692989663051611 + ], + [ + -0.3156352937221527, + 0.031551361083984375, + 0.9483559131622314, + 0.03314098980221333 + ], + [ + 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, + -0.059140482853458395 + ], + [ + 0.05577855929732323, + 0.9983327984809875, + -0.01484574656933546, + -0.0039437138701252875 + ], + [ + -0.3214590847492218, + 0.03203367069363594, + 0.9463814496994019, + 0.03315417390514279 + ], + [ + 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, + -0.05999634569567262 + ], + [ + 0.05612236633896828, + 0.9983156323432922, + -0.014702387154102325, + -0.004280334972127369 + ], + [ + -0.3229643702507019, + 0.032086070626974106, + 0.9458670616149902, + 0.03288215757065425 + ], + [ + 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, + -0.06062804783384007 + ], + [ + 0.05634462088346481, + 0.9983052611351013, + -0.01455640234053135, + -0.004555052552240516 + ], + [ + -0.3243270814418793, + 0.03209009766578674, + 0.9454005360603333, + 0.033169536042789174 + ], + [ + 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, + -0.06181520328979301 + ], + [ + 0.056756217032670975, + 0.9982831478118896, + -0.014472145587205887, + -0.004922408745812271 + ], + [ + -0.32713791728019714, + 0.03229039907455444, + 0.9444247484207153, + 0.03377810712301671 + ], + [ + 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, + -0.061841885880990474 + ], + [ + 0.057908035814762115, + 0.9982154369354248, + -0.014580415561795235, + -0.005343108642564128 + ], + [ + -0.3331160247325897, + 0.03308834135532379, + 0.9423050880432129, + 0.03342016289913745 + ], + [ + 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, + -0.06287530672294325 + ], + [ + 0.05814748257398605, + 0.9982019066810608, + -0.01455256249755621, + -0.005480210004477866 + ], + [ + -0.33484622836112976, + 0.03323417156934738, + 0.9416865110397339, + 0.034479728711750174 + ], + [ + 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, + -0.06302014986673993 + ], + [ + 0.05846580117940903, + 0.9981817007064819, + -0.014666134491562843, + -0.005365115065231092 + ], + [ + -0.3362181782722473, + 0.03352179378271103, + 0.9411873817443848, + 0.034995715272603464 + ], + [ + 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, + -0.06331986412405968 + ], + [ + 0.05979776754975319, + 0.9981088042259216, + -0.014250554144382477, + -0.005526833812473342 + ], + [ + -0.3438907861709595, + 0.034000836312770844, + 0.9383938908576965, + 0.035164290049578995 + ], + [ + 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/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/move_right/transforms.json b/dynpose_eval/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..106df6b3014f87b9af4efb275216b9e033a5a730 --- /dev/null +++ b/dynpose_eval/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/move_right/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, + 0.0013482079863538874 + ], + [ + 0.0001462117797927931, + 1.0, + -7.287204061867669e-05, + 3.919879787700307e-06 + ], + [ + -0.0011244481429457664, + 7.30364045011811e-05, + 0.9999993443489075, + 0.0003589898404886363 + ], + [ + 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, + 0.0025405789368005117 + ], + [ + 0.00046008056960999966, + 0.9999998211860657, + -0.0003939048619940877, + 0.00013399989561135457 + ], + [ + -0.004279180429875851, + 0.0003958700690418482, + 0.9999907612800598, + 9.92577661603755e-05 + ], + [ + 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, + 0.003696997625273512 + ], + [ + 0.0015587233938276768, + 0.9999988079071045, + -8.429709123447537e-05, + 2.7919029768478747e-05 + ], + [ + -0.007453242316842079, + 9.591241541784257e-05, + 0.9999722242355347, + 0.0007513258398058965 + ], + [ + 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, + 0.0050387656539584505 + ], + [ + 0.0018650648416951299, + 0.9999979734420776, + -0.0007324466132558882, + 5.4827335487870085e-05 + ], + [ + -0.012499069795012474, + 0.0007557023200206459, + 0.9999216198921204, + -0.0001660515971551179 + ], + [ + 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, + 0.0064216803528857665 + ], + [ + 0.0022323133889585733, + 0.9999971389770508, + -0.0008826872799545527, + 0.0002445689851719171 + ], + [ + -0.013856133446097374, + 0.0009135360596701503, + 0.9999035596847534, + 0.00021518456321585958 + ], + [ + 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, + 0.007619046266049599 + ], + [ + 0.00323684886097908, + 0.999994695186615, + -0.00040062988409772515, + 0.0002629076515211526 + ], + [ + -0.017292605713009834, + 0.00045654590940102935, + 0.9998503923416138, + 0.00010713318726188981 + ], + [ + 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, + 0.008819494879983292 + ], + [ + 0.003936393186450005, + 0.9999922513961792, + 0.00018474830721970648, + 0.00021801228153477 + ], + [ + -0.020563732832670212, + -0.00010376311547588557, + 0.9997885227203369, + 0.0001901163060495611 + ], + [ + 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, + 0.010306835453016592 + ], + [ + 0.004105954896658659, + 0.9999915361404419, + 0.0003575376176740974, + 0.00020006530844098464 + ], + [ + -0.025184011086821556, + -0.00025402192841283977, + 0.9996827840805054, + 0.0006913484311709651 + ], + [ + 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, + 0.01165925320237875 + ], + [ + 0.004521728027611971, + 0.9999896883964539, + 0.0004634743672795594, + 0.00020814725298392162 + ], + [ + -0.02645575813949108, + -0.00034368998603895307, + 0.9996499419212341, + 0.0014904246813702312 + ], + [ + 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, + 0.01288959887725386 + ], + [ + 0.005488790571689606, + 0.999984860420227, + -0.0003298255614936352, + 0.0005096324870593357 + ], + [ + -0.02969367802143097, + 0.0004926699330098927, + 0.9995589256286621, + 0.0008721152741480807 + ], + [ + 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, + 0.014433315329046716 + ], + [ + 0.006003374699503183, + 0.9999818801879883, + -0.00039772834861651063, + 0.00040238975198008124 + ], + [ + -0.03294191509485245, + 0.00059528584824875, + 0.999457061290741, + 0.0013351063425135281 + ], + [ + 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, + 0.015640688549275653 + ], + [ + 0.006849620025604963, + 0.9999763369560242, + -0.0006693146424368024, + 0.0002807383203286339 + ], + [ + -0.03837589547038078, + 0.0009317037183791399, + 0.9992629289627075, + 0.0012196841035884889 + ], + [ + 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, + 0.016987063139771122 + ], + [ + 0.007131143007427454, + 0.999974250793457, + -0.0007777118589729071, + 0.0004106067819520831 + ], + [ + -0.03994673863053322, + 0.001061983872205019, + 0.999201238155365, + 0.0013560857499168829 + ], + [ + 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, + 0.018238495158577207 + ], + [ + 0.007404918782413006, + 0.9999722838401794, + -0.0007849653484299779, + 0.00041150939533242376 + ], + [ + -0.04323393478989601, + 0.0011044052662327886, + 0.9990643858909607, + 0.0017039313305620893 + ], + [ + 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, + 0.01942621933465654 + ], + [ + 0.007498119026422501, + 0.9999713897705078, + -0.0009834428783506155, + 0.0006272946625496402 + ], + [ + -0.04668575897812843, + 0.0013324632309377193, + 0.9989087581634521, + 0.0017495809588581324 + ], + [ + 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, + 0.020689744654704228 + ], + [ + 0.008361885324120522, + 0.9999649524688721, + -0.0004333007091190666, + 0.0005712207746009973 + ], + [ + -0.052111003547906876, + 0.0008684884523972869, + 0.9986408948898315, + 0.0012506099822319516 + ], + [ + 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, + 0.021861172506980827 + ], + [ + 0.008643358945846558, + 0.9999626278877258, + -0.00025294802617281675, + 0.0007192483043646196 + ], + [ + -0.05352290719747543, + 0.0007152297766879201, + 0.9985663890838623, + 0.002021557999059859 + ], + [ + 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, + 0.023493717339905826 + ], + [ + 0.009254192002117634, + 0.9999569058418274, + -0.0007746684714220464, + 0.0008729810392568735 + ], + [ + -0.05681129917502403, + 0.0012992152478545904, + 0.9983841180801392, + 0.0023712210314856333 + ], + [ + 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, + 0.024651919791681902 + ], + [ + 0.009817700833082199, + 0.9999516606330872, + -0.0005352874286472797, + 0.0008772397357406038 + ], + [ + -0.060010723769664764, + 0.0011235440615564585, + 0.998197078704834, + 0.0031029796547660925 + ], + [ + 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, + 0.025587496281874306 + ], + [ + 0.010692953132092953, + 0.9999427795410156, + -0.00027672210126183927, + 0.00046794780328954493 + ], + [ + -0.06550883501768112, + 0.0009766662260517478, + 0.9978514909744263, + 0.0017469108241111638 + ], + [ + 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, + 0.02694120118676713 + ], + [ + 0.010899966582655907, + 0.9999405145645142, + -0.0003340088005643338, + 0.0007126046297013421 + ], + [ + -0.06707616150379181, + 0.0010644474532455206, + 0.9977473020553589, + 0.0029378877247147484 + ], + [ + 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, + 0.028726193008737435 + ], + [ + 0.011384447105228901, + 0.9999348521232605, + -0.000804756535217166, + 0.0008353550116428071 + ], + [ + -0.07038397341966629, + 0.0016041467897593975, + 0.9975186586380005, + 0.004007791148291693 + ], + [ + 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, + 0.030456274721508077 + ], + [ + 0.01214040257036686, + 0.9999257922172546, + -0.0010107153793796897, + 0.0011973558531161587 + ], + [ + -0.07403276115655899, + 0.0019068688852712512, + 0.9972540140151978, + 0.0074434992753797105 + ], + [ + 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, + 0.0315081234964909 + ], + [ + 0.013266068883240223, + 0.9999109506607056, + -0.0014571056235581636, + 0.0008343775185163726 + ], + [ + -0.07976034283638, + 0.002510788617655635, + 0.9968109130859375, + 0.006450791764214183 + ], + [ + 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, + 0.03272809535076823 + ], + [ + 0.013416603207588196, + 0.9999088048934937, + -0.0015275066252797842, + 0.0009956006619213807 + ], + [ + -0.08116699010133743, + 0.0026116848457604647, + 0.9966970682144165, + 0.006942430529931579 + ], + [ + 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, + 0.03416350924908513 + ], + [ + 0.013941220007836819, + 0.9999014139175415, + -0.0016863375203683972, + 0.0010101026806020826 + ], + [ + -0.08359081298112869, + 0.0028460673056542873, + 0.9964960813522339, + 0.007161688283462114 + ], + [ + 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, + 0.03529097715562041 + ], + [ + 0.014344553463160992, + 0.9998951554298401, + -0.001975986175239086, + 0.0010460147253153 + ], + [ + -0.08624205738306046, + 0.003206053748726845, + 0.9962690472602844, + 0.006290314702147787 + ], + [ + 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, + 0.036272530673504486 + ], + [ + 0.015422230586409569, + 0.9998796582221985, + -0.0016654238570481539, + 0.001183503784940136 + ], + [ + -0.0913744568824768, + 0.003068016143515706, + 0.9958118796348572, + 0.006759906057832818 + ], + [ + 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, + 0.03739623735197867 + ], + [ + 0.015462498180568218, + 0.9998789429664612, + -0.0017280373722314835, + 0.0013763915633340602 + ], + [ + -0.09244418144226074, + 0.003150428179651499, + 0.9957128763198853, + 0.006977799493405554 + ], + [ + 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, + 0.03923231402807163 + ], + [ + 0.01649169810116291, + 0.9998607635498047, + -0.0025446966756135225, + 0.001379623753371451 + ], + [ + -0.09443929046392441, + 0.004091336391866207, + 0.9955222010612488, + 0.008068723801636334 + ], + [ + 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, + 0.04002816348214342 + ], + [ + 0.016811229288578033, + 0.9998540878295898, + -0.0030296016484498978, + 0.0013776760462511596 + ], + [ + -0.09732967615127563, + 0.004652095027267933, + 0.9952413439750671, + 0.006774080302001852 + ], + [ + 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, + 0.04163754657851627 + ], + [ + 0.017792508006095886, + 0.9998288154602051, + -0.005071447696536779, + 0.0015620520630042361 + ], + [ + -0.10277973115444183, + 0.006874355021864176, + 0.9946804046630859, + 0.005845065010391701 + ], + [ + 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, + 0.04286654281119506 + ], + [ + 0.018157176673412323, + 0.9998201131820679, + -0.005478742998093367, + 0.0015530224579075973 + ], + [ + -0.1041327640414238, + 0.007340886164456606, + 0.9945363402366638, + 0.005829681828618049 + ], + [ + 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, + 0.04431724600456279 + ], + [ + 0.018585296347737312, + 0.9998113512992859, + -0.005647864192724228, + 0.001304590539545799 + ], + [ + -0.10663121938705444, + 0.007598705589771271, + 0.994269609451294, + 0.0046977140856060105 + ], + [ + 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, + 0.045468445613302974 + ], + [ + 0.019286612048745155, + 0.9997955560684204, + -0.006072601769119501, + 0.001433871886951642 + ], + [ + -0.10997549444437027, + 0.008158286102116108, + 0.9939008355140686, + 0.004965966191105168 + ], + [ + 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, + 0.04620037163523111 + ], + [ + 0.020046910271048546, + 0.9997594356536865, + -0.008896755054593086, + 0.001114823839055713 + ], + [ + -0.11695698648691177, + 0.011182451620697975, + 0.9930739998817444, + 0.0041157361797311085 + ], + [ + 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, + 0.04734473670221339 + ], + [ + 0.020409442484378815, + 0.9997432231903076, + -0.009846330620348454, + 0.0013910805305578943 + ], + [ + -0.1186557412147522, + 0.012200863100588322, + 0.9928604960441589, + 0.0046180043087312665 + ], + [ + 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, + 0.0494193225365245 + ], + [ + 0.02090948075056076, + 0.9997187852859497, + -0.011185732670128345, + 0.001492208202788136 + ], + [ + -0.12121633440256119, + 0.013640607707202435, + 0.9925323724746704, + 0.004341128908775069 + ], + [ + 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, + 0.05064187562939796 + ], + [ + 0.021338026970624924, + 0.9996983408927917, + -0.012164504267275333, + 0.0012757888499463938 + ], + [ + -0.12505562603473663, + 0.014740564860403538, + 0.99204021692276, + 0.00392184875566851 + ], + [ + 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, + 0.05180464208953912 + ], + [ + 0.022220538929104805, + 0.999657154083252, + -0.013849969021975994, + 0.0012206717725311682 + ], + [ + -0.1323762983083725, + 0.01667333021759987, + 0.9910593032836914, + 0.0029165947791000794 + ], + [ + 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, + 0.052738678803422846 + ], + [ + 0.02302226796746254, + 0.9996331334114075, + -0.01426676008850336, + 0.0012222829483557645 + ], + [ + -0.13415968418121338, + 0.017230628058314323, + 0.9908099174499512, + 0.003350386693321092 + ], + [ + 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, + 0.05485144417281404 + ], + [ + 0.023022832348942757, + 0.999625563621521, + -0.01478908583521843, + 0.0014811869304994065 + ], + [ + -0.1360829919576645, + 0.017788823693990707, + 0.990537703037262, + 0.003577360460026697 + ], + [ + 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, + 0.05574575093283196 + ], + [ + 0.02401633933186531, + 0.99959397315979, + -0.015334092080593109, + 0.0013590574071676745 + ], + [ + -0.14020061492919922, + 0.01855461299419403, + 0.9899492263793945, + 0.0027984035267221803 + ], + [ + 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, + 0.05700155364142525 + ], + [ + 0.025477686896920204, + 0.9995409250259399, + -0.01639449968934059, + 0.0015215469317303766 + ], + [ + -0.14789500832557678, + 0.01998809725046158, + 0.9888010621070862, + 0.0021343680926495115 + ], + [ + 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, + 0.057738717560741046 + ], + [ + 0.025668993592262268, + 0.9995380640029907, + -0.016271226108074188, + 0.0011531753883570095 + ], + [ + -0.149714395403862, + 0.01993679255247116, + 0.9885282516479492, + 0.0011996071447025634 + ], + [ + 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, + 0.059759124103143366 + ], + [ + 0.02593199908733368, + 0.9995285272598267, + -0.016441194340586662, + 0.001648268928560852 + ], + [ + -0.15127603709697723, + 0.020180998370051384, + 0.9882855415344238, + 0.0034061242384139925 + ], + [ + 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, + 0.0609066385568844 + ], + [ + 0.02620084024965763, + 0.9995003938674927, + -0.017675625160336494, + 0.0015692843902136455 + ], + [ + -0.15492312610149384, + 0.02152794413268566, + 0.9876919388771057, + 0.00134446219813944 + ], + [ + 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, + 0.06225737963210454 + ], + [ + 0.02762346900999546, + 0.9994674921035767, + -0.017369097098708153, + 0.0014046527303324902 + ], + [ + -0.16253402829170227, + 0.02163529209792614, + 0.9864656925201416, + 0.0010047698506351656 + ], + [ + 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, + 0.06308210119793212 + ], + [ + 0.028125081211328506, + 0.9994491338729858, + -0.017619505524635315, + 0.0013437734407562684 + ], + [ + -0.16466055810451508, + 0.02201789617538452, + 0.9861044883728027, + 0.00041780435301438587 + ], + [ + 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, + 0.0648267034986856 + ], + [ + 0.028659695759415627, + 0.999426007270813, + -0.01806476339697838, + 0.0017805838042569133 + ], + [ + -0.16659227013587952, + 0.022595100104808807, + 0.9857669472694397, + 0.001216968182813036 + ], + [ + 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, + 0.06612912076666501 + ], + [ + 0.029381174594163895, + 0.9994022846221924, + -0.018215391784906387, + 0.0017845735625914216 + ], + [ + -0.1703646183013916, + 0.02296346426010132, + 0.9851135015487671, + -0.0004824501038952333 + ], + [ + 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, + 0.06754657673941117 + ], + [ + 0.030838819220662117, + 0.999343991279602, + -0.018987338989973068, + 0.001992221057974743 + ], + [ + -0.17829027771949768, + 0.024191606789827347, + 0.9836804866790771, + -0.0015483871158776877 + ], + [ + 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, + 0.06852810616144027 + ], + [ + 0.030841108411550522, + 0.9993411302566528, + -0.019134413450956345, + 0.0019930803138207684 + ], + [ + -0.18006016314029694, + 0.024385210126638412, + 0.983353316783905, + -0.001306527326203356 + ], + [ + 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, + 0.07002267495475034 + ], + [ + 0.030974332243204117, + 0.9993324875831604, + -0.01936873234808445, + 0.0022240284100090244 + ], + [ + -0.18175694346427917, + 0.024686390534043312, + 0.9830335974693298, + -0.0009243373335762473 + ], + [ + 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, + 0.07149640574223465 + ], + [ + 0.031733639538288116, + 0.99931401014328, + -0.019090047106146812, + 0.0020579219756958387 + ], + [ + -0.18545468151569366, + 0.024655045941472054, + 0.9823434948921204, + -0.0016566372166077308 + ], + [ + 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, + 0.07248470243630989 + ], + [ + 0.03329186514019966, + 0.9992466568946838, + -0.01994507946074009, + 0.002025482473974916 + ], + [ + -0.19328740239143372, + 0.02601657621562481, + 0.9807971715927124, + -0.002999219862800658 + ], + [ + 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, + 0.07385136612662764 + ], + [ + 0.03366999700665474, + 0.9992319345474243, + -0.020047320052981377, + 0.001974491589212311 + ], + [ + -0.19480079412460327, + 0.02623532898724079, + 0.9804918766021729, + -0.0037992276166650407 + ], + [ + 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, + 0.07506457735793759 + ], + [ + 0.03451426327228546, + 0.9992008805274963, + -0.02015981823205948, + 0.0022536245396953414 + ], + [ + -0.19632640480995178, + 0.02655751258134842, + 0.9801788926124573, + -0.0044234430737266645 + ], + [ + 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, + 0.076274451436569 + ], + [ + 0.03482615575194359, + 0.9991863369941711, + -0.02034161612391472, + 0.001975917843560867 + ], + [ + -0.19993312656879425, + 0.026908189058303833, + 0.9794399738311768, + -0.00525038651745729 + ], + [ + 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, + 0.07753744382749905 + ], + [ + 0.035403214395046234, + 0.9991679787635803, + -0.020248685032129288, + 0.0021803156573283063 + ], + [ + -0.20810562372207642, + 0.02718794345855713, + 0.9777284264564514, + -0.006201901473104954 + ], + [ + 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, + 0.07858560499594068 + ], + [ + 0.03521477058529854, + 0.9991747736930847, + -0.02024027146399021, + 0.0022102060153562403 + ], + [ + -0.21001645922660828, + 0.027199337258934975, + 0.9773194193840027, + -0.006309497533272012 + ], + [ + 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, + 0.07979129056512105 + ], + [ + 0.03599321469664574, + 0.9991483092308044, + -0.020177822560071945, + 0.002431108418151247 + ], + [ + -0.21179835498332977, + 0.027358930557966232, + 0.9769303798675537, + -0.0062487560663033615 + ], + [ + 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, + 0.08135789216242054 + ], + [ + 0.037370115518569946, + 0.9990905523300171, + -0.020532172173261642, + 0.00252205324174032 + ], + [ + -0.2153431475162506, + 0.028115112334489822, + 0.9761336445808411, + -0.006715692435814578 + ], + [ + 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, + 0.08258963619744539 + ], + [ + 0.03843672201037407, + 0.9990527629852295, + -0.02040143869817257, + 0.0026038051211872528 + ], + [ + -0.22253698110580444, + 0.02846193127334118, + 0.9745087027549744, + -0.007576368148015307 + ], + [ + 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, + 0.08369129995881308 + ], + [ + 0.03895608335733414, + 0.9990358352661133, + -0.020245149731636047, + 0.0023303393940700013 + ], + [ + -0.22433795034885406, + 0.028487492352724075, + 0.9740949273109436, + -0.008685276208614763 + ], + [ + 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, + 0.08488330294688544 + ], + [ + 0.039415810257196426, + 0.9990173578262329, + -0.02026691660284996, + 0.002494580554775894 + ], + [ + -0.2260907143354416, + 0.02867329865694046, + 0.9736841320991516, + -0.008821529087920986 + ], + [ + 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, + 0.08645024559263027 + ], + [ + 0.04066598042845726, + 0.9989604353904724, + -0.020600290969014168, + 0.0033242544987135466 + ], + [ + -0.2295360267162323, + 0.0294059906154871, + 0.9728558659553528, + -0.00705107092067148 + ], + [ + 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, + 0.08782167137421744 + ], + [ + 0.04138178005814552, + 0.9989354610443115, + -0.020382976159453392, + 0.0033559011429491825 + ], + [ + -0.23644961416721344, + 0.029612021520733833, + 0.9711924195289612, + -0.008193439201950429 + ], + [ + 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, + 0.0887717925463662 + ], + [ + 0.04154057428240776, + 0.998933732509613, + -0.020143790170550346, + 0.0033784849301093456 + ], + [ + -0.23851598799228668, + 0.029492927715182304, + 0.9706906080245972, + -0.008346993464863662 + ], + [ + 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, + 0.09014028617453697 + ], + [ + 0.0421367883682251, + 0.9989094734191895, + -0.02010730281472206, + 0.0036690499118501043 + ], + [ + -0.24007248878479004, + 0.029658377170562744, + 0.9703018069267273, + -0.009435705661848943 + ], + [ + 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, + 0.09123437670670977 + ], + [ + 0.043022070080041885, + 0.9988752603530884, + -0.019931990653276443, + 0.004051962074579088 + ], + [ + -0.24406060576438904, + 0.02985365316271782, + 0.969300389289856, + -0.009764190132946077 + ], + [ + 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, + 0.09264757653528995 + ], + [ + 0.044427432119846344, + 0.998826265335083, + -0.019295239821076393, + 0.004396685301749545 + ], + [ + -0.25138652324676514, + 0.029870228841900826, + 0.9674257636070251, + -0.010142264565960929 + ], + [ + 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, + 0.0936020968688859 + ], + [ + 0.04470992088317871, + 0.9988219141960144, + -0.01886436901986599, + 0.0041890465534489725 + ], + [ + -0.25336146354675293, + 0.029602957889437675, + 0.9669186472892761, + -0.010932729664174 + ], + [ + 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, + 0.09513733942776618 + ], + [ + 0.04542551562190056, + 0.9987949728965759, + -0.0185776986181736, + 0.004357451303965516 + ], + [ + -0.2548992335796356, + 0.029570192098617554, + 0.9665153622627258, + -0.011316169012864735 + ], + [ + 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, + 0.0959616064686667 + ], + [ + 0.04573097825050354, + 0.9987821578979492, + -0.01851830631494522, + 0.004730107954167056 + ], + [ + -0.2587513029575348, + 0.0297483392059803, + 0.9654858112335205, + -0.010445784833846675 + ], + [ + 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, + 0.09763832236781265 + ], + [ + 0.046424366533756256, + 0.9987545013427734, + -0.018281521275639534, + 0.004696471914366791 + ], + [ + -0.26592472195625305, + 0.029997484758496284, + 0.9635269641876221, + -0.011351653276895635 + ], + [ + 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, + 0.09860143715308772 + ], + [ + 0.04683170095086098, + 0.9987401962280273, + -0.018021132797002792, + 0.004268010439247721 + ], + [ + -0.26785504817962646, + 0.029936064034700394, + 0.9629940390586853, + -0.013567893672734498 + ], + [ + 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, + 0.0997581474821676 + ], + [ + 0.047377023845911026, + 0.9987152814865112, + -0.01797661744058132, + 0.004413683761517998 + ], + [ + -0.26958808302879333, + 0.030113546177744865, + 0.9625048041343689, + -0.01495354734078953 + ], + [ + 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, + 0.1011946935244281 + ], + [ + 0.047806594520807266, + 0.9986976981163025, + -0.01781631074845791, + 0.0048319786890513375 + ], + [ + -0.2731163501739502, + 0.030226612463593483, + 0.9615060091018677, + -0.0144180130335794 + ], + [ + 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, + 0.10247480556970896 + ], + [ + 0.048580799251794815, + 0.9986708760261536, + -0.017215143889188766, + 0.0048720119426948864 + ], + [ + -0.2809295654296875, + 0.03020160272717476, + 0.9592530727386475, + -0.015629520752664775 + ], + [ + 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, + 0.10355164645747707 + ], + [ + 0.0491655059158802, + 0.9986438751220703, + -0.017120471224188805, + 0.004485683790831404 + ], + [ + -0.2828879952430725, + 0.03036242537200451, + 0.958672285079956, + -0.01750592987307094 + ], + [ + 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, + 0.10485393722927332 + ], + [ + 0.049761898815631866, + 0.9986082315444946, + -0.017473168671131134, + 0.00523764501476303 + ], + [ + -0.28475067019462585, + 0.030953887850046158, + 0.958101749420166, + -0.015956880179506666 + ], + [ + 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, + 0.10561866350095683 + ], + [ + 0.05007600784301758, + 0.9985957741737366, + -0.017288586124777794, + 0.005269510433491734 + ], + [ + -0.28819286823272705, + 0.031021492555737495, + 0.9570697546005249, + -0.0175672867833966 + ], + [ + 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, + 0.10735060918060217 + ], + [ + 0.05141720920801163, + 0.998530387878418, + -0.017127685248851776, + 0.005502388541671363 + ], + [ + -0.2950986623764038, + 0.03157554566860199, + 0.954944908618927, + -0.01959382500781706 + ], + [ + 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, + 0.1083602790692539 + ], + [ + 0.05172959342598915, + 0.9985193014144897, + -0.016828401014208794, + 0.005326083040504595 + ], + [ + -0.29680708050727844, + 0.03146164119243622, + 0.9544190764427185, + -0.021279733416370374 + ], + [ + 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, + 0.10943114755280091 + ], + [ + 0.05217790603637695, + 0.9984990954399109, + -0.0166422501206398, + 0.005538316492950827 + ], + [ + -0.2985427975654602, + 0.031499262899160385, + 0.9538763165473938, + -0.021213464714549105 + ], + [ + 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, + 0.11091029975901952 + ], + [ + 0.053299177438020706, + 0.9984463453292847, + -0.016250930726528168, + 0.005948554852158961 + ], + [ + -0.30204135179519653, + 0.031631093472242355, + 0.952769935131073, + -0.021364434785915147 + ], + [ + 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, + 0.11188929105798405 + ], + [ + 0.05446667596697807, + 0.9983948469161987, + -0.015526307746767998, + 0.006193997845467595 + ], + [ + -0.30939698219299316, + 0.03165893256664276, + 0.9504058361053467, + -0.023222844789011616 + ], + [ + 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, + 0.11301948785255053 + ], + [ + 0.0544075109064579, + 0.998401403427124, + -0.015310889109969139, + 0.006057231177839292 + ], + [ + -0.31098997592926025, + 0.031514234840869904, + 0.9498905539512634, + -0.023966851057202535 + ], + [ + 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, + 0.11396647193892437 + ], + [ + 0.05453957989811897, + 0.9983957409858704, + -0.015209339559078217, + 0.006129133451560682 + ], + [ + -0.31273406744003296, + 0.03154547140002251, + 0.9493167400360107, + -0.024154334413734355 + ], + [ + 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, + 0.11516499569018683 + ], + [ + 0.055212803184986115, + 0.9983643293380737, + -0.014838993549346924, + 0.006457242841663009 + ], + [ + -0.3156352937221527, + 0.031551361083984375, + 0.9483559131622314, + -0.02488489247802081 + ], + [ + 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, + 0.11654778004746245 + ], + [ + 0.05577855929732323, + 0.9983327984809875, + -0.01484574656933546, + 0.006423210282104486 + ], + [ + -0.3214590847492218, + 0.03203367069363594, + 0.9463814496994019, + -0.026591756997742893 + ], + [ + 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, + 0.11750132372659265 + ], + [ + 0.05612236633896828, + 0.9983156323432922, + -0.014702387154102325, + 0.006263867188527277 + ], + [ + -0.3229643702507019, + 0.032086070626974106, + 0.9458670616149902, + -0.027795996840083693 + ], + [ + 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, + 0.11868700260917348 + ], + [ + 0.05634462088346481, + 0.9983052611351013, + -0.01455640234053135, + 0.006144734039770986 + ], + [ + -0.3243270814418793, + 0.03209009766578674, + 0.9454005360603333, + -0.028419849119911144 + ], + [ + 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, + 0.11921653256873893 + ], + [ + 0.056756217032670975, + 0.9982831478118896, + -0.014472145587205887, + 0.005970198563488219 + ], + [ + -0.32713791728019714, + 0.03229039907455444, + 0.9444247484207153, + -0.029005937607526178 + ], + [ + 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, + 0.12067563398317858 + ], + [ + 0.057908035814762115, + 0.9982154369354248, + -0.014580415561795235, + 0.005887540727571557 + ], + [ + -0.3331160247325897, + 0.03308834135532379, + 0.9423050880432129, + -0.031184157049001168 + ], + [ + 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, + 0.12142017718893713 + ], + [ + 0.05814748257398605, + 0.9982019066810608, + -0.01455256249755621, + 0.00591434718678809 + ], + [ + -0.33484622836112976, + 0.03323417156934738, + 0.9416865110397339, + -0.031136602906491423 + ], + [ + 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, + 0.1230744520823161 + ], + [ + 0.05846580117940903, + 0.9981817007064819, + -0.014666134491562843, + 0.006209932440995343 + ], + [ + -0.3362181782722473, + 0.03352179378271103, + 0.9411873817443848, + -0.031568691738871765 + ], + [ + 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, + 0.12410087361931801 + ], + [ + 0.05979776754975319, + 0.9981088042259216, + -0.014250554144382477, + 0.006432719697477296 + ], + [ + -0.3438907861709595, + 0.034000836312770844, + 0.9383938908576965, + -0.0336138671846129 + ], + [ + 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/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/orbit_right/transforms.json b/dynpose_eval/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..189e105168f95fe5c33652341db979e7f0d70ea5 --- /dev/null +++ b/dynpose_eval/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/orbit_right/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": [ + [ + 0.9999988213849286, + -0.00014612973609473556, + -0.00151997852319818, + 0.002952826733615842 + ], + [ + 0.00014601856317193637, + 1.0, + -7.325843339377056e-05, + 4.129356158192434e-06 + ], + [ + 0.0015199892333703396, + 7.30364045011811e-05, + 0.9999988213566061, + 0.0007013693110930052 + ], + [ + 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": [ + [ + 0.9999994082463386, + -0.0004583907430060209, + -0.0010095008157762796, + 0.005751960624543726 + ], + [ + 0.00045799083042501366, + 0.9999998211860659, + -0.0003963326507895224, + 0.00013520489710716299 + ], + [ + 0.0010096824211383482, + 0.0003958700690418483, + 0.9999994072858412, + 0.0007738889491803615 + ], + [ + 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": [ + [ + 0.9999986938904065, + -0.001558051910251379, + -0.0004798533569911317, + 0.008517252544071418 + ], + [ + 0.0015580055946760442, + 0.9999988079071045, + -9.666015215387395e-05, + 3.533365423080063e-05 + ], + [ + 0.00048000343942346935, + 9.591241541784257e-05, + 0.9999998848301406, + 0.0017479776715340718 + ], + [ + 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": [ + [ + 0.9999964145829829, + -0.001855763723142445, + 0.0019230434598338944, + 0.011472394050808049 + ], + [ + 0.001857213007765579, + 0.9999979734420776, + -0.0007521334647412204, + 6.578694373345553e-05 + ], + [ + -0.001921643830124943, + 0.0007557023200206459, + 0.9999978899769804, + 0.0011303691157340408 + ], + [ + 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": [ + [ + 0.9999973593703402, + -0.0022198676597326994, + 0.0006364165668189444, + 0.014465903135058456 + ], + [ + 0.0022204475381973642, + 0.9999971389770508, + -0.000912125337237455, + 0.00026095570441910757 + ], + [ + -0.0006343913285210522, + 0.0009135360596701503, + 0.9999993593257744, + 0.0018247941442337868 + ], + [ + 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": [ + [ + 0.999993739739613, + -0.0032294364646077156, + 0.0014283067955566065, + 0.017278666839117905 + ], + [ + 0.003230085052031396, + 0.999994695186615, + -0.0004519351828493319, + 0.0002932362644288704 + ], + [ + -0.0014268388873934113, + 0.00045654590940102935, + 0.9999989027038049, + 0.002005477479802298 + ], + [ + 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": [ + [ + 0.9999901111157782, + -0.003939359448850155, + 0.0020536870780426156, + 0.020096205026280765 + ], + [ + 0.003939138477326623, + 0.9999922513961792, + 0.00011185397532257497, + 0.0002626616297219563 + ], + [ + -0.0020541135230688623, + -0.00010376311547588557, + 0.9999978689422099, + 0.0023679687070190915 + ], + [ + 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": [ + [ + 0.9999833975185992, + -0.004113656934350729, + 0.004030080603836325, + 0.023205858645612143 + ], + [ + 0.004112599434755193, + 0.9999915361404419, + 0.00027060053713649063, + 0.00025374503650677595 + ], + [ + -0.004031157962737755, + -0.00025402192841283977, + 0.999991826450022, + 0.003120735441104433 + ], + [ + 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": [ + [ + 0.9999861888467232, + -0.004532406572252513, + 0.0026573127145582474, + 0.026174091951399504 + ], + [ + 0.004531477073051218, + 0.9999896883964541, + 0.00035573639289228023, + 0.0002748680742257294 + ], + [ + -0.00265889875856321, + -0.0003436899860389531, + 0.9999964218832256, + 0.004205021729185658 + ], + [ + 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": [ + [ + 0.9999796910572514, + -0.005476576276123524, + 0.0032563067296923266, + 0.029026819319366393 + ], + [ + 0.005478150496346726, + 0.999984860420227, + -0.00047484100524219274, + 0.0005965502591691157 + ], + [ + -0.0032536581349565706, + 0.0004926699330098927, + 0.9999945869989029, + 0.0038360771809397886 + ], + [ + 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": [ + [ + 0.9999746198284459, + -0.005987013224512339, + 0.0038625488100877104, + 0.03219471041148599 + ], + [ + 0.005989267155174366, + 0.9999818801879883, + -0.000572166554315883, + 0.0005068228600164375 + ], + [ + -0.0038590514969215517, + 0.00059528584824875, + 0.9999923473985112, + 0.004537758567382998 + ], + [ + 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": [ + [ + 0.999954608227469, + -0.006818885449320078, + 0.006658230473038253, + 0.03503537263373686 + ], + [ + 0.006824935561766268, + 0.9999763369560242, + -0.0008863019595414486, + 0.00040983453467869724 + ], + [ + -0.0066520270762910425, + 0.0009317037183791399, + 0.9999774302893336, + 0.004608076291565417 + ], + [ + 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": [ + [ + 0.999959246321595, + -0.007094379980117084, + 0.005587063197906488, + 0.03800367915963136 + ], + [ + 0.00710019885998474, + 0.9999742507934573, + -0.0010223563354525517, + 0.0005558471722686778 + ], + [ + -0.005579663713026304, + 0.0010619838722050192, + 0.9999838616754174, + 0.0049938079499036985 + ], + [ + 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": [ + [ + 0.9999534281268541, + -0.007364053279161453, + 0.006233232146085336, + 0.040884496500897934 + ], + [ + 0.00737079017317745, + 0.9999722838401794, + -0.0010585107440925952, + 0.0005740359729307191 + ], + [ + -0.006225260745446933, + 0.0011044052662327886, + 0.9999800330015348, + 0.005546990893335537 + ], + [ + 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": [ + [ + 0.9999474455451616, + -0.007444024085998537, + 0.007045870467273959, + 0.04370386678730005 + ], + [ + 0.007453221310060412, + 0.999971389770508, + -0.0012800159892122566, + 0.000802648314120817 + ], + [ + -0.007036137131829175, + 0.0013324632309377196, + 0.9999743796724376, + 0.005783278365864152 + ], + [ + 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": [ + [ + 0.9999169761610915, + -0.008327940478920938, + 0.009830363248301317, + 0.046608697073249716 + ], + [ + 0.008336073704257674, + 0.9999649524688723, + -0.0007866071925993299, + 0.0007834651832962717 + ], + [ + -0.009823464386338916, + 0.0008684884523972871, + 0.9999513454086574, + 0.005412491760737609 + ], + [ + 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": [ + [ + 0.999925879544409, + -0.008617429062724113, + 0.008598796035357853, + 0.04940621148580868 + ], + [ + 0.00862325877221458, + 0.9999626278877258, + -0.000641127692518987, + 0.0009534895905025844 + ], + [ + -0.008592949004239896, + 0.0007152297766879201, + 0.9999628474249749, + 0.006404616070297905 + ], + [ + 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": [ + [ + 0.9999149002976929, + -0.00919522810727358, + 0.009253487617064982, + 0.05267405431023221 + ], + [ + 0.009206849931445405, + 0.9999569058418276, + -0.0012141232196598182, + 0.0011354075390583444 + ], + [ + -0.009241922176235717, + 0.0012992152478545906, + 0.9999564779644663, + 0.0069160205921560075 + ], + [ + 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": [ + [ + 0.999904147460964, + -0.009767876937985422, + 0.009812860631019927, + 0.055468429740513824 + ], + [ + 0.009778427242469493, + 0.9999516606330874, + -0.0010276881545007773, + 0.001172986902377809 + ], + [ + -0.00980235047094912, + 0.0011235440615564587, + 0.9999513032280465, + 0.007801525123836309 + ], + [ + 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": [ + [ + 0.9998629067152425, + -0.010651852004230024, + 0.012676386423126755, + 0.05805238252791195 + ], + [ + 0.010663372670668364, + 0.9999427795410158, + -0.0008416086340493087, + 0.0008091226575960016 + ], + [ + -0.012666702305033889, + 0.000976666226051748, + 0.9999192768208719, + 0.006513964241866335 + ], + [ + 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": [ + [ + 0.9998737474853242, + -0.010853007435798647, + 0.011604007622156857, + 0.06103708252595659 + ], + [ + 0.010864624451825603, + 0.9999405145645144, + -0.0009384928889784819, + 0.0010773982197894547 + ], + [ + -0.011593129614630915, + 0.0010644474532455208, + 0.9999322424777436, + 0.007889739263948425 + ], + [ + 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": [ + [ + 0.9998607243554696, + -0.0112995570525527, + 0.012281700627310117, + 0.06446254692396676 + ], + [ + 0.011318393991502947, + 0.9999348521232605, + -0.001465341743703312, + 0.0012310540348198322 + ], + [ + -0.012264343134887086, + 0.0016041467897593975, + 0.9999234790386542, + 0.009076970838357071 + ], + [ + 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": [ + [ + 0.9998391348924681, + -0.012032238766551021, + 0.013300203641050803, + 0.06783584748978333 + ], + [ + 0.012056517925462766, + 0.9999257922172549, + -0.001746795827130324, + 0.0016373035358985917 + ], + [ + -0.013278194533200212, + 0.0019068688852712516, + 0.9999100498263968, + 0.012606370625972353 + ], + [ + 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": [ + [ + 0.9997794421429365, + -0.013107542879879475, + 0.01640966092258533, + 0.07054271751161904 + ], + [ + 0.013146944644632313, + 0.9999109506607056, + -0.002295558085532383, + 0.001333105936011689 + ], + [ + -0.016378104197187736, + 0.002510788617655635, + 0.9998627237973738, + 0.011613954606182452 + ], + [ + 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": [ + [ + 0.9997970413148235, + -0.013248305767774582, + 0.015178388505548078, + 0.07339661154802611 + ], + [ + 0.013286382810610444, + 0.9999088048934937, + -0.002410508230654849, + 0.0015205409608744593 + ], + [ + -0.01514507007922063, + 0.0026116848457604647, + 0.9998818694834001, + 0.012263330827349306 + ], + [ + 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": [ + [ + 0.9997933519734691, + -0.013751409016549587, + 0.014970586428202207, + 0.07647183120718257 + ], + [ + 0.013792427319858613, + 0.9999014139175415, + -0.0026401322250845034, + 0.0015765010440537712 + ], + [ + -0.01493279844221543, + 0.0028460673056542873, + 0.9998844311698669, + 0.012592528228033473 + ], + [ + 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": [ + [ + 0.999787882898392, + -0.014120622538030148, + 0.014993162183232921, + 0.07924119620631308 + ], + [ + 0.014167039945215235, + 0.9998951554298401, + -0.0029942803163524787, + 0.0016489760491123335 + ], + [ + -0.014949302426846375, + 0.003206053748726845, + 0.9998831058416423, + 0.011813086532488755 + ], + [ + 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": [ + [ + 0.9997312272240633, + -0.015205463394522667, + 0.01750199349438568, + 0.08187871164022342 + ], + [ + 0.015256770844838521, + 0.9998796582221985, + -0.0028017452189835488, + 0.0018601976012205187 + ], + [ + -0.017457280414854382, + 0.003068016143515706, + 0.9998429048370508, + 0.012252279426267474 + ], + [ + 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": [ + [ + 0.9997569329288298, + -0.015236462466418743, + 0.015933593914838267, + 0.08463727434441887 + ], + [ + 0.01528466066325422, + 0.9998789429664612, + -0.0029075954933713366, + 0.0020785014093923472 + ], + [ + -0.015887365112600187, + 0.003150428179651499, + 0.99986881658622, + 0.012615574340554488 + ], + [ + 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": [ + [ + 0.9997518696670519, + -0.016177533194422722, + 0.015311485611787405, + 0.08811331864985565 + ], + [ + 0.01623816091394584, + 0.9998607635498047, + -0.0038436593974467115, + 0.002147044149728803 + ], + [ + -0.015247166252396728, + 0.004091336391866207, + 0.9998753703889474, + 0.01380291728054845 + ], + [ + 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": [ + [ + 0.9997435129754542, + -0.016436360776424408, + 0.015581207761661817, + 0.0905553650203059 + ], + [ + 0.016506691110145837, + 0.9998540878295898, + -0.004396028313792659, + 0.0021813940109257643 + ], + [ + -0.015506684503420451, + 0.004652095027267933, + 0.999868962090894, + 0.012552674509932716 + ], + [ + 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": [ + [ + 0.9996820991314104, + -0.017176616936922073, + 0.018456302458274634, + 0.09382611622401166 + ], + [ + 0.017300196778796198, + 0.9998288154602051, + -0.006557142235808538, + 0.0024195821613410134 + ], + [ + -0.018340505846062928, + 0.006874355021864176, + 0.9998081848045707, + 0.011524106347767883 + ], + [ + 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": [ + [ + 0.9996994099577245, + -0.01748745515942574, + 0.017183166706479017, + 0.09669368451315424 + ], + [ + 0.017610579219046116, + 0.9998201131820681, + -0.007040396946079591, + 0.002452029731372439 + ], + [ + -0.01705695401284105, + 0.007340886164456608, + 0.9998275975977299, + 0.011612927785322486 + ], + [ + 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": [ + [ + 0.999694687677678, + -0.017876556143164635, + 0.017058829847385895, + 0.09978995364370079 + ], + [ + 0.018003104796312317, + 0.9998113512992859, + -0.007293821218378663, + 0.0022522126835061687 + ], + [ + -0.016925228235691404, + 0.007598705589771271, + 0.99982789012688, + 0.010516813037023419 + ], + [ + 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": [ + [ + 0.9996705058344046, + -0.018501142039895058, + 0.01779371335628255, + 0.10259194439614608 + ], + [ + 0.01864281212095789, + 0.9997955560684204, + -0.007829141254810814, + 0.002443626278315446 + ], + [ + -0.01764523322633931, + 0.008158286102116108, + 0.9998110451271458, + 0.010763997855695998 + ], + [ + 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": [ + [ + 0.9995746624015756, + -0.018867528066039085, + 0.0222381096508976, + 0.10499630785663093 + ], + [ + 0.019110445975434705, + 0.9997594356536865, + -0.010762049829697442, + 0.002162344409713906 + ], + [ + -0.022029711059463355, + 0.011182451620697975, + 0.9996947522918499, + 0.009665983113498589 + ], + [ + 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": [ + [ + 0.9995901465271666, + -0.01909540593624115, + 0.021328158611567935, + 0.10778340922311994 + ], + [ + 0.019349955558993163, + 0.9997432231903076, + -0.011792997459228426, + 0.002477124931562149 + ], + [ + -0.021097492567775013, + 0.012200863100588322, + 0.9997029785569455, + 0.010218873514782312 + ], + [ + 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": [ + [ + 0.9995850336785926, + -0.01939744502305985, + 0.021296912893125873, + 0.11150589486470931 + ], + [ + 0.019681849487292066, + 0.9997187852859499, + -0.013226934693466546, + 0.00262056990375469 + ], + [ + -0.0210343619736058, + 0.013640607707202438, + 0.9996856834788399, + 0.009932985512065312 + ], + [ + 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": [ + [ + 0.9995526784948293, + -0.019646942615509033, + 0.022547929148570216, + 0.11438379991182025 + ], + [ + 0.019972307145781645, + 0.9996983408927917, + -0.014296625697773443, + 0.0024475181006242018 + ], + [ + -0.022260243565959088, + 0.014740564860403538, + 0.9996435280396112, + 0.009414047615837655 + ], + [ + 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": [ + [ + 0.999422423423489, + -0.0201884638518095, + 0.027334787684291442, + 0.1172201928450198 + ], + [ + 0.02063405819137043, + 0.999657154083252, + -0.01611861144034112, + 0.002455871176182878 + ], + [ + -0.026999993823591487, + 0.01667333021759987, + 0.9994963868431487, + 0.008066352179658174 + ], + [ + 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": [ + [ + 0.9994299803680654, + -0.020896665751934055, + 0.026514852865270708, + 0.11979812075179339 + ], + [ + 0.021343281957325815, + 0.9996331334114077, + -0.0166742190545361, + 0.002535213339049653 + ], + [ + -0.026156695968801994, + 0.017230628058314327, + 0.9995093499476521, + 0.00850806920504115 + ], + [ + 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": [ + [ + 0.9994502477399552, + -0.020792441442608833, + 0.025823419064816937, + 0.1235567671821378 + ], + [ + 0.021241780697065008, + 0.999625563621521, + -0.01724977165143875, + 0.0028186274508676373 + ], + [ + -0.025455095827766176, + 0.017788823693990707, + 0.9995176636432616, + 0.008727316851648547 + ], + [ + 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": [ + [ + 0.9993914562957771, + -0.021625109016895294, + 0.027369145145490586, + 0.1261070445523434 + ], + [ + 0.022121341668863495, + 0.99959397315979, + -0.017960099599078308, + 0.0027888098231124273 + ], + [ + -0.026969650106428787, + 0.01855461299419403, + 0.9994640169655055, + 0.00777822662883257 + ], + [ + 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": [ + [ + 0.999210556739241, + -0.022767698392272, + 0.03255524226540944, + 0.1290348115744716 + ], + [ + 0.023402130647999717, + 0.9995409250259402, + -0.019241424864475106, + 0.003071641542428805 + ], + [ + -0.032102198397392465, + 0.019988097250461582, + 0.9992847055618228, + 0.0066694948295798 + ], + [ + 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": [ + [ + 0.9992324947699269, + -0.022938489913940433, + 0.03175360972787025, + 0.13141716845341667 + ], + [ + 0.02355575479742153, + 0.999538064002991, + -0.019203552979160637, + 0.00275421923661585 + ], + [ + -0.03129845048758773, + 0.019936792552471164, + 0.999311218537234, + 0.005702237166826761 + ], + [ + 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": [ + [ + 0.9992607414829097, + -0.023141060024499897, + 0.030700233161719905, + 0.13508169173967152 + ], + [ + 0.023745327200681832, + 0.9995285272598269, + -0.019466403985918236, + 0.0033016089300858835 + ], + [ + -0.03023528071157878, + 0.020180998370051387, + 0.9993390709894454, + 0.007889729118637159 + ], + [ + 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": [ + [ + 0.9992269418739466, + -0.023139996454119682, + 0.03178191480928669, + 0.13788305851109356 + ], + [ + 0.02380750291218084, + 0.9995003938674927, + -0.020787365385813106, + 0.0032588679764466726 + ], + [ + -0.03128503159885549, + 0.02152794413268566, + 0.9992786337762528, + 0.005640947613120166 + ], + [ + 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": [ + [ + 0.9990213859064889, + -0.024426536634564407, + 0.036873191631984305, + 0.14090049480459554 + ], + [ + 0.02520243641346117, + 0.9994674921035769, + -0.020726282179782708, + 0.0032447959249230995 + ], + [ + -0.036347299230278296, + 0.021635292097926143, + 0.9991049728184899, + 0.004786347643048055 + ], + [ + 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": [ + [ + 0.9990285289153568, + -0.024833030998706818, + 0.03640465550909915, + 0.14337092524930867 + ], + [ + 0.02561258939020932, + 0.9994491338729858, + -0.021105980972345614, + 0.0032574602490782673 + ], + [ + -0.03586047907754995, + 0.02201789617538452, + 0.9991142013927168, + 0.00410491231722769 + ], + [ + 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": [ + [ + 0.9990421027113842, + -0.025242330506443977, + 0.03574551828778989, + 0.14676045479824368 + ], + [ + 0.02602793309829078, + 0.999426007270813, + -0.02168549137653964, + 0.0037685452322385447 + ], + [ + -0.03517761226051924, + 0.022595100104808807, + 0.9991256149221602, + 0.004818568655192919 + ], + [ + 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": [ + [ + 0.9989829015164639, + -0.025840532034635544, + 0.03695190713077018, + 0.14971361614574935 + ], + [ + 0.02666517035067832, + 0.9994022846221924, + -0.022000513825356057, + 0.0038686786042716505 + ], + [ + -0.036361319903631444, + 0.02296346426010132, + 0.9990748563133383, + 0.002871074254918865 + ], + [ + 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": [ + [ + 0.998736546054618, + -0.026950286701321602, + 0.04241512448519107, + 0.15279201506448722 + ], + [ + 0.027944966205418146, + 0.999343991279602, + -0.023035422214990296, + 0.004224971811009398 + ], + [ + -0.04176648205093578, + 0.024191606789827347, + 0.9988344627512462, + 0.0011840858364001727 + ], + [ + 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": [ + [ + 0.9987736518214003, + -0.026882361620664597, + 0.041575755030933394, + 0.15541781725900553 + ], + [ + 0.02786567372331605, + 0.9993411302566528, + -0.023255192411821595, + 0.004266280325761964 + ], + [ + -0.04092321811381803, + 0.024385210126638412, + 0.9988647046518494, + 0.0013220417032066044 + ], + [ + 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": [ + [ + 0.9988097689615187, + -0.026928406208753593, + 0.04066875494564855, + 0.1585561218344194 + ], + [ + 0.027902600190591185, + 0.9993324875831606, + -0.023579693664001415, + 0.004547304947626147 + ], + [ + -0.04000665241063064, + 0.02468639053404332, + 0.9988944428786581, + 0.001600895409388686 + ], + [ + 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": [ + [ + 0.9987437578107006, + -0.027632996439933784, + 0.04180142048536786, + 0.16167647495318846 + ], + [ + 0.028631828281544067, + 0.9993140101432803, + -0.023487702870163378, + 0.004496493502281283 + ], + [ + -0.04112371476830132, + 0.02465504594147206, + 0.9988498490446942, + 0.0005760335948607545 + ], + [ + 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": [ + [ + 0.9984701280926017, + -0.028797432780265808, + 0.04720243021126121, + 0.1643162118965561 + ], + [ + 0.029984628953838452, + 0.9992466568946838, + -0.02463892257606064, + 0.004631897900494003 + ], + [ + -0.046457325091954015, + 0.02601657621562481, + 0.9985814081349568, + -0.0014594277292083666 + ], + [ + 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": [ + [ + 0.9985117936110102, + -0.029107924550771713, + 0.04611807818105324, + 0.1673241028020832 + ], + [ + 0.03027785967424544, + 0.9992319345474243, + -0.02487599150348605, + 0.004660021202493413 + ], + [ + -0.04535855461568441, + 0.02623532898724079, + 0.9986261918243496, + -0.002376315073303381 + ], + [ + 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": [ + [ + 0.9985374980335886, + -0.02987224608659745, + 0.04506178652672893, + 0.17017710887564358 + ], + [ + 0.031029138942844623, + 0.9992008805274966, + -0.0251961341646681, + 0.005062578123940593 + ], + [ + -0.04427311158983005, + 0.026557512581348426, + 0.9986664159461551, + -0.003123766352195278 + ], + [ + 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": [ + [ + 0.9984843124535915, + -0.030043166130781174, + 0.0461135962952779, + 0.17303029781019943 + ], + [ + 0.031242255401794868, + 0.9991863369941711, + -0.025506155108137325, + 0.004859130463208654 + ], + [ + -0.0453097803477787, + 0.026908189058303833, + 0.9986105052736155, + -0.004284681930159731 + ], + [ + 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": [ + [ + 0.9981930996914863, + -0.030400864779949188, + 0.05183013877602279, + 0.17593626440603002 + ], + [ + 0.031759190176115476, + 0.9991679787635803, + -0.025588096341645186, + 0.005169859592224272 + ], + [ + -0.051009129552488916, + 0.02718794345855713, + 0.998328049905471, + -0.0060418094699604945 + ], + [ + 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": [ + [ + 0.9982360387934975, + -0.03016528859734536, + 0.051136096014418125, + 0.17862508587216358 + ], + [ + 0.031506767028705085, + 0.9991747736930849, + -0.025633421303254206, + 0.005231311555098695 + ], + [ + -0.050320657147987585, + 0.02719933725893498, + 0.9983626556093536, + -0.006342315436550044 + ], + [ + 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": [ + [ + 0.9982542736040814, + -0.0308892372995615, + 0.050341129083195726, + 0.1814681205005409 + ], + [ + 0.032217068687643506, + 0.9991483092308044, + -0.025782096746390565, + 0.005580498843916952 + ], + [ + -0.04950187505019147, + 0.027358930557966232, + 0.9983992561336984, + -0.006467645516706453 + ], + [ + 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": [ + [ + 0.9981643717154214, + -0.032056763768196106, + 0.05138380653286668, + 0.18466902774089997 + ], + [ + 0.03344785189821363, + 0.9990905523300171, + -0.026444977432754393, + 0.005853715498572127 + ], + [ + -0.050489335056715975, + 0.028115112334489822, + 0.9983287986983107, + -0.0073136487823226015 + ], + [ + 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": [ + [ + 0.9978800342470473, + -0.0329168476164341, + 0.05614214513130793, + 0.18752960562091567 + ], + [ + 0.03445119052733845, + 0.9990527629852295, + -0.026584126299487313, + 0.006100740116196026 + ], + [ + -0.055213894272722906, + 0.02846193127334118, + 0.9980688080408628, + -0.008958207028812962 + ], + [ + 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": [ + [ + 0.9979073967977693, + -0.03340516984462739, + 0.055361848995893574, + 0.1902662421001445 + ], + [ + 0.034919210035471174, + 0.9990358352661135, + -0.026609984755699853, + 0.005939566956838862 + ], + [ + -0.054419575750616456, + 0.028487492352724082, + 0.9981116937270902, + -0.010285759581185775 + ], + [ + 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": [ + [ + 0.997939676501975, + -0.033796388655900955, + 0.05453686273648801, + 0.1930931171771607 + ], + [ + 0.03529768239753261, + 0.9990173578262329, + -0.026803500222566144, + 0.006207515828162297 + ], + [ + -0.05357741319938692, + 0.02867329865694046, + 0.9981519228079715, + -0.01064154848830591 + ], + [ + 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": [ + [ + 0.9978515044601964, + -0.0348336286842823, + 0.05548873332419721, + 0.19628793885692397 + ], + [ + 0.036398519909617864, + 0.9989604353904724, + -0.027445249144521663, + 0.00722013144030655 + ], + [ + -0.05447503761914776, + 0.0294059906154871, + 0.9980820576289339, + -0.009288081002472373 + ], + [ + 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": [ + [ + 0.9975733265353471, + -0.035370122641325004, + 0.059970067742959966, + 0.19927677490799608 + ], + [ + 0.03706894091230935, + 0.9989354610443117, + -0.02745561978060766, + 0.007393096669909248 + ], + [ + -0.058935108169567096, + 0.02961202152073384, + 0.9978225237061867, + -0.011256957842804945 + ], + [ + 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": [ + [ + 0.9975989465211016, + -0.03551843389868736, + 0.059454078430079826, + 0.20185822644627344 + ], + [ + 0.037195766395942166, + 0.998933732509613, + -0.027347148962293986, + 0.007498308587888501 + ], + [ + -0.05841935184298729, + 0.029492927715182304, + 0.9978563585834106, + -0.011696212383531624 + ], + [ + 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": [ + [ + 0.9976396421671896, + -0.03605819493532181, + 0.05843787974875165, + 0.20485756226061097 + ], + [ + 0.03771606256554916, + 0.9989094734191895, + -0.027519287509365147, + 0.007916412875842991 + ], + [ + -0.05738185138695274, + 0.029658377170562744, + 0.9979116792221647, + -0.013017620583115244 + ], + [ + 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": [ + [ + 0.9975225119706843, + -0.03683669492602348, + 0.05993221971766899, + 0.20757059415969673 + ], + [ + 0.03854560395231302, + 0.9988752603530884, + -0.027611939108395957, + 0.008465119815316781 + ], + [ + -0.058847685265022466, + 0.02985365316271782, + 0.997820511866987, + -0.013875995570778215 + ], + [ + 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": [ + [ + 0.9971645918181822, + -0.03812967985868454, + 0.06487627707618702, + 0.21058051076131834 + ], + [ + 0.039972922397796797, + 0.998826265335083, + -0.02735449651329962, + 0.009050105659693988 + ], + [ + -0.06375711169214766, + 0.029870228841900826, + 0.9975183320969129, + -0.015204616603864459 + ], + [ + 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": [ + [ + 0.9971913540653357, + -0.038451351225376136, + 0.06427201111896605, + 0.2131605212327571 + ], + [ + 0.04026034828648229, + 0.9988219141960146, + -0.027091434065935362, + 0.008951005525845268 + ], + [ + -0.06315456044725297, + 0.029602957889437682, + 0.9975646360918128, + -0.01630941691726989 + ], + [ + 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": [ + [ + 0.9972294826719761, + -0.03916901722550392, + 0.06323915260021842, + 0.21632101837496245 + ], + [ + 0.040946243631397955, + 0.9987949728965759, + -0.027055747780119162, + 0.009276894526719282 + ], + [ + -0.062103180323982314, + 0.029570192098617554, + 0.997631575163387, + -0.016959334658903993 + ], + [ + 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": [ + [ + 0.9971351945677616, + -0.03936097025871277, + 0.0645921372810144, + 0.2187575413287872 + ], + [ + 0.04118573013097055, + 0.9987821578979492, + -0.027165891741318417, + 0.009754315765637837 + ], + [ + -0.0634442039352944, + 0.0297483392059803, + 0.9975419397010272, + -0.01665525726364815 + ], + [ + 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": [ + [ + 0.9967921543155361, + -0.03986962139606476, + 0.0693962229277141, + 0.22201751766746328 + ], + [ + 0.04184044811444694, + 0.9987545013427734, + -0.027181109796961603, + 0.009878402047051751 + ], + [ + -0.06822611803872063, + 0.029997484758496284, + 0.9972188151461504, + -0.01856975347445706 + ], + [ + 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": [ + [ + 0.9968196541879593, + -0.04027159884572029, + 0.06876579518488139, + 0.22459988802486716 + ], + [ + 0.04221999740267139, + 0.9987401962280273, + -0.027119020272799388, + 0.00957534107403083 + ], + [ + -0.06758701267860609, + 0.029936064034700394, + 0.9972641785480179, + -0.02113353785696829 + ], + [ + 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": [ + [ + 0.9968562620290374, + -0.04075432941317558, + 0.06794589440029462, + 0.22737598101843012 + ], + [ + 0.042691015713665556, + 0.9987152814865112, + -0.027298687522234372, + 0.009859372180961693 + ], + [ + -0.06674607320743671, + 0.030113546177744865, + 0.9973154938154059, + -0.02284743572331235 + ], + [ + 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": [ + [ + 0.9967709681859009, + -0.0411004014313221, + 0.06898085738813604, + 0.23041591735833564 + ], + [ + 0.043072154235763924, + 0.9986976981163025, + -0.027343755006455486, + 0.010406283823407924 + ], + [ + -0.06776720161552259, + 0.030226612463593483, + 0.9972431762897862, + -0.022887415634623723 + ], + [ + 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": [ + [ + 0.9963483084203558, + -0.041765037924051285, + 0.07446987347921738, + 0.23325255105859563 + ], + [ + 0.04388287246339655, + 0.9986708760261536, + -0.027032364665895092, + 0.010632791210693597 + ], + [ + -0.07324191656584339, + 0.03020160272717476, + 0.9968568101531995, + -0.02527090215821421 + ], + [ + 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": [ + [ + 0.9963691670314229, + -0.04229043051600456, + 0.0738923493493928, + 0.23594039586997592 + ], + [ + 0.04440270209653575, + 0.9986438751220703, + -0.027180094801693176, + 0.010397090619861197 + ], + [ + -0.072642666108198, + 0.03036242537200451, + 0.9968957874791939, + -0.02753850421090808 + ], + [ + 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": [ + [ + 0.9964000585919411, + -0.04270146042108536, + 0.07323578031476093, + 0.2388539869277504 + ], + [ + 0.044837214672755026, + 0.9986082315444946, + -0.027770170642908633, + 0.011290531725471344 + ], + [ + -0.0719479893297412, + 0.030953887850046158, + 0.9969279779651481, + -0.02637444518344694 + ], + [ + 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": [ + [ + 0.9963188417658885, + -0.04294378310441971, + 0.07419278778188573, + 0.24121191729372943 + ], + [ + 0.04511038392494204, + 0.9985957741737366, + -0.02777687948334277, + 0.011443309880879729 + ], + [ + -0.07289573906251795, + 0.031021492555737495, + 0.9968569885885559, + -0.0285997097178039 + ], + [ + 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": [ + [ + 0.9959157796647685, + -0.044046245515346534, + 0.07881423686313323, + 0.2444846199192729 + ], + [ + 0.04638046795743847, + 0.9985303878784182, + -0.028034607127141883, + 0.011935957319940677 + ], + [ + -0.0774636037523541, + 0.031575545668602, + 0.9964950522342055, + -0.03175119512696901 + ], + [ + 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": [ + [ + 0.9959678744162829, + -0.044376920908689506, + 0.07796594277859295, + 0.24710217835716955 + ], + [ + 0.04667740312794889, + 0.99851930141449, + -0.02793503094582343, + 0.011887594309412256 + ], + [ + -0.07661080944038315, + 0.031461641192436225, + 0.9965645992076557, + -0.033830177200998915 + ], + [ + 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": [ + [ + 0.9960116973663872, + -0.044802844524383545, + 0.07715790317568244, + 0.24977874766222777 + ], + [ + 0.04708210729285195, + 0.9984990954399109, + -0.027978090361625744, + 0.01224438304841718 + ], + [ + -0.07578858918132124, + 0.031499262899160385, + 0.9966262684668411, + -0.034167092857589225 + ], + [ + 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": [ + [ + 0.995880444750776, + -0.04587339982390404, + 0.07821642246970602, + 0.25283262474536894 + ], + [ + 0.04818892102184135, + 0.9984463453292847, + -0.027977186345284434, + 0.012900810471509585 + ], + [ + -0.07681148388567409, + 0.031631093472242355, + 0.9965437890164284, + -0.03499010306239916 + ], + [ + 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": [ + [ + 0.9954163645632311, + -0.04696165397763252, + 0.08331158146154845, + 0.2553227183335849 + ], + [ + 0.04941790668676539, + 0.9983948469161987, + -0.027668674016607372, + 0.013412930609673033 + ], + [ + -0.08187847704363772, + 0.03165893256664276, + 0.9961393782449568, + -0.03811514675715023 + ], + [ + 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": [ + [ + 0.9954993414422824, + -0.046919647604227066, + 0.08233868671864845, + 0.2580574808985122 + ], + [ + 0.0493372649934336, + 0.998401403427124, + -0.027575983234362084, + 0.013356348652280086 + ], + [ + -0.08091319994547433, + 0.031514234840869904, + 0.9962228082557153, + -0.039271610442991385 + ], + [ + 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": [ + [ + 0.9955604464196651, + -0.047018859535455704, + 0.08153905007521836, + 0.26060428276698216 + ], + [ + 0.04941645697224841, + 0.9983957409858704, + -0.027638805429984974, + 0.01353247738024006 + ], + [ + -0.08010868045492912, + 0.03154547140002251, + 0.9962868408073832, + -0.03990064573661703 + ], + [ + 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": [ + [ + 0.9954938287942783, + -0.04767768085002899, + 0.08196896473688703, + 0.26337711468278935 + ], + [ + 0.050085283152369924, + 0.9983643293380737, + -0.027570160983362107, + 0.01405272627014092 + ], + [ + -0.08052040297190034, + 0.031551361083984375, + 0.9962535025675354, + -0.04125979264014344 + ], + [ + 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": [ + [ + 0.9951811339205286, + -0.048015493899583817, + 0.08549306310089004, + 0.2662795653762763 + ], + [ + 0.050559668960072454, + 0.9983327984809875, + -0.027845354067309428, + 0.014185446341839178 + ], + [ + -0.0840135194831862, + 0.03203367069363594, + 0.9959495569791662, + -0.04406865219804354 + ], + [ + 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": [ + [ + 0.9952541245520488, + -0.04833595082163811, + 0.08445669410443708, + 0.2688293932713086 + ], + [ + 0.05085422150076195, + 0.9983156323432922, + -0.027923616296352337, + 0.01416635800812821 + ], + [ + -0.08296472763296824, + 0.032086070626974106, + 0.9960358109367332, + -0.04570390241382635 + ], + [ + 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": [ + [ + 0.9953441828143818, + -0.048547200858593, + 0.08326510735088478, + 0.27161397947289073 + ], + [ + 0.05103154063442734, + 0.9983052611351015, + -0.027971181814102856, + 0.014170436477359749 + ], + [ + -0.08176608856883051, + 0.03209009766578675, + 0.9961347981573213, + -0.0467409003990601 + ], + [ + 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": [ + [ + 0.9952991972398422, + -0.04886758700013161, + 0.08361482991141246, + 0.27371110261563014 + ], + [ + 0.051377015318539554, + 0.9982831478118896, + -0.028126739354491233, + 0.014146763917578409 + ], + [ + -0.08209675949962925, + 0.03229039907455444, + 0.9961011215893779, + -0.04798217676858074 + ], + [ + 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": [ + [ + 0.994935633352504, + -0.04971006512641907, + 0.08736160987456562, + 0.27666228744620913 + ], + [ + 0.05239016604670413, + 0.9982154369354248, + -0.028656580945346274, + 0.014323985177736802 + ], + [ + -0.08578119738168422, + 0.03308834135532379, + 0.9957644053999597, + -0.05135084960434504 + ], + [ + 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": [ + [ + 0.9949959517058219, + -0.049883827567100525, + 0.08657197142815862, + 0.2789918701108397 + ], + [ + 0.052552881245849024, + 0.9982019066810608, + -0.02882883066822138, + 0.014476861612630473 + ], + [ + -0.0849781936005648, + 0.03323417156934738, + 0.9958283930147029, + -0.051803254857505115 + ], + [ + 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": [ + [ + 0.9950853020871957, + -0.050096251070499434, + 0.08541458049017182, + 0.28223740756045707 + ], + [ + 0.052755046081057785, + 0.9981817007064822, + -0.02915905556530023, + 0.014906933829006947 + ], + [ + -0.08379853783569716, + 0.033521793782711036, + 0.9959187497040903, + -0.05268092843142531 + ], + [ + 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": [ + [ + 0.9945360418987881, + -0.05121322348713875, + 0.09096841895515018, + 0.28469569972222747 + ], + [ + 0.05407189321490613, + 0.9981088042259216, + -0.029241779383479372, + 0.015444168181598873 + ], + [ + -0.08929878102355321, + 0.034000836312770844, + 0.995424379307657, + -0.0562552770174776 + ], + [ + 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/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/push_in/transforms.json b/dynpose_eval/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..00355885326f5427f07428e6fd8f817eeb7be04e --- /dev/null +++ b/dynpose_eval/camera_controls/f2bacebc-e1e4-41b3-8245-4ad7a431b5c1/push_in/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, + 0.00033924345555009713 + ], + [ + 0.0001462117797927931, + 1.0, + -7.287204061867669e-05, + 3.6985829994058934e-06 + ], + [ + -0.0011244481429457664, + 7.30364045011811e-05, + 0.9999993443489075, + 0.0013702259945208115 + ], + [ + 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, + 0.000529040756513073 + ], + [ + 0.00046008056960999966, + 0.9999998211860657, + -0.0003939048619940877, + 0.0001322746725172049 + ], + [ + -0.004279180429875851, + 0.0003958700690418482, + 0.9999907612800598, + 0.002128085931230953 + ], + [ + 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, + 0.0006893683852853649 + ], + [ + 0.0015587233938276768, + 0.9999988079071045, + -8.429709123447537e-05, + 2.2940179813744952e-05 + ], + [ + -0.007453242316842079, + 9.591241541784257e-05, + 0.9999722242355347, + 0.003804130283904008 + ], + [ + 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, + 0.0010491912053295909 + ], + [ + 0.0018650648416951299, + 0.9999979734420776, + -0.0007324466132558882, + 4.4332339710290214e-05 + ], + [ + -0.012499069795012474, + 0.0007557023200206459, + 0.9999216198921204, + 0.00392453704804542 + ], + [ + 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, + 0.0014416631758024897 + ], + [ + 0.0022323133889585733, + 0.9999971389770508, + -0.0008826872799545527, + 0.00022883665856124477 + ], + [ + -0.013856133446097374, + 0.0009135360596701503, + 0.9999035596847534, + 0.005335183013371673 + ], + [ + 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, + 0.0016641904162525228 + ], + [ + 0.00323684886097908, + 0.999994695186615, + -0.00040062988409772515, + 0.0002408623257934144 + ], + [ + -0.017292605713009834, + 0.00045654590940102935, + 0.9998503923416138, + 0.006271636205774761 + ], + [ + 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, + 0.001895733992333966 + ], + [ + 0.003936393186450005, + 0.9999922513961792, + 0.00018474830721970648, + 0.00019148549956041436 + ], + [ + -0.020563732832670212, + -0.00010376311547588557, + 0.9997885227203369, + 0.007404728214000118 + ], + [ + 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, + 0.0024321556618117322 + ], + [ + 0.004105954896658659, + 0.9999915361404419, + 0.0003575376176740974, + 0.00016977506780272556 + ], + [ + -0.025184011086821556, + -0.00025402192841283977, + 0.9996827840805054, + 0.008973100311310982 + ], + [ + 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, + 0.0028121093796058135 + ], + [ + 0.004521728027611971, + 0.9999896883964539, + 0.0004634743672795594, + 0.00017125403788999062 + ], + [ + -0.02645575813949108, + -0.00034368998603895307, + 0.9996499419212341, + 0.010818658318285917 + ], + [ + 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, + 0.003093154099064343 + ], + [ + 0.005488790571689606, + 0.999984860420227, + -0.0003298255614936352, + 0.0004508585867241514 + ], + [ + -0.02969367802143097, + 0.0004926699330098927, + 0.9995589256286621, + 0.01126860622010862 + ], + [ + 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, + 0.0036944892826593586 + ], + [ + 0.006003374699503183, + 0.9999818801879883, + -0.00039772834861651063, + 0.00033126638477875127 + ], + [ + -0.03294191509485245, + 0.00059528584824875, + 0.999457061290741, + 0.012806206080131236 + ], + [ + 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, + 0.003993918247182261 + ], + [ + 0.006849620025604963, + 0.9999763369560242, + -0.0006693146424368024, + 0.000189599718291764 + ], + [ + -0.03837589547038078, + 0.0009317037183791399, + 0.9992629289627075, + 0.013797124399747137 + ], + [ + 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, + 0.004391204312236773 + ], + [ + 0.007131143007427454, + 0.999974250793457, + -0.0007777118589729071, + 0.0003067531321912703 + ], + [ + -0.03994673863053322, + 0.001061983872205019, + 0.999201238155365, + 0.015001463222863023 + ], + [ + 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, + 0.004722179769717082 + ], + [ + 0.007404918782413006, + 0.9999722838401794, + -0.0007849653484299779, + 0.0002956928520679775 + ], + [ + -0.04323393478989601, + 0.0011044052662327886, + 0.9990643858909607, + 0.016443503542210573 + ], + [ + 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, + 0.004999142930363164 + ], + [ + 0.007498119026422501, + 0.9999713897705078, + -0.0009834428783506155, + 0.0004987861488409566 + ], + [ + -0.04668575897812843, + 0.0013324632309377193, + 0.9989087581634521, + 0.01759192212766996 + ], + [ + 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, + 0.005392939448732921 + ], + [ + 0.008361885324120522, + 0.9999649524688721, + -0.0004333007091190666, + 0.0004290763538617716 + ], + [ + -0.052111003547906876, + 0.0008684884523972869, + 0.9986408948898315, + 0.01823245884587217 + ], + [ + 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, + 0.005633863567779161 + ], + [ + 0.008643358945846558, + 0.9999626278877258, + -0.00025294802617281675, + 0.0005664834371683273 + ], + [ + -0.05352290719747543, + 0.0007152297766879201, + 0.9985663890838623, + 0.020087737834193944 + ], + [ + 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, + 0.006375150721181523 + ], + [ + 0.009254192002117634, + 0.9999569058418274, + -0.0007746684714220464, + 0.000690638121556152 + ], + [ + -0.05681129917502403, + 0.0012992152478545904, + 0.9983841180801392, + 0.021556592254306783 + ], + [ + 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, + 0.006647393082014539 + ], + [ + 0.009817700833082199, + 0.9999516606330872, + -0.0005352874286472797, + 0.0006785460216266038 + ], + [ + -0.060010723769664764, + 0.0011235440615564585, + 0.998197078704834, + 0.02341201828811506 + ], + [ + 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, + 0.006753573815027873 + ], + [ + 0.010692953132092953, + 0.9999427795410156, + -0.00027672210126183927, + 0.0002463382026157107 + ], + [ + -0.06550883501768112, + 0.0009766662260517478, + 0.9978514909744263, + 0.02322893761183051 + ], + [ + 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, + 0.00720110536186081 + ], + [ + 0.010899966582655907, + 0.9999405145645142, + -0.0003340088005643338, + 0.0004743081821784885 + ], + [ + -0.06707616150379181, + 0.0010644474532455206, + 0.9977473020553589, + 0.02552505210324219 + ], + [ + 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, + 0.008124918604476585 + ], + [ + 0.011384447105228901, + 0.9999348521232605, + -0.000804756535217166, + 0.0005644838196328945 + ], + [ + -0.07038397341966629, + 0.0016041467897593975, + 0.9975186586380005, + 0.02773896074957318 + ], + [ + 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, + 0.00900978594642095 + ], + [ + 0.01214040257036686, + 0.9999257922172546, + -0.0010107153793796897, + 0.0008918248300412388 + ], + [ + -0.07403276115655899, + 0.0019068688852712512, + 0.9972540140151978, + 0.03233197991068315 + ], + [ + 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, + 0.009279293346811424 + ], + [ + 0.013266068883240223, + 0.9999109506607056, + -0.0014571056235581636, + 0.00047745207592732075 + ], + [ + -0.07976034283638, + 0.002510788617655635, + 0.9968109130859375, + 0.03254948887748249 + ], + [ + 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, + 0.00961153998481806 + ], + [ + 0.013416603207588196, + 0.9999088048934937, + -0.0015275066252797842, + 0.0006182241509903711 + ], + [ + -0.08116699010133743, + 0.0026116848457604647, + 0.9966970682144165, + 0.03416121988133951 + ], + [ + 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, + 0.010191499614956403 + ], + [ + 0.013941220007836819, + 0.9999014139175415, + -0.0016863375203683972, + 0.0005996819778411376 + ], + [ + -0.08359081298112869, + 0.0028460673056542873, + 0.9964960813522339, + 0.03552760672049993 + ], + [ + 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, + 0.01047574281692505 + ], + [ + 0.014344553463160992, + 0.9998951554298401, + -0.001975986175239086, + 0.0006009090988134796 + ], + [ + -0.08624205738306046, + 0.003206053748726845, + 0.9962690472602844, + 0.03581334482878447 + ], + [ + 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, + 0.010696753296963495 + ], + [ + 0.015422230586409569, + 0.9998796582221985, + -0.0016654238570481539, + 0.0007002165885595134 + ], + [ + -0.0913744568824768, + 0.003068016143515706, + 0.9958118796348572, + 0.037508610524989744 + ], + [ + 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, + 0.010941321959700247 + ], + [ + 0.015462498180568218, + 0.9998789429664612, + -0.0017280373722314835, + 0.0008728304208783113 + ], + [ + -0.09244418144226074, + 0.003150428179651499, + 0.9957128763198853, + 0.03885310724603407 + ], + [ + 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, + 0.01193230277435346 + ], + [ + 0.01649169810116291, + 0.9998607635498047, + -0.0025446966756135225, + 0.0008027633055903469 + ], + [ + -0.09443929046392441, + 0.004091336391866207, + 0.9955222010612488, + 0.041097859908459766 + ], + [ + 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, + 0.01191784767339928 + ], + [ + 0.016811229288578033, + 0.9998540878295898, + -0.0030296016484498978, + 0.0007563975017583656 + ], + [ + -0.09732967615127563, + 0.004652095027267933, + 0.9952413439750671, + 0.04098590012413986 + ], + [ + 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, + 0.012816196230400092 + ], + [ + 0.017792508006095886, + 0.9998288154602051, + -0.005071447696536779, + 0.0008230151109999478 + ], + [ + -0.10277973115444183, + 0.006874355021864176, + 0.9946804046630859, + 0.04131852394590776 + ], + [ + 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, + 0.013194865609208743 + ], + [ + 0.018157176673412323, + 0.9998201131820679, + -0.005478742998093367, + 0.0007651584688574075 + ], + [ + -0.1041327640414238, + 0.007340886164456606, + 0.9945363402366638, + 0.04245198530455431 + ], + [ + 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, + 0.013841822421686217 + ], + [ + 0.018585296347737312, + 0.9998113512992859, + -0.005647864192724228, + 0.0004723405815905543 + ], + [ + -0.10663121938705444, + 0.007598705589771271, + 0.994269609451294, + 0.04250642941944829 + ], + [ + 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, + 0.014228759888521951 + ], + [ + 0.019286612048745155, + 0.9997955560684204, + -0.006072601769119501, + 0.0005373340247039015 + ], + [ + -0.10997549444437027, + 0.008158286102116108, + 0.9939008355140686, + 0.0439918970482217 + ], + [ + 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, + 0.014353767342188142 + ], + [ + 0.020046910271048546, + 0.9997594356536865, + -0.008896755054593086, + 6.232691812328988e-05 + ], + [ + -0.11695698648691177, + 0.011182451620697975, + 0.9930739998817444, + 0.04448049932040952 + ], + [ + 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, + 0.014685644397530893 + ], + [ + 0.020409442484378815, + 0.9997432231903076, + -0.009846330620348454, + 0.00026030921250243076 + ], + [ + -0.1186557412147522, + 0.012200863100588322, + 0.9928604960441589, + 0.04615952024669057 + ], + [ + 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, + 0.015989362683636373 + ], + [ + 0.02090948075056076, + 0.9997187852859497, + -0.011185732670128345, + 0.00026027071795360455 + ], + [ + -0.12121633440256119, + 0.013640607707202435, + 0.9925323724746704, + 0.047091079273759724 + ], + [ + 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, + 0.016503568247637965 + ], + [ + 0.021338026970624924, + 0.9996983408927917, + -0.012164504267275333, + -4.4007835183010465e-05 + ], + [ + -0.12505562603473663, + 0.014740564860403538, + 0.99204021692276, + 0.04792865469035778 + ], + [ + 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, + 0.017127915069159838 + ], + [ + 0.022220538929104805, + 0.999657154083252, + -0.013849969021975994, + -0.0002367224881185615 + ], + [ + -0.1323762983083725, + 0.01667333021759987, + 0.9910593032836914, + 0.04830793221716328 + ], + [ + 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, + 0.017280507646501065 + ], + [ + 0.02302226796746254, + 0.9996331334114075, + -0.01426676008850336, + -0.00032201013274989437 + ], + [ + -0.13415968418121338, + 0.017230628058314323, + 0.9908099174499512, + 0.04994003686188448 + ], + [ + 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, + 0.018621637305301246 + ], + [ + 0.023022832348942757, + 0.999625563621521, + -0.01478908583521843, + -0.00012295505307106816 + ], + [ + -0.1360829919576645, + 0.017788823693990707, + 0.990537703037262, + 0.051373389944659946 + ], + [ + 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, + 0.01885946016344759 + ], + [ + 0.02401633933186531, + 0.99959397315979, + -0.015334092080593109, + -0.00035010274509062074 + ], + [ + -0.14020061492919922, + 0.01855461299419403, + 0.9899492263793945, + 0.051885719866388375 + ], + [ + 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, + 0.019653178585900204 + ], + [ + 0.025477686896920204, + 0.9995409250259399, + -0.01639449968934059, + -0.00033943913877010356 + ], + [ + -0.14789500832557678, + 0.01998809725046158, + 0.9888010621070862, + 0.05265419344521232 + ], + [ + 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, + 0.019636942158368503 + ], + [ + 0.025668993592262268, + 0.9995380640029907, + -0.016271226108074188, + -0.0007531982343855569 + ], + [ + -0.149714395403862, + 0.01993679255247116, + 0.9885282516479492, + 0.052937909283421264 + ], + [ + 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, + 0.02089501012568221 + ], + [ + 0.02593199908733368, + 0.9995285272598267, + -0.016441194340586662, + -0.00032058652364554813 + ], + [ + -0.15127603709697723, + 0.020180998370051384, + 0.9882855415344238, + 0.05635545011421648 + ], + [ + 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, + 0.021399612158461652 + ], + [ + 0.02620084024965763, + 0.9995003938674927, + -0.017675625160336494, + -0.0005137397252103184 + ], + [ + -0.15492312610149384, + 0.02152794413268566, + 0.9876919388771057, + 0.05558982386884064 + ], + [ + 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, + 0.0223412052925789 + ], + [ + 0.02762346900999546, + 0.9994674921035767, + -0.017369097098708153, + -0.0007768050203925339 + ], + [ + -0.16253402829170227, + 0.02163529209792614, + 0.9864656925201416, + 0.056713847223330636 + ], + [ + 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, + 0.02245862070997857 + ], + [ + 0.028125081211328506, + 0.9994491338729858, + -0.017619505524635315, + -0.0009203525694075977 + ], + [ + -0.16466055810451508, + 0.02201789617538452, + 0.9861044883728027, + 0.05737486220896245 + ], + [ + 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, + 0.023490083102851805 + ], + [ + 0.028659695759415627, + 0.999426007270813, + -0.01806476339697838, + -0.0005792373652579358 + ], + [ + -0.16659227013587952, + 0.022595100104808807, + 0.9857669472694397, + 0.05941692865782917 + ], + [ + 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, + 0.02419550440302401 + ], + [ + 0.029381174594163895, + 0.9994022846221924, + -0.018215391784906387, + -0.000667370766027351 + ], + [ + -0.1703646183013916, + 0.02296346426010132, + 0.9851135015487671, + 0.05904218031262811 + ], + [ + 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, + 0.025286060929147883 + ], + [ + 0.030838819220662117, + 0.999343991279602, + -0.018987338989973068, + -0.0006249104844020549 + ], + [ + -0.17829027771949768, + 0.024191606789827347, + 0.9836804866790771, + 0.05948442071111817 + ], + [ + 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, + 0.025567140362479472 + ], + [ + 0.030841108411550522, + 0.9993411302566528, + -0.019134413450956345, + -0.0006823769172023268 + ], + [ + -0.18006016314029694, + 0.024385210126638412, + 0.983353316783905, + 0.060977224629334734 + ], + [ + 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, + 0.026361476663838736 + ], + [ + 0.030974332243204117, + 0.9993324875831604, + -0.01936873234808445, + -0.0005219569313339892 + ], + [ + -0.18175694346427917, + 0.024686390534043312, + 0.9830335974693298, + 0.06260969217189336 + ], + [ + 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, + 0.027272492026289306 + ], + [ + 0.031733639538288116, + 0.99931401014328, + -0.019090047106146812, + -0.0007656161712172131 + ], + [ + -0.18545468151569366, + 0.024655045941472054, + 0.9823434948921204, + 0.06322103925049305 + ], + [ + 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, + 0.02799189707094973 + ], + [ + 0.03329186514019966, + 0.9992466568946838, + -0.01994507946074009, + -0.000985900250926727 + ], + [ + -0.19328740239143372, + 0.02601657621562481, + 0.9807971715927124, + 0.06341364492822177 + ], + [ + 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, + 0.028669930599404106 + ], + [ + 0.03366999700665474, + 0.9992319345474243, + -0.020047320052981377, + -0.0011183236354334056 + ], + [ + -0.19480079412460327, + 0.02623532898724079, + 0.9804918766021729, + 0.0638691382736645 + ], + [ + 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, + 0.02920093843431184 + ], + [ + 0.03451426327228546, + 0.9992008805274963, + -0.02015981823205948, + -0.0009495034676299176 + ], + [ + -0.19632640480995178, + 0.02655751258134842, + 0.9801788926124573, + 0.06450312990657608 + ], + [ + 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, + 0.029880019589656533 + ], + [ + 0.03482615575194359, + 0.9991863369941711, + -0.02034161612391472, + -0.0013118584601519011 + ], + [ + -0.19993312656879425, + 0.026908189058303833, + 0.9794399738311768, + 0.065035485122541 + ], + [ + 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, + 0.03095741637728431 + ], + [ + 0.035403214395046234, + 0.9991679787635803, + -0.020248685032129288, + -0.001192526732197483 + ], + [ + -0.20810562372207642, + 0.02718794345855713, + 0.9777284264564514, + 0.06566682884074522 + ], + [ + 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, + 0.03137145086445592 + ], + [ + 0.03521477058529854, + 0.9991747736930847, + -0.02024027146399021, + -0.001206720817983774 + ], + [ + -0.21001645922660828, + 0.027199337258934975, + 0.9773194193840027, + 0.06684958185586665 + ], + [ + 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, + 0.03194184068853807 + ], + [ + 0.03599321469664574, + 0.9991483092308044, + -0.020177822560071945, + -0.0010866737130775371 + ], + [ + -0.21179835498332977, + 0.027358930557966232, + 0.9769303798675537, + 0.06819688187385298 + ], + [ + 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, + 0.0330181069333445 + ], + [ + 0.037370115518569946, + 0.9990905523300171, + -0.020532172173261642, + -0.0011626377931944181 + ], + [ + -0.2153431475162506, + 0.028115112334489822, + 0.9761336445808411, + 0.069105557970364 + ], + [ + 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, + 0.0340565549115641 + ], + [ + 0.03843672201037407, + 0.9990527629852295, + -0.02040143869817257, + -0.0011998739549208134 + ], + [ + -0.22253698110580444, + 0.02846193127334118, + 0.9745087027549744, + 0.06980840333389364 + ], + [ + 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, + 0.034547289833426476 + ], + [ + 0.03895608335733414, + 0.9990358352661133, + -0.020245149731636047, + -0.0015566102531856172 + ], + [ + -0.22433795034885406, + 0.028487492352724075, + 0.9740949273109436, + 0.06999971070844267 + ], + [ + 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, + 0.03512931813796362 + ], + [ + 0.039415810257196426, + 0.9990173578262329, + -0.02026691660284996, + -0.0014842679025605324 + ], + [ + -0.2260907143354416, + 0.02867329865694046, + 0.9736841320991516, + 0.07116346067438524 + ], + [ + 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, + 0.036236991462382406 + ], + [ + 0.04066598042845726, + 0.9989604353904724, + -0.020600290969014168, + -0.0008220487170749241 + ], + [ + -0.2295360267162323, + 0.0294059906154871, + 0.9728558659553528, + 0.07432292585609236 + ], + [ + 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, + 0.03745092428242318 + ], + [ + 0.04138178005814552, + 0.9989354610443115, + -0.020382976159453392, + -0.0008865265568454913 + ], + [ + -0.23644961416721344, + 0.029612021520733833, + 0.9711924195289612, + 0.07475571058728178 + ], + [ + 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, + 0.03783983396309795 + ], + [ + 0.04154057428240776, + 0.998933732509613, + -0.020143790170550346, + -0.0009207283499453106 + ], + [ + -0.23851598799228668, + 0.029492927715182304, + 0.9706906080245972, + 0.07593104201510098 + ], + [ + 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, + 0.038610412372332634 + ], + [ + 0.0421367883682251, + 0.9989094734191895, + -0.02010730281472206, + -0.0007320474445198974 + ], + [ + -0.24007248878479004, + 0.029658377170562744, + 0.9703018069267273, + 0.07614631524704624 + ], + [ + 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, + 0.039330168335576246 + ], + [ + 0.043022070080041885, + 0.9988752603530884, + -0.019931990653276443, + -0.0004629251093255602 + ], + [ + -0.24406060576438904, + 0.02985365316271782, + 0.969300389289856, + 0.07725462870427756 + ], + [ + 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, + 0.0406877151267095 + ], + [ + 0.044427432119846344, + 0.998826265335083, + -0.019295239821076393, + -0.00023769083940847376 + ], + [ + -0.25138652324676514, + 0.029870228841900826, + 0.9674257636070251, + 0.07849862902340565 + ], + [ + 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, + 0.0411046722471112 + ], + [ + 0.04470992088317871, + 0.9988219141960144, + -0.01886436901986599, + -0.0004987546212199816 + ], + [ + -0.25336146354675293, + 0.029602957889437675, + 0.9669186472892761, + 0.07904752093282615 + ], + [ + 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, + 0.04206926926895224 + ], + [ + 0.04542551562190056, + 0.9987949728965759, + -0.0185776986181736, + -0.00042662733620164395 + ], + [ + -0.2548992335796356, + 0.029570192098617554, + 0.9665153622627258, + 0.07998148764605927 + ], + [ + 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, + 0.04254764685350838 + ], + [ + 0.04573097825050354, + 0.9987821578979492, + -0.01851830631494522, + -0.00013726208866997238 + ], + [ + -0.2587513029575348, + 0.0297483392059803, + 0.9654858112335205, + 0.08229945108971815 + ], + [ + 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, + 0.044216524832176446 + ], + [ + 0.046424366533756256, + 0.9987545013427734, + -0.018281521275639534, + -0.0002708487659504621 + ], + [ + -0.26592472195625305, + 0.029997484758496284, + 0.9635269641876221, + 0.08303049636647257 + ], + [ + 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, + 0.04467026843792862 + ], + [ + 0.04683170095086098, + 0.9987401962280273, + -0.018021132797002792, + -0.0007760988522527946 + ], + [ + -0.26785504817962646, + 0.029936064034700394, + 0.9629940390586853, + 0.08216481311246752 + ], + [ + 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, + 0.04530460167337548 + ], + [ + 0.047377023845911026, + 0.9987152814865112, + -0.01797661744058132, + -0.0007353910065086729 + ], + [ + -0.26958808302879333, + 0.030113546177744865, + 0.9625048041343689, + 0.08212043770842932 + ], + [ + 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, + 0.046406463661579175 + ], + [ + 0.047806594520807266, + 0.9986976981163025, + -0.01781631074845791, + -0.00040459657991022803 + ], + [ + -0.2731163501739502, + 0.030226612463593483, + 0.9615060091018677, + 0.08410235705004648 + ], + [ + 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, + 0.047810184120228805 + ], + [ + 0.048580799251794815, + 0.9986708760261536, + -0.017215143889188766, + -0.00044483194748560616 + ], + [ + -0.2809295654296875, + 0.03020160272717476, + 0.9592530727386475, + 0.08458725808922091 + ], + [ + 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, + 0.04841479245911945 + ], + [ + 0.0491655059158802, + 0.9986438751220703, + -0.017120471224188805, + -0.0009377143388106066 + ], + [ + -0.2828879952430725, + 0.03036242537200451, + 0.958672285079956, + 0.08407627488063142 + ], + [ + 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, + 0.049241834988046185 + ], + [ + 0.049761898815631866, + 0.9986082315444946, + -0.017473168671131134, + -0.0003313201710092603 + ], + [ + -0.28475067019462585, + 0.030953887850046158, + 0.958101749420166, + 0.08698645154616298 + ], + [ + 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, + 0.04970512804810447 + ], + [ + 0.05007600784301758, + 0.9985957741737366, + -0.017288586124777794, + -0.00037822825269717177 + ], + [ + -0.28819286823272705, + 0.031021492555737495, + 0.9570697546005249, + 0.0868335189692902 + ], + [ + 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, + 0.051537800219022864 + ], + [ + 0.05141720920801163, + 0.998530387878418, + -0.017127685248851776, + -0.00031354189709280485 + ], + [ + -0.2950986623764038, + 0.03157554566860199, + 0.954944908618927, + 0.08647047798572617 + ], + [ + 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, + 0.05207652468798739 + ], + [ + 0.05172959342598915, + 0.9985193014144897, + -0.016828401014208794, + -0.0005602094114315933 + ], + [ + -0.29680708050727844, + 0.03146164119243622, + 0.9544190764427185, + 0.08614877500862939 + ], + [ + 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, + 0.052685867633783454 + ], + [ + 0.05217790603637695, + 0.9984990954399109, + -0.0166422501206398, + -0.0004400001025071951 + ], + [ + -0.2985427975654602, + 0.031499262899160385, + 0.9538763165473938, + 0.08758253913767862 + ], + [ + 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, + 0.05391689130302632 + ], + [ + 0.053299177438020706, + 0.9984463453292847, + -0.016250930726528168, + -0.00016342435018018358 + ], + [ + -0.30204135179519653, + 0.031631093472242355, + 0.952769935131073, + 0.08890686012578734 + ], + [ + 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, + 0.055111771408054566 + ], + [ + 0.05446667596697807, + 0.9983948469161987, + -0.015526307746767998, + -2.760070686539046e-05 + ], + [ + -0.30939698219299316, + 0.03165893256664276, + 0.9504058361053467, + 0.08875962794861861 + ], + [ + 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, + 0.05578555081303072 + ], + [ + 0.0544075109064579, + 0.998401403427124, + -0.015310889109969139, + -0.00021038256101122148 + ], + [ + -0.31098997592926025, + 0.031514234840869904, + 0.9498905539512634, + 0.08938503496235972 + ], + [ + 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, + 0.05630095049061559 + ], + [ + 0.05453957989811897, + 0.9983957409858704, + -0.015209339559078217, + -0.00021167740818451783 + ], + [ + -0.31273406744003296, + 0.03154547140002251, + 0.9493167400360107, + 0.09057755717499691 + ], + [ + 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, + 0.05721804937629989 + ], + [ + 0.055212803184986115, + 0.9983643293380737, + -0.014838993549346924, + 1.8138293355627992e-05 + ], + [ + -0.3156352937221527, + 0.031551361083984375, + 0.9483559131622314, + 0.09130015785175592 + ], + [ + 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, + 0.0586928558695798 + ], + [ + 0.05577855929732323, + 0.9983327984809875, + -0.01484574656933546, + -0.00013985652570622166 + ], + [ + -0.3214590847492218, + 0.03203367069363594, + 0.9463814496994019, + 0.09122776741566457 + ], + [ + 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, + 0.05920962586321614 + ], + [ + 0.05612236633896828, + 0.9983156323432922, + -0.014702387154102325, + -0.0003893672305187493 + ], + [ + -0.3229643702507019, + 0.032086070626974106, + 0.9458670616149902, + 0.09139725888063285 + ], + [ + 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, + 0.059943657533990016 + ], + [ + 0.05634462088346481, + 0.9983052611351013, + -0.01455640234053135, + -0.0005872823067498631 + ], + [ + -0.3243270814418793, + 0.03209009766578674, + 0.9454005360603333, + 0.09214014688534945 + ], + [ + 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, + 0.06021465827720334 + ], + [ + 0.056756217032670975, + 0.9982831478118896, + -0.014472145587205887, + -0.0008648463343787526 + ], + [ + -0.32713791728019714, + 0.03229039907455444, + 0.9444247484207153, + 0.09301270203044018 + ], + [ + 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, + 0.06184719051375534 + ], + [ + 0.057908035814762115, + 0.9982154369354248, + -0.014580415561795235, + -0.0011416424362158234 + ], + [ + -0.3331160247325897, + 0.03308834135532379, + 0.9423050880432129, + 0.09249304176562213 + ], + [ + 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, + 0.06221095682168851 + ], + [ + 0.05814748257398605, + 0.9982019066810608, + -0.01455256249755621, + -0.0012087885424438302 + ], + [ + -0.33484622836112976, + 0.03323417156934738, + 0.9416865110397339, + 0.09393781701460333 + ], + [ + 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, + 0.06344284204521565 + ], + [ + 0.05846580117940903, + 0.9981817007064819, + -0.014666134491562843, + -0.0010293904840099543 + ], + [ + -0.3362181782722473, + 0.03352179378271103, + 0.9411873817443848, + 0.09488155561631001 + ], + [ + 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, + 0.06491786614060402 + ], + [ + 0.05979776754975319, + 0.9981088042259216, + -0.014250554144382477, + -0.0009721124719362707 + ], + [ + -0.3438907861709595, + 0.034000836312770844, + 0.9383938908576965, + 0.09461460051825271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 1416.6477864583333, + "fy": 1417.2119140625, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_062/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_062/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7daaf51ba0a3c400c7e20a7c6eedd325ef2ac2f7 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_062/move_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999937678286, + 0.00010884524135676883, + 2.4840617476088672e-05, + 5.251701992526347e-05 + ], + [ + -0.00010884272172820654, + 0.9999999889345738, + -0.00010141062202761387, + 3.290490015986099e-05 + ], + [ + -2.485165526484739e-05, + 0.00010140791767518999, + 0.9999999945494147, + 0.0001397947884757312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999999581286657, + 0.0008968079509784762, + 0.00018210439405243583, + 0.0015891240331808395 + ], + [ + -0.0008964864912791607, + 0.9999980533568633, + -0.00175772422622766, + 4.570263939767878e-05 + ], + [ + -0.00018368038062187538, + 0.001757560236115802, + 0.9999984386205484, + 0.0001396278362917514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999985231935343, + 0.001685029466226429, + 0.0003380627880468652, + 0.003125728401203609 + ], + [ + -0.0016838655441027202, + 0.9999927540403992, + -0.0034141563419665902, + 5.653193100343767e-05 + ], + [ + -0.000343813292496078, + 0.0034135820476378937, + 0.9999941146076932, + 0.00013906055182808603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999970130249293, + 0.0023819272385421, + 0.0005480546048764011, + 0.004606684053582671 + ], + [ + -0.002379360003198618, + 0.9999864128491104, + -0.004638185328760295, + -9.362661863034879e-05 + ], + [ + -0.0005590949783477694, + 0.004636867455409932, + 0.999989093377026, + 0.00010736234473396116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999957118527705, + 0.0028466676128441845, + 0.0006875751398443081, + 0.006010649255015981 + ], + [ + -0.0028428757280290844, + 0.99998108425434, + -0.005454281905949992, + -0.000195882139579865 + ], + [ + -0.0007030886615008305, + 0.005452303826509889, + 0.9999848889104863, + 8.563608482422051e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999936272782711, + 0.0034324921136387456, + 0.0009815297936359535, + 0.007438907858101771 + ], + [ + -0.0034261293434366584, + 0.9999735715113361, + -0.006412325364847926, + -0.0003412627065424809 + ], + [ + -0.0010035141095318554, + 0.006408921652855308, + 0.9999789591199804, + 8.93309863404054e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999912797846638, + 0.003962839913368514, + 0.0013176700844110946, + 0.008840816193028522 + ], + [ + -0.003953203088952369, + 0.9999659953336599, + -0.00723742783733043, + -0.00048404807038154353 + ], + [ + -0.0013463060453834253, + 0.007232155707953294, + 0.9999729413258382, + 0.00011041335335276652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999880734603022, + 0.004573840339267794, + 0.00171257750324683, + 0.010204543069336538 + ], + [ + -0.0045593109861402515, + 0.9999543772360295, + -0.008393814975102462, + -0.000644441940251151 + ], + [ + -0.0017508913402610915, + 0.008385906692509772, + 0.999963304800961, + 8.799710061873667e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999840648593488, + 0.005225539706524505, + 0.0021362963627089876, + 0.011549169869509927 + ], + [ + -0.005204548950593184, + 0.9999392541358576, + -0.009716002698929062, + -0.0008145420169561907 + ], + [ + -0.002186937949432324, + 0.009704729414066793, + 0.9999505165403961, + 4.320429749693509e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999791705693927, + 0.00587801679716709, + 0.002665960592716251, + 0.012927315671496638 + ], + [ + -0.005848296825109542, + 0.9999221534896858, + -0.011021995499667933, + -0.0009986266715057742 + ], + [ + -0.002730540531672821, + 0.011006174588907269, + 0.9999357020675497, + -0.00011801110615870157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999754056726853, + 0.00631347080939256, + 0.003054199745807168, + 0.014273902757054884 + ], + [ + -0.006276748339407423, + 0.9999096424657341, + -0.01188736027599852, + -0.0011289799717963062 + ], + [ + -0.0031289742779522308, + 0.011867897471186271, + 0.9999246784281209, + -0.0002660229982021716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999685312646375, + 0.00697859008280247, + 0.0037730307313615014, + 0.01559769650722863 + ], + [ + -0.006928195152835559, + 0.9998887596228295, + -0.013208652158473803, + -0.001274025056867464 + ], + [ + -0.0038647887869601816, + 0.013182096205670015, + 0.9999056434220464, + -0.00046251624059512244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999592499439862, + 0.007667482530371601, + 0.004765308290905739, + 0.016779294449414242 + ], + [ + -0.0075972952306979525, + 0.9998648958859588, + -0.014576387760309553, + -0.001324385213871966 + ], + [ + -0.004876428676659058, + 0.014539590317740535, + 0.9998824034639044, + -0.0006110606664131003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999476011542461, + 0.008357225155047407, + 0.0059119991184493825, + 0.017998617241201886 + ], + [ + -0.008262412284697955, + 0.999839702757616, + -0.015883996121874917, + -0.0014104506241407366 + ], + [ + -0.006043797573246127, + 0.015834316444668775, + 0.9998563631510397, + -0.0008119325678015964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999319207746045, + 0.00904756385722821, + 0.007368541528639906, + 0.019293413406744602 + ], + [ + -0.008920704974859826, + 0.9998144852470879, + -0.017070914235973737, + -0.0015662538550920936 + ], + [ + -0.007521624742130137, + 0.01700401947628376, + 0.9998271292993047, + -0.0011156914701654322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999119258735346, + 0.009708995287535181, + 0.009048530620251538, + 0.020602329385342906 + ], + [ + -0.0095426001245283, + 0.9997878348973702, + -0.018254423411660295, + -0.0017049822114740764 + ], + [ + -0.009223842948704325, + 0.018166469159840576, + 0.9997924285168007, + -0.0013874804691106296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998843758318737, + 0.010311409028894773, + 0.011176305791421122, + 0.021939524096439643 + ], + [ + -0.010092944819951318, + 0.999760268772566, + -0.019430322917240256, + -0.0018077579918242663 + ], + [ + -0.01137398048907874, + 0.019315274464672808, + 0.9997487448055079, + -0.0015927397936531884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998632822907354, + 0.010714373836423843, + 0.012594400346616299, + 0.02324750186487232 + ], + [ + -0.010458433768886267, + 0.9997409561246171, + -0.020214890802043365, + -0.0018813679038714522 + ], + [ + -0.012807727741457964, + 0.020080409366595945, + 0.9997163294003809, + -0.001737908911743722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998184582559617, + 0.011128492105268912, + 0.015466324519254789, + 0.024688228977033832 + ], + [ + -0.010797667204511942, + 0.9997145768890021, + -0.021311385186899044, + -0.001975997478286668 + ], + [ + -0.01569907365459955, + 0.02114051605582844, + 0.9996532487154138, + -0.0018758070787330849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999765186424878, + 0.011545652334649412, + 0.01833766410960388, + 0.02612864339394605 + ], + [ + -0.011133726166722119, + 0.9996868933444495, + -0.02240882453338581, + -0.00207139974254733 + ], + [ + -0.018590646962214543, + 0.02219939610644918, + 0.9995806994225307, + -0.002020939011124045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9996881271015289, + 0.011850972617289488, + 0.02198187845161791, + 0.027574114128904585 + ], + [ + -0.011334111819427329, + 0.9996598106736415, + -0.02349044131565124, + -0.00221034470812326 + ], + [ + -0.022252785027995183, + 0.023233970215260063, + 0.999482364119815, + -0.002175759352537107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9995976532348679, + 0.012160061902858229, + 0.025625466666255394, + 0.029019040083792816 + ], + [ + -0.011530532432032236, + 0.9996315453890763, + -0.024572754930634797, + -0.0023496865555283205 + ], + [ + -0.02591483106598542, + 0.024267392887696856, + 0.9993695588586115, + -0.0023397326233851224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994751308726991, + 0.012481236629722647, + 0.029894506170767526, + 0.03051191711085001 + ], + [ + -0.011707425570461076, + 0.9995954277093855, + -0.02592136356373183, + -0.002491126510787072 + ], + [ + -0.03020594235433323, + 0.025557770534299733, + 0.9992168940784594, + -0.0024589730387318213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9993342167033659, + 0.012807919907627767, + 0.03416256011352778, + 0.0320039590675458 + ], + [ + -0.011878525121166326, + 0.9995575076989021, + -0.027270670026707067, + -0.002632842133244843 + ], + [ + -0.034496724001221155, + 0.02684671284160336, + 0.9990441582046233, + -0.0025889317551074176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9992112475082991, + 0.013136524911164384, + 0.037474185330263914, + 0.03321076591519895 + ], + [ + -0.01207843705659234, + 0.9995258436005311, + -0.028323123643349858, + -0.002836724330418819 + ], + [ + -0.03782848412477754, + 0.027848154120244745, + 0.9988961337901536, + -0.002727079608822621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9990059559589513, + 0.013635650345563721, + 0.04244018141096614, + 0.034395356842606105 + ], + [ + -0.012371718874117326, + 0.9994762391653359, + -0.029902975036215123, + -0.003135542457601822 + ], + [ + -0.04282569941801297, + 0.02934819216868773, + 0.9986514121983647, + -0.0029231394094026792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9987656137713483, + 0.01425619378809368, + 0.047581610803108604, + 0.035601143103289365 + ], + [ + -0.012757155513687042, + 0.9994172506519609, + -0.031660923588479044, + -0.0034943726183579702 + ], + [ + -0.04800524691262181, + 0.031014835771808042, + 0.9983654522422669, + -0.003132980317913603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9984928177623229, + 0.014942592543484486, + 0.05280920189830959, + 0.036816657045976975 + ], + [ + -0.013183174288660166, + 0.9993514567141771, + -0.03350925064705762, + -0.0038836779164393466 + ], + [ + -0.05327566792384525, + 0.03276255318701404, + 0.9980422427512458, + -0.0033565182129233623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9981837075199638, + 0.0155436846324827, + 0.058203779170648735, + 0.03818342390722203 + ], + [ + -0.013488663640199326, + 0.9992773883946814, + -0.0355352922642688, + -0.004126835734014564 + ], + [ + -0.05871406982062551, + 0.034685658580331985, + 0.9976720719224066, + -0.003600412914470579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.997840341152865, + 0.016108273537799166, + 0.0636802723892216, + 0.039624779161712705 + ], + [ + -0.013727387491122497, + 0.9991966776892164, + -0.037650473137809816, + -0.004296840026759598 + ], + [ + -0.06423560072578595, + 0.036694997185771856, + 0.9972598782568833, + -0.003861567758820983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9974599216439325, + 0.016629600051838084, + 0.06926154139344765, + 0.04107013871700961 + ], + [ + -0.013893399452409623, + 0.9991110151985293, + -0.03980141656549817, + -0.004483339154957861 + ], + [ + -0.06986185057480326, + 0.038738039587470546, + 0.9968042366097687, + -0.004093492427441071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9971864218916623, + 0.016965454128109337, + 0.07301652799969922, + 0.04244999948047216 + ], + [ + -0.01397694846421433, + 0.9990512027579206, + -0.041247292997009084, + -0.004618894632567292 + ], + [ + -0.07364702917655634, + 0.04011069226751685, + 0.9964774194427529, + -0.004272272289264696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.996742716423005, + 0.017469844913403126, + 0.07873221561972564, + 0.043846208707217456 + ], + [ + -0.014076401074340241, + 0.9989563502110187, + -0.04345187344494092, + -0.004789055315523776 + ], + [ + -0.079409144249788, + 0.042202072126644355, + 0.9959483786410489, + -0.004532356951301176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9962515834939958, + 0.01796845617501059, + 0.0846162925705977, + 0.04514339919338127 + ], + [ + -0.014131551497593091, + 0.998853995070935, + -0.045727407351651844, + -0.004910206338479962 + ], + [ + -0.08534097279722759, + 0.04436024248716132, + 0.9953637964324921, + -0.0048545994937432835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.99572727349679, + 0.018489159033804842, + 0.09047291203930315, + 0.04650741509353839 + ], + [ + -0.014187685670783204, + 0.9987485574698816, + -0.047958612648175344, + -0.005051584182293527 + ], + [ + -0.09124640480564626, + 0.046470097375122255, + 0.994743496415026, + -0.005184400075240065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9951722918303896, + 0.01904065393261929, + 0.09627857015384257, + 0.04800770487660358 + ], + [ + -0.014259974251424692, + 0.9986423398058292, + -0.05010120039966979, + -0.005233903387719889 + ], + [ + -0.09710181619001192, + 0.04848639649383523, + 0.994092705258239, + -0.005514476475644499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9945776123341985, + 0.01956380186862378, + 0.10214025014679526, + 0.049456415083881086 + ], + [ + -0.014275513250627824, + 0.9985319209335174, + -0.052251436327155495, + -0.005356564831065159 + ], + [ + -0.10301253693136495, + 0.050510004288901705, + 0.9933967770743467, + -0.005886366414542708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9941542099315891, + 0.019865802923681883, + 0.10612613603394598, + 0.05076985072568209 + ], + [ + -0.014219849152323688, + 0.9984561462573971, + -0.053694691459329986, + -0.005364879901969148 + ], + [ + -0.10702898096022094, + 0.05187170591974894, + 0.9929018699547262, + -0.006223494230865943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9934888634338715, + 0.020329043902735867, + 0.11210088405929132, + 0.05211563351071091 + ], + [ + -0.014125410056437925, + 0.9983387468841193, + -0.055858922837662264, + -0.005367736572185886 + ], + [ + -0.11305021461108121, + 0.05391174680760272, + 0.9921255830450807, + -0.006677191468718741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9928100135886594, + 0.020842704516605016, + 0.11787221295334888, + 0.05357738041860331 + ], + [ + -0.014086297966916895, + 0.9982250258823828, + -0.0578651355455395, + -0.005517664340886342 + ], + [ + -0.1188690587481594, + 0.05578870289359593, + 0.9913413980570855, + -0.007102495483778866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9920972573976443, + 0.02136727689743534, + 0.12363847031592021, + 0.05503573488459254 + ], + [ + -0.01403541477534221, + 0.9981074526329067, + -0.05987086211784527, + -0.005666905774260313 + ], + [ + -0.12468375594341255, + 0.05766240089207403, + 0.990519564939131, + -0.007542139262090434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9913601104582149, + 0.021898541100448473, + 0.12932743440565123, + 0.0564923350624258 + ], + [ + -0.013984875042750314, + 0.9979914943305688, + -0.06178511563375993, + -0.005626427628707149 + ], + [ + -0.1304206834145363, + 0.059442671049595296, + 0.9896752064168199, + -0.00801317975449317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9905899550727009, + 0.02244002333326562, + 0.13501105977610528, + 0.05794535942949103 + ], + [ + -0.013923243742167163, + 0.9978720371237563, + -0.06369882895455073, + -0.005585240826502964 + ], + [ + -0.13615316446106124, + 0.061219628219121046, + 0.9887944543371752, + -0.008498329128282274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9897758861729334, + 0.022981559131794095, + 0.1407676919270063, + 0.059456327025862496 + ], + [ + -0.013872181641098958, + 0.9977656531700003, + -0.06535490747265642, + -0.005611503095755296 + ], + [ + -0.14195512575141858, + 0.06273395646788886, + 0.9878831879219245, + -0.008911395375564209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9892143730065571, + 0.023347478064158576, + 0.1446022804290725, + 0.06087365456335671 + ], + [ + -0.01383273918097366, + 0.9976932886378783, + -0.06645868742073363, + -0.005634409189171138 + ], + [ + -0.14582036745254637, + 0.0637416431775904, + 0.9872555005473637, + -0.009255440491214779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9883277861831165, + 0.02393559052923506, + 0.15045023949597666, + 0.06235676526694078 + ], + [ + -0.013805251730667847, + 0.9975883815595623, + -0.06802084975965805, + -0.005635886736513529 + ], + [ + -0.15171553013133768, + 0.065149892428076, + 0.9862747535213386, + -0.009741083293191826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9873978224916463, + 0.024547872117639008, + 0.15634238744899479, + 0.06382515377868023 + ], + [ + -0.013788421414085934, + 0.9974841333065618, + -0.06953620090690078, + -0.005624973345388697 + ], + [ + -0.1576560166110483, + 0.06650417863678441, + 0.9852521376024432, + -0.010264442655233944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9863834208627407, + 0.025190681555704055, + 0.16252131124833002, + 0.0652632744239458 + ], + [ + -0.013770654751988982, + 0.9973801486104926, + -0.07101554918053647, + -0.0057416192836168955 + ], + [ + -0.16388445965014187, + 0.06781053546810246, + 0.9841461350656773, + -0.010796440966169198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9853044739804504, + 0.025852918617836965, + 0.16883933236378126, + 0.06668349523572564 + ], + [ + -0.013747578329950933, + 0.9972753497078932, + -0.07247676148298213, + -0.005921730427315132 + ], + [ + -0.1702530400438411, + 0.06909054540194856, + 0.982975278881362, + -0.011340853768393588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9840968004088632, + 0.026581898604003597, + 0.17563282748861303, + 0.06809014564713005 + ], + [ + -0.013721006055656177, + 0.9971609692824689, + -0.07403874210484784, + -0.00598061490495366 + ], + [ + -0.17710229083176504, + 0.07045143012213445, + 0.9816676497551945, + -0.011970608154456979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9832352637214224, + 0.027092765626864065, + 0.18031749284346407, + 0.06943141764698503 + ], + [ + -0.013699053131759155, + 0.9970808848287858, + -0.07511354772834777, + -0.005984960857779465 + ], + [ + -0.1818261590584758, + 0.07138410999468545, + 0.9807362319820291, + -0.012498835122734434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9818539883952462, + 0.02786326737232525, + 0.18758033959796086, + 0.07084852149434126 + ], + [ + -0.013632197483285839, + 0.9969584426086985, + -0.07673347967488049, + -0.0059645029429038765 + ], + [ + -0.1891478486901839, + 0.07278394082884575, + 0.9792474607030128, + -0.013176998915439653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9803213713476667, + 0.02863625218973178, + 0.19532018313414642, + 0.07230957595406028 + ], + [ + -0.013504323839535447, + 0.9968329772686986, + -0.07836867146544894, + -0.00590757209281447 + ], + [ + -0.19694578471413746, + 0.07418881647626278, + 0.9776033845037487, + -0.013837847685736563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9786785069165457, + 0.029453958269009456, + 0.2032752922563104, + 0.07373024794938143 + ], + [ + -0.01339638894690863, + 0.9967110340340252, + -0.07992278397307896, + -0.005874840950889425 + ], + [ + -0.20496076908224192, + 0.07549555600902448, + 0.9758542432966637, + -0.01456283569245595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.976869341716715, + 0.0303490391402949, + 0.21167244751552572, + 0.07507709341649826 + ], + [ + -0.013341984226930403, + 0.9965990315773847, + -0.08131642955705536, + -0.005891850158410187 + ], + [ + -0.2134204317089638, + 0.07661139655612638, + 0.9739519563340276, + -0.015398406829677448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9749532369039676, + 0.03127352243974994, + 0.2202002557779766, + 0.0764102748328722 + ], + [ + -0.013288443481684344, + 0.9964868383353812, + -0.08268856205177269, + -0.0058886376891350905 + ], + [ + -0.22201261928167496, + 0.07769136257375228, + 0.9719436450026945, + -0.016258712011472512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9728910696795044, + 0.0322469945264705, + 0.2290045804823114, + 0.07772486353968358 + ], + [ + -0.013248683094607852, + 0.9963761200022387, + -0.08401844967352728, + -0.00584596586655125 + ], + [ + -0.2308840378504506, + 0.0787067902616678, + 0.969792659403327, + -0.017148991427863865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9714715294020587, + 0.03290107042389566, + 0.23486291134657009, + 0.07900000104294418 + ], + [ + -0.013215424444374468, + 0.9963014289618899, + -0.08490474194796876, + -0.005822490941696653 + ], + [ + -0.23678771107889027, + 0.07937872645399394, + 0.9683132745493898, + -0.017852742754353227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9692367217880979, + 0.03396599373142112, + 0.24377548770805213, + 0.08027629502974264 + ], + [ + -0.013232578676403043, + 0.996190801011865, + -0.08619041037674599, + -0.005770899242412668 + ], + [ + -0.24577444130550763, + 0.08031313248265282, + 0.9659941639325725, + -0.01879248260523939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9669189318608519, + 0.03503947208365759, + 0.25266581605980687, + 0.0815408820519014 + ], + [ + -0.013237782441983481, + 0.9960786622913594, + -0.08747605183062993, + -0.005718469081808204 + ], + [ + -0.25474014274371504, + 0.08123751549595126, + 0.9635911611004727, + -0.019753138408546866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9645403365166834, + 0.036184829845288764, + 0.2614432965699267, + 0.0827561286524 + ], + [ + -0.013315117166641676, + 0.9959673684337689, + -0.0887226502644723, + -0.00577603582647233 + ], + [ + -0.2635994060826423, + 0.0820954268164845, + 0.961132505957788, + -0.020734007450732127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9620806866615736, + 0.037337950256308004, + 0.27019739048231495, + 0.0839592483580789 + ], + [ + -0.013380968083517445, + 0.9958546024066371, + -0.08996977580647086, + -0.005832920267604692 + ], + [ + -0.2724366018837098, + 0.08294268102838376, + 0.9585920976191494, + -0.021735342001502896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9595326402924681, + 0.03840984327576044, + 0.27896558238050895, + 0.08520980711733009 + ], + [ + -0.01337364838691459, + 0.9957517959749447, + -0.09110162644813424, + -0.005898459062605371 + ], + [ + -0.2812796788646279, + 0.08368419654990861, + 0.9559700296063721, + -0.022828626956866518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9569034518808022, + 0.03948847204835567, + 0.2877089577227158, + 0.0864476058248069 + ], + [ + -0.013355869977800354, + 0.9956478529004618, + -0.09223325729820242, + -0.005963155934754272 + ], + [ + -0.29009895641960065, + 0.08441571885606702, + 0.9532662701964609, + -0.023942145399889234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9550635253065791, + 0.04008961285293923, + 0.2936775196882983, + 0.08783494244762684 + ], + [ + -0.013250839091566014, + 0.9955952088398689, + -0.09281484470960119, + -0.005864642975241387 + ], + [ + -0.29610484273705967, + 0.08475259923093456, + 0.9513878909421025, + -0.024756712934773033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9522330876300679, + 0.04099525028380489, + 0.30260789196033133, + 0.08930640094390369 + ], + [ + -0.013086420071295565, + 0.9955157935148448, + -0.09368591394775726, + -0.005707639489579291 + ], + [ + -0.30509161317909894, + 0.08525077311483563, + 0.9484995589092795, + -0.025814228487553912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9492591573956011, + 0.04191383694592397, + 0.31168940048237787, + 0.0905651665585532 + ], + [ + -0.013001827280010403, + 0.9954621944152683, + -0.09426543362929843, + -0.005640794946242674 + ], + [ + -0.31422604059494247, + 0.0854297943483969, + 0.9454965603584269, + -0.026874108487531793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.946167295096435, + 0.04283749051703695, + 0.3208307951180783, + 0.0917097312114956 + ], + [ + -0.012956369687933771, + 0.9954216012258699, + -0.09469935742883802, + -0.005619008656853992 + ], + [ + -0.3234185866248339, + 0.08544463247699059, + 0.9423903822760856, + -0.027945549900352303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9429576628815645, + 0.04373790784392768, + 0.3300270313631502, + 0.0927669109264605 + ], + [ + -0.012960514424036042, + 0.9954035688079128, + -0.09488814610021061, + -0.005627082308062156 + ], + [ + -0.33266029381157286, + 0.08519818438151515, + 0.9391902886525665, + -0.02900164292108431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9396429820911759, + 0.044623573322720524, + 0.33923414172325544, + 0.09377218370155242 + ], + [ + -0.01299032153977605, + 0.9953968272989879, + -0.09495476685981559, + -0.005650258394695247 + ], + [ + -0.34190980938413457, + 0.08481681971767445, + 0.9358973177330322, + -0.03006025945531273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9362616746900542, + 0.04541191205851218, + 0.3483559024184391, + 0.09478885273230567 + ], + [ + -0.012976856443036987, + 0.9954037368431365, + -0.0948841497594648, + -0.005651503022144487 + ], + [ + -0.3510636376833008, + 0.08431582841856974, + 0.9325476735130801, + -0.03111886192347036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9339660682761941, + 0.04590344412575535, + 0.3544012656948352, + 0.09585593548562191 + ], + [ + -0.012954207638679886, + 0.9954128960842173, + -0.09479111146982698, + -0.005650430739510622 + ], + [ + -0.35712682875018154, + 0.0839406941037829, + 0.9302765116137318, + -0.031977714758400395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9304846306655726, + 0.04665676160108023, + 0.3633476278882985, + 0.09686132131192873 + ], + [ + -0.012934754737259607, + 0.9954221968438199, + -0.09469605139872989, + -0.00563859816587001 + ], + [ + -0.36610250506523495, + 0.08341340796013502, + 0.9268285489546793, + -0.03312383433274778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9269898043883922, + 0.047446619773825666, + 0.3720735422359524, + 0.09785782489266923 + ], + [ + -0.012942558052345898, + 0.9954226261336959, + -0.09469047244659097, + -0.005622504761012707 + ], + [ + -0.37486316536975556, + 0.08296151911057899, + 0.9233607061142645, + -0.03441082798511064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9234612499744437, + 0.048222001176419144, + 0.38064939038198936, + 0.0988622671585928 + ], + [ + -0.012933005996460821, + 0.995419224311831, + -0.09472753151185072, + -0.005607848111474965 + ], + [ + -0.3834736720448148, + 0.08255426380856772, + 0.9198547365619703, + -0.03568377657876883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.919952360447538, + 0.04897371879693284, + 0.388959161576382, + 0.0998993228286959 + ], + [ + -0.012887916092382306, + 0.995408197021702, + -0.09484947506865973, + -0.005595881146222768 + ], + [ + -0.3918182692598685, + 0.08224412543886364, + 0.9163592896375296, + -0.03690920742975756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9164014636373651, + 0.04974444754496561, + 0.397157207389896, + 0.10089770059827949 + ], + [ + -0.012827687632514382, + 0.9953874677045035, + -0.095074915549888, + -0.005570212387424696 + ], + [ + -0.40005475609383445, + 0.08203218316771696, + 0.9128126385252565, + -0.03815408247719655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9140383374208947, + 0.05028674121980241, + 0.4024986476776532, + 0.10190504656042879 + ], + [ + -0.012767304720126046, + 0.995360647663457, + -0.0953633945136564, + -0.0055401959668496484 + ], + [ + -0.40542682897784454, + 0.0820269756877361, + 0.9104398176730264, + -0.039164774497979345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9104346750934358, + 0.0511000979899988, + 0.4104844483935084, + 0.10283017995168452 + ], + [ + -0.012673544763315694, + 0.995320359133678, + -0.0957954276421308, + -0.0054866547397633275 + ], + [ + -0.4134586843333231, + 0.08201318600944, + 0.9068217871610379, + -0.04044500627223012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9069640594646068, + 0.05198246724961734, + 0.4179880595640549, + 0.10368109524046358 + ], + [ + -0.012575441376357237, + 0.9952548200783782, + -0.09648679383700791, + -0.005489231400949644 + ], + [ + -0.42102025261698667, + 0.08225366988407219, + 0.9033140542894985, + -0.04167091070706278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9034307338074199, + 0.052866791523823356, + 0.4254621153124726, + 0.1045170629873348 + ], + [ + -0.012471563382242246, + 0.9951889446649459, + -0.09717728398897602, + -0.00549098534295291 + ], + [ + -0.42855264474623167, + 0.08248676724571027, + 0.8997436100969889, + -0.04291280144716275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 403.91474405924475, + "fy": 403.9148139953613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_102/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_102/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..793a17538e88bbce427c0a6d3967585073857c0e --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_102/pan_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999634150843, + 0.00026573972324992845, + -5.051959750055559e-05, + -1.4078247538848768e-05 + ], + [ + -0.0002657560928761622, + 0.9999999121031685, + -0.00032429516583119925, + 0.00027697004560428155 + ], + [ + 5.0433414952423764e-05, + 0.0003243085798577333, + 0.9999999461402065, + 0.00042825190898292554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.99997782812121, + 0.00037393937521525237, + 0.006648566411746303, + -0.01044897013937098 + ], + [ + -0.0003559194832144046, + 0.9999962610279763, + -0.0027113191234396173, + 9.396304537497049e-05 + ], + [ + -0.006649555421921519, + 0.002708892654079266, + 0.9999742223243955, + -0.002026325519856533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998869751618576, + 0.0005141834273803373, + 0.015025728503937495, + -0.022621776408725366 + ], + [ + -0.00043336284662927305, + 0.9999854253236078, + -0.005381573841056103, + -1.3035377925487644e-05 + ], + [ + -0.015028276624889286, + 0.005374453997066621, + 0.9998726249607596, + -0.005297882402668609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997616417904439, + 0.0005737648636108433, + 0.021824994807741093, + -0.03304926267385891 + ], + [ + -0.00041937095145430745, + 0.999974862013279, + -0.00707809787507256, + 0.00044301608364763 + ], + [ + -0.021828507335173334, + 0.007067257983497986, + 0.999736750415885, + -0.010199759126504315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9995419526423821, + 0.0006404664678424658, + 0.030256812630516782, + -0.045255476666394547 + ], + [ + -0.00037279425271720786, + 0.9999607553153023, + -0.008851488784147129, + 0.0005318177636608754 + ], + [ + -0.030261294293201863, + 0.008836154817244363, + 0.9995029646958264, + -0.016027880914080802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993180041670994, + 0.0006596791181818023, + 0.03692006732044793, + -0.055805402981167616 + ], + [ + -0.0002932334033708352, + 0.9999506541793033, + -0.009929915435435942, + -0.0003419058502321823 + ], + [ + -0.03692479602728388, + 0.009912317077494863, + 0.9992688854399995, + -0.021257554467220996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989829464067063, + 0.0007109770201376645, + 0.0450840027088629, + -0.06783066562208317 + ], + [ + -0.00021849686890696763, + 0.9999402681348457, + -0.010927599074427287, + -0.0012180844859959335 + ], + [ + -0.045089079029119655, + 0.010906634407092887, + 0.9989234306383127, + -0.026802108351185374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9986758833527796, + 0.0007800727039335455, + 0.051438035500221836, + -0.07781462248421686 + ], + [ + -0.00018949999362239135, + 0.9999340258431577, + -0.011485123022746313, + -0.0018054769389993586 + ], + [ + -0.05144360115017144, + 0.011460167872757278, + 0.9986101443771891, + -0.030918318048260535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9982474186569207, + 0.0007327779400343517, + 0.05917393160239926, + -0.08972909650675064 + ], + [ + -3.911286699062429e-05, + 0.9999312850319368, + -0.011722784846762093, + -0.0013578871753454256 + ], + [ + -0.059178455665710485, + 0.011699925250634645, + 0.9981788527784745, + -0.035545225618377994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9978723775465163, + 0.0006065919362545491, + 0.06519470972315128, + -0.10011283989395103 + ], + [ + 0.00015398273248610873, + 0.9999320016854545, + -0.01166054435429648, + -0.0002459581901119573 + ], + [ + -0.06519734978495048, + 0.011645773977855243, + 0.9978044305020277, + -0.03939842970074782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9974657493924103, + 0.0004563595518015423, + 0.07114682371685263, + -0.11093853064078567 + ], + [ + 0.0003409092072040784, + 0.9999372936123789, + -0.01119341878353654, + 0.0003877777624412941 + ], + [ + -0.07114747058012579, + 0.011189306462451757, + 0.9974030463413172, + -0.04334227496129671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9969067744231512, + 0.00026078534763811706, + 0.07859271658513411, + -0.1238263058052127 + ], + [ + 0.0005592261944634664, + 0.9999456425577675, + -0.010411493447014043, + 0.000848190438023294 + ], + [ + -0.07859115965102047, + 0.010423239454998992, + 0.9968524392827516, + -0.04799630178587487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9964237944891603, + 0.00013055548080031758, + 0.08449618175450663, + -0.13522470207414736 + ], + [ + 0.0006718937340427764, + 0.9999549483176389, + -0.009468362787671053, + -0.0001329333018072166 + ], + [ + -0.08449361120602158, + 0.009491274431562545, + 0.9963788162014641, + -0.05198551822123534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9957663407534996, + -2.2294922385455952e-05, + 0.0919205859713781, + -0.14860490181777047 + ], + [ + 0.0007888950118373581, + 0.9999652143087224, + -0.008303482231634896, + -0.0015985890726863314 + ], + [ + -0.09191720332476057, + 0.008340843809064774, + 0.9957317199213387, + -0.05663961586582436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9951645527059128, + -0.00035101461333563713, + 0.09822112718953274, + -0.15983264604048503 + ], + [ + 0.0010630478244837184, + 0.9999735358629376, + -0.007197048221167919, + -0.002116528779287989 + ], + [ + -0.09821600158306182, + 0.007266661029398627, + 0.995138589680111, + -0.06087097248104894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9943468296528705, + -0.0007392339936190356, + 0.10617832119782615, + -0.17291836144974537 + ], + [ + 0.0013728533489067803, + 0.9999816846926756, + -0.005894535849520843, + -0.0025612972216927333 + ], + [ + -0.10617201906796564, + 0.006006980298083973, + 0.9943296327449618, + -0.06599459780147196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9936073436681109, + -0.0010410517176009098, + 0.11288650415404931, + -0.18406618856902002 + ], + [ + 0.0015848831459363173, + 0.999987567616322, + -0.004727870366888946, + -0.002122269636511254 + ], + [ + -0.11288017874815157, + 0.004876558634289125, + 0.9935966407057102, + -0.07134821003266256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9926124367436802, + -0.0014141198018158955, + 0.12132003415330911, + -0.19712167412381068 + ], + [ + 0.0018393743449023375, + 0.9999925510441645, + -0.003393310802708385, + -0.0019809863774068555 + ], + [ + -0.12131433189773287, + 0.0035913954628492947, + 0.992607643913161, + -0.07751966503097667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.99174239896509, + -0.0017599173680359769, + 0.12823383635307198, + -0.20841856298999598 + ], + [ + 0.002073310787890285, + 0.9999951815276475, + -0.002310476977729586, + -0.002654705563047359 + ], + [ + -0.12822915221331527, + 0.0025572665769305314, + 0.9917412691374246, + -0.08264999944794241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9905726067548588, + -0.002072992443892616, + 0.13697303913256503, + -0.22156795763739678 + ], + [ + 0.0022590852018018375, + 0.9999967244490171, + -0.0012031730081603516, + -0.0030877306488362437 + ], + [ + -0.13697009630183749, + 0.0015012639888206864, + 0.9905740451503365, + -0.08830472960917708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9895527956143304, + -0.00223214181648275, + 0.1441536757588054, + -0.23280422844395135 + ], + [ + 0.0023191562060179576, + 0.9999972158840297, + -0.000435590038615352, + -0.0030554885728933424 + ], + [ + -0.14415230211951446, + 0.0007653542322099094, + 0.9895552172701348, + -0.09277374404235876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9885319389535028, + -0.0024267079475580136, + 0.15099243940464616, + -0.24449231737353555 + ], + [ + 0.0024175143521271395, + 0.9999970479290589, + 0.0002444535231921073, + -0.002536718882777241 + ], + [ + -0.150992586881561, + 0.00012337627405831068, + 0.988534887338383, + -0.09673796890089385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.987257060661063, + -0.0026934989420292653, + 0.15911078291029887, + -0.25865554226825166 + ], + [ + 0.002577190173118219, + 0.9999962397427541, + 0.0009373319392637435, + -0.0013638720277730555 + ], + [ + -0.15911270931541127, + -0.0005153288290676886, + 0.9872602899795515, + -0.1007739767320971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9862718000592187, + -0.0028324162933742285, + 0.16510576557434342, + -0.27116388175522854 + ], + [ + 0.0026418397490638084, + 0.9999955665901847, + 0.0013738568762018057, + -0.0014103468004886739 + ], + [ + -0.16510892492742266, + -0.0009188133200213786, + 0.9862749103020891, + -0.10436797481052704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9850328420435635, + -0.0029429995889565133, + 0.17234163411375758, + -0.28597186341007996 + ], + [ + 0.002673943065455905, + 0.9999948170139563, + 0.0017933136110221942, + -0.0020781010802430984 + ], + [ + -0.1723460185906933, + -0.0013056410855127756, + 0.9850356060454327, + -0.10863946753217778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9841467743543767, + -0.0030344103906477277, + 0.17732997175169485, + -0.298685496694897 + ], + [ + 0.0027327893884029923, + 0.9999943741761113, + 0.0019451165225784365, + -0.003224840093175059 + ], + [ + -0.17733487640629064, + -0.001429674686390136, + 0.984149530122459, + -0.11305794245945444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9830135523198769, + -0.0031405855646448703, + 0.1835061107368582, + -0.31352298696267056 + ], + [ + 0.0028073589179881796, + 0.9999939051867645, + 0.0020756505558561338, + -0.004696723855328919 + ], + [ + -0.18351151105955865, + -0.0015252251098044193, + 0.9830163777867601, + -0.11838950881331162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9822887360881986, + -0.003168848466181201, + 0.1873467302987927, + -0.3260773457708538 + ], + [ + 0.0028684132037330575, + 0.9999941288259044, + 0.001874705153841649, + -0.0044154713917720235 + ], + [ + -0.18735157101007405, + -0.0013041139212398715, + 0.9822920584667975, + -0.1247861911261499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9813478504513208, + -0.0031966206344946234, + 0.19221388615573878, + -0.3407702908983115 + ], + [ + 0.002937686316756824, + 0.9999943531241313, + 0.001632090363497225, + -0.004083634469865972 + ], + [ + -0.19221801792151677, + -0.0010369842667099485, + 0.9813516995705229, + -0.1325732467493344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9807627540664751, + -0.0032021979082433134, + 0.19517726856501516, + -0.3536018088139589 + ], + [ + 0.0029918781368988494, + 0.9999945826007078, + 0.001372382763893513, + -0.0037801277197710365 + ], + [ + -0.19518060585303434, + -0.0007620352965102587, + 0.9807670214689368, + -0.14091548661141168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9800409302814397, + -0.0032270294057093482, + 0.19876961853941671, + -0.3684363606150809 + ], + [ + 0.003080102712569544, + 0.9999947069219339, + 0.0010483775062455876, + -0.0037148592573741862 + ], + [ + -0.19877194958134956, + -0.0004152220252673906, + 0.9800456824303138, + -0.15048340363425144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9796803999611096, + -0.0032903508595440853, + 0.20053799521103696, + -0.38086122122932836 + ], + [ + 0.003211074575398261, + 0.9999945848584468, + 0.0007205927103501351, + -0.004277820745420972 + ], + [ + -0.2005392802722499, + -6.200809686138123e-05, + 0.9796856604150559, + -0.15833155504757745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9793724865447934, + -0.0033139678309645902, + 0.20203601217675085, + -0.3929581666578982 + ], + [ + 0.0033161379884504294, + 0.9999944478925115, + 0.00032773921476288886, + -0.004526634935481873 + ], + [ + -0.20203597656830935, + 0.00034900052531378837, + 0.9793780385380935, + -0.16598945748104027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9790304766681844, + -0.003250409123015553, + 0.2036878999729749, + -0.4063061342246483 + ], + [ + 0.00337832609592361, + 0.9999942541557832, + -0.000280300211103074, + -0.004083907795252524 + ], + [ + -0.2036858185236695, + 0.0009625465971890145, + 0.9790358322535447, + -0.1744797627003994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9789334267508101, + -0.0032507938031223673, + 0.2041538104703565, + -0.4173159156330808 + ], + [ + 0.003473930559513173, + 0.999993696057417, + -0.0007346100289197557, + -0.003873080653239716 + ], + [ + -0.2041501354307274, + 0.0014283504739699595, + 0.9789385486426303, + -0.18184513374909878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9788280670529546, + -0.003316141975267103, + 0.20465731932129072, + -0.42965743801933987 + ], + [ + 0.0036352250585965015, + 0.9999926926076198, + -0.0011831610777224954, + -0.003823877795439179 + ], + [ + -0.20465190027984156, + 0.0019020866863413424, + 0.9788329692946022, + -0.1905406943100382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9789395532814986, + -0.0033851909815915404, + 0.20412224646774388, + -0.4402412039894556 + ], + [ + 0.003782289723729587, + 0.9999916376357627, + -0.0015552951460764631, + -0.004383705115850356 + ], + [ + -0.2041152745520677, + 0.002294589410720521, + 0.9789441708054503, + -0.19831833993590872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9790199239364153, + -0.003472912069995864, + 0.20373494402603085, + -0.45259203324402864 + ], + [ + 0.003959260153471043, + 0.9999902026459034, + -0.0019796139124646237, + -0.005388004355470184 + ], + [ + -0.20372607293759185, + 0.0027447211077565015, + 0.979024082293928, + -0.2075814395007124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9793109114386415, + -0.0035323260621424953, + 0.2023305745798403, + -0.46261920684404145 + ], + [ + 0.004119809327881121, + 0.9999884320740957, + -0.0024825166855152415, + -0.005611809057921758 + ], + [ + -0.20231946497635744, + 0.0032647190664231393, + 0.9793141353524405, + -0.21652321062981947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9795677101976102, + -0.0035970166964643313, + 0.20108247713089336, + -0.4741870840331448 + ], + [ + 0.004308306502277438, + 0.999985914823192, + -0.0030997822998344313, + -0.005724275793429998 + ], + [ + -0.20106849487996203, + 0.0039027715932769776, + 0.9795694098636387, + -0.22718907029760863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9800149146250732, + -0.003701556154532847, + 0.1988895814125155, + -0.4838594753479723 + ], + [ + 0.0044521100574278745, + 0.9999845559512877, + -0.0033266462004363628, + -0.004904189473429436 + ], + [ + -0.19887419598441455, + 0.004145641197832746, + 0.9800162589623765, + -0.2381324068373209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9804571951199563, + -0.0038058442758694853, + 0.1966957144598123, + -0.4935318666627998 + ], + [ + 0.004594693435139148, + 0.9999831276464559, + -0.003554323374320987, + -0.004084103153428873 + ], + [ + -0.1966788685389085, + 0.004388618434084557, + 0.9804581391872348, + -0.2490757433770332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9809982280739247, + -0.0039057508232979584, + 0.19397737400616194, + -0.5043736669712131 + ], + [ + 0.00472945704004631, + 0.9999816585840356, + -0.003783481416324414, + -0.004074793134478856 + ], + [ + -0.1939590388508009, + 0.004628996222468012, + 0.9809987072580911, + -0.2638281813353406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9815624367947252, + -0.003987896925821082, + 0.19110018145389215, + -0.5136956527254954 + ], + [ + 0.0048391551433539836, + 0.9999803388800681, + -0.003988035958096651, + -0.004089642487526903 + ], + [ + -0.1910805203339682, + 0.004839269719032815, + 0.9815624362298543, + -0.2761524553949546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9822049440935142, + -0.004063921676872103, + 0.187768294285433, + -0.524740551463405 + ], + [ + 0.004950923370817178, + 0.9999786907086777, + -0.004255171716312302, + -0.0042401380536133074 + ], + [ + -0.1877470003915722, + 0.005109077134205056, + 0.9822041341670293, + -0.2886601840207153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9828563028230202, + -0.004130567611544728, + 0.1843269551971987, + -0.534303452383243 + ], + [ + 0.005041832686218837, + 0.999977275430224, + -0.004475326391487076, + -0.004196180914411903 + ], + [ + -0.1843042808081999, + 0.005327948418727708, + 0.9828547934671833, + -0.2993807397923196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9835557824977864, + -0.004211809684920188, + 0.18055548558364282, + -0.5456838081268566 + ], + [ + 0.005145412123940151, + 0.999975704529094, + -0.0047026679254321664, + -0.003741339795034179 + ], + [ + -0.18053129216078254, + 0.005554368615791653, + 0.9835535580435047, + -0.3118872277414131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.984262757506465, + -0.00423611173778919, + 0.17666035079528974, + -0.5552501823019206 + ], + [ + 0.005175726722301151, + 0.9999748040401966, + -0.004858306049094468, + -0.003698676289962343 + ], + [ + -0.17663531934091192, + 0.005696195407074335, + 0.9842598830183107, + -0.3225068042751903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9850152231117714, + -0.0042115608965483525, + 0.17241598821710893, + -0.566191366300123 + ], + [ + 0.005148579333894923, + 0.9999743066647534, + -0.004987799232980304, + -0.004053969230839116 + ], + [ + -0.1723905518551123, + 0.0058007555680784926, + 0.9850115983408163, + -0.33477932823824363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.985786668069647, + -0.004270562640756704, + 0.16794763276353622, + -0.5756804807077062 + ], + [ + 0.0051936173239468435, + 0.9999737250825522, + -0.005057220938161971, + -0.0045013415393507636 + ], + [ + -0.1679216227745452, + 0.005857596713359305, + 0.9857829462744361, + -0.3439499773868847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.986568074368022, + -0.004369605836942127, + 0.16329219571860507, + -0.5852250734627085 + ], + [ + 0.005273982547230724, + 0.9999730601771838, + -0.005105294111994621, + -0.005020131598885331 + ], + [ + -0.16326548853283404, + 0.005897920371471839, + 0.9865645416238246, + -0.3524462979828235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9873691744745177, + -0.004461039839862792, + 0.15837364812700458, + -0.5959793881171244 + ], + [ + 0.005336406189716608, + 0.9999727438016315, + -0.005102393831814624, + -0.004607360053666923 + ], + [ + -0.15834656948127254, + 0.005883092501715626, + 0.9873660684650494, + -0.36324492241002143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9881094362796327, + -0.004531081955709337, + 0.15368542947025574, + -0.6050667286004227 + ], + [ + 0.005376116135943972, + 0.9999726282109938, + -0.005083326085395493, + -0.003904518175591007 + ], + [ + -0.1536581898580064, + 0.005849113189900214, + 0.9881067495794431, + -0.3728047434842834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9888947578182163, + -0.004550660351665703, + 0.14854780190233338, + -0.6142405560254599 + ], + [ + 0.005339006145352046, + 0.9999736995615031, + -0.00490868604218251, + -0.0038241433241760605 + ], + [ + -0.14852155726705465, + 0.005647271522124828, + 0.9888930454560414, + -0.3851660626761771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9896181640262451, + -0.004558240511810996, + 0.14364926687164395, + -0.6218998267032808 + ], + [ + 0.005293958786234069, + 0.9999747537124685, + -0.00473982468641176, + -0.003860908785773766 + ], + [ + -0.1436240350000443, + 0.0054510899024643, + 0.9896173109789368, + -0.3959340783556938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9903749138366362, + -0.004555239435883125, + 0.1383357503928677, + -0.6304426906878648 + ], + [ + 0.005233435813711222, + 0.9999760031257492, + -0.004539198413391443, + -0.00524225299217292 + ], + [ + -0.13831175363164108, + 0.0052194795079725945, + 0.9903749874875711, + -0.40708528656238496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9910629995807931, + -0.004569383679568227, + 0.13331635906635783, + -0.6378073956141481 + ], + [ + 0.005197895168884098, + 0.9999769562941698, + -0.004366779873249665, + -0.006248829964572593 + ], + [ + -0.1332933334707121, + 0.005020718418416086, + 0.9910639129939244, + -0.41639438975465526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9917623301718217, + -0.004685200046634433, + 0.12800597389450835, + -0.6466460101752107 + ], + [ + 0.005259416185211354, + 0.9999775651876639, + -0.004148211993415078, + -0.006388147739374533 + ], + [ + -0.12798366690148116, + 0.004787277083540556, + 0.9917647215870184, + -0.42580207106709106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9923941758978102, + -0.004764033345218561, + 0.12300855104582034, + -0.6545686709747602 + ], + [ + 0.005285667650694487, + 0.999978368380035, + -0.003914650621659313, + -0.006247105831449456 + ], + [ + -0.1229872406454952, + 0.004535058796631137, + 0.9923978899010812, + -0.43348257226908526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9930297979195617, + -0.00480854525942864, + 0.11776543778342993, + -0.6646207546510584 + ], + [ + 0.005260189145430489, + 0.9999799536124437, + -0.003524596914436332, + -0.005474823604107808 + ], + [ + -0.11774612882803907, + 0.0041194982392258874, + 0.9930351851169565, + -0.4415489638511935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9935926552635576, + -0.0048442547990956855, + 0.11291664448501286, + -0.673807537683351 + ], + [ + 0.005240392402406852, + 0.9999811115218619, + -0.003211679773956736, + -0.005034963051786439 + ], + [ + -0.11289895346628394, + 0.0037828289603264722, + 0.993599273606455, + -0.44851211880385433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9941196132910181, + -0.00487767626150148, + 0.10817764438369391, + -0.6835650320253951 + ], + [ + 0.005223942607445114, + 0.9999820984314755, + -0.0029177457423887228, + -0.0048171981420079705 + ], + [ + -0.1081614760150354, + 0.003465702074774015, + 0.9941272976914868, + -0.4555243787816547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9946158763901064, + -0.0048825254003434645, + 0.10351530987470359, + -0.694577808517448 + ], + [ + 0.005179480593644925, + 0.999983206087633, + -0.0026001006670386966, + -0.005255569558066283 + ], + [ + -0.10350087639011069, + 0.0031222569422903615, + 0.9946244618437983, + -0.46377006199809406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9950494013704102, + -0.004864768195993116, + 0.09926239400088947, + -0.7037788524989944 + ], + [ + 0.005123128291710088, + 0.9999841199417844, + -0.00234806745258318, + -0.006076450364487602 + ], + [ + -0.09924939490442872, + 0.0028449770920790677, + 0.9950585227595664, + -0.4708793918394029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9954350082720352, + -0.004905289121696239, + 0.0953156988385756, + -0.7144475941709519 + ], + [ + 0.005118017901447035, + 0.9999849277744255, + -0.001987490059870362, + -0.005584161355185835 + ], + [ + -0.0953045130054917, + 0.0024662446371324057, + 0.9954451102085821, + -0.479618473747476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9957808778602687, + -0.004960955591196298, + 0.09162877390566332, + -0.7235696665846825 + ], + [ + 0.005134575046880642, + 0.9999854415307483, + -0.0016591761939529321, + -0.004665062221455187 + ], + [ + -0.0916192088315597, + 0.002122650743011597, + 0.9957918532137642, + -0.48726164010064016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9960446726053096, + -0.005129955760630912, + 0.08870565781547018, + -0.7337237192906709 + ], + [ + 0.005253438841241015, + 0.9999855293579608, + -0.0011586436122519531, + -0.0032581692390047916 + ], + [ + -0.08869843039717595, + 0.0016200705456373564, + 0.9960572091082441, + -0.49697620251889185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9962937521328636, + -0.005289874649413958, + 0.0858532275876345, + -0.7423574265943709 + ], + [ + 0.005371204398549851, + 0.9999853183999037, + -0.0007163434601360805, + -0.002004459445509504 + ], + [ + -0.08584817775776998, + 0.0011748237473632175, + 0.9963075379444006, + -0.5054169038782829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9964257998870989, + -0.00542989140981258, + 0.08429793353714769, + -0.7522229413063438 + ], + [ + 0.005467731366645394, + 0.9999850280787967, + -0.0002180182348487374, + -0.0022276535916711487 + ], + [ + -0.08429548761978851, + 0.0006781574493935775, + 0.9964405706661168, + -0.5130128006148151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.996556452833411, + -0.005564567494401483, + 0.08273011485964783, + -0.7607606869524346 + ], + [ + 0.005566129934344856, + 0.9999844865584818, + 0.00021175439509820706, + -0.002294442362974441 + ], + [ + -0.08273000975247298, + 0.00024946135994111996, + 0.9965719659188624, + -0.5193209326090866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9965497684597436, + -0.005804562405709164, + 0.08279411837871957, + -0.7711973329152049 + ], + [ + 0.005762388939044754, + 0.99998311729795, + 0.0007483266594867848, + -0.0016459930312892651 + ], + [ + -0.08279706429908236, + -0.0002686528472803135, + 0.9965663921531275, + -0.525498372886326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9965328970743053, + -0.00602459505083153, + 0.08298125874657342, + -0.7803749185429187 + ], + [ + 0.005942868764101608, + 0.9999815822674941, + 0.0012318427868277734, + -0.0009512412778552978 + ], + [ + -0.08298715177390376, + -0.0007344251304867217, + 0.9965503465757176, + -0.5305923398225739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9964151996314035, + -0.006272529985808158, + 0.08436471603157264, + -0.7900162823470257 + ], + [ + 0.006145220347751712, + 0.9999795538814057, + 0.0017686395966336915, + 2.1386556700588814e-05 + ], + [ + -0.08437408494548747, + -0.001243859607166249, + 0.9964333728869631, + -0.5352843430131935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9961457677854827, + -0.006642909941640474, + 0.08746131185031657, + -0.8013829304682594 + ], + [ + 0.006458589695994234, + 0.9999762863474785, + 0.002390263969657626, + 0.0006758425410008233 + ], + [ + -0.08747511613144539, + -0.001816174609749979, + 0.9961650493605851, + -0.540638826698755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9958512329561022, + -0.007052739677604891, + 0.09072254781944465, + -0.8112610749719176 + ], + [ + 0.006816702028820281, + 0.9999725279391152, + 0.0029113468543859695, + 0.0006879173968601101 + ], + [ + -0.09074058845556253, + -0.002280839778722583, + 0.9958719512952668, + -0.5450917898157186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9953311868682986, + -0.007554926767100777, + 0.09622240658437228, + -0.8225046770769088 + ], + [ + 0.007242999722122542, + 0.9999673227316043, + 0.003590602179765302, + 0.00047803275703694364 + ], + [ + -0.09624638903548462, + -0.002876899465005127, + 0.9953533824964371, + -0.549926883975543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9948328860076424, + -0.008002892646167985, + 0.10121009152747272, + -0.831961471856652 + ], + [ + 0.007615495290960981, + 0.9999621247882087, + 0.004213457075216542, + 0.00015414965540772876 + ], + [ + -0.10123997801846285, + -0.0034209206867817942, + 0.9948561524926487, + -0.5538398028775569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9940072440530203, + -0.008491425659803823, + 0.10898391835671961, + -0.8437663475521543 + ], + [ + 0.007991567073063277, + 0.9999554536776564, + 0.005022500973649242, + 0.0007942899968179339 + ], + [ + -0.10902171171760613, + -0.004121450057637716, + 0.9940308244836205, + -0.5595130049883322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9932486829376094, + -0.008902977627316198, + 0.11566240025207843, + -0.8541494804748597 + ], + [ + 0.008294639574635785, + 0.9999491252425702, + 0.005739850254645828, + 0.001692011647161866 + ], + [ + -0.11570761771392303, + -0.004741720783257818, + 0.9932719986423569, + -0.5647556799604572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9921424227544164, + -0.009507986515923487, + 0.12475179823718213, + -0.8666458704048043 + ], + [ + 0.008765480888099798, + 0.9999404601366894, + 0.006499425084338725, + 0.002149920260221226 + ], + [ + -0.12480616697823045, + -0.005354845846482544, + 0.9921666928042702, + -0.5707586753941908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9911748326156437, + -0.010049258983227508, + 0.13217966403058715, + -0.8774117381809646 + ], + [ + 0.009186360395716214, + 0.9999323388456046, + 0.007136421613044828, + 0.0024582085982232642 + ], + [ + -0.13224243635093422, + -0.005859191467014708, + 0.991200084696991, + -0.5758878916659036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 702.9277038574219, + "fy": 702.9277038574219, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_110/boom_down/transforms.json b/spatialvid_eval/camera_controls/scene_110/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fdda486c115614e4142249f3e85d56b30e94caa5 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/boom_down/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -3.577092219998289e-05, + 0.00012190731857754618, + -0.0002866720018820088 + ], + [ + 3.577932091789886e-05, + 0.9999999969868109, + -6.889280350305381e-05, + -7.589894138101861e-05 + ], + [ + -0.00012190485385110213, + 6.889716470812968e-05, + 0.9999999901961936, + 9.258174837750678e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998944302926, + -0.0004582918532151998, + 3.3286348530890434e-05, + 0.0003568487733896191 + ], + [ + 0.0004583019670282232, + 0.9999998486276601, + -0.0003044732563439886, + -0.0016190808916328378 + ], + [ + -3.314680587935362e-05, + 0.0003044884793998429, + 0.9999999530940265, + 0.05932775970065977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999987924657662, + -0.001516486073934917, + 0.00033961301104362115, + 0.004355013747379088 + ], + [ + 0.0015166781618130233, + 0.999998689627092, + -0.0005660666503320535, + 0.003931218585106925 + ], + [ + -0.0003387541338317847, + 0.0005665810504245118, + 0.9999997821157515, + 0.11939706400032733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999984840984362, + -0.0015772766404724174, + 0.0007375630341967345, + 0.009084609668240887 + ], + [ + 0.0015773563974593636, + 0.9999987501873269, + -0.0001075666303384926, + 0.003629321922778873 + ], + [ + -0.0007373924500477798, + 0.00010872986704858921, + 0.999999722215057, + 0.18165959304985918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999980912505317, + -0.001800540661574877, + 0.0007586492069721944, + 0.013313282811339332 + ], + [ + 0.0018007493465172018, + 0.9999983409795722, + -0.0002744811367258196, + 0.005286832131044953 + ], + [ + -0.0007581537339101523, + 0.0002758467498737868, + 0.9999996745556903, + 0.24845783236098296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999979692821693, + -0.0019561379491993295, + 0.00048472245834124813, + 0.01736968838855562 + ], + [ + 0.0019563566540362386, + 0.9999979845716237, + -0.00045113338723329046, + 0.008357896528972097 + ], + [ + -0.000483839002278933, + 0.0004520807611154136, + 0.9999997807613787, + 0.3108330775649701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999977867794642, + -0.0020819875770391517, + -0.0003029255732258472, + 0.02249630724868608 + ], + [ + 0.002081911704676757, + 0.99999780142788, + -0.00025056548208777233, + 0.005373275445779119 + ], + [ + 0.000303446581443069, + 0.000249934263234557, + 0.9999999227265154, + 0.37317470174152667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999959967006874, + -0.0025210835726479004, + -0.0012848035720576714, + 0.030502792324678372 + ], + [ + 0.002521027197559048, + 0.9999968211709392, + -4.549599864534818e-05, + 0.0029340427528445623 + ], + [ + 0.001284914187101545, + 4.225679176256967e-05, + 0.9999991736046063, + 0.43354099920035294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999994390548953, + -0.0029361233535398915, + -0.0016118468540427047, + 0.041848004060106414 + ], + [ + 0.002935462701166189, + 0.9999956066123661, + -0.0004120857873846121, + 0.008950310588468027 + ], + [ + 0.0016130497072786702, + 0.00040735195948952616, + 0.9999986160665539, + 0.4928449400942599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999956657292809, + -0.0026356400357135687, + -0.001312221115008949, + 0.05337916529838535 + ], + [ + 0.0026350225699929264, + 0.9999964169028093, + -0.00047205677482172923, + 0.009432562992439265 + ], + [ + 0.001313460584928008, + 0.0004685969965450025, + 0.9999990276186006, + 0.5515130828713106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999993066473432, + -0.0028603271631575953, + -0.0023844356946507933, + 0.06030079454778827 + ], + [ + 0.0028583319315597985, + 0.9999955623599188, + -0.0008397612987474335, + 0.009038220249926225 + ], + [ + 0.0023868271054367594, + 0.0008329399675553865, + 0.9999968046285844, + 0.6067796758454294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999992224314589, + -0.0022013646469287674, + -0.003271896094343282, + 0.06379300850580935 + ], + [ + 0.0021986733047230107, + 0.9999972418314599, + -0.0008259329101720329, + 0.014088718632063867 + ], + [ + 0.0032737052494115956, + 0.0008187326573790928, + 0.9999943062491786, + 0.6708402449097778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999806052727397, + -0.002246125339111107, + -0.0058089585405782925, + 0.0663954378331184 + ], + [ + 0.002245036977581544, + 0.9999974611078741, + -0.00019387308957855497, + 0.015178985537637989 + ], + [ + 0.005809379255518269, + 0.0001808280027380231, + 0.9999831090642975, + 0.7322484043752181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999420893828036, + -0.0022566293247128755, + -0.010522618725584626, + 0.06917431642713638 + ], + [ + 0.0022581302811897955, + 0.9999974418711838, + 0.00013076207957470954, + 0.014197077959714779 + ], + [ + 0.010522296725827116, + -0.00015451595104363293, + 0.9999446271651418, + 0.7933153709900649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997712566603167, + -0.002619063417912098, + -0.02122674875397194, + 0.07113428451219062 + ], + [ + 0.0026181836532227797, + 0.9999965701544247, + -6.923687635915267e-05, + 0.01876401520408524 + ], + [ + 0.021226857285271686, + 1.3645512286108705e-05, + 0.9997746847883232, + 0.8513239684820714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9989654576331632, + -0.0023609097897429906, + -0.04541410090191997, + 0.07068044999631477 + ], + [ + 0.002378112170103639, + 0.9999971195508623, + 0.0003247652767585757, + 0.02082916736866921 + ], + [ + 0.04541320334739092, + -0.000432429119369662, + 0.9989681946722756, + 0.908791455532893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9961297720215401, + -0.001738494727169744, + -0.08787749955704387, + 0.06802486582676599 + ], + [ + 0.001818726656238987, + 0.9999979992217047, + 0.0008329381353653407, + 0.0200247782276975 + ], + [ + 0.08787587567509371, + -0.0009895396258175488, + 0.996130940833415, + 0.9672704660211231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9891686442880778, + -0.0005191212289692802, + -0.1467825727749582, + 0.06269181912083052 + ], + [ + 0.0007797884115889472, + 0.9999982196222283, + 0.001718337105129686, + 0.025302383145342618 + ], + [ + 0.14678141942125855, + -0.0018141845339841552, + 0.9891672879989296, + 1.0252936503724306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9771431002118746, + 0.0004164542737228393, + -0.2125821918086382, + 0.052955515730251576 + ], + [ + 0.00015999977104230804, + 0.999996357120638, + 0.002694465722017059, + 0.029033317660584708 + ], + [ + 0.2125825395191242, + -0.00266689169104343, + 0.9771394739648525, + 1.0832089640185605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9595258105248389, + 0.001344683843200273, + -0.281617490156441, + 0.03712522682521706 + ], + [ + -0.000332734868216213, + 0.9999933156911698, + 0.003641134505649937, + 0.02606431469494602 + ], + [ + 0.2816205039129054, + -0.00340005857928913, + 0.959519844181192, + 1.1470700405000958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9399932214387751, + 0.0018027022325911224, + -0.3411883554780474, + 0.02207384544437176 + ], + [ + -0.0005131719512984949, + 0.9999923808531086, + 0.0038697403375182516, + 0.028854824922476194 + ], + [ + 0.3411927319033954, + -0.0034624413918543603, + 0.9399869845885663, + 1.2035751234501582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9164054029902063, + 0.0022586319309188248, + -0.4002449699273658, + 0.006628910119383912 + ], + [ + -3.4208599989968714e-05, + 0.9999845162848308, + 0.005564712064838653, + 0.03269922400933137 + ], + [ + 0.4002513412846096, + -0.005085840382228687, + 0.9163912908946032, + 1.2592213546915996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8880813351944638, + 0.0033781519816898677, + -0.4596739389702305, + -0.013658659424446365 + ], + [ + -0.00010172173112189538, + 0.9999744167629679, + 0.0071523053801988215, + 0.033331857105994615 + ], + [ + 0.4596863405974861, + -0.006305070082941844, + 0.8880589588306292, + 1.3130872008192862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8563018161009781, + 0.006039629568405588, + -0.5164404347229633, + -0.04111112799086317 + ], + [ + -0.0019192124338963186, + 0.9999619299619062, + 0.00851206499585379, + 0.03753327276231889 + ], + [ + 0.5164721835353773, + -0.006297737811032034, + 0.8562808079903831, + 1.3638134529224029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8241053714224089, + 0.0075146669586524505, + -0.5663866758436625, + -0.07361916961971246 + ], + [ + -0.002583224404593259, + 0.999951457093037, + 0.009508438840720867, + 0.04095232846984537 + ], + [ + 0.5664306345391367, + -0.006372851639003729, + 0.8240847790231162, + 1.4126690188860482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.7938567910141134, + 0.008747976877176433, + -0.6080418310127441, + -0.10836906875263518 + ], + [ + -0.0028356973488673975, + 0.9999389038638434, + 0.01068397679335781, + 0.03922644822167851 + ], + [ + 0.6080981451881923, + -0.006757324924240972, + 0.7938330960463594, + 1.4603533528008863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.763802783956208, + 0.009438658266966491, + -0.6453806775468766, + -0.14817459163575772 + ], + [ + -0.003243765836441912, + 0.9999365783387406, + 0.010785049068496793, + 0.04356721641012348 + ], + [ + 0.6454415428247119, + -0.006144186710295867, + 0.7637849591120033, + 1.5089073322668138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.7354798795069978, + 0.0106413110031736, + -0.6774629948126363, + -0.18788515991629776 + ], + [ + -0.003541336315424121, + 0.9999233756728626, + 0.011861775587519285, + 0.0468621849245982 + ], + [ + 0.6775373095095749, + -0.006324972973961759, + 0.7354612083172065, + 1.5512710999385149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7008667133920721, + 0.011717797454332851, + -0.7131960062155523, + -0.23167156490989976 + ], + [ + -0.003469209576068455, + 0.999909227679227, + 0.013019254465945283, + 0.0453181748643498 + ], + [ + 0.7132838247457406, + -0.006650535673985355, + 0.7008437455890839, + 1.5886583579448714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.6596466101008798, + 0.013574506769673008, + -0.7514533136186026, + -0.2812570840416611 + ], + [ + -0.003990030945918816, + 0.9998860406176614, + 0.014559719468009519, + 0.04895610800061263 + ], + [ + 0.7515653194736094, + -0.006605947615340801, + 0.6596255998827175, + 1.6204800187817325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.6154595780455167, + 0.015263408759293395, + -0.7880206444916792, + -0.3356884130003663 + ], + [ + -0.004187010614070004, + 0.9998616765059931, + 0.016096483986961927, + 0.05292572514031155 + ], + [ + 0.7881573299374639, + -0.006607284440039056, + 0.6154383535807435, + 1.6496911674110541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.5757488820713897, + 0.016148418337920068, + -0.8174670962055467, + -0.3903876560877684 + ], + [ + -0.003684238943332572, + 0.9998460315033402, + 0.017156330331112322, + 0.051343220577760716 + ], + [ + 0.8176182796250054, + -0.006865993897851927, + 0.5757197295132774, + 1.6782490952325375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.5422705983196243, + 0.01661469648147895, + -0.8400396121962971, + -0.44449858200406567 + ], + [ + -0.003205371519828324, + 0.999838096651233, + 0.01770610285352854, + 0.053816638090245256 + ], + [ + 0.8401977884947668, + -0.006908859939830087, + 0.5422360591687307, + 1.7046891822943302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.5031992952123459, + 0.017854558510798004, + -0.8639859281482444, + -0.5062970569291573 + ], + [ + -0.0026067348797945873, + 0.9998133525894822, + 0.019143273415131442, + 0.05885754584131765 + ], + [ + 0.8641664621073103, + -0.007380699435995649, + 0.5031519164673535, + 1.7329603035341496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.46298365583733975, + 0.0188869378693522, + -0.8861655703114464, + -0.5635085553174326 + ], + [ + -0.0023529807438267703, + 0.999795619404583, + 0.020079414857653986, + 0.059968831539844836 + ], + [ + 0.8863636939254174, + -0.007211310375086136, + 0.4629334715632078, + 1.755173528205165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.42402084294392056, + 0.019771763191522802, + -0.9054365809538655, + -0.6230362379459352 + ], + [ + -0.0029143777446155247, + 0.9997862765687602, + 0.020467232034075744, + 0.06599469403557041 + ], + [ + 0.9056477412059775, + -0.006039748759124889, + 0.4239878421410664, + 1.7725309544894317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.39186449779627935, + 0.020867830748104492, + -0.9197862518035038, + -0.6876017256851252 + ], + [ + -0.0029475831180779417, + 0.9997660788294425, + 0.021426604391822042, + 0.07204487862752623 + ], + [ + 0.9200182210807741, + -0.0056851791414247, + 0.3918343420598788, + 1.7894085548777483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.3738362896718108, + 0.021152732226287545, + -0.927253466126591, + -0.753341411370295 + ], + [ + -0.002707468124608115, + 0.999760530653193, + 0.021715224253970048, + 0.07323369048417262 + ], + [ + 0.9274907536686112, + -0.0056074296615253455, + 0.37380403768796144, + 1.807305283996075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.3682370919048912, + 0.02102566981915978, + -0.9294941448734814, + -0.8193048182826544 + ], + [ + -0.0028726443052430016, + 0.9997652116257075, + 0.021477186447475646, + 0.07769763719816472 + ], + [ + 0.9297274826851815, + -0.005238590617690053, + 0.3682110333873986, + 1.8258949901735826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.3664826974850127, + 0.02096292139699766, + -0.9301886842843295, + -0.8872659835492662 + ], + [ + -0.0026426024056175404, + 0.9997655757822244, + 0.021489768108644933, + 0.08166284435300836 + ], + [ + 0.9304211138493336, + -0.005417509330015611, + 0.3664521817318389, + 1.8442161075289192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.36037547957894134, + 0.020868350152344055, + -0.9325738714333399, + -0.9633224964673684 + ], + [ + -0.0023191712298245414, + 0.9997666799208351, + 0.02147573432684613, + 0.08226371324526195 + ], + [ + 0.9328044463675412, + -0.005576529565032814, + 0.36033979402080407, + 1.8618515863912635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.3444758484734835, + 0.021120042029580673, + -0.9385575814211629, + -1.033978569220834 + ], + [ + -0.002476799370815165, + 0.9997638776240609, + 0.021588294582455016, + 0.0885123679510574 + ], + [ + 0.9387919126640103, + -0.00511202726624896, + 0.34444682012449873, + 1.8758686702859413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.3293006864517949, + 0.021497911489737998, + -0.9439803481555936, + -1.104667437058843 + ], + [ + -0.0023756871820990316, + 0.9997564798041484, + 0.021939398351593697, + 0.09137120058201634 + ], + [ + 0.9442221211202316, + -0.0049820569242525585, + 0.3292715673969042, + 1.890664456542091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.3224296931932242, + 0.0213987847522021, + -0.946351512366548, + -1.173067331493829 + ], + [ + -0.001695015588842684, + 0.9997558984961097, + 0.02202885254366218, + 0.08968304523366172 + ], + [ + 0.94659189721309, + -0.005498675601065622, + 0.322387258893954, + 1.9078272501835554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.32040812777125527, + 0.021134351027322692, + -0.9470438062015784, + -1.2406326979493911 + ], + [ + -0.0015224125178671145, + 0.9997612856798759, + 0.021795731596968033, + 0.09343628124942747 + ], + [ + 0.9472783719257208, + -0.005541738208859521, + 0.3203638169634332, + 1.9271774322507478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.3202000933748562, + 0.021065488936296606, + -0.9471156979897485, + -1.3115262915318178 + ], + [ + -0.0013791218479060167, + 0.9997620502813581, + 0.021770182363590733, + 0.09746326433451064 + ], + [ + 0.9473489316116118, + -0.005664626474016983, + 0.3201529537287574, + 1.9457309543486934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.3197381898410299, + 0.02118917999159474, + -0.9472689737389615, + -1.3840073259707582 + ], + [ + -0.0014074201711471914, + 0.9997594325232371, + 0.02188826738864015, + 0.0990098186901712 + ], + [ + 0.9475048860695354, + -0.005665309532458135, + 0.3196910933108054, + 1.9603386107242948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.3128956030269735, + 0.02093286870118094, + -0.9495568211614963, + -1.4565318309176603 + ], + [ + -0.0017627826279078412, + 0.9997681771387005, + 0.021458904402765794, + 0.10442685974484847 + ], + [ + 0.9497858886105824, + -0.0050405345648467, + 0.3128599667702904, + 1.9717732643177637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.29333583476542663, + 0.021481485397380474, + -0.9557680857967547, + -1.5379724863652668 + ], + [ + -0.0011081351644766993, + 0.9997544872464397, + 0.022130008293395897, + 0.10736045656395304 + ], + [ + 0.956008817992244, + -0.005432404231153133, + 0.29328762146626947, + 1.9840204855281254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.2778892697580354, + 0.021649705713819606, + -0.9603691186183837, + -1.6116815199864074 + ], + [ + -0.00057357289522947, + 0.9997495622271378, + 0.022371496167679798, + 0.10735848739874898 + ], + [ + 0.9606129422235993, + -0.005665957037576304, + 0.27783209347260196, + 1.9976214327326767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.27082444235288233, + 0.021110130480045498, + -0.9623972588361657, + -1.684471605315616 + ], + [ + -0.0003275705965626874, + 0.9997614789959306, + 0.02183753221803368, + 0.11164196414342095 + ], + [ + 0.9626287000301593, + -0.005598884441104816, + 0.27076676009300066, + 2.0138485181421366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.2660271130884504, + 0.0208613753629553, + -0.9637397875566781, + -1.7599858616713704 + ], + [ + 7.373259017271275e-05, + 0.9997653584311379, + 0.02166154760315731, + 0.11213867554648785 + ], + [ + 0.9639655438164428, + -0.005833618004685032, + 0.2659631539060353, + 2.027990298098521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.2548077898250729, + 0.020906300143225195, + -0.9667656990495592, + -1.8355730813035873 + ], + [ + 0.00027594406515583925, + 0.9997646490912235, + 0.02169263198359499, + 0.11105228997766331 + ], + [ + 0.9669916825388596, + -0.005794224868277489, + 0.2547420516107254, + 2.0361723943114325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.2356692822909417, + 0.02113596254934994, + -0.9716034481575211, + -1.9109592111552538 + ], + [ + 2.7698248179060247e-05, + 0.9997633258907921, + 0.021755262273506756, + 0.1172036074697935 + ], + [ + 0.9718333131855892, + -0.005153958759487237, + 0.23561292004435158, + 2.0396800297132325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.21463701176419736, + 0.021776333182077896, + -0.9764510968267068, + -1.9871520156974787 + ], + [ + 0.00020666041680918353, + 0.9997503791045802, + 0.022341369065485825, + 0.12004687585383167 + ], + [ + 0.9766938673260972, + -0.00499707848560095, + 0.21457893357503866, + 2.0407227066113487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.20082521613793508, + 0.02176074858426434, + -0.9793853697009184, + -2.0665122333687704 + ], + [ + 0.0006884063030265525, + 0.9997498725626146, + 0.022354382295160465, + 0.11938177777863007 + ], + [ + 0.9796268466410637, + -0.005163538717649732, + 0.20076000400477606, + 2.0444045797358497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.19687724642502435, + 0.021172772568525584, + -0.9801995019085972, + -2.1388581552976746 + ], + [ + 0.0011012585106809185, + 0.9997613850711659, + 0.021816510955628903, + 0.12411606841724654 + ], + [ + 0.9804275276989081, + -0.005374627647187633, + 0.19680695187889374, + 2.0526878709282665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.19632299459106511, + 0.020931718601140625, + -0.980315839386062, + -2.214604481597849 + ], + [ + 0.0018324934129672534, + 0.9997625454280075, + 0.021713929335868187, + 0.12210522589667433 + ], + [ + 0.9805375687665865, + -0.006059365949858843, + 0.19623801956195347, + 2.0616661685033018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.19641117626402904, + 0.020863728289327185, + -0.9802996249517031, + -2.290939592417889 + ], + [ + 0.0019071609799187327, + 0.9997635735559041, + 0.021660095284310614, + 0.12136402194616269 + ], + [ + 0.9805197665399599, + -0.0061238739861192515, + 0.1963249489795552, + 2.068743029269152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.19641962202787883, + 0.020784763789912702, + -0.980299610158355, + -2.36949492682585 + ], + [ + 0.001547919643327754, + 0.9997674847366604, + 0.0215076825369264, + 0.12922804908415614 + ], + [ + 0.9805187076375459, + -0.00574195589750935, + 0.19634177832358563, + 2.0737701800848485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.19651229978396706, + 0.02084826853542885, + -0.9802796875038732, + -2.446683948171265 + ], + [ + 0.001250444902178717, + 0.9997677779113721, + 0.021513405999613995, + 0.1296050413573778 + ], + [ + 0.980500562172793, + -0.005453434627118904, + 0.19644059567616073, + 2.078058197454428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.196489655007975, + 0.020651151748349098, + -0.9802883990980991, + -2.5175021353268603 + ], + [ + 0.001381831883991996, + 0.9997713519990161, + 0.021338562807836657, + 0.12854058437821278 + ], + [ + 0.9805049240138939, + -0.0055474006098590566, + 0.19641619162121637, + 2.0824795608857705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.19641067501178455, + 0.020315410484390405, + -0.9803112418197937, + -2.5966833898033976 + ], + [ + 0.0014647772085464097, + 0.9997781440703529, + 0.021012307511791502, + 0.13336008168252467 + ], + [ + 0.9805206276102225, + -0.005562979066245623, + 0.19633734258862734, + 2.0844960332139415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.19657617512451409, + 0.020440193572896177, + -0.9802754744764959, + -2.669156735124966 + ], + [ + 0.0010956376820427886, + 0.9997774752854581, + 0.0210665490744251, + 0.1332662592849049 + ], + [ + 0.9804879432973597, + -0.00521520838874218, + 0.19651003702095204, + 2.082268111170903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.19674893362392576, + 0.020389853316449505, + -0.9802418635212343, + -2.738733302045111 + ], + [ + 0.0005468221643320954, + 0.9997812952154103, + 0.020906045128567863, + 0.13724614029193785 + ], + [ + 0.9804537511292254, + -0.004649260062719001, + 0.19669475406705828, + 2.0754210910944777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.196871619365052, + 0.0202660226462339, + -0.9802197987261249, + -2.8074422759309097 + ], + [ + 0.00010494386692506269, + 0.9997858998240476, + 0.02069162873735259, + 0.14413796427640288 + ], + [ + 0.9804292705113241, + -0.004176462512937875, + 0.19682734232192217, + 2.0643475532444953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.19692189761090956, + 0.020191819254786754, + -0.9802112306418962, + -2.8737004509845328 + ], + [ + -0.0003623446819719673, + 0.9997893292842313, + 0.020522323350891762, + 0.14201245224359269 + ], + [ + 0.9804191118841217, + -0.0036861205310099975, + 0.1968877283321156, + 2.05059725555767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.19691993391929896, + 0.01984092892558765, + -0.9802187904567986, + -2.9344054055710376 + ], + [ + -0.00035663136859341756, + 0.9997965907229893, + 0.020165564528538682, + 0.14079708779654598 + ], + [ + 0.9804195083938744, + -0.0036214248656436035, + 0.19688695447554827, + 2.036736781820069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.19710574166254874, + 0.01956294192410636, + -0.9801870321050625, + -2.9997191192363184 + ], + [ + -0.0005312417328760203, + 0.999802875552444, + 0.019847614952062678, + 0.14723937625915934 + ], + [ + 0.9803820910164964, + -0.003391362607880909, + 0.19707727995328134, + 2.021993582328057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.19720917881542377, + 0.0194655330266437, + -0.9801681655792209, + -3.06556650381195 + ], + [ + -0.0008282716731918948, + 0.9998058121932286, + 0.019688876826118057, + 0.1484911347063222 + ], + [ + 0.9803610833549963, + -0.0030709817041630373, + 0.1971870059471239, + 2.008600079342422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.19738312905179628, + 0.019161038351543258, + -0.9801391508224803, + -3.136844986186595 + ], + [ + -0.001132768331807107, + 0.999812757527955, + 0.01931752365737479, + 0.15011231112286882 + ], + [ + 0.9803257709565879, + -0.0027026826742087198, + 0.1973678755642218, + 1.9920890317428173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.1973689370650809, + 0.018914407413620358, + -0.9801467991448995, + -3.2017253627067537 + ], + [ + -0.001280404585744431, + 0.9998179756111429, + 0.01903618157437898, + 0.15667518333862218 + ], + [ + 0.9803284466166924, + -0.0025021664667852026, + 0.19735722919892124, + 1.9767395803740637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.1972581817007134, + 0.018757736717425567, + -0.9801721058392594, + -3.2673654321803185 + ], + [ + -0.0007774371798773706, + 0.9998196130113768, + 0.018977276654256272, + 0.15575745604230246 + ], + [ + 0.9803512663038487, + -0.0029814008486918515, + 0.19723718185326955, + 1.9633823854555663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.19751766831428252, + 0.018342620607438194, + -0.9801277054409496, + -3.3317548913978015 + ], + [ + -0.0005780742739156536, + 0.9998269348810337, + 0.01859478734837412, + 0.15364894752805336 + ], + [ + 0.9802991566526125, + -0.0031062124281833825, + 0.19749408829260706, + 1.954579000299392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.1989114120772827, + 0.017745359090187776, + -0.9798568019747487, + -3.3958149536958233 + ], + [ + 0.0003267599612574272, + 0.9998347949876647, + 0.01817349608364848, + 0.15835465925010941 + ], + [ + 0.98001741993362, + -0.003935093739030583, + 0.19887275244214808, + 1.9497692705730165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.2088535412500574, + 0.017109434117871077, + -0.9777972517712847, + -3.4644509201272324 + ], + [ + 0.0006694983358176941, + 0.9998442104800374, + 0.017638212537821385, + 0.16075989074125985 + ], + [ + 0.9779467010421832, + -0.004338436782673147, + 0.20880954931945483, + 1.9490013379322146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.22134407250966154, + 0.0168858671449924, + -0.9750495726144386, + -3.5371389125419457 + ], + [ + 0.0006023784422227157, + 0.9998475197165742, + 0.017452061678413434, + 0.16173384766127819 + ], + [ + 0.97519558997416, + -0.00445025924823124, + 0.22130015022040433, + 1.949040943514313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.23030065794564725, + 0.016000678742846393, + -0.9729879676694723, + -3.6120220523218456 + ], + [ + 0.0008609722659638497, + 0.9998610685444332, + 0.01664639107858435, + 0.16873904521654093 + ], + [ + 0.9731191425907514, + -0.004671390473098476, + 0.2302548857993867, + 1.9452525995998817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.24256303875698448, + 0.01554760329894344, + -0.9700110536796148, + -3.679874532017239 + ], + [ + 0.0004714520163139899, + 0.9998695647647776, + 0.016144076006094202, + 0.1694914824045835 + ], + [ + 0.9701355317490304, + -0.004373269801066044, + 0.24252407004104382, + 1.9429367490924958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.2598511153004976, + 0.014351290436811201, + -0.9655420437971025, + -3.7449980487362264 + ], + [ + 0.0015123425542545891, + 0.999882282673733, + 0.015268713605401465, + 0.1644033446295649 + ], + [ + 0.965647508512856, + -0.005427822580323759, + 0.2597988222547409, + 1.946083420529767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.2863240003969443, + 0.013363808088345626, + -0.958039652326598, + -3.80968848504599 + ], + [ + 0.0016717285867585679, + 0.9998942353666272, + 0.014447262859119, + 0.1692435812560147 + ], + [ + 0.958131396062264, + -0.005738180370651761, + 0.28627137678400716, + 1.9552452094709991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_110/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_110/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8c31f070048f018633a90ac15d7462ba3360c0e3 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/boom_up/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -3.577092219998289e-05, + 0.00012190731857754618, + -0.0002866720018820088 + ], + [ + 3.577932091789886e-05, + 0.9999999969868109, + -6.889280350305381e-05, + -7.589894138101861e-05 + ], + [ + -0.00012190485385110213, + 6.889716470812968e-05, + 0.9999999901961936, + 9.258174837750678e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998944302926, + -0.0004582918532151998, + 3.3286348530890434e-05, + 0.00035799450302265715 + ], + [ + 0.0004583019670282232, + 0.9999998486276601, + -0.0003044732563439886, + -0.0041190805132019885 + ], + [ + -3.314680587935362e-05, + 0.0003044884793998429, + 0.9999999530940265, + 0.05932699847946126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999987924657662, + -0.001516486073934917, + 0.00033961301104362115, + 0.004362596177748763 + ], + [ + 0.0015166781618130233, + 0.999998689627092, + -0.0005660666503320535, + -0.0010687748630285369 + ], + [ + -0.0003387541338317847, + 0.0005665810504245118, + 0.9999997821157515, + 0.1193942310950752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999984840984362, + -0.0015772766404724174, + 0.0007375630341967345, + 0.00909643924304443 + ], + [ + 0.0015773563974593636, + 0.9999987501873269, + -0.0001075666303384926, + -0.00387066870362608 + ], + [ + -0.0007373924500477798, + 0.00010872986704858921, + 0.999999722215057, + 0.1816587775758563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999980912505317, + -0.001800540661574877, + 0.0007586492069721944, + 0.013331288217955081 + ], + [ + 0.0018007493465172018, + 0.9999983409795722, + -0.0002744811367258196, + -0.004713151278750771 + ], + [ + -0.0007581537339101523, + 0.0002758467498737868, + 0.9999996745556903, + 0.2484550738934842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999979692821693, + -0.0019561379491993295, + 0.00048472245834124813, + 0.017394140112920613 + ], + [ + 0.0019563566540362386, + 0.9999979845716237, + -0.00045113338723329046, + -0.0041420782781732 + ], + [ + -0.000483839002278933, + 0.0004520807611154136, + 0.9999997807613787, + 0.3108274265554561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999977867794642, + -0.0020819875770391517, + -0.0003029255732258472, + 0.022527537062341667 + ], + [ + 0.002081911704676757, + 0.99999780142788, + -0.00025056548208777233, + -0.009626691575639083 + ], + [ + 0.000303446581443069, + 0.000249934263234557, + 0.9999999227265154, + 0.37317095272757816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999959967006874, + -0.0025210835726479004, + -0.0012848035720576714, + 0.030546911287199708 + ], + [ + 0.002521027197559048, + 0.9999968211709392, + -4.549599864534818e-05, + -0.014565901617646877 + ], + [ + 0.001284914187101545, + 4.225679176256967e-05, + 0.9999991736046063, + 0.4335402597064971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999994390548953, + -0.0029361233535398915, + -0.0016118468540427047, + 0.04190672652717721 + ], + [ + 0.002935462701166189, + 0.9999956066123661, + -0.0004120857873846121, + -0.011049601543779299 + ], + [ + 0.0016130497072786702, + 0.00040735195948952616, + 0.9999986160665539, + 0.49283679305507005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999956657292809, + -0.0026356400357135687, + -0.001312221115008949, + 0.053438467199188905 + ], + [ + 0.0026350225699929264, + 0.9999964169028093, + -0.00047205677482172923, + -0.013067356387873947 + ], + [ + 0.001313460584928008, + 0.0004685969965450025, + 0.9999990276186006, + 0.5515025394388884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999993066473432, + -0.0028603271631575953, + -0.0023844356946507933, + 0.060372302726867215 + ], + [ + 0.0028583319315597985, + 0.9999955623599188, + -0.0008397612987474335, + -0.015961668809071745 + ], + [ + 0.0023868271054367594, + 0.0008329399675553865, + 0.9999968046285844, + 0.6067588523462404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999992224314589, + -0.0022013646469287674, + -0.003271896094343282, + 0.06385354603359988 + ], + [ + 0.0021986733047230107, + 0.9999972418314599, + -0.0008259329101720329, + -0.013411205518301283 + ], + [ + 0.0032737052494115956, + 0.0008187326573790928, + 0.9999943062491786, + 0.6708177297616998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999806052727397, + -0.002246125339111107, + -0.0058089585405782925, + 0.06646282159329174 + ], + [ + 0.002245036977581544, + 0.9999974611078741, + -0.00019387308957855497, + -0.014820938295598243 + ], + [ + 0.005809379255518269, + 0.0001808280027380231, + 0.9999831090642975, + 0.7322429795351361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999420893828036, + -0.0022566293247128755, + -0.010522618725584626, + 0.06924765688018954 + ], + [ + 0.0022581302811897955, + 0.9999974418711838, + 0.00013076207957470954, + -0.018302838901098694 + ], + [ + 0.010522296725827116, + -0.00015451595104363293, + 0.9999446271651418, + 0.7933203927584738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997712566603167, + -0.002619063417912098, + -0.02122674875397194, + 0.07122595173181753 + ], + [ + 0.0026181836532227797, + 0.9999965701544247, + -6.923687635915267e-05, + -0.016235864751319624 + ], + [ + 0.021226857285271686, + 1.3645512286108705e-05, + 0.9997746847883232, + 0.8513234908891413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9989654576331632, + -0.0023609097897429906, + -0.04541410090191997, + 0.07076898411343015 + ], + [ + 0.002378112170103639, + 0.9999971195508623, + 0.0003247652767585757, + -0.016670724614488132 + ], + [ + 0.04541320334739092, + -0.000432429119369662, + 0.9989681946722756, + 0.9088076716248693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9961297720215401, + -0.001738494727169744, + -0.08787749955704387, + 0.0680944056158528 + ], + [ + 0.001818726656238987, + 0.9999979992217047, + 0.0008329381353653407, + -0.019975141741170696 + ], + [ + 0.08787587567509371, + -0.0009895396258175488, + 0.996130940833415, + 0.9673100476061558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9891686442880778, + -0.0005191212289692802, + -0.1467825727749582, + 0.06271388177306172 + ], + [ + 0.0007797884115889472, + 0.9999982196222283, + 0.001718337105129686, + -0.017197541188602096 + ], + [ + 0.14678141942125855, + -0.0018141845339841552, + 0.9891672879989296, + 1.025370753215125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9771431002118746, + 0.0004164542737228393, + -0.2125821918086382, + 0.05293677528793404 + ], + [ + 0.00015999977104230804, + 0.999996357120638, + 0.002694465722017059, + -0.015966518409844005 + ], + [ + 0.2125825395191242, + -0.00266689169104343, + 0.9771394739648525, + 1.0833289741446572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9595258105248389, + 0.001344683843200273, + -0.281617490156441, + 0.03706135434266504 + ], + [ + -0.000332734868216213, + 0.9999933156911698, + 0.003641134505649937, + -0.02143536780038455 + ], + [ + 0.2816205039129054, + -0.00340005857928913, + 0.959519844181192, + 1.1472315432826121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9399932214387751, + 0.0018027022325911224, + -0.3411883554780474, + 0.021983710332742202 + ], + [ + -0.0005131719512984949, + 0.9999923808531086, + 0.0038697403375182516, + -0.021144794120179236 + ], + [ + 0.3411927319033954, + -0.0034624413918543603, + 0.9399869845885663, + 1.203748245519751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9164054029902063, + 0.0022586319309188248, + -0.4002449699273658, + 0.006510331943010673 + ], + [ + -3.4208599989968714e-05, + 0.9999845162848308, + 0.005564712064838653, + -0.01979996309562225 + ], + [ + 0.4002513412846096, + -0.005085840382228687, + 0.9163912908946032, + 1.2594883613116667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8880813351944638, + 0.0033781519816898677, + -0.4596739389702305, + -0.01384445778343931 + ], + [ + -0.00010172173112189538, + 0.9999744167629679, + 0.0071523053801988215, + -0.021666735815968625 + ], + [ + 0.4596863405974861, + -0.006305070082941844, + 0.8880589588306292, + 1.313433979673848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8563018161009781, + 0.006039629568405588, + -0.5164404347229633, + -0.04145840669104649 + ], + [ + -0.0019192124338963186, + 0.9999619299619062, + 0.00851206499585379, + -0.019964538210490733 + ], + [ + 0.5164721835353773, + -0.006297737811032034, + 0.8562808079903831, + 1.364175572846537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8241053714224089, + 0.0075146669586524505, + -0.5663866758436625, + -0.0740700496372316 + ], + [ + -0.002583224404593259, + 0.999951457093037, + 0.009508438840720867, + -0.019044758955736867 + ], + [ + 0.5664306345391367, + -0.006372851639003729, + 0.8240847790231162, + 1.4130513899843884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.7938567910141134, + 0.008747976877176433, + -0.6080418310127441, + -0.10891581730745871 + ], + [ + -0.0028356973488673975, + 0.9999389038638434, + 0.01068397679335781, + -0.0232697332698117 + ], + [ + 0.6080981451881923, + -0.006757324924240972, + 0.7938330960463594, + 1.4607756856086516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.763802783956208, + 0.009438658266966491, + -0.6453806775468766, + -0.14878810442311055 + ], + [ + -0.003243765836441912, + 0.9999365783387406, + 0.010785049068496793, + -0.021428661181894657 + ], + [ + 0.6454415428247119, + -0.006144186710295867, + 0.7637849591120033, + 1.509306704402983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.7354798795069978, + 0.0106413110031736, + -0.6774629948126363, + -0.18860344840901197 + ], + [ + -0.003541336315424121, + 0.9999233756728626, + 0.011861775587519285, + -0.020632642933320032 + ], + [ + 0.6775373095095749, + -0.006324972973961759, + 0.7354612083172065, + 1.5516980356142571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7008667133920721, + 0.011717797454332851, + -0.7131960062155523, + -0.23249181073170305 + ], + [ + -0.003469209576068455, + 0.999909227679227, + 0.013019254465945283, + -0.024675471073196092 + ], + [ + 0.7132838247457406, + -0.006650535673985355, + 0.7008437455890839, + 1.5891238954420503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.6596466101008798, + 0.013574506769673008, + -0.7514533136186026, + -0.28224123578246235 + ], + [ + -0.003990030945918816, + 0.9998860406176614, + 0.014559719468009519, + -0.023535629944167826 + ], + [ + 0.7515653194736094, + -0.006605947615340801, + 0.6596255998827175, + 1.6209589499838446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.6154595780455167, + 0.015263408759293395, + -0.7880206444916792, + -0.33683316865731333 + ], + [ + -0.004187010614070004, + 0.9998616765059931, + 0.016096483986961927, + -0.02206390059763795 + ], + [ + 0.7881573299374639, + -0.006607284440039056, + 0.6154383535807435, + 1.650186713744057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.5757488820713897, + 0.016148418337920068, + -0.8174670962055467, + -0.39163915850895714 + ], + [ + -0.003684238943332572, + 0.9998460315033402, + 0.017156330331112322, + -0.026144846863748163 + ], + [ + 0.8176182796250054, + -0.006865993897851927, + 0.5757197295132774, + 1.678781209759621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.5422705983196243, + 0.01661469648147895, + -0.8400396121962971, + -0.445827757722584 + ], + [ + -0.003205371519828324, + 0.999838096651233, + 0.01770610285352854, + -0.026170409641853395 + ], + [ + 0.8401977884947668, + -0.006908859939830087, + 0.5422360591687307, + 1.7052418910895166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.5031992952123459, + 0.017854558510798004, + -0.8639859281482444, + -0.5077700580062982 + ], + [ + -0.0026067348797945873, + 0.9998133525894822, + 0.019143273415131442, + -0.023627055747314645 + ], + [ + 0.8641664621073103, + -0.007380699435995649, + 0.5031519164673535, + 1.733569211237619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.46298365583733975, + 0.0188869378693522, + -0.8861655703114464, + -0.5651139450363276 + ], + [ + -0.0023529807438267703, + 0.999795619404583, + 0.020079414857653986, + -0.025013796109544736 + ], + [ + 0.8863636939254174, + -0.007211310375086136, + 0.4629334715632078, + 1.7557864895870474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.42402084294392056, + 0.019771763191522802, + -0.9054365809538655, + -0.6247662672251934 + ], + [ + -0.0029143777446155247, + 0.9997862765687602, + 0.020467232034075744, + -0.021486605164196107 + ], + [ + 0.9056477412059775, + -0.006039748759124889, + 0.4239878421410664, + 1.773059432505855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.39186449779627935, + 0.020867830748104492, + -0.9197862518035038, + -0.6894798304524545 + ], + [ + -0.0029475831180779417, + 0.9997660788294425, + 0.021426604391822042, + -0.017934068467123605 + ], + [ + 0.9200182210807741, + -0.0056851791414247, + 0.3918343420598788, + 1.7899202210004763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.3738362896718108, + 0.021152732226287545, + -0.927253466126591, + -0.7552980391012265 + ], + [ + -0.002707468124608115, + 0.999760530653193, + 0.021715224253970048, + -0.019244158601247743 + ], + [ + 0.9274907536686112, + -0.0056074296615253455, + 0.37380403768796144, + 1.8078239712397663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.3682370919048912, + 0.02102566981915978, + -0.9294941448734814, + -0.8213022569154745 + ], + [ + -0.0028726443052430016, + 0.9997652116257075, + 0.021477186447475646, + -0.01728005790627752 + ], + [ + 0.9297274826851815, + -0.005238590617690053, + 0.3682110333873986, + 1.826392656282263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.3664826974850127, + 0.02096292139699766, + -0.9301886842843295, + -0.8893098683854734 + ], + [ + -0.0026426024056175404, + 0.9997655757822244, + 0.021489768108644933, + -0.015814299285758525 + ], + [ + 0.9304211138493336, + -0.005417509330015611, + 0.3664521817318389, + 1.8447443146885958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.36037547957894134, + 0.020868350152344055, + -0.9325738714333399, + -0.9654093314826028 + ], + [ + -0.0023191712298245414, + 0.9997666799208351, + 0.02147573432684613, + -0.017712954746821566 + ], + [ + 0.9328044463675412, + -0.005576529565032814, + 0.36033979402080407, + 1.8624092393477667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.3444758484734835, + 0.021120042029580673, + -0.9385575814211629, + -1.0361433735288663 + ], + [ + -0.002476799370815165, + 0.9997638776240609, + 0.021588294582455016, + -0.013963429505408867 + ], + [ + 0.9387919126640103, + -0.00511202726624896, + 0.34444682012449873, + 1.876392653080732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.3293006864517949, + 0.021497911489737998, + -0.9439803481555936, + -1.1069247177652652 + ], + [ + -0.0023756871820990316, + 0.9997564798041484, + 0.021939398351593697, + -0.013603229797419243 + ], + [ + 0.9442221211202316, + -0.0049820569242525585, + 0.3292715673969042, + 1.8911875725191374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.3224296931932242, + 0.0213987847522021, + -0.946351512366548, + -1.1753677008546908 + ], + [ + -0.001695015588842684, + 0.9997558984961097, + 0.02202885254366218, + -0.017790713854670064 + ], + [ + 0.94659189721309, + -0.005498675601065622, + 0.322387258893954, + 1.9084183578106697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.32040812777125527, + 0.021134351027322692, + -0.9470438062015784, + -1.2429574765623965 + ], + [ + -0.0015224125178671145, + 0.9997612856798759, + 0.021795731596968033, + -0.016537460175358884 + ], + [ + 0.9472783719257208, + -0.005541738208859521, + 0.3203638169634332, + 1.9277870234537222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.3202000933748562, + 0.021065488936296606, + -0.9471156979897485, + -1.313896159037151 + ], + [ + -0.0013791218479060167, + 0.9997620502813581, + 0.021770182363590733, + -0.01500996632214216 + ], + [ + 0.9473489316116118, + -0.005664626474016983, + 0.3201529537287574, + 1.9463682248270204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.3197381898410299, + 0.02118917999159474, + -0.9472689737389615, + -1.3864440816697916 + ], + [ + -0.0014074201711471914, + 0.9997594325232371, + 0.02188826738864015, + -0.01596251605000109 + ], + [ + 0.9475048860695354, + -0.005665309532458135, + 0.3196910933108054, + 1.9609901213205276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.3128956030269735, + 0.02093286870118094, + -0.9495568211614963, + -1.458991442990049 + ], + [ + -0.0017627826279078412, + 0.9997681771387005, + 0.021458904402765794, + -0.013045901068948852 + ], + [ + 0.9497858886105824, + -0.0050405345648467, + 0.3128599667702904, + 1.9723655271291334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.29333583476542663, + 0.021481485397380474, + -0.9557680857967547, + -1.5405502646129523 + ], + [ + -0.0011081351644766993, + 0.9997544872464397, + 0.022130008293395897, + -0.012610081905619748 + ], + [ + 0.956008817992244, + -0.005432404231153133, + 0.29328762146626947, + 1.9846723740358638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.2778892697580354, + 0.021649705713819606, + -0.9603691186183837, + -1.6143336089363503 + ], + [ + -0.00057357289522947, + 0.9997495622271378, + 0.022371496167679798, + -0.015110833974075422 + ], + [ + 0.9606129422235993, + -0.005665957037576304, + 0.27783209347260196, + 1.9983155124697796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.27082444235288233, + 0.021110130480045498, + -0.9623972588361657, + -1.6871103716256217 + ], + [ + -0.0003275705965626874, + 0.9997614789959306, + 0.02183753221803368, + -0.013328220731070366 + ], + [ + 0.9626287000301593, + -0.005598884441104816, + 0.27076676009300066, + 2.014548378697275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.2660271130884504, + 0.0208613753629553, + -0.9637397875566781, + -1.7626456870301472 + ], + [ + 7.373259017271275e-05, + 0.9997653584311379, + 0.02166154760315731, + -0.015331407653482267 + ], + [ + 0.9639655438164428, + -0.005833618004685032, + 0.2659631539060353, + 2.0287340843941184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.2548077898250729, + 0.020906300143225195, + -0.9667656990495592, + -1.8382909003222065 + ], + [ + 0.00027594406515583925, + 0.9997646490912235, + 0.02169263198359499, + -0.018917114404195738 + ], + [ + 0.9669916825388596, + -0.005794224868277489, + 0.2547420516107254, + 2.036925643544308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.2356692822909417, + 0.02113596254934994, + -0.9716034481575211, + -1.9137597261930428 + ], + [ + 2.7698248179060247e-05, + 0.9997633258907921, + 0.021755262273506756, + -0.015265033210736495 + ], + [ + 0.9718333131855892, + -0.005153958759487237, + 0.23561292004435158, + 2.0403629292488645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.21463701176419736, + 0.021776333182077896, + -0.9764510968267068, + -1.990091820677059 + ], + [ + 0.00020666041680918353, + 0.9997503791045802, + 0.022341369065485825, + -0.014919425325286666 + ], + [ + 0.9766938673260972, + -0.00499707848560095, + 0.21457893357503866, + 2.0413973122069047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.20082521613793508, + 0.02176074858426434, + -0.9793853697009184, + -2.0695043362991066 + ], + [ + 0.0006884063030265525, + 0.9997498725626146, + 0.022354382295160465, + -0.018083829698729466 + ], + [ + 0.9796268466410637, + -0.005163538717649732, + 0.20076000400477606, + 2.0451145663095263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.19687724642502435, + 0.021172772568525584, + -0.9801995019085972, + -2.141822343457268 + ], + [ + 0.0011012585106809185, + 0.9997613850711659, + 0.021816510955628903, + -0.015850525492716698 + ], + [ + 0.9804275276989081, + -0.005374627647187633, + 0.19680695187889374, + 2.0534403187988732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.19632299459106511, + 0.020931718601140625, + -0.980315839386062, + -2.2175872514985118 + ], + [ + 0.0018324934129672534, + 0.9997625454280075, + 0.021713929335868187, + -0.02036093682681675 + ], + [ + 0.9805375687665865, + -0.006059365949858843, + 0.19623801956195347, + 2.0625296281511565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.19641117626402904, + 0.020863728289327185, + -0.9802996249517031, + -2.2939648330198414 + ], + [ + 0.0019071609799187327, + 0.9997635735559041, + 0.021660095284310614, + -0.023601696219443413 + ], + [ + 0.9805197665399599, + -0.0061238739861192515, + 0.1963249489795552, + 2.0696309909971395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.19641962202787883, + 0.020784763789912702, + -0.980299610158355, + -2.3725606794848617 + ], + [ + 0.001547919643327754, + 0.9997674847366604, + 0.0215076825369264, + -0.018237654914501314 + ], + [ + 0.9805187076375459, + -0.00574195589750935, + 0.19634177832358563, + 2.0746171185797313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.19651229978396706, + 0.02084826853542885, + -0.9802796875038732, + -2.449811188451579 + ], + [ + 0.001250444902178717, + 0.9997677779113721, + 0.021513405999613995, + -0.02036012532932805 + ], + [ + 0.980500562172793, + -0.005453434627118904, + 0.19644059567616073, + 2.078876212648496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.196489655007975, + 0.020651151748349098, + -0.9802883990980991, + -2.5206514359684835 + ], + [ + 0.001381831883991996, + 0.9997713519990161, + 0.021338562807836657, + -0.023924546801637185 + ], + [ + 0.9805049240138939, + -0.0055474006098590566, + 0.19641619162121637, + 2.0833255394787744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.19641067501178455, + 0.020315410484390405, + -0.9803112418197937, + -2.599832278428478 + ], + [ + 0.0014647772085464097, + 0.9997781440703529, + 0.021012307511791502, + -0.02160553064838007 + ], + [ + 0.9805206276102225, + -0.005562979066245623, + 0.19633734258862734, + 2.0853582949692093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.19657617512451409, + 0.020440193572896177, + -0.9802754744764959, + -2.672376065612697 + ], + [ + 0.0010956376820427886, + 0.9997774752854581, + 0.0210665490744251, + -0.024198693072554782 + ], + [ + 0.9804879432973597, + -0.00521520838874218, + 0.19651003702095204, + 2.0830895064921298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.19674893362392576, + 0.020389853316449505, + -0.9802418635212343, + -2.741995678575743 + ], + [ + 0.0005468221643320954, + 0.9997812952154103, + 0.020906045128567863, + -0.02271886694252781 + ], + [ + 0.9804537511292254, + -0.004649260062719001, + 0.19669475406705828, + 2.0761649727045124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.196871619365052, + 0.0202660226462339, + -0.9802197987261249, + -2.8107355046109226 + ], + [ + 0.00010494386692506269, + 0.9997858998240476, + 0.02069162873735259, + -0.01832724444500486 + ], + [ + 0.9804292705113241, + -0.004176462512937875, + 0.19682734232192217, + 2.0650262284028473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.19692189761090956, + 0.020191819254786754, + -0.9802112306418962, + -2.8770321011615723 + ], + [ + -0.0003623446819719673, + 0.9997893292842313, + 0.020522323350891762, + -0.02295278708830551 + ], + [ + 0.9804191118841217, + -0.0036861205310099975, + 0.1968877283321156, + 2.0512054654452863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.19691993391929896, + 0.01984092892558765, + -0.9802187904567986, + -2.9377287611660736 + ], + [ + -0.00035663136859341756, + 0.9997965907229893, + 0.020165564528538682, + -0.026668841149554715 + ], + [ + 0.9804195083938744, + -0.0036214248656436035, + 0.19688695447554827, + 2.0373433704850643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.19710574166254874, + 0.01956294192410636, + -0.9801870321050625, + -3.0030448193634163 + ], + [ + -0.0005312417328760203, + 0.999802875552444, + 0.019847614952062678, + -0.02272711258475619 + ], + [ + 0.9803820910164964, + -0.003391362607880909, + 0.19707727995328134, + 2.0225701139713967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.19720917881542377, + 0.0194655330266437, + -0.9801681655792209, + -3.068924308259046 + ], + [ + -0.0008282716731918948, + 0.9998058121932286, + 0.019688876826118057, + -0.02397536789700977 + ], + [ + 0.9803610833549963, + -0.0030709817041630373, + 0.1971870059471239, + 2.00912982368639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.19738312905179628, + 0.019161038351543258, + -0.9801391508224803, + -3.1401981678981152 + ], + [ + -0.001132768331807107, + 0.999812757527955, + 0.01931752365737479, + -0.024854921444523295 + ], + [ + 0.9803257709565879, + -0.0027026826742087198, + 0.1973678755642218, + 1.9925620012108038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.1973689370650809, + 0.018914407413620358, + -0.9801467991448995, + -3.2050826700226716 + ], + [ + -0.001280404585744431, + 0.9998179756111429, + 0.01903618157437898, + -0.0207925073323557 + ], + [ + 0.9803284466166924, + -0.0025021664667852026, + 0.19735722919892124, + 1.9771837149219182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.1972581817007134, + 0.018757736717425567, + -0.9801721058392594, + -3.270741824789455 + ], + [ + -0.0007774371798773706, + 0.9998196130113768, + 0.018977276654256272, + -0.024210074299745407 + ], + [ + 0.9803512663038487, + -0.0029814008486918515, + 0.19723718185326955, + 1.9639190376083309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.19751766831428252, + 0.018342620607438194, + -0.9801277054409496, + -3.3351024196586585 + ], + [ + -0.0005780742739156536, + 0.9998269348810337, + 0.01859478734837412, + -0.028819468087735292 + ], + [ + 0.9802991566526125, + -0.0031062124281833825, + 0.19749408829260706, + 1.9551458840675355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.1989114120772827, + 0.017745359090187776, + -0.9798568019747487, + -3.399097845127508 + ], + [ + 0.0003267599612574272, + 0.9998347949876647, + 0.01817349608364848, + -0.02661477782260857 + ], + [ + 0.98001741993362, + -0.003935093739030583, + 0.19887275244214808, + 1.9504972629147372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.2088535412500574, + 0.017109434117871077, + -0.9777972517712847, + -3.467658939024333 + ], + [ + 0.0006694983358176941, + 0.9998442104800374, + 0.017638212537821385, + -0.026710898723747156 + ], + [ + 0.9779467010421832, + -0.004338436782673147, + 0.20880954931945483, + 1.9498147948289657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.22134407250966154, + 0.0168858671449924, + -0.9750495726144386, + -3.5403472272994945 + ], + [ + 0.0006023784422227157, + 0.9998475197165742, + 0.017452061678413434, + -0.028237181084870944 + ], + [ + 0.97519558997416, + -0.00445025924823124, + 0.22130015022040433, + 1.9498864927714767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.23030065794564725, + 0.016000678742846393, + -0.9729879676694723, + -3.6151021829798435 + ], + [ + 0.0008609722659638497, + 0.9998610685444332, + 0.01664639107858435, + -0.02373421047826245 + ], + [ + 0.9731191425907514, + -0.004671390473098476, + 0.2302548857993867, + 1.9461518422659534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.24256303875698448, + 0.01554760329894344, + -0.9700110536796148, + -3.682906314660533 + ], + [ + 0.0004714520163139899, + 0.9998695647647776, + 0.016144076006094202, + -0.025483082724548176 + ], + [ + 0.9701355317490304, + -0.004373269801066044, + 0.24252407004104382, + 1.9437895367037037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.2598511153004976, + 0.014351290436811201, + -0.9655420437971025, + -3.747832428597497 + ], + [ + 0.0015123425542545891, + 0.999882282673733, + 0.015268713605401465, + -0.033073406198497385 + ], + [ + 0.965647508512856, + -0.005427822580323759, + 0.2597988222547409, + 1.9471554154893809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.2863240003969443, + 0.013363808088345626, + -0.958039652326598, + -3.812361246663659 + ], + [ + 0.0016717285867585679, + 0.9998942353666272, + 0.014447262859119, + -0.03073526581731076 + ], + [ + 0.958131396062264, + -0.005738180370651761, + 0.28627137678400716, + 1.9563928455451294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_110/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_110/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..15befdbadb5ec9a34e7884f8512cdb667a3b5e82 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/pan_left/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -3.577092219998289e-05, + 0.00012190731857754618, + -0.0002866720018820088 + ], + [ + 3.577932091789886e-05, + 0.9999999969868109, + -6.889280350305381e-05, + -7.589894138101861e-05 + ], + [ + -0.00012190485385110213, + 6.889716470812968e-05, + 0.9999999901961936, + 9.258174837750678e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999946487616806, + -0.0004582918532151998, + -0.003239199990755317, + 0.00035742163820613813 + ], + [ + 0.0004573031283823041, + 0.9999998486276601, + -0.00030597141301502115, + -0.0028690807024174133 + ], + [ + 0.0032393397246359367, + 0.0003044884793998429, + 0.9999947069684489, + 0.059327379090060514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999979596901849, + -0.001516486073934917, + -0.00620532432701712, + 0.004358804962563925 + ], + [ + 0.0015129408059789359, + 0.999998689627092, + -0.0005759810906119149, + 0.0014312218610391938 + ], + [ + 0.006206189663030999, + 0.0005665810504245118, + 0.9999805809093395, + 0.11939564754770127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999575340226551, + -0.0015772766404724174, + -0.009079776964793326, + 0.009090524455642658 + ], + [ + 0.0015762243670530052, + 0.9999987501873269, + -0.00012304685805298947, + -0.00012067339042360369 + ], + [ + 0.009079959695707896, + 0.00010872986704858921, + 0.9999587704049306, + 0.18165918531285774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999223493993659, + -0.001800540661574877, + -0.012330986374931697, + 0.013322285514647206 + ], + [ + 0.0017970022248803765, + 0.9999983409795722, + -0.00029802870193221996, + 0.00028684042614709034 + ], + [ + 0.012331502530369551, + 0.0002758467498737868, + 0.9999239260833368, + 0.24845645312723358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998720383623438, + -0.0019561379491993295, + -0.015877040828046935, + 0.017381914250738116 + ], + [ + 0.0019487134486352276, + 0.9999979845716237, + -0.00048308238011404145, + 0.0021079091253994485 + ], + [ + 0.015877953804784645, + 0.0004520807611154136, + 0.9998738351441939, + 0.3108302520602131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997990801406051, + -0.0020819875770391517, + -0.019936516188375338, + 0.022511922155513873 + ], + [ + 0.0020765908707636197, + 0.99999780142788, + -0.00029139279734603974, + -0.0021267080649299826 + ], + [ + 0.01993707903269078, + 0.000249934263234557, + 0.9998012054466171, + 0.3731728272345524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997042046782405, + -0.0025210835726479004, + -0.024189817822106198, + 0.03052485180593904 + ], + [ + 0.002519323664578172, + 0.9999968211709392, + -0.00010322930698971267, + -0.0058159294324011575 + ], + [ + 0.024190001176520398, + 4.225679176256967e-05, + 0.9997073782149674, + 0.43354062945342503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9996095242149509, + -0.0029361233535398924, + -0.02778809598394566, + 0.04187736529364181 + ], + [ + 0.0029236696430585407, + 0.9999956066123663, + -0.0004887860312654648, + -0.0010496454776556352 + ], + [ + 0.027789409036149678, + 0.00040735195948952627, + 0.9996137167975454, + 0.49284086657466497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9995233335963042, + -0.0026356400357135687, + -0.03075969762747603, + 0.05340881624878713 + ], + [ + 0.0026199785734195135, + 0.9999964169028093, + -0.0005494486489653707, + -0.0018173966977173416 + ], + [ + 0.03076103556134665, + 0.0004685969965450025, + 0.9995266575274762, + 0.5515078111550995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993796411131182, + -0.0028603271631575953, + -0.035102015001064184, + 0.06033654863732774 + ], + [ + 0.002829325325362698, + 0.9999955623599188, + -0.0009328336792320532, + -0.0034617242795727597 + ], + [ + 0.0351045274404669, + 0.0008329399675553865, + 0.9993832990220479, + 0.6067692640958349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9992266379708086, + -0.0022013646469287674, + -0.039259138595317884, + 0.06382327726970462 + ], + [ + 0.0021675238930252637, + 0.9999972418314599, + -0.0009045273053763797, + 0.0003387565568812911 + ], + [ + 0.03926102150642913, + 0.0008187326573790928, + 0.9992286534458006, + 0.6708289873357388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9989815978240394, + -0.0022461253391111075, + -0.045063534369714046, + 0.06642912971320507 + ], + [ + 0.0022356947136560968, + 0.9999974611078744, + -0.00028186335856473854, + 0.00017902362101987273 + ], + [ + 0.04506405305869331, + 0.00018082800273802312, + 0.9989840831680737, + 0.7322456919551771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9985898278931791, + -0.0022566293247128755, + -0.05304020411312363, + 0.06921098665366296 + ], + [ + 0.0022616483991217077, + 0.9999974418711838, + 3.4606459385839956e-05, + -0.0020528804706919585 + ], + [ + 0.053039990335498, + -0.00015451595104363293, + 0.9985923770738643, + 0.7933178818742693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9977500170021492, + -0.002619063417912098, + -0.0669928658815576, + 0.07118011812200407 + ], + [ + 0.002612265373822052, + 0.9999965701544247, + -0.00018907406956345866, + 0.0012640752263828085 + ], + [ + 0.06699313130335185, + 1.3645512286108705e-05, + 0.9977534365623464, + 0.8513237296856063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9955337956769962, + -0.0023609097897429906, + -0.09437630936796504, + 0.07072471705487246 + ], + [ + 0.0023911831066785803, + 0.9999971195508623, + 0.00020768564928296606, + 0.0020792213770905368 + ], + [ + 0.09437554719472352, + -0.000432429119369662, + 0.9955365734601384, + 0.9087995635788811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9901654578174937, + -0.0017384947271697445, + -0.13989047065885896, + 0.0680596357213094 + ], + [ + 0.0018598267683712414, + 0.999997999221705, + 0.0007366118239004334, + 2.4818243263401087e-05 + ], + [ + 0.1398889101732697, + -0.000989539625817549, + 0.9901667100149673, + 0.9672902568136394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9794766691930182, + -0.0005191212289692802, + -0.2015569026843298, + 0.06270285044694612 + ], + [ + 0.0008741278781282661, + 0.9999982196222283, + 0.0016723195945730165, + 0.0040524209783702626 + ], + [ + 0.20155567570029737, + -0.0018141845339841552, + 0.979475379132867, + 1.0253322017937778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9629334686970863, + 0.0004164542737228393, + -0.2697386910119419, + 0.05294614550909281 + ], + [ + 0.00031834763153469007, + 0.999996357120638, + 0.0026803731530058938, + 0.006533399625370352 + ], + [ + 0.269738824639286, + -0.00266689169104343, + 0.9629298282693943, + 1.0832689690816089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.940172683132862, + 0.001344683843200273, + -0.3406956379470058, + 0.03709329058394105 + ], + [ + -0.0001058416309417751, + 0.9999933156911698, + 0.0036547736632958623, + 0.002314473447280735 + ], + [ + 0.34069827514724016, + -0.00340005857928913, + 0.9401665410518251, + 1.147150791891354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9156658376913317, + 0.0018027022325911224, + -0.40193634315609295, + 0.02202877788855698 + ], + [ + -0.0002589800833771656, + 0.9999923808531086, + 0.003895017977857013, + 0.003855015401148479 + ], + [ + 0.40194030230165817, + -0.0034624413918543603, + 0.9156593279627854, + 1.2036616844849546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.8867581479545386, + 0.0022586319309188248, + -0.46222817484229295, + 0.0065696210311972925 + ], + [ + 0.00034799123641097486, + 0.9999845162848308, + 0.005553925881055247, + 0.006449630456854559 + ], + [ + 0.46223356210722744, + -0.005085840382228687, + 0.8867436316598334, + 1.2593548580016332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8527151867853778, + 0.0033781519816898677, + -0.5223651963088343, + -0.013751558603942837 + ], + [ + 0.00041302608208853534, + 0.9999744167629679, + 0.007141094385156805, + 0.005832560645012996 + ], + [ + 0.5223759562183484, + -0.006305070082941844, + 0.8526919763057558, + 1.313260590246567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8150430152449761, + 0.0060396295684055894, + -0.579368972395877, + -0.04128476734095483 + ], + [ + -0.001273703069459645, + 0.9999619299619065, + 0.008632282858601814, + 0.008784367275914076 + ], + [ + 0.5793990515878231, + -0.006297737811032036, + 0.8150196792210572, + 1.36399451288447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.7771267431745834, + 0.007514666958652452, + -0.6292992569702957, + -0.07384460962847203 + ], + [ + -0.0018292376726349814, + 0.9999514570930372, + 0.009681804947902451, + 0.010953784757054252 + ], + [ + 0.6293414644947548, + -0.006372851639003731, + 0.777102765295289, + 1.4128602044352183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.7415116984768253, + 0.008747976877176433, + -0.670882906267979, + -0.10864244303004694 + ], + [ + -0.0019531065602714597, + 0.9999389038638434, + 0.010879977681025195, + 0.007978357475933407 + ], + [ + 0.6709370957077704, + -0.006757324924240972, + 0.7414834807081615, + 1.460564519204769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.7061938504111909, + 0.009438658266966491, + -0.7079556182216057, + -0.14848134802943413 + ], + [ + -0.0023154944681987814, + 0.9999365783387406, + 0.01102169612987457, + 0.011069277614114411 + ], + [ + 0.7080147485234926, + -0.006144186710295867, + 0.7061709175850311, + 1.5091070183348985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.6728298563508921, + 0.0106413110031736, + -0.739720722234393, + -0.18824430416265486 + ], + [ + -0.0024808104837897088, + 0.9999233756728626, + 0.012127999106659319, + 0.013114770995639085 + ], + [ + 0.7397930994421223, + -0.006324972973961759, + 0.672804700291769, + 1.551484567776386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.6326679377758864, + 0.011717797454332851, + -0.7743345360586895, + -0.2320816878208014 + ], + [ + -0.0022633731332134467, + 0.999909227679227, + 0.013282076042229573, + 0.010321351895576853 + ], + [ + 0.7744198845926329, + -0.006650535673985355, + 0.6326370307868344, + 1.5888911266934609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.585470673326132, + 0.013574506769673008, + -0.8105799303221155, + -0.28174915991206173 + ], + [ + -0.002592399065548799, + 0.9998860406176614, + 0.01487229790655993, + 0.012710239028222405 + ], + [ + 0.8106894412425332, + -0.006605947615340801, + 0.5854391439884873, + 1.6207194843827886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.5352564418612814, + 0.015263408759293395, + -0.8445516975289598, + -0.3362607908288398 + ], + [ + -0.0025891176837742713, + 0.9998616765059931, + 0.01642937382386876, + 0.0154309122713368 + ], + [ + 0.844685644435621, + -0.006607284440039056, + 0.5352219220815869, + 1.6499389405775555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.4900011221931915, + 0.016148418337920068, + -0.8715722166490834, + -0.39101340729836276 + ], + [ + -0.001927817992840887, + 0.9998460315033402, + 0.01744123862597757, + 0.012599186857006277 + ], + [ + 0.8717196704028193, + -0.006865993897851927, + 0.4899568086684735, + 1.6785151524960793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.45149193349648586, + 0.01661469648147895, + -0.8921204996234721, + -0.4451631698633248 + ], + [ + -0.0013370204375207954, + 0.999838096651233, + 0.017944159528646357, + 0.013823114224195932 + ], + [ + 0.892274199091263, + -0.006908859939830087, + 0.45144104962927045, + 1.7049655366919234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.40714537741347245, + 0.017854558510798004, + -0.9131888393926122, + -0.5070335574677277 + ], + [ + -0.0005282401918880762, + 0.9998133525894822, + 0.019312714622229832, + 0.017615245047001505 + ], + [ + 0.9133632150536506, + -0.007380699435995649, + 0.4070788162784877, + 1.7332647573858844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.3617251113044839, + 0.018886937869352204, + -0.9320934649645808, + -0.5643112501768801 + ], + [ + -0.00010890697380774763, + 0.9997956194045832, + 0.02021651697690904, + 0.01747751771515005 + ], + [ + 0.9322847912473045, + -0.007211310375086138, + 0.36165323863010607, + 1.7554800088961062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.31776296587341496, + 0.019771763191522802, + -0.9479640156143216, + -0.6239012525855643 + ], + [ + -0.0005561442671652602, + 0.9997862765687602, + 0.020666201594127208, + 0.022254044435687154 + ], + [ + 0.9481700207361998, + -0.006039748759124889, + 0.3177060484347781, + 1.7727951934976434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.2810389899074851, + 0.020867830748104492, + -0.9594694470339582, + -0.6885407780687899 + ], + [ + -0.0004087245022426151, + 0.9997660788294425, + 0.021624536209659904, + 0.027055405080201312 + ], + [ + 0.9596962639794231, + -0.0056851791414247, + 0.280981778131729, + 1.7896643879391123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.2590994804257755, + 0.021152732226287545, + -0.9656189834310718, + -0.7543197252357607 + ], + [ + -6.4737915669746e-05, + 0.999760530653193, + 0.021883262029419946, + 0.02699476594146244 + ], + [ + 0.9658506380657911, + -0.0056074296615253455, + 0.25903880342623503, + 1.8075646276179207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.2501042363295383, + 0.021025669819159782, + -0.9679905950879246, + -0.8203035375990645 + ], + [ + -0.000186550453717182, + 0.9997652116257078, + 0.021667644586624884, + 0.030208789645943597 + ], + [ + 0.9682188988906109, + -0.005238590617690054, + 0.2500494371107313, + 1.8261438232279228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.24510663388799148, + 0.02096292139699766, + -0.9692694640555853, + -0.8882879259673698 + ], + [ + 0.00011412992551554103, + 0.9997655757822244, + 0.021651338415848806, + 0.03292427253362492 + ], + [ + 0.9694961191250113, + -0.005417509330015611, + 0.24504678246041298, + 1.8444802111087575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.23556710099155817, + 0.02086835015234406, + -0.9716340118029797, + -0.9643659139749856 + ], + [ + 0.0005038154283571565, + 0.9997666799208353, + 0.021594719032316037, + 0.03227537924922019 + ], + [ + 0.9718579562366343, + -0.005576529565032815, + 0.23550162466013502, + 1.862130412869515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.21582900794838752, + 0.021120042029580673, + -0.9762027367062049, + -1.0350609713748502 + ], + [ + 0.00043332689730492, + 0.9997638776240609, + 0.021725589195743324, + 0.037274469222824264 + ], + [ + 0.976431078753547, + -0.00511202726624896, + 0.21576889400795057, + 1.8761306616833366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.19685820578361435, + 0.021497911489737998, + -0.9801962490324247, + -1.105796077412054 + ], + [ + 0.0006526854581732637, + 0.9997564798041484, + 0.0220579938187903, + 0.03888398539229855 + ], + [ + 0.9804317522486451, + -0.0049820569242525585, + 0.1967962354605765, + 1.8909260145306142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.18651383118061676, + 0.0213987847522021, + -0.98221926411034, + -1.1742175161742598 + ], + [ + 0.0014113562974762755, + 0.9997558984961097, + 0.02204884340817916, + 0.03594616568949583 + ], + [ + 0.982451321364947, + -0.005498675601065622, + 0.18643810156431082, + 1.9081228039971125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.18119854910474606, + 0.021134351027322692, + -0.9832194185475531, + -1.2417950872558938 + ], + [ + 0.0016208690154461214, + 0.9997612856798759, + 0.021788630965629663, + 0.038449410537034295 + ], + [ + 0.9834451985677543, + -0.005541738208859521, + 0.1811210384015474, + 1.927482227852235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.17776367512478036, + 0.021065488936296606, + -0.9838477122919006, + -1.3127112252844844 + ], + [ + 0.001830154250861564, + 0.9997620502813581, + 0.02173691221478851, + 0.04122664900618424 + ], + [ + 0.9840715046893441, + -0.005664626474016983, + 0.1776828232141764, + 1.946049589587857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.174063428756783, + 0.02118917999159474, + -0.9845064455963283, + -1.3852257038202749 + ], + [ + 0.0018910087324927483, + 0.9997594325232371, + 0.021851800081192307, + 0.04152365132008505 + ], + [ + 0.9847326270899152, + -0.005665309532458135, + 0.17398148583253184, + 1.9606643660224112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.16372840120925525, + 0.02093286870118094, + -0.986283339434161, + -1.4577616369538546 + ], + [ + 0.0015455619076956213, + 0.9997681771387005, + 0.021475642461863047, + 0.045690479337949806 + ], + [ + 0.9865042432122889, + -0.0050405345648467, + 0.16365809217832752, + 1.9720693957234485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.14020931467241296, + 0.021481485397380474, + -0.989888829043047, + -1.5392613754891096 + ], + [ + 0.0023674038269561487, + 0.9997544872464397, + 0.02203090170030801, + 0.047375187329166644 + ], + [ + 0.9901190552040762, + -0.005432404231153133, + 0.14012403614675448, + 1.9843464297819946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.12098613546120573, + 0.02164970571381961, + -0.9924180798779658, + -1.6130075644613788 + ], + [ + 0.0030057487747161275, + 0.9997495622271381, + 0.022176074967179077, + 0.04612382671233678 + ], + [ + 0.9926496464012199, + -0.005665957037576305, + 0.12089076238647126, + 1.9979684726012281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.11043697314130535, + 0.021110130480045498, + -0.9936589139913666, + -1.6857909884706188 + ], + [ + 0.0032340398035405377, + 0.9997614789959306, + 0.02159921531950888, + 0.0491568717061753 + ], + [ + 0.9938778677231603, + -0.005598884441104816, + 0.11034236060135491, + 2.0141984484197057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.10223095074318897, + 0.0208613753629553, + -0.994541922559381, + -1.7613157743507588 + ], + [ + 0.00367119753774734, + 0.9997653584311379, + 0.021348311167339245, + 0.04840363394650279 + ], + [ + 0.9947539168149994, + -0.005833618004685032, + 0.10213037688265372, + 2.0283621912463197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.0874060696849995, + 0.020906300143225195, + -0.9959533651715538, + -1.836931990812897 + ], + [ + 0.003945594808976748, + 0.9997646490912235, + 0.021332573897824864, + 0.04606758778673379 + ], + [ + 0.9961649518346971, + -0.005794224868277489, + 0.08730301079774656, + 2.0365490189278703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.06446012427038424, + 0.02113596254934994, + -0.9976964285122799, + -1.9123594686741483 + ], + [ + 0.0037816713075895926, + 0.9997633258907921, + 0.02142407911447706, + 0.0509692871295285 + ], + [ + 0.9979131181326197, + -0.005153958759487237, + 0.06436493896476192, + 2.0400214794810485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.039637906516143254, + 0.021776333182077896, + -0.9989767903610978, + -1.9886219181872689 + ], + [ + 0.004130971575232366, + 0.9997503791045802, + 0.021957107143081144, + 0.052563725264272505 + ], + [ + 0.9992055701610466, + -0.00499707848560095, + 0.03953805465303822, + 2.0410600094091267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.02225459192263659, + 0.021760748584264345, + -0.9995154841018773, + -2.0680082848339385 + ], + [ + 0.004679097145945254, + 0.9997498725626148, + 0.021870033400409737, + 0.0506489740399503 + ], + [ + 0.9997413861535674, + -0.005163538717649733, + 0.0221472047819946, + 2.044759573022688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.014953347417628837, + 0.021172772568525584, + -0.9996639991030833, + -2.1403402493774712 + ], + [ + 0.00505856117352781, + 0.9997613850711659, + 0.021250503039648264, + 0.054132771462264924 + ], + [ + 0.9998753964169044, + -0.005374627647187633, + 0.014842675560447875, + 2.05306409486357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.011115667972547615, + 0.020931718601140625, + -0.9997191130922359, + -2.2160958665481805 + ], + [ + 0.005827602455137886, + 0.9997625454280075, + 0.020997423864286692, + 0.05087214453492879 + ], + [ + 0.9999212373857999, + -0.006059365949858843, + 0.010991046771656457, + 2.062097898327229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.00793369830237154, + 0.020863728289327185, + -0.9997508495985968, + -2.292452212718865 + ], + [ + 0.005959454951480648, + 0.9997635735559041, + 0.020911286125200722, + 0.04888116286335964 + ], + [ + 0.9999507694521409, + -0.0061238739861192515, + 0.007807486117433231, + 2.0691870101331458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.004670276322490644, + 0.020784763789912702, + -0.9997730653069572, + -2.3710278031553558 + ], + [ + 0.005646043955863911, + 0.9997674847366604, + 0.02081102234345688, + 0.055495197084827405 + ], + [ + 0.9999731549930331, + -0.00574195589750935, + 0.0045518387219915316, + 2.07419364933229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.0014932911453016254, + 0.02084826853542885, + -0.9997815360270615, + -2.448247568311422 + ], + [ + 0.005423475258140543, + 0.9997677779113721, + 0.020856082237130483, + 0.05462245801402487 + ], + [ + 0.9999841778736702, + -0.005453434627118904, + 0.001379874301535959, + 2.078467205051462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.001802411023141108, + 0.020651151748349098, + -0.9997851175357486, + -2.519076785647672 + ], + [ + 0.005585804101851037, + 0.9997713519990161, + 0.02064079733429285, + 0.0523080187882878 + ], + [ + 0.9999827749051681, + -0.0055474006098590566, + -0.0019173521936075944, + 2.0829025501822724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.0051561475211791994, + 0.020315410484390405, + -0.9997803249912405, + -2.598257834115938 + ], + [ + 0.005668822646196565, + 0.9997781440703529, + 0.020286130460162567, + 0.05587727551707229 + ], + [ + 0.9999706388652347, + -0.005562979066245623, + -0.005270168058298236, + 2.0849271640915754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.008258570340778088, + 0.020440193572896177, + -0.9997569677189698, + -2.6707664003688314 + ], + [ + 0.005384959981902053, + 0.9997774752854581, + 0.020396129971854624, + 0.054533783106175064 + ], + [ + 0.9999513979298794, + -0.00521520838874218, + -0.008366802229182868, + 2.0826788088315165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.011354245883873341, + 0.02038985331644951, + -0.9997276303984716, + -2.740364490310427 + ], + [ + 0.004881483979062432, + 0.9997812952154105, + 0.02033550716257841, + 0.05726363667470502 + ], + [ + 0.9999236231905771, + -0.0046492600627190015, + -0.011451295398272839, + 2.075793031899495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.01450120148716174, + 0.0202660226462339, + -0.999689453521208, + -2.809088890270916 + ], + [ + 0.004470820503000667, + 0.9997858998240476, + 0.020203125427754726, + 0.06290535991569901 + ], + [ + 0.9998848568307549, + -0.004176462512937875, + -0.014588702526932888, + 2.0646868908236713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.017721647792417205, + 0.020191819254786754, + -0.9996390516755053, + -2.8753662760730525 + ], + [ + 0.004044195813628447, + 0.9997893292842313, + 0.020123159036496748, + 0.059529832577643584 + ], + [ + 0.9998347801910786, + -0.0036861205310099975, + -0.017799574031091923, + 2.050901360501478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.020996419181077804, + 0.019840928925587652, + -0.9995826568728287, + -2.9360670833685556 + ], + [ + 0.004038006823273464, + 0.9997965907229895, + 0.019760356261538388, + 0.05706412332349564 + ], + [ + 0.999771396311411, + -0.0036214248656436044, + -0.021072266121013997, + 2.0370400761525667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.024079192368223333, + 0.01956294192410636, + -0.999518626038639, + -3.0013819692998673 + ], + [ + 0.0038621751667203656, + 0.999802875552444, + 0.019475462511726382, + 0.06225613183720157 + ], + [ + 0.9997025938237211, + -0.003391362607880909, + -0.024150001279217372, + 2.022281848149727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.027244939273759674, + 0.0194655330266437, + -0.9994392459314164, + -3.067245406035498 + ], + [ + 0.003600858309222759, + 0.9998058121932286, + 0.019374512228068148, + 0.06225788340465621 + ], + [ + 0.9996223022238983, + -0.0030709817041630373, + -0.02730974126509899, + 2.008864951514406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.030339450141181206, + 0.019161038351543258, + -0.9993559788055613, + -3.138521577042355 + ], + [ + 0.003283374081993434, + 0.999812757527955, + 0.01907011638623303, + 0.06262869483917277 + ], + [ + 0.9995342601530817, + -0.0027026826742087198, + -0.030396682164243807, + 1.9923255164768106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.03362523838886561, + 0.018914407413620358, + -0.9992555171403779, + -3.2034040163647126 + ], + [ + 0.003137311725582538, + 0.9998179756111429, + 0.018819482457614067, + 0.06794133800313325 + ], + [ + 0.999429587624075, + -0.0025021664667852026, + -0.03367845816755895, + 1.976961647647991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.037008711450941825, + 0.018757736717425567, + -0.999138880531621, + -3.269053628484887 + ], + [ + 0.003674200724835482, + 0.9998196130113768, + 0.01863442209499544, + 0.06577369087127852 + ], + [ + 0.9993081884612847, + -0.0029814008486918515, + -0.03707095525077383, + 1.9636507115319486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.04001555809938868, + 0.018342620607438194, + -0.9990306819008343, + -3.33342865552823 + ], + [ + 0.0038383561143253836, + 0.9998269348810337, + 0.018203497156783863, + 0.06241473972015904 + ], + [ + 0.9991916843790956, + -0.0031062124281833825, + -0.04007903831202706, + 1.9548624421834637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.04186661839335689, + 0.01774535909018778, + -0.998965609265437, + -3.3974563994116656 + ], + [ + 0.0046753109997028355, + 0.9998347949876649, + 0.017564856931689635, + 0.06586994071375042 + ], + [ + 0.9991122698332563, + -0.003935093739030584, + -0.04194266689069675, + 1.9501332667438769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.0349908897913922, + 0.01710943411787108, + -0.9992411645322533, + -3.4660549295757828 + ], + [ + 0.004935170365316745, + 0.9998442104800376, + 0.01694694258609268, + 0.06702449600875635 + ], + [ + 0.9993754458285798, + -0.004338436782673148, + -0.03506987654969434, + 1.9494080663805902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.025478146408819218, + 0.016885867144992402, + -0.9995327566149759, + -3.53874306992072 + ], + [ + 0.004879726257829823, + 0.9998475197165744, + 0.016766800179624244, + 0.06674833328820362 + ], + [ + 0.9996634695372336, + -0.004450259248231241, + -0.025556659903127214, + 1.9494637181428949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.019561222186569065, + 0.016000678742846396, + -0.9996806174305551, + -3.6135621176508446 + ], + [ + 0.0049841239038570075, + 0.9998610685444335, + 0.01590604030219127, + 0.07250241736913925 + ], + [ + 0.9997962377882199, + -0.004671390473098477, + -0.01963825388289823, + 1.9457022209329176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.010215844524296285, + 0.01554760329894344, + -0.9998269393011544, + -3.681390423338886 + ], + [ + 0.004532419753308129, + 0.9998695647647776, + 0.015501955627405702, + 0.07200419984001766 + ], + [ + 0.9999375448955976, + -0.004373269801066044, + -0.010284980282521472, + 1.9433631428980997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.004368375129724205, + 0.014351290436811204, + -0.9998874725495488, + -3.7464152386668617 + ], + [ + 0.005365632464156247, + 0.9998822826737332, + 0.014374657680264033, + 0.06566496921553376 + ], + [ + 0.9999760633570116, + -0.00542782258032376, + 0.004290857146413508, + 1.946619418009574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.02860883868428881, + 0.013363808088345626, + -0.9995013471639317, + -3.8110248658548245 + ], + [ + 0.005353992594038119, + 0.9998942353666272, + 0.013522309118314448, + 0.06925415771935198 + ], + [ + 0.9995763448143615, + -0.005738180370651761, + 0.028534263151421, + 1.9558190275080642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_110/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_110/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2bb98360ec5ced1f44598ac292dea04673fa6c60 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_110/tilt_up/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999919295234, + -3.577092219998289e-05, + 0.00012190731857754618, + -0.0002866720018820088 + ], + [ + 3.577932091789886e-05, + 0.9999999969868109, + -6.889280350305381e-05, + -7.589894138101861e-05 + ], + [ + -0.00012190485385110213, + 6.889716470812968e-05, + 0.9999999901961936, + 9.258174837750678e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999998944302926, + -0.0004581804701200011, + 3.4785924201562875e-05, + 0.00035742163820613813 + ], + [ + 0.0004583019670282232, + 0.999993497645544, + -0.0035769576371746923, + -0.0028690807024174133 + ], + [ + -3.314680587935362e-05, + 0.0035769732020138074, + 0.9999936020615338, + 0.059327379090060514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999987924657662, + -0.0015142308472366561, + 0.0003495310443803415, + 0.004358804962563925 + ], + [ + 0.0015166781618130233, + 0.9999735664481755, + -0.0071109839171688725, + 0.0014312218610391938 + ], + [ + -0.0003387541338317847, + 0.007111505456514243, + 0.9999746555467189, + 0.11939564754770127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999984840984362, + -0.001569959738031699, + 0.0007530121187290996, + 0.009090524455642658 + ], + [ + 0.0015773563974593636, + 0.9999495031909247, + -0.009924868513930128, + -0.00012067339042360369 + ], + [ + -0.0007373924500477798, + 0.009926041237289268, + 0.9999504637519454, + 0.18165918531285774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999980912505317, + -0.0017904559935885138, + 0.0007821525607239316, + 0.013322285514647206 + ], + [ + 0.0018007493465172018, + 0.9999090758486399, + -0.013364031476698943, + 0.00028684042614709034 + ], + [ + -0.0007581537339101523, + 0.013365414428823568, + 0.9999103914351835, + 0.24845645312723358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999979692821693, + -0.0019479451977075539, + 0.0005166633765288778, + 0.017381914250738116 + ], + [ + 0.0019563566540362386, + 0.9998567414275652, + -0.016812771648163582, + 0.0021079091253994485 + ], + [ + -0.000483839002278933, + 0.01681374828400298, + 0.9998585218762013, + 0.3108302520602131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999977867794642, + -0.0020875338016606306, + -0.0002619900776439466, + 0.022511922155513873 + ], + [ + 0.002081911704676757, + 0.9998001228081239, + -0.019884166477745678, + -0.0021267080649299826 + ], + [ + 0.000303446581443069, + 0.01988357702949093, + 0.9998022560910157, + 0.3731728272345524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999959967006874, + -0.0025498511259107156, + -0.0012267199495969358, + 0.03052485180593904 + ], + [ + 0.002521027197559048, + 0.9997334158212049, + -0.022950854283338797, + -0.0058159294324011575 + ], + [ + 0.001284914187101545, + 0.022947669809842898, + 0.9997358418331467, + 0.43354062945342503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999943905489532, + -0.0029773104491764347, + -0.0015344357651314452, + 0.04187736529364181 + ], + [ + 0.00293546270116619, + 0.999642145945073, + -0.026588777878269514, + -0.0010496454776556352 + ], + [ + 0.0016130497072786706, + 0.026584124450865727, + 0.9996452782851641, + 0.49284086657466497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999956657292809, + -0.0026731394957727663, + -0.0012340372314769404, + 0.05340881624878713 + ], + [ + 0.0026350225699929264, + 0.9995488257491015, + -0.02991991978010826, + -0.0018173966977173416 + ], + [ + 0.001313460584928008, + 0.02991653838311888, + 0.9995515372167978, + 0.5515078111550995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999993066473432, + -0.0029368122571492277, + -0.0022895717565693473, + 0.06033654863732774 + ], + [ + 0.0028583319315597985, + 0.9994326759927683, + -0.03355824930629401, + -0.0034617242795727597 + ], + [ + 0.0023868271054367594, + 0.03355147227321947, + 0.9994341407840079, + 0.6067692640958349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999992224314589, + -0.0023176928905316923, + -0.003190550113398235, + 0.06382327726970462 + ], + [ + 0.0021986733047230107, + 0.999319681576491, + -0.03681494057526338, + 0.0003387565568812911 + ], + [ + 0.0032737052494115956, + 0.036807639336505334, + 0.9993170070305089, + 0.6708289873357388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999806052727399, + -0.002472452299931031, + -0.005716297577079087, + 0.06642912971320507 + ], + [ + 0.0022450369775815445, + 0.9992188878842135, + -0.03945343970308411, + 0.00017902362101987273 + ], + [ + 0.00580937925551827, + 0.03943984121494619, + 0.9992050590532484, + 0.7322456919551771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999420893828036, + -0.0027021099857574863, + -0.010417124477419283, + 0.06921098665366296 + ], + [ + 0.0022581302811897955, + 0.9990982139939529, + -0.04239881651327336, + -0.0020528804706919585 + ], + [ + 0.010522296725827116, + 0.042372837947415296, + 0.9990464573161227, + 0.7933178818742693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997712566603167, + -0.003588476227523474, + -0.02108452499383834, + 0.07118011812200407 + ], + [ + 0.0026181836532227797, + 0.9989440841417981, + -0.04586787407829379, + 0.0012640752263828085 + ], + [ + 0.021226857285271686, + 0.04580217894891811, + 0.9987249776256336, + 0.8513237296856063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9989654576331632, + -0.004586430283433518, + -0.04524355327580137, + 0.07072471705487246 + ], + [ + 0.002378112170103639, + 0.9988085147024948, + -0.04874315890771813, + 0.0020792213770905368 + ], + [ + 0.04541320334739092, + 0.04858513780007072, + 0.9977861120233519, + 0.9087995635788811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9961297720215403, + -0.006335265152123566, + -0.08766608071407626, + 0.0680596357213094 + ], + [ + 0.0018187266562389875, + 0.9986711293320815, + -0.05150405490769929, + 2.4818243263401087e-05 + ], + [ + 0.08787587567509372, + 0.05114528183554869, + 0.9948175665016669, + 0.9672902568136394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9891686442880778, + -0.0086799689722429, + -0.14652662316428086, + 0.06270285044694612 + ], + [ + 0.0007797884115889472, + 0.9985466870231108, + -0.053887899988801356, + 0.0040524209783702626 + ], + [ + 0.14678141942125855, + 0.05318996121272139, + 0.9877378412002195, + 1.0253322017937778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9771431002118746, + -0.012099152494033783, + -0.21223800841803256, + 0.05294614550909281 + ], + [ + 0.00015999977104230804, + 0.9984205989859924, + -0.056180796723842234, + 0.006533399625370352 + ], + [ + 0.2125825395191242, + 0.05486271985035496, + 0.9756017352701982, + 1.0832689690816089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9595258105248389, + -0.01615686484392145, + -0.28115685062801965, + 0.03709329058394105 + ], + [ + -0.000332734868216213, + 0.9982871898347138, + -0.058502785398797025, + 0.002314473447280735 + ], + [ + 0.2816205039129054, + 0.05622848326538321, + 0.9578769490104228, + 1.147150791891354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9399932214387751, + -0.020515943596417518, + -0.3405757473859559, + 0.02202877788855698 + ], + [ + -0.0005131719512984949, + 0.9981044135322723, + -0.061541175987685354, + 0.003855015401148479 + ], + [ + 0.3411927319033954, + 0.05802306218864593, + 0.9382008548016519, + 1.2036616844849546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9164054029902063, + -0.025230824670663975, + -0.39945530770887944, + 0.0065696210311972925 + ], + [ + -3.4208599989968714e-05, + 0.9980062211690789, + -0.06311561880855697, + 0.006449630456854559 + ], + [ + 0.4002513412846096, + 0.05785315889606719, + 0.9145774301859944, + 1.2593548580016332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.8880813351944638, + -0.029696165167411033, + -0.45872614908414416, + -0.013751558603942837 + ], + [ + -0.00010172173112189538, + 0.9978984586761019, + -0.06479703561544983, + 0.005832560645012996 + ], + [ + 0.4596863405974861, + 0.05759170032400763, + 0.8862119748242414, + 1.313260590246567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.8563018161009783, + -0.03281186814983905, + -0.515432421419806, + -0.04128476734095483 + ], + [ + -0.001919212433896319, + 0.9977708653189947, + -0.06670544913437512, + 0.008784367275914076 + ], + [ + 0.5164721835353774, + 0.058109221549619006, + 0.854330031079967, + 1.36399451288447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.8241053714224091, + -0.03694668467068158, + -0.5652302887183054, + -0.07384460962847203 + ], + [ + -0.0025832244045932594, + 0.9976149639809735, + -0.06897615959820469, + 0.010953784757054252 + ], + [ + 0.5664306345391368, + 0.05830374030100225, + 0.822044408850583, + 1.4128602044352183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.7938567910141134, + -0.04097111456057037, + -0.606722970664898, + -0.10864244303004694 + ], + [ + -0.0028356973488673975, + 0.9974674535845507, + -0.07106783984403833, + 0.007978357475933407 + ], + [ + 0.6080981451881923, + 0.05813817000230463, + 0.7917301301627111, + 1.460564519204769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.763802783956208, + -0.04544134156027268, + -0.6438481122888757, + -0.14848134802943413 + ], + [ + -0.003243765836441912, + 0.9972358162296422, + -0.07423075381536785, + 0.011069277614114411 + ], + [ + 0.6454415428247119, + 0.058786148929846155, + 0.7615440916257269, + 1.5091070183348985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.7354798795069978, + -0.049181140999304054, + -0.6757592487050244, + -0.18824430416265486 + ], + [ + -0.003541336315424121, + 0.9970694190299254, + -0.07642010581272696, + 0.013114770995639085 + ], + [ + 0.6775373095095749, + 0.058598540982979244, + 0.7331503292075868, + 1.551484567776386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.7008667133920721, + -0.053589948547650555, + -0.7112762947502574, + -0.2320816878208014 + ], + [ + -0.003469209576068455, + 0.9969058189077732, + -0.0785286750985851, + 0.010321351895576853 + ], + [ + 0.7132838247457406, + 0.05750570095635727, + 0.6985121900966407, + 1.5888911266934609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.6596466101008798, + -0.05769420737841719, + -0.7493582108827486, + -0.28174915991206173 + ], + [ + -0.003990030945918816, + 0.9967663884138529, + -0.0802548850940231, + 0.012710239028222405 + ], + [ + 0.7515653194736094, + 0.0559298253473085, + 0.6572833675068548, + 1.6207194843827886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.6154595780455167, + -0.06204961881952829, + -0.7857221853787674, + -0.3362607908288398 + ], + [ + -0.004187010614070004, + 0.9966248005733839, + -0.08198460723928956, + 0.0154309122713368 + ], + [ + 0.7881573299374639, + 0.05374803890761175, + 0.6131224768179957, + 1.6499389405775555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.5757488820713897, + -0.0667222330304433, + -0.8148996063399321, + -0.39101340729836276 + ], + [ + -0.003684238943332572, + 0.9964429401444314, + -0.0841896277443355, + 0.012599186857006277 + ], + [ + 0.8176182796250054, + 0.05147436892039158, + 0.5734550881867683, + 1.6785151524960793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.5422705983196243, + -0.07128437031110549, + -0.8371744959967582, + -0.4451631698633248 + ], + [ + -0.003205371519828324, + 0.9962116706647295, + -0.08690243278993218, + 0.013823114224195932 + ], + [ + 0.8401977884947668, + 0.0498080895110221, + 0.5399878058139512, + 1.7049655366919234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.5031992952123459, + -0.07537198455210317, + -0.8608771882460798, + -0.5070335574677277 + ], + [ + -0.0026067348797945873, + 0.996052251180389, + -0.08873059140874708, + 0.017615245047001505 + ], + [ + 0.8641664621073103, + 0.0468932496544767, + 0.5010163160075509, + 1.7332647573858844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.46298365583733986, + -0.07962551775731068, + -0.8827830488570633, + -0.5643112501768801 + ], + [ + -0.0023529807438267708, + 0.9958428692804369, + -0.09105736205780708, + 0.01747751771515005 + ], + [ + 0.8863636939254176, + 0.04423524189136516, + 0.4608716149490025, + 1.7554800088961062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.42402084294392056, + -0.08383738457725887, + -0.9017636151987795, + -0.6239012525855643 + ], + [ + -0.0029143777446155247, + 0.9955745937818016, + -0.09392941295761952, + 0.022254044435687154 + ], + [ + 0.9056477412059775, + 0.04245610867055678, + 0.4219000446611319, + 1.7727951934976434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.39186449779627935, + -0.08738609777346647, + -0.9158634643235838, + -0.6885407780687899 + ], + [ + -0.0029475831180779417, + 0.9953545845356052, + -0.09623181801106966, + 0.027055405080201312 + ], + [ + 0.9200182210807741, + 0.04040941672283533, + 0.38978654661171735, + 1.7896643879391123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.3738362896718108, + -0.09100190432747966, + -0.9230195458023553, + -0.7543197252357607 + ], + [ + -0.002707468124608115, + 0.9950636913339532, + -0.09920141029845102, + 0.02699476594146244 + ], + [ + 0.9274907536686112, + 0.03958413315483403, + 0.3717445336001758, + 1.8075646276179207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.36823709190489123, + -0.09442598863703491, + -0.924924416812178, + -0.8203035375990645 + ], + [ + -0.002872644305243002, + 0.9947088478278499, + -0.10269399187726133, + 0.030208789645943597 + ], + [ + 0.9297274826851817, + 0.04047271578372294, + 0.36601744113766727, + 1.8261438232279228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.3664826974850127, + -0.09760292544074797, + -0.9252913602695729, + -0.8882879259673698 + ], + [ + -0.0026426024056175404, + 0.9943694194600005, + -0.10593618029411607, + 0.03292427253362492 + ], + [ + 0.9304211138493336, + 0.0412689542899918, + 0.364161261414742, + 1.8444802111087575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.3603754795789414, + -0.10103549787821495, + -0.9273194389673658, + -0.9643659139749856 + ], + [ + -0.002319171229824542, + 0.9940166832070799, + -0.109203731395969, + 0.03227537924922019 + ], + [ + 0.9328044463675415, + 0.04150495963734237, + 0.35798492030034984, + 1.862130412869515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.3444758484734835, + -0.10462060823654855, + -0.932947435899091, + -1.0350609713748502 + ], + [ + -0.002476799370815165, + 0.9936662729822119, + -0.11234412936383263, + 0.037274469222824264 + ], + [ + 0.9387919126640103, + 0.04101056290585952, + 0.3420349082283769, + 1.8761306616833366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.3293006864517949, + -0.10804178599725318, + -0.9380234700586655, + -1.105796077412054 + ], + [ + -0.0023756871820990316, + 0.9933340851470333, + -0.1152464810548205, + 0.03888398539229855 + ], + [ + 0.9442221211202316, + 0.040179195656832596, + 0.32684892262875903, + 1.8909260145306142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.3224296931932242, + -0.11154158700731823, + -0.9399987060178395, + -1.1742175161742598 + ], + [ + -0.001695015588842684, + 0.9929635943652824, + -0.11840788481909946, + 0.03594616568949583 + ], + [ + 0.94659189721309, + 0.039771530434073034, + 0.31997188235445734, + 1.9081228039971125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.32040812777125527, + -0.11497815908864714, + -0.9402758396293635, + -1.2417950872558938 + ], + [ + -0.0015224125178671145, + 0.9925426695367705, + -0.12188819224578916, + 0.038449410537034295 + ], + [ + 0.9472783719257208, + 0.0404854551833959, + 0.3178436942906826, + 1.927482227852235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.3202000933748562, + -0.11813324890344933, + -0.9399555498566138, + -1.3127112252844844 + ], + [ + -0.0013791218479060167, + 0.992135484879737, + -0.1251610069685354, + 0.04122664900618424 + ], + [ + 0.9473489316116118, + 0.04137287935308383, + 0.31751895475447317, + 1.946049589587857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.3197381898410299, + -0.12110930222973067, + -0.9397340192153358, + -1.3852257038202749 + ], + [ + -0.0014074201711471914, + 0.9917357053603926, + -0.128289944585639, + 0.04152365132008505 + ], + [ + 0.9475048860695354, + 0.04234179527077515, + 0.3169253275577773, + 1.9606643660224112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.3128956030269735, + -0.12478770766477991, + -0.9415542308450194, + -1.4577616369538546 + ], + [ + -0.0017627826279078412, + 0.9912534302629091, + -0.1319603333938756, + 0.045690479337949806 + ], + [ + 0.9497858886105824, + 0.042949563534283905, + 0.309938866211421, + 1.9720693957234485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.29333583476542663, + -0.1282980565384834, + -0.9473614393307966, + -1.5392613754891096 + ], + [ + -0.0011081351644766993, + 0.990907746519692, + -0.13453850721530627, + 0.047375187329166644 + ], + [ + 0.956008817992244, + 0.040514769846487955, + 0.29052657941289733, + 1.9843464297819946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.27788926975803546, + -0.13196616253984753, + -0.9515053787014832, + -1.6130075644613788 + ], + [ + -0.0005735728952294701, + 0.9904958606809253, + -0.137541342832211, + 0.04612382671233678 + ], + [ + 0.9606129422235995, + 0.03876702101607092, + 0.2751724792090587, + 1.9979684726012281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.27082444235288233, + -0.13594198759419307, + -0.9529815829454369, + -1.6857909884706188 + ], + [ + -0.0003275705965626874, + 0.989965232075078, + -0.1413107638506046, + 0.0491568717061753 + ], + [ + 0.9626287000301593, + 0.03858257756393853, + 0.2680622513275006, + 2.0141984484197057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.2660271130884504, + -0.13952820311563377, + -0.953814162002823, + -1.7613157743507588 + ], + [ + 7.373259017271275e-05, + 0.9894720840126336, + -0.1447238388213945, + 0.04840363394650279 + ], + [ + 0.9639655438164428, + 0.03843013784802589, + 0.26323668976731135, + 2.0283621912463197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.2548077898250729, + -0.14311696069365593, + -0.956342263944385, + -1.836931990812897 + ], + [ + 0.00027594406515583925, + 0.9889977440075295, + -0.1479303424010438, + 0.04606758778673379 + ], + [ + 0.9669916825388596, + 0.03742990662328309, + 0.2520438215684684, + 2.0365490189278703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.2356692822909417, + -0.14685446365200788, + -0.9606735948749467, + -1.9123594686741483 + ], + [ + 2.7698248179060247e-05, + 0.9885178532726884, + -0.1511041130941273, + 0.0509692871295285 + ], + [ + 0.9718333131855892, + 0.035583988908452345, + 0.23296736062393728, + 2.0400214794810485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.21463701176419736, + -0.1502192694199403, + -0.9650726005207458, + -1.9886219181872689 + ], + [ + 0.00020666041680918353, + 0.988108364218843, + -0.15375896023397997, + 0.052563725264272505 + ], + [ + 0.9766938673260972, + 0.03280292145071679, + 0.2121156709719728, + 2.0410600094091267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.20082521613793514, + -0.15391726928350113, + -0.9674599251542477, + -2.0680082848339385 + ], + [ + 0.0006884063030265527, + 0.9876017304010908, + -0.15697881451181217, + 0.0506489740399503 + ], + [ + 0.9796268466410639, + 0.030859298843009707, + 0.19844128858431706, + 2.044759573022688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.19687724642502435, + -0.15780893878271612, + -0.9676444019785231, + -2.1403402493774712 + ], + [ + 0.0011012585106809185, + 0.9869960316025647, + -0.1607408499121562, + 0.054132771462264924 + ], + [ + 0.9804275276989081, + 0.030580589285731825, + 0.1944908493712352, + 2.05306409486357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.19632299459106511, + -0.1612331445449496, + -0.9671924084146567, + -2.2160958665481805 + ], + [ + 0.0018324934129672534, + 0.9864468406103849, + -0.16407093776071885, + 0.05087214453492879 + ], + [ + 0.9805375687665865, + 0.030438524109056786, + 0.1939576564288564, + 2.062097898327229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.19641117626402904, + -0.1644611154663487, + -0.9666308454307388, + -2.292452212718865 + ], + [ + 0.0019071609799187327, + 0.9858954916106453, + -0.16735125442852547, + 0.04888116286335964 + ], + [ + 0.9805197665399599, + 0.031026136101176126, + 0.19395454700278136, + 2.0691870101331458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.19641962202787883, + -0.16770101562040252, + -0.9660723065290252, + -2.3710278031553558 + ], + [ + 0.001547919643327754, + 0.98531715141155, + -0.17072701918269043, + 0.055495197084827405 + ], + [ + 0.9805187076375459, + 0.03203873427765924, + 0.19379521015412773, + 2.07419364933229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.19651229978396706, + -0.17079540499955778, + -0.965511183604133, + -2.448247568311422 + ], + [ + 0.001250444902178717, + 0.9847545777010482, + -0.17394498579831863, + 0.05462245801402487 + ], + [ + 0.980500562172793, + 0.03297501065758275, + 0.19372995703031948, + 2.078467205051462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.196489655007975, + -0.17414904264115907, + -0.9649165385783451, + -2.519076785647672 + ], + [ + 0.001381831883991996, + 0.9841489040191285, + -0.17733873028358182, + 0.0523080187882878 + ], + [ + 0.9805049240138939, + 0.033511873494574566, + 0.19361572332688345, + 2.0829025501822724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.19641067501178455, + -0.177639243769685, + -0.9642961919526332, + -2.598257834115938 + ], + [ + 0.0014647772085464097, + 0.9835042062649759, + -0.18087932631129777, + 0.05587727551707229 + ], + [ + 0.9805206276102225, + 0.03411415149221851, + 0.19343092694505049, + 2.0849271640915754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.19657617512451409, + -0.18066447641470218, + -0.9637002409127114, + -2.6707664003688314 + ], + [ + 0.0010956376820427886, + 0.9829174639872246, + -0.1840436322370137, + 0.054533783106175064 + ], + [ + 0.9804879432973597, + 0.035122726983037186, + 0.19341609834186238, + 2.0826788088315165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.19674893362392581, + -0.1838594571542518, + -0.9630605158206792, + -2.740364490310427 + ], + [ + 0.0005468221643320955, + 0.9822802863644833, + -0.18741702165286403, + 0.05726363667470502 + ], + [ + 0.9804537511292256, + 0.03634747631752934, + 0.19336313728831042, + 2.075793031899495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.196871619365052, + -0.18712645684202567, + -0.9624059718426169, + -2.809088890270916 + ], + [ + 0.00010494386692506269, + 0.9816209420263277, + -0.19084107304804773, + 0.06290535991569901 + ], + [ + 0.9804292705113241, + 0.03747019248809638, + 0.19327294223335587, + 2.0646868908236713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.19692189761090956, + -0.19034555853384233, + -0.9617641782618845, + -2.8753662760730525 + ], + [ + -0.0003623446819719673, + 0.9809582270897728, + -0.19421849914779302, + 0.059529832577643584 + ], + [ + 0.9804191118841217, + 0.03859436553863054, + 0.19310318485467984, + 2.050901360501478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.19691993391929902, + -0.19383603367778965, + -0.9610671837459037, + -2.9360670833685556 + ], + [ + -0.0003566313685934176, + 0.9802468879952253, + -0.19777742891883246, + 0.05706412332349564 + ], + [ + 0.9804195083938746, + 0.039289064938474845, + 0.1929610243986449, + 2.0370400761525667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.19710574166254874, + -0.1972441986546939, + -0.9603353855298287, + -3.0013819692998673 + ], + [ + -0.0005312417328760203, + 0.9795303744036191, + -0.20129571133764118, + 0.06225613183720157 + ], + [ + 0.9803820910164964, + 0.040186710711047124, + 0.19296627657792637, + 2.022281848149727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.19720917881542377, + -0.20047653925228576, + -0.959644568056514, + -3.067245406035498 + ], + [ + -0.0008282716731918948, + 0.9788337144373979, + -0.2046554994294617, + 0.06225788340465621 + ], + [ + 0.9803610833549963, + 0.04115478939459824, + 0.19286894398244797, + 2.008864951514406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.19738312905179628, + -0.2039058414728346, + -0.9588859724591747, + -3.138521577042355 + ], + [ + -0.001132768331807107, + 0.9780811792274607, + -0.20822085312697727, + 0.06262869483917277 + ], + [ + 0.9803257709565879, + 0.04218547918745309, + 0.19282574554269608, + 1.9923255164768106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.1973689370650809, + -0.20728445579777519, + -0.9581642119524297, + -3.2034040163647126 + ], + [ + -0.001280404585744431, + 0.977334837525935, + -0.2116954792201553, + 0.06794133800313325 + ], + [ + 0.9803284466166924, + 0.04300894956604505, + 0.19263013007141025, + 1.976961647647991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.1972581817007134, + -0.21057717493029127, + -0.9574687792040564, + -3.269053628484887 + ], + [ + -0.0007774371798773706, + 0.9766246747694552, + -0.21495032036004755, + 0.06577369087127852 + ], + [ + 0.9803512663038487, + 0.043145081177733836, + 0.19248349702404893, + 1.9636507115319486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.19751766831428252, + -0.21410217186860805, + -0.9566331745788634, + -3.33342865552823 + ], + [ + -0.0005780742739156536, + 0.9758326302640142, + -0.21851851990655066, + 0.06241473972015904 + ], + [ + 0.9802991566526125, + 0.04371427356322831, + 0.1926204188371947, + 1.9548624421834637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.19891141207728275, + -0.21774646488022528, + -0.9555211809152043, + -3.3974563994116656 + ], + [ + 0.00032675996125742726, + 0.975018909396464, + -0.22212163232620546, + 0.06586994071375042 + ], + [ + 0.9800174199336202, + 0.04387030147486004, + 0.19401353889653108, + 1.9501332667438769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.20885354125005745, + -0.22098866632549583, + -0.9526511468858839, + -3.4660549295757828 + ], + [ + 0.0006694983358176942, + 0.9741658685468721, + -0.22583270872550174, + 0.06702449600875635 + ], + [ + 0.9779467010421834, + 0.04652816258995885, + 0.2036059429552916, + 1.9494080663805902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.2213440725096616, + -0.22364535879142794, + -0.9492046960776644, + -3.53874306992072 + ], + [ + 0.0006023784422227158, + 0.9733790035552239, + -0.22920068188827872, + 0.06674833328820362 + ], + [ + 0.9751955899741602, + 0.0501604319049693, + 0.21558639188514878, + 1.9494637181428949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.2303006579456473, + -0.22709364802050533, + -0.9462505386939237, + -3.6135621176508446 + ], + [ + 0.0008609722659638499, + 0.9724359834899309, + -0.23316842998298062, + 0.07250241736913925 + ], + [ + 0.9731191425907516, + 0.0528841473667652, + 0.22414816814047586, + 1.9457022209329176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.24256303875698448, + -0.22987577382526592, + -0.9425074539955708, + -3.681390423338886 + ], + [ + 0.0004714520163139899, + 0.971549126555278, + -0.2368376499264265, + 0.07200419984001766 + ], + [ + 0.9701355317490304, + 0.05700371301863974, + 0.235770283836014, + 1.9433631428980997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.25985111530049765, + -0.23297291018651134, + -0.9371238023848907, + -3.7464152386668617 + ], + [ + 0.0015123425542545896, + 0.9705573793039712, + -0.2408652866201489, + 0.06566496921553376 + ], + [ + 0.9656475085128562, + 0.061171861160468174, + 0.2525527523213286, + 1.946619418009574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.2863240003969443, + -0.2350504606154173, + -0.9288540508396198, + -3.8110248658548245 + ], + [ + 0.0016717285867585679, + 0.9695628922757278, + -0.2448366868862957, + 0.06925415771935198 + ], + [ + 0.958131396062264, + 0.06854982776350314, + 0.2780020665271594, + 1.9558190275080642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.55128987630206, + "fy": 484.5512580871582, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_175/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_175/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cf90e80c3dce286a2867ad8d2b4f09e4bad15c88 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_175/move_right/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999743248116, + -0.00014251941475807938, + -0.0001761777310998027, + 0.00040110509759138654 + ], + [ + 0.0001424538878474776, + 0.9999999207012369, + -0.0003718930088944914, + 0.000213977898570741 + ], + [ + 0.00017623071910310677, + 0.00037186790214332094, + 0.9999999153284951, + 0.00026106136089527415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999464155724441, + 0.0006140744490424692, + -0.010333871316779519, + 0.018136036669034846 + ], + [ + -0.0007449012110355946, + 0.9999195699783658, + -0.01266091214982752, + 0.00018623845909337272 + ], + [ + 0.010325265420633166, + 0.01266793143535619, + 0.9998664472854074, + 0.03595854248241426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998235431060998, + 0.001204745938751998, + -0.018746499352902467, + 0.033418265477974995 + ], + [ + -0.0016348413643253034, + 0.9997354076917667, + -0.022944321761401855, + -0.0005820518442672133 + ], + [ + 0.01871389709490792, + 0.02297092063022961, + 0.9995609670554974, + 0.06563241743168993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995821885546862, + 0.0025051473181952875, + -0.028795356589870893, + 0.05317872046770534 + ], + [ + -0.003569022603292779, + 0.9993105845982189, + -0.03695426345664564, + 0.0006036509548403885 + ], + [ + 0.028682928753543762, + 0.037041594820959436, + 0.9989020021259537, + 0.10234936457396134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9992762272599914, + 0.0033147298304659315, + -0.037895041881344425, + 0.07097586003720846 + ], + [ + -0.005142371516745327, + 0.9988228355596646, + -0.0482337970694301, + 0.002283996953441812 + ], + [ + 0.037690551179594, + 0.04839375714596065, + 0.9981169603914544, + 0.1330692305986417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9987862364887721, + 0.004482228633959794, + -0.04905062106709201, + 0.09120256202453414 + ], + [ + -0.007446235761044641, + 0.9981457103660737, + -0.060412701071852315, + 0.0029048407342789997 + ], + [ + 0.04868888347031055, + 0.06070461682836781, + 0.9969675732550861, + 0.1703177684460175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9982725937070716, + 0.005689961690960123, + -0.05847608903912327, + 0.10684595353700292 + ], + [ + -0.009741123882583504, + 0.9975532154102406, + -0.06922927798406112, + 0.002228661407574794 + ], + [ + 0.057939098705970804, + 0.06967931372111563, + 0.9958854623301288, + 0.20107092258756573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975024047313189, + 0.007009158443402147, + -0.07028388331012539, + 0.12454753738379847 + ], + [ + -0.012472059211492633, + 0.9969072247430086, + -0.07759144923390415, + 0.0012838198881411278 + ], + [ + 0.06952266029332493, + 0.07827424195166496, + 0.9945047726143054, + 0.2362916441914937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9967141754506897, + 0.007983291044034377, + -0.08060471152332402, + 0.14042630245995436 + ], + [ + -0.01470665495094698, + 0.9964271914021724, + -0.0831658976656454, + -0.0002520682014373181 + ], + [ + 0.07965278875096482, + 0.08407805479722434, + 0.9932705139818202, + 0.264727401704883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9956322739207117, + 0.00947529141133174, + -0.09287945940919032, + 0.15934991470135146 + ], + [ + -0.01774152502143345, + 0.9959108337950278, + -0.0885824441952623, + -0.0021024678326310325 + ], + [ + 0.09166031538996, + 0.0898433635966689, + 0.9917290741932748, + 0.29738172255238243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9943875200185416, + 0.010247994053623404, + -0.10530165549150626, + 0.17804938786750363 + ], + [ + -0.01991793677012896, + 0.9956339180634358, + -0.09119417194356809, + -0.0029741942777700534 + ], + [ + 0.10390734250377166, + 0.09277973819497885, + 0.9902500615270243, + 0.3295665925748333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9931179820773562, + 0.011079282071236485, + -0.11659298084955975, + 0.19387432373788385 + ], + [ + -0.021985475431662835, + 0.9954536532666105, + -0.09267504015754366, + -0.003708334301730151 + ], + [ + 0.11503613582106963, + 0.09460060098617004, + 0.9888465066674462, + 0.35749356886871825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9912947208473625, + 0.013001204220053783, + -0.13101810985118958, + 0.21158622010862518 + ], + [ + -0.025466793296555393, + 0.9952537017626767, + -0.09392290224902501, + -0.0028144122447971735 + ], + [ + 0.1291751479942657, + 0.09644188828780699, + 0.986920839441615, + 0.3923597558660116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9895769095917887, + 0.014463756525350787, + -0.14327714315249473, + 0.22643347622629734 + ], + [ + -0.028220930268993943, + 0.9951288964046496, + -0.09445664950238693, + -0.0013219396939608548 + ], + [ + 0.14121302736475017, + 0.09751553357101402, + 0.98516475861393, + 0.421686078671599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9872727630466107, + 0.01605532859060713, + -0.1582236321481675, + 0.24528810001078571 + ], + [ + -0.03146133070128743, + 0.9949464520418827, + -0.09535062789396827, + -0.0004322574784001768 + ], + [ + 0.15589315577284082, + 0.09911500387487963, + 0.9827886547931185, + 0.45599873582903666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9851856285032735, + 0.017073275687944575, + -0.1706393291357347, + 0.2619461043481659 + ], + [ + -0.033865246764918894, + 0.9948064507790352, + -0.09598578306171335, + 0.00014890197580978443 + ], + [ + 0.16811431364449997, + 0.10034255700201478, + 0.9806472091441123, + 0.48361480165018433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.982474910236998, + 0.018120978007673268, + -0.185511942771479, + 0.28136027100920824 + ], + [ + -0.03652651530859863, + 0.9946835141869088, + -0.09628354108669138, + 0.00038520154952516306 + ], + [ + 0.18278091922904258, + 0.10137226820401771, + 0.9779134924956088, + 0.5160820944041457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9795224524595014, + 0.01993759601648363, + -0.20034534532353787, + 0.2992818111348695 + ], + [ + -0.03997029914929495, + 0.9945350210237273, + -0.09644929830356772, + 0.0002339544861590146 + ], + [ + 0.19732749507770075, + 0.10248211659805928, + 0.9749662945271196, + 0.5486884474754152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9768533003872035, + 0.021387392817604836, + -0.21283845740630078, + 0.3130685527066371 + ], + [ + -0.04276007612958463, + 0.9944308583413836, + -0.09632675572140642, + 0.0020569281158464526 + ], + [ + 0.2095929517231445, + 0.10319809788404458, + 0.9723275925227541, + 0.5765363325930324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9734614728326831, + 0.02346830234453815, + -0.2276444589606535, + 0.3290380638527769 + ], + [ + -0.0463119411153504, + 0.9943484974765877, + -0.09553151143042109, + 0.004720535463831162 + ], + [ + 0.22411596333271672, + 0.1035389025976116, + 0.9690468154987821, + 0.6116394858932516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9704272119518719, + 0.025061521934036695, + -0.24008945504054632, + 0.342795563669282 + ], + [ + -0.049223627664539, + 0.9942427253291795, + -0.09517582471168061, + 0.006396136705122183 + ], + [ + 0.2363219430837085, + 0.10417928416127421, + 0.9660738149690141, + 0.6411772698805946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9666136811391592, + 0.026309398936838195, + -0.25488390879415285, + 0.3594655117734214 + ], + [ + -0.05204790377580922, + 0.9941377596812558, + -0.09476882656484546, + 0.008723783265975664 + ], + [ + 0.2508964072025501, + 0.10487101746200402, + 0.9623165085091995, + 0.6758890380401453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9632760513654829, + 0.027518076793668952, + -0.26709924057417633, + 0.37295717979834053 + ], + [ + -0.054543723590466164, + 0.9940489305529838, + -0.09429584234395665, + 0.009902615526202403 + ], + [ + 0.2629148742133294, + 0.10540151382236994, + 0.9590444670615342, + 0.7047893986115809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9590120656473551, + 0.029516483969104845, + -0.281823766061159, + 0.38713453942199716 + ], + [ + -0.058148449734389734, + 0.9938935943260022, + -0.09377782760987483, + 0.01086686072989428 + ], + [ + 0.2773348440717114, + 0.10632168326283134, + 0.9548722867126671, + 0.7396280747209778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9544149295179156, + 0.03130275937003307, + -0.29683712633215986, + 0.40129683063814564 + ], + [ + -0.06152924187838173, + 0.993759608917669, + -0.09303758422096821, + 0.012805510037064103 + ], + [ + 0.2920724134648537, + 0.10706062273134768, + 0.9503850421556477, + 0.7756282367156591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9502603067166966, + 0.032634867801941525, + -0.30974233627684794, + 0.4149348572001916 + ], + [ + -0.06427078717799407, + 0.993637587522733, + -0.0924857317510358, + 0.013205106281406018 + ], + [ + 0.30475336814252135, + 0.10779290359552135, + 0.946311827327671, + 0.8049348917530185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9449432086409766, + 0.03416429647954304, + -0.3254460528096073, + 0.4319370923270043 + ], + [ + -0.06766477601676567, + 0.9934407791504738, + -0.09217861144267947, + 0.01316352790282364 + ], + [ + 0.3201621628642222, + 0.10912478713361795, + 0.9410568369142992, + 0.8394992701772441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9402887712945442, + 0.03494311662329553, + -0.3385793927250257, + 0.4467244017754132 + ], + [ + -0.06991299644308907, + 0.993334717801137, + -0.09164230103660756, + 0.013716922603188604 + ], + [ + 0.3331203979130444, + 0.10984132651960443, + 0.9364644592736389, + 0.8685086493048509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9343927536165982, + 0.03663167788721919, + -0.3543561798021285, + 0.4618021185165567 + ], + [ + -0.07341722007194, + 0.9931477985392211, + -0.09092503535114776, + 0.014266278824775226 + ], + [ + 0.348597323262385, + 0.1109755397908303, + 0.9306795021823756, + 0.902489789176206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9292582333292438, + 0.038527790013610994, + -0.3674163104524348, + 0.4720939542767172 + ], + [ + -0.0767440618698744, + 0.9929829690030791, + -0.08997317509982082, + 0.015380376466104167 + ], + [ + 0.36137167121611197, + 0.11180533380164483, + 0.9256943786023426, + 0.9320342143496735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9228723541898872, + 0.04065026383770283, + -0.38295453244731353, + 0.48241624337031075 + ], + [ + -0.08036729552059826, + 0.9928478312398801, + -0.08828522986871337, + 0.01722033740265236 + ], + [ + 0.37662675911666205, + 0.11225301800928064, + 0.9195387671355069, + 0.9679251978235194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9173649231222568, + 0.04213869515134527, + -0.39581047004322406, + 0.4911082888269181 + ], + [ + -0.0831698406020378, + 0.9927239329717775, + -0.08707451130656749, + 0.017319383104021948 + ], + [ + 0.3892613202453175, + 0.11279859607276996, + 0.9141947830111943, + 0.9974488534323586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.910461718127594, + 0.04355825001412043, + -0.4112932514397207, + 0.5021820887100688 + ], + [ + -0.08626001139852238, + 0.9925684732851406, + -0.08583144105706392, + 0.016950998452870274 + ], + [ + 0.40449804728536914, + 0.11362440185150735, + 0.9074529326891896, + 1.0325920339098145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9031461137316996, + 0.045055101067192044, + -0.4269626858627735, + 0.5125905763852874 + ], + [ + -0.08941240252876709, + 0.9924115246920138, + -0.08440845889190568, + 0.017353081872981235 + ], + [ + 0.41991965841737156, + 0.11440893114743236, + 0.9003210965807368, + 1.0682897641574107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8964892072820132, + 0.046859296529751696, + -0.44058064818555565, + 0.5198791934691901 + ], + [ + -0.0925560694157908, + 0.992259016042867, + -0.08279745826980897, + 0.017245487913078936 + ], + [ + 0.43329028980715323, + 0.11500544078598302, + 0.8938866110130831, + 1.0997380411027025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.887751376465565, + 0.04906508664898964, + -0.45770089671708303, + 0.5260207429292729 + ], + [ + -0.09624449426469031, + 0.9921116284006147, + -0.08032131794246603, + 0.018971632183885697 + ], + [ + 0.4501494095377986, + 0.1153565518919834, + 0.885470708170724, + 1.1392319377329543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8799020198975914, + 0.0508745730176782, + -0.4724237644323236, + 0.530934667526314 + ], + [ + -0.0995093855542821, + 0.9919337824842778, + -0.07851912730693462, + 0.020475415739614554 + ], + [ + 0.4646184645133552, + 0.11609973723786933, + 0.8778670363138997, + 1.1726877468286294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.869910379312775, + 0.053202962026304826, + -0.49033190472936966, + 0.5374024246989373 + ], + [ + -0.10339256828047062, + 0.9917463653510862, + -0.07582297565565618, + 0.020379185645397955 + ], + [ + 0.48225087743649814, + 0.11665586845305975, + 0.8682312477486572, + 1.2125425033813104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8611613227153095, + 0.055661778502101925, + -0.5052751158262215, + 0.5421578489836912 + ], + [ + -0.10650887498899823, + 0.991680939287111, + -0.07228259958808433, + 0.022098796472257404 + ], + [ + 0.49704832341312305, + 0.11606326321716243, + 0.8599257427961947, + 1.2471848883814887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8503374638267757, + 0.05938117204328765, + -0.5228767292769992, + 0.5456691883161745 + ], + [ + -0.11028078557958317, + 0.9916580244029768, + -0.06672713817582027, + 0.024227352838580726 + ], + [ + 0.5145525686891447, + 0.11440384191079633, + 0.8497925717558683, + 1.2882931491948963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8410756226722653, + 0.06298644772514578, + -0.5372378470932859, + 0.5478993841201486 + ], + [ + -0.11369135368119324, + 0.9915962767484529, + -0.06173410756416385, + 0.026002019377517473 + ], + [ + 0.5288346367671082, + 0.11300235104445129, + 0.8411684704111463, + 1.3215674594158096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8293962682544025, + 0.0681814771553287, + -0.5544845501712281, + 0.5496506014162098 + ], + [ + -0.11792948724591464, + 0.9915265587967687, + -0.054476777057332317, + 0.029921103159684045 + ], + [ + 0.5460718508068214, + 0.11057291428535301, + 0.830409034381766, + 1.3603041717570914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8168289469851151, + 0.07393723604371046, + -0.5721221517240918, + 0.5525266523865693 + ], + [ + -0.12194620584510847, + 0.9914714053709666, + -0.04597363605049164, + 0.032004445920912644 + ], + [ + 0.5638435902332937, + 0.10732072240689249, + 0.8188789094212234, + 1.3979134425315771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8056992815913839, + 0.07798918028027299, + -0.587168081048637, + 0.5557659768852717 + ], + [ + -0.12513209125800442, + 0.9913321235173378, + -0.04003224475350035, + 0.033253529447150924 + ], + [ + 0.5789564986944409, + 0.10572752073995109, + 0.8084745289603482, + 1.4284230101261082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.7911380651610294, + 0.08213741045833653, + -0.6060973582325383, + 0.5590443543928734 + ], + [ + -0.12876117320027752, + 0.9911008381791446, + -0.033759277786786925, + 0.034974828081590296 + ], + [ + 0.5979307001060835, + 0.10475005662908282, + 0.794673708830771, + 1.4647083905392975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.7779044761942104, + 0.08543634557846141, + -0.6225473931928469, + 0.5596360052947627 + ], + [ + -0.13223889083756524, + 0.9907857066648186, + -0.0292670329679462, + 0.03561451428975977 + ], + [ + 0.6143105905542097, + 0.10509193272032855, + 0.782034643740317, + 1.4946861378318403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.7606213244835355, + 0.08992008782506139, + -0.6429382385163022, + 0.5566204066570566 + ], + [ + -0.13726959582067147, + 0.99024530939093, + -0.023901575104809322, + 0.03714451724764796 + ], + [ + 0.6345173431862535, + 0.10643591985225002, + 0.765544992904443, + 1.5308492820606745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.7449970186653966, + 0.09375344516996612, + -0.660446616842295, + 0.5527928687103733 + ], + [ + -0.14146838170036977, + 0.989758917389273, + -0.019078323497964615, + 0.03803480436166176 + ], + [ + 0.6518942699232365, + 0.10764560821128125, + 0.7506305908195283, + 1.561783109280031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.725184409430393, + 0.09772542637906456, + -0.6815844139636135, + 0.5467952131734286 + ], + [ + -0.14627730759564336, + 0.989147214807746, + -0.013810746563764506, + 0.03759299460258473 + ], + [ + 0.672837663631921, + 0.10971567106438819, + 0.7316091510644391, + 1.5984112483424342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.704880215677206, + 0.1009910073230989, + -0.7021002050895027, + 0.5394722870843092 + ], + [ + -0.15054123271147596, + 0.988563298106131, + -0.008941078863229084, + 0.03770246136517736 + ], + [ + 0.6931675257833168, + 0.11199741995865362, + 0.7120220215148125, + 1.6343570844970274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6873235050474943, + 0.10351868257135138, + -0.7189369108398309, + 0.5320040103846793 + ], + [ + -0.15396100446715338, + 0.9880646705530454, + -0.004920966202606632, + 0.03773877216663801 + ], + [ + 0.7098467500191097, + 0.11407054468000849, + 0.6950579129279185, + 1.6632607117430998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6657536839548845, + 0.10683347329045165, + -0.7384840155922117, + 0.519348162945472 + ], + [ + -0.15874681636059648, + 0.987319284387099, + -0.00028102085634618135, + 0.03805551249793285 + ], + [ + 0.7290894873716631, + 0.11741907707883333, + 0.6742709245860156, + 1.695698433778309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6472837471473585, + 0.10968524917184319, + -0.7543161782654442, + 0.5053661700528214 + ], + [ + -0.16266020803361086, + 0.9866744668924261, + 0.003892698936378232, + 0.03992836432108172 + ], + [ + 0.744691484711177, + 0.12017754572572001, + 0.6564997715932623, + 1.7223408119221297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6248182223352841, + 0.112982148851693, + -0.7725524079818987, + 0.4857448730504667 + ], + [ + -0.16731924968526435, + 0.9858630031769221, + 0.008854809525947381, + 0.040714324080080466 + ], + [ + 0.7626312724525112, + 0.12373024289895551, + 0.6348892574848228, + 1.7523497987639058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.607674307695564, + 0.11535451989811232, + -0.7857641315978944, + 0.4685450466471253 + ], + [ + -0.17081530208721737, + 0.985223322660543, + 0.012535432125466477, + 0.039133194161737744 + ], + [ + 0.7755991673149022, + 0.12660307746968677, + 0.6183992176867907, + 1.7770303564015613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.5911826881430288, + 0.11701442420653543, + -0.7980041690164253, + 0.4478908910618887 + ], + [ + -0.17340135329161535, + 0.9847223469639323, + 0.015933300552036143, + 0.03907766756936595 + ], + [ + 0.787676964190663, + 0.12895551138845557, + 0.6024412636647021, + 1.8064793526644056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.5794844776035333, + 0.1185965855082975, + -0.8063079995400847, + 0.42547782872741796 + ], + [ + -0.17595683270999707, + 0.9842276235251326, + 0.018307870240307632, + 0.03726330188156597 + ], + [ + 0.7957618571150707, + 0.13126627516556913, + 0.5912125098176888, + 1.8318115973488318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.572668042144161, + 0.11971604344326484, + -0.8109990027423363, + 0.40519172481786386 + ], + [ + -0.1781166918582607, + 0.9838170545556156, + 0.01945372064625394, + 0.03654564319301073 + ], + [ + 0.800203572591527, + 0.13331193535390373, + 0.5847240120808738, + 1.8502146953585945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.5675481596948759, + 0.12045209132604928, + -0.814481663465876, + 0.37881708317202994 + ], + [ + -0.17981524458080794, + 0.9834940465115392, + 0.020147910380550423, + 0.03850903421100042 + ], + [ + 0.8034647249526912, + 0.13502131006452112, + 0.5798393584305541, + 1.8691877824116556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.5656987676874163, + 0.12104493216465104, + -0.8156794889135032, + 0.3558576217957356 + ], + [ + -0.18082026378171698, + 0.9833021676691962, + 0.02051534213632264, + 0.040027708846426306 + ], + [ + 0.8045426877691756, + 0.13588587658147228, + 0.5781402010782818, + 1.8829757181239823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.5651193163641494, + 0.12158067394851883, + -0.8160014080835525, + 0.32767084369231536 + ], + [ + -0.18185868158925383, + 0.9831102663539608, + 0.02053348777150902, + 0.04347154232837766 + ], + [ + 0.8047158369280021, + 0.1367930696770428, + 0.5776851027035377, + 1.897732959183549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.5651607167709236, + 0.12174429152092017, + -0.8159483388677525, + 0.3035267286023846 + ], + [ + -0.1822083401600104, + 0.983046822742414, + 0.020471078920723543, + 0.04775286120783122 + ], + [ + 0.804607659045767, + 0.13710314284550063, + 0.5777622722424651, + 1.9090392393443756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.5651748171841218, + 0.12238993712240522, + -0.8158419756987676, + 0.27081407039421057 + ], + [ + -0.18320865053011925, + 0.9828597106318077, + 0.020527532430675108, + 0.05015965985519391 + ], + [ + 0.8043705715600413, + 0.1378676630248496, + 0.5779104524926326, + 1.9200570981970007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.5653160751881303, + 0.12284691507393306, + -0.8156754076167223, + 0.24345552454264086 + ], + [ + -0.18425036376966206, + 0.9826696859320881, + 0.02030004435656299, + 0.054970796502589264 + ], + [ + 0.8040332944503203, + 0.13881254916955132, + 0.5781535588478337, + 1.9263336796575115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.5654439838709009, + 0.12313194830643817, + -0.8155437599604728, + 0.2120707587244971 + ], + [ + -0.18536654370548053, + 0.9824696730339477, + 0.01981378417294992, + 0.06589444153213092 + ], + [ + 0.8036867210417805, + 0.13997094296613388, + 0.5783561096299431, + 1.930005161657944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.565467766649601, + 0.12330858221332752, + -0.815500581503687, + 0.18078019087444927 + ], + [ + -0.18609106754823262, + 0.9823389748412555, + 0.019500079143178153, + 0.07522652266943423 + ], + [ + 0.8035025323289725, + 0.1407307075956422, + 0.5784276518982805, + 1.9319648081273981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.5653559297567246, + 0.12379095330648376, + -0.8155050414119962, + 0.15465996370810586 + ], + [ + -0.18672905674537404, + 0.9822150050776312, + 0.019645436297826384, + 0.08266515209505186 + ], + [ + 0.8034332156787474, + 0.1411718232503251, + 0.5784164453612004, + 1.9335427972700523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.5648328250133179, + 0.12606209632040177, + -0.8155196059315685, + 0.12322278040855991 + ], + [ + -0.18738143053037581, + 0.9820403542931689, + 0.02202139941369477, + 0.09189156589467232 + ], + [ + 0.8036492265160621, + 0.1403748211434418, + 0.5783103235366649, + 1.9341845584073523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.564501635730416, + 0.1303847000358755, + -0.815069158571369, + 0.09732317978872096 + ], + [ + -0.18801192129724836, + 0.9817998715190956, + 0.026842684947755532, + 0.0977005468187199 + ], + [ + 0.803734670589618, + 0.13808997893273045, + 0.5787415113939522, + 1.9315959532377671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.5651762740985498, + 0.13895860796266268, + -0.8131828112233805, + 0.06715710266753767 + ], + [ + -0.18829630573724804, + 0.9814211315787048, + 0.03683834600629528, + 0.10578610261655494 + ], + [ + 0.8031938000518841, + 0.13229916010260134, + 0.5808413309969948, + 1.9252781285244998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.56684050039849, + 0.14643308742448258, + -0.8107090711317615, + 0.04264202707784997 + ], + [ + -0.18786337096800315, + 0.98112387884531, + 0.04586162020766372, + 0.11409812367645145 + ], + [ + 0.8021216871251693, + 0.12630631522955374, + 0.5836501638623985, + 1.919268488828747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.5696785965804954, + 0.15401997723604888, + -0.807306721890933, + 0.012260610693538981 + ], + [ + -0.18672576142046338, + 0.9808507286333095, + 0.05536549612759056, + 0.12367023991297756 + ], + [ + 0.8003747788505241, + 0.11920442421199409, + 0.5875291640661437, + 1.9119818589934876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5725862390268659, + 0.15914710006181948, + -0.80424946342474, + -0.013702291765618088 + ], + [ + -0.18557938713543004, + 0.9806754341617291, + 0.06193532031194143, + 0.13369050841282934 + ], + [ + 0.7985645183374398, + 0.1137888104060229, + 0.5910556798465566, + 1.9072603129851637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.5769081681085799, + 0.16379668945806322, + -0.8002172268154324, + -0.04693051231126693 + ], + [ + -0.18503957598719925, + 0.9804252127501247, + 0.06728118252788148, + 0.14532526435648296 + ], + [ + 0.7955735798077259, + 0.10925679258724097, + 0.5959241834205662, + 1.901288670118985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5829769623274603, + 0.16656286799519532, + -0.7952324643779718, + -0.08058871979809913 + ], + [ + -0.18459534030465163, + 0.9803182851988971, + 0.07000442873493007, + 0.15642013637451035 + ], + [ + 0.7912410642359615, + 0.10598523816979974, + 0.6022497053190097, + 1.893194983912854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.5899927096141494, + 0.1671568970238784, + -0.7899159286781744, + -0.10719748738536576 + ], + [ + -0.18363519118522512, + 0.980475744316744, + 0.07032376102636252, + 0.1678221105093237 + ], + [ + 0.7862485097986006, + 0.10356585626486968, + 0.6091694298432946, + 1.8861970581733252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5988991222493194, + 0.16694077291982679, + -0.7832308853115572, + -0.13875913333100487 + ], + [ + -0.18214651376341956, + 0.9807928589488399, + 0.06977116423561708, + 0.18167010356257185 + ], + [ + 0.7798349113067632, + 0.10087688621231267, + 0.6178036621251779, + 1.8780461963511572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6072707299288386, + 0.16676739452207623, + -0.7767952733481414, + -0.16555319267576551 + ], + [ + -0.18093791533641934, + 0.9810591621304081, + 0.06916929371977375, + 0.1931970737851156 + ], + [ + 0.7736173029123679, + 0.0985472299169275, + 0.6259430582012184, + 1.8715325708508013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6185270766278053, + 0.1668012757073366, + -0.767855188105587, + -0.19900345050931378 + ], + [ + -0.18012623515862436, + 0.9812854958605132, + 0.06806845834427871, + 0.20683208362671648 + ], + [ + 0.7648390646965159, + 0.09620867963022842, + 0.6369969349046878, + 1.8619985516399225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6288821766786103, + 0.16534004216490664, + -0.759716972505472, + -0.22513159810843447 + ], + [ + -0.17853431843337955, + 0.9817264381031915, + 0.0658687928441785, + 0.21925925202914373 + ], + [ + 0.7567249863705452, + 0.09421184206949555, + 0.6469091310349319, + 1.8527736933567929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6417061063055234, + 0.16309197593288266, + -0.7494092877170075, + -0.25440472575382794 + ], + [ + -0.17604236596882966, + 0.9823615384199372, + 0.06304675421709753, + 0.2340023660477135 + ], + [ + 0.74647328050929, + 0.0914702969248624, + 0.6590984951175178, + 1.8416031747774473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 373.7604522705078, + "fy": 373.760347366333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_036/transforms.json b/spatialvid_eval/source/scene_036/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e9a30ecf771cd87549765b9c4e0da63bf9d975b0 --- /dev/null +++ b/spatialvid_eval/source/scene_036/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999850080236, + -0.00016748679046967114, + -4.395597493738638e-05, + -3.212114041718439e-05 + ], + [ + 0.00016747493908464848, + 0.9999999496650531, + -0.00026948476017623566, + 0.00011725978060109495 + ], + [ + 4.400110786242712e-05, + 0.00026947739461190143, + 0.9999999627229175, + 6.776733300580989e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999273308354657, + 0.0005068781854603073, + 0.012044754989897375, + -0.003249990635321738 + ], + [ + -0.0005073000831916831, + 0.9999998708121917, + 3.1972268507486215e-05, + -0.0006331844171677417 + ], + [ + -0.012044737227816427, + -3.808025031784388e-05, + 0.9999274587963908, + 0.009250871173814366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996737695131297, + 0.0012807386376924102, + 0.02550910143364994, + -0.006766314072259185 + ], + [ + -0.0012827863770732517, + 0.9999991751869086, + 6.391098215411311e-05, + -0.0013837776362546283 + ], + [ + -0.025508998540144906, + -9.66128602537545e-05, + 0.9996745878831943, + 0.019876252063085006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9994277899624503, + 0.0019077464742683823, + 0.033770595999515596, + -0.008557037724456543 + ], + [ + -0.0018579148938517637, + 0.9999971386835806, + -0.0015069097182120498, + -0.0013846717641629288 + ], + [ + -0.033773374172856724, + 0.0014433045560638565, + 0.9994284747138931, + 0.02852991435385752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9991043663731215, + 0.0024756078485082384, + 0.042241406936135185, + -0.010075065068755225 + ], + [ + -0.0022931877362928643, + 0.9999878377452576, + -0.004366423201062142, + -0.0010595348724067785 + ], + [ + -0.042251702736929804, + 0.004265645009264386, + 0.9990978920448613, + 0.03873616582198807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9988912028703107, + 0.002597272486412014, + 0.04700658468698871, + -0.010152337971157869 + ], + [ + -0.002176199441714165, + 0.9999570707759962, + -0.009006706450155551, + -8.188887736757682e-05 + ], + [ + -0.04702795960164121, + 0.008894424136542952, + 0.9988539734290421, + 0.04772076449944844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9986981359859464, + 0.002711131258932867, + 0.05093803044379859, + -0.009703832076035628 + ], + [ + -0.0018861118565561559, + 0.9998663821404665, + -0.016237624438308153, + 0.0005372904982571085 + ], + [ + -0.05097524654438734, + 0.01612041043620853, + 0.9985698055755078, + 0.058587360957913046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9986197949477525, + 0.0027614966144851004, + 0.05244882529625691, + -0.008703789749254289 + ], + [ + -0.0014770812241072836, + 0.999698446576121, + -0.024511918414282036, + 0.00047212125612087753 + ], + [ + -0.05250069875312596, + 0.024400615765574774, + 0.9983227366842321, + 0.06834108897156177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9986409842039338, + 0.0027225711769562526, + 0.052045867025013105, + -0.007398798550793156 + ], + [ + -0.0007093155154321157, + 0.999252103949137, + -0.03866173333831705, + -0.00046466261465666825 + ], + [ + -0.05211220144743941, + 0.038572274491012006, + 0.9978960357175951, + 0.07908421029276473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9987302739364143, + 0.0025975437217040133, + 0.05030996610522389, + -0.006191343498187461 + ], + [ + 0.00010675217083868098, + 0.9985584221651128, + -0.053675563593637204, + -0.0018209614892208134 + ], + [ + -0.05037686499643424, + 0.05361278102966126, + 0.9972902492170456, + 0.0878835962643326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9988696258731738, + 0.002197393184157099, + 0.04748307036386519, + -0.005359099960593029 + ], + [ + 0.0010246371122111777, + 0.9977034506692056, + -0.06772573101523645, + -0.0027007185688661946 + ], + [ + -0.04752284321012193, + 0.067697828517273, + 0.9965734209717174, + 0.09586962179422043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9990498421746158, + 0.0015310377920124865, + 0.04355535299081828, + -0.004607022550489426 + ], + [ + 0.0021153304105881758, + 0.9965014332903896, + -0.08354890081535102, + -0.0034491191147498603 + ], + [ + -0.04353088820744867, + 0.08356165013616443, + 0.995551361004741, + 0.10471219132144284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9992306751206658, + 0.0006822880790233955, + 0.03921214583360205, + -0.004026138820020197 + ], + [ + 0.0031329271561381434, + 0.9952645361866456, + -0.09715290925451331, + -0.0031062500435903827 + ], + [ + -0.03909274440778984, + 0.09720101590085664, + 0.994496716858587, + 0.11222746185001704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999424117445931, + -0.0004380862469140054, + 0.03392995060212275, + -0.003363317079383998 + ], + [ + 0.004272480205801346, + 0.9935835894294858, + -0.11301945288006988, + -0.002476553234790381 + ], + [ + -0.03366272984048175, + 0.1130993319912172, + 0.9930132736891423, + 0.12098032668457646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9995835172206221, + -0.00129719219875035, + 0.02882896795325888, + -0.0029718681293744494 + ], + [ + 0.00496107057930689, + 0.9918408591364144, + -0.1273856268432459, + -0.0024086876116751425 + ], + [ + -0.028428504701402457, + 0.12747559546807008, + 0.9914342099607535, + 0.1287508515476308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997356087132562, + -0.00239663461445553, + 0.02286851139143929, + -0.0024165388115828797 + ], + [ + 0.005670774807194089, + 0.9895317405349582, + -0.14420394164842573, + -0.0024050201057275347 + ], + [ + -0.022283513722518893, + 0.14429549756101637, + 0.9892837077399979, + 0.1377767853721668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998383544145325, + -0.0034415779354900443, + 0.017647112595369385, + -0.0014332566048907542 + ], + [ + 0.006205291898858888, + 0.9872527786733077, + -0.15903913151888982, + -0.0027902088087333183 + ], + [ + -0.016874815379424243, + 0.15912292903018949, + 0.9871145496155771, + 0.14530923914105698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999195526604412, + -0.004579067420994135, + 0.011828793213898906, + -0.00017197760917512915 + ], + [ + 0.006591022036938207, + 0.9843496424916094, + -0.17610320767989807, + -0.003014168518519548 + ], + [ + -0.010837279910188978, + 0.17616700448209566, + 0.9843006349159558, + 0.15399214124207747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999588968649159, + -0.005242418622158221, + 0.007397406822044389, + 0.0011536538612414323 + ], + [ + 0.00655423362088999, + 0.9817121911891498, + -0.19025828678993564, + -0.0027230758903637776 + ], + [ + -0.006264710874699282, + 0.19029895091037327, + 0.9817061997767296, + 0.1612097131229136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999773489314399, + -0.006136592421162092, + 0.002764752702590904, + 0.00287534572900888 + ], + [ + 0.00657495479195049, + 0.9784686974271993, + -0.2062905187462672, + -0.002098341323742643 + ], + [ + -0.0014393031417165108, + 0.2063040241696142, + 0.9784868818833955, + 0.16959302010617208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999752966088516, + -0.007003787322645221, + -0.0005942517804848806, + 0.004551220837321692 + ], + [ + 0.006702554876306913, + 0.9755901356439336, + -0.2194970683001976, + -0.0012369956947080674 + ], + [ + 0.00211705695944861, + 0.2194876629730944, + 0.9756129785280842, + 0.17673620489824082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999651394215346, + -0.007579870738875822, + -0.0035022137646205515, + 0.005997760445728728 + ], + [ + 0.006554974419303555, + 0.9724402801842864, + -0.23305993603678277, + -0.0008470363190906313 + ], + [ + 0.005172257924102353, + 0.23302885451095734, + 0.972456066212391, + 0.18396897678706406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999484159654544, + -0.00790701944067704, + -0.006375300129703499, + 0.0074178319056468645 + ], + [ + 0.006068289930698105, + 0.9684110864782725, + -0.24928526519489536, + -0.0009420343431902853 + ], + [ + 0.008145014763401605, + 0.2492337188855815, + 0.9684091140137867, + 0.19251172893690474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999930971883354, + -0.0083678612705812, + -0.008248052265067965, + 0.008025156317772663 + ], + [ + 0.005898550713871346, + 0.9646289197299742, + -0.26354554505826644, + -0.001118243564965142 + ], + [ + 0.010161622305856157, + 0.26347870145106445, + 0.9646116914664542, + 0.19952963676253813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999084890088624, + -0.009020534357251522, + -0.010081843478428956, + 0.008377938309033744 + ], + [ + 0.005832757167299177, + 0.9598809659812201, + -0.28034712427772, + -0.0013791106910213142 + ], + [ + 0.012206250523449685, + 0.2802626644897064, + 0.9598457409090742, + 0.20753959938247624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999894805744717, + -0.009462194242481506, + -0.010992921579471814, + 0.008103438944400755 + ], + [ + 0.0058124540395824605, + 0.9557858043748056, + -0.2940063120642884, + -0.0005306359500680587 + ], + [ + 0.013288823227532557, + 0.2939114884378009, + 0.9557402597680522, + 0.214278702461374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998796426824736, + -0.009959121992334518, + -0.01189605137475858, + 0.007648583435662354 + ], + [ + 0.005785641279747633, + 0.9508135437395024, + -0.3097097534733313, + 0.0007094021124777333 + ], + [ + 0.014395363981198138, + 0.3096036513522916, + 0.9507567262792189, + 0.22211145424784326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998675582670911, + -0.010620222228306758, + -0.012331942459592042, + 0.00675534647011302 + ], + [ + 0.006076321422244898, + 0.9465499004252341, + -0.3225001772448395, + 0.0016230965179317505 + ], + [ + 0.015097822458185079, + 0.3223825319163566, + 0.9464890695999719, + 0.22902791339054274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998527966743415, + -0.011419242386039937, + -0.012805697397133225, + 0.005769091535290323 + ], + [ + 0.006426288496798315, + 0.9412673410206823, + -0.33760108937029587, + 0.002527216586558569 + ], + [ + 0.015908733408225604, + 0.33746910026131793, + 0.9412021666837378, + 0.23702890458191989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998398537884264, + -0.012214339933309257, + -0.013079628294866388, + 0.005210983719650144 + ], + [ + 0.006833455827137548, + 0.9360617060777777, + -0.3517695073428322, + 0.002469770565595377 + ], + [ + 0.016539971517413883, + 0.3516237937266957, + 0.935995265494142, + 0.2435360968739857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998236741438158, + -0.013218836081835088, + -0.013337278365637032, + 0.004812007945018214 + ], + [ + 0.00738458611515886, + 0.9298087293628176, + -0.36796901321797537, + 0.002494070765039882 + ], + [ + 0.01726523991923419, + 0.3678056404860376, + 0.9297423956759137, + 0.25085008884934534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9998082843857505, + -0.014236354652113578, + -0.01344323918710029, + 0.005010350160222876 + ], + [ + 0.008036368777024998, + 0.9244252893557167, + -0.3812785086737506, + 0.0027105864157813777 + ], + [ + 0.017855286346121768, + 0.38109737680259476, + 0.9243624711895649, + 0.25652408404525967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9997925368186158, + -0.015134560344226671, + -0.013631889266849578, + 0.005423550912890907 + ], + [ + 0.008543948049494684, + 0.9191433385814005, + -0.39383057790522624, + 0.0030511949752285556 + ], + [ + 0.018490112858612393, + 0.39363240240689523, + 0.9190819590775634, + 0.2620962574543372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9997745548387059, + -0.01590527009955592, + -0.014066338547314733, + 0.006406955045084807 + ], + [ + 0.008808688974348208, + 0.9134711245369243, + -0.4068082000596846, + 0.0037381217482301866 + ], + [ + 0.019319588391596136, + 0.4065925811181352, + 0.9134052914692755, + 0.2683595422623082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9997528171912471, + -0.01679368282291123, + -0.014569719812270404, + 0.0075419045608884 + ], + [ + 0.009179760671202868, + 0.9086531549616783, + -0.41745080664936735, + 0.00428809491313966 + ], + [ + 0.020249358315365094, + 0.41721387344554056, + 0.9085827135117552, + 0.2737419829916909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9997190544456339, + -0.018098483982724158, + -0.015305458368007249, + 0.00920671596556955 + ], + [ + 0.009776713273278276, + 0.903102978105539, + -0.4293127377733842, + 0.0048844388582601345 + ], + [ + 0.021592314741588736, + 0.4290424871902939, + 0.9030261990272855, + 0.2800377265522795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.99969360359286, + -0.018921285526762012, + -0.01595881855077881, + 0.010656710340803819 + ], + [ + 0.010004195579866655, + 0.8985781851835889, + -0.4386993972904086, + 0.005146273415763736 + ], + [ + 0.02264100276758324, + 0.4384053262292587, + 0.8984921562971464, + 0.285212170089602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9996656563763529, + -0.019712840511662402, + -0.016732584396848382, + 0.012361794795123214 + ], + [ + 0.010098806810313278, + 0.8933885890257934, + -0.44917128481183, + 0.005306311918834801 + ], + [ + 0.02380314186496947, + 0.44885212811956665, + 0.8932889664156232, + 0.29111957449962206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9996431378480048, + -0.020214867156591536, + -0.01746299227613548, + 0.013538252932760052 + ], + [ + 0.009966175061790969, + 0.888743771258186, + -0.4582959572202388, + 0.005510603263210518 + ], + [ + 0.024784517506555304, + 0.45795836950056784, + 0.8886280771483359, + 0.29651667540352555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9996163619105922, + -0.02076725400466138, + -0.018326215150378435, + 0.014844277434587747 + ], + [ + 0.009751392804850097, + 0.8831834788228197, + -0.4689262767992296, + 0.005764603444722308 + ], + [ + 0.02592372154991644, + 0.4685676726957677, + 0.883047165651685, + 0.30289113578698645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9996238567711281, + -0.020315398725482242, + -0.018423613886529144, + 0.015209060757049345 + ], + [ + 0.009174594795552528, + 0.8807830048163969, + -0.4734312254561758, + 0.0064008672124070895 + ], + [ + 0.025845150112790125, + 0.4730841183143053, + 0.8806380898044461, + 0.3083684070706999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9996310851682472, + -0.019864042594343403, + -0.01852331982024793, + 0.015573844079510943 + ], + [ + 0.008598203182428099, + 0.878359247431487, + -0.47792374219495093, + 0.007037130980091871 + ], + [ + 0.025763626829054212, + 0.4775881617705807, + 0.8782060027517526, + 0.31384567835441335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9996810020388752, + -0.018306058044560966, + -0.017400643707048635, + 0.014537737975853468 + ], + [ + 0.0077423747496044686, + 0.8779024186900847, + -0.4787769824159637, + 0.008230767554392955 + ], + [ + 0.024040586427688776, + 0.4784895312302752, + 0.877764101970025, + 0.3210043700270741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9997289315372343, + -0.016746319174911515, + -0.016174802673060873, + 0.013591863763055908 + ], + [ + 0.006958222103784631, + 0.8778812943684003, + -0.47882775206040123, + 0.009096398426106794 + ], + [ + 0.022218159072589005, + 0.4785854090882365, + 0.8777598530436848, + 0.32712411093535027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999820062239581, + -0.013630499938163506, + -0.01319290016169412, + 0.012151274791760366 + ], + [ + 0.005730613530300081, + 0.8800148838094424, + -0.47491153317478, + 0.00918763165659825 + ], + [ + 0.018083230126474798, + 0.4747504752449328, + 0.8799346470294845, + 0.3341688389299797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9998956435293086, + -0.010640785631491005, + -0.00977116841811196, + 0.010876202237925105 + ], + [ + 0.004800347319544409, + 0.8826592364988208, + -0.46998896677361574, + 0.009174600883274547 + ], + [ + 0.013625663900236085, + 0.46989301538165446, + 0.8826182047628603, + 0.34040578825342377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9999722972026039, + -0.006428753959281929, + -0.0037517928884684536, + 0.009294626242092777 + ], + [ + 0.003978398558624552, + 0.8876142180489955, + -0.4605704856611838, + 0.008946526715658674 + ], + [ + 0.0062910390442024455, + 0.46054280044291324, + 0.8876152047976325, + 0.34814565489621946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999925772506695, + -0.002144570676429768, + 0.0032009780033463893, + 0.008571366293413636 + ], + [ + 0.00335219189420747, + 0.8938328785549952, + -0.44838772064319055, + 0.009300052526623859 + ], + [ + -0.0018995402255597548, + 0.44839512266605364, + 0.8938334328700323, + 0.3549422606495537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999031858184751, + 0.0035301303393630097, + 0.013459463951118711, + 0.008465335742327969 + ], + [ + 0.002589751066760277, + 0.9031702089570236, + -0.4292748150566709, + 0.010353020253158493 + ], + [ + -0.01367158291773741, + 0.4292681118279273, + 0.9030736271136535, + 0.36306114076453794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9996879300158663, + 0.008516528418840374, + 0.023484278236373897, + 0.0096880577269435 + ], + [ + 0.0019344561378700745, + 0.9108765862122015, + -0.41267432991386405, + 0.011668106718765439 + ], + [ + -0.024905831848043083, + 0.41259097594845323, + 0.9105758541197213, + 0.370478668794884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999325506337699, + 0.013460604077283932, + 0.034166423880414167, + 0.011567582368617796 + ], + [ + 0.0011667972371387433, + 0.9182896520758871, + -0.39590750621143034, + 0.013189464534375295 + ], + [ + -0.036703827690159695, + 0.39568033439661987, + 0.9176545657297577, + 0.3781254407911241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9986239744808454, + 0.019514144939795343, + 0.04867602838511235, + 0.015124095756611198 + ], + [ + 0.0002121875736882748, + 0.9266777120375275, + -0.37585685172592875, + 0.014417845887669216 + ], + [ + -0.0524415156961846, + 0.3753499915547647, + 0.9253984391986647, + 0.38769025140105073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9977802619744317, + 0.024623300460212355, + 0.06187278794979863, + 0.018640101965533562 + ], + [ + -0.0008122497974482595, + 0.9335577273509907, + -0.3584261569047661, + 0.015283360385377977 + ], + [ + -0.06658745425754904, + 0.35758028857544644, + 0.9315054740353378, + 0.39610931533446664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9963841345726346, + 0.03021409870365316, + 0.07940884466775643, + 0.022650952702075663 + ], + [ + -0.001716815350573525, + 0.9416011167280877, + -0.33672598581260454, + 0.01576606639325051 + ], + [ + -0.08494532898867364, + 0.3353720996385123, + 0.9382482858322001, + 0.4065423708687539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9948918269738855, + 0.03466152924059249, + 0.09480944579137485, + 0.02607580240379737 + ], + [ + -0.002745937876535754, + 0.9481471580226588, + -0.31781980202424986, + 0.01610451998483825 + ], + [ + -0.10090942694189825, + 0.31593598263613265, + 0.9433990366912608, + 0.41557224908080515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.992614597041824, + 0.03965459707914623, + 0.11464630246976094, + 0.02945024226494042 + ], + [ + -0.004116439226811781, + 0.9555302020159546, + -0.29486452476254404, + 0.017832776718893256 + ], + [ + -0.12124073848170554, + 0.29221489689240615, + 0.9486364621742994, + 0.42660565472994655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9903324326145633, + 0.043449765696826584, + 0.13173378751335016, + 0.032330224531049355 + ], + [ + -0.005555596847691285, + 0.9613385426255807, + -0.2753131704190531, + 0.019306040179082704 + ], + [ + -0.13860306005059028, + 0.2719197019772851, + 0.9522861268658686, + 0.4361522749539706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9872849800271672, + 0.046919170653499744, + 0.1518781078297453, + 0.035617901088096635 + ], + [ + -0.0069263601354920545, + 0.9672370899834795, + -0.2537802933554217, + 0.02097760073013379 + ], + [ + -0.1588092999418782, + 0.2495015093851702, + 0.9552636301390797, + 0.4478115882764318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9843571152819262, + 0.04932523266550212, + 0.16913926515253339, + 0.038655817864155305 + ], + [ + -0.008151807287710814, + 0.9717334731123372, + -0.2359398340064241, + 0.021798962683569442 + ], + [ + -0.17599607277376658, + 0.23087026368835162, + 0.9569348482068579, + 0.45791822216308287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9805935322734423, + 0.051281377812063364, + 0.1892261735415845, + 0.042713173466266074 + ], + [ + -0.009240034046449748, + 0.9762005231568005, + -0.21667293407163116, + 0.021330608418492047 + ], + [ + -0.1958339762000299, + 0.21071962148334786, + 0.9577297608864417, + 0.46997281412143904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9770782394397558, + 0.05237989698987288, + 0.20633579525772486, + 0.04670401035786005 + ], + [ + -0.010151472561497184, + 0.9796181019743057, + -0.2006123672386435, + 0.021758783556205672 + ], + [ + -0.21263833525058604, + 0.19391936642736202, + 0.9576952634874364, + 0.479596282222423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9733054631268688, + 0.052942532310733426, + 0.22332389867615618, + 0.051207950767810206 + ], + [ + -0.01100041221097374, + 0.9826739463803784, + -0.18501596157197273, + 0.023016580344556403 + ], + [ + -0.22924979035667578, + 0.17762039122167247, + 0.9570243101633731, + 0.48851071103151417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9688021996495398, + 0.05334781557114579, + 0.24202542950690253, + 0.057527037356106675 + ], + [ + -0.01207442632197818, + 0.9855581352106706, + -0.16890639522842607, + 0.024686827962020073 + ], + [ + -0.24754091819981755, + 0.16071456901554745, + 0.9554550335431483, + 0.4987149967364953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9648422916854793, + 0.053521221931681934, + 0.25732242610789413, + 0.06362771193108877 + ], + [ + -0.013059534642558754, + 0.987600103998723, + -0.1564464225753719, + 0.026248851796952532 + ], + [ + -0.2625048584884341, + 0.1475856137455534, + 0.9535773098628743, + 0.5073356036871485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9600620758779972, + 0.05373069535136876, + 0.27457935617574947, + 0.07058658237209944 + ], + [ + -0.014308717752099392, + 0.9895316403701264, + -0.1436049905215601, + 0.026334268421896394 + ], + [ + -0.27942095672501277, + 0.13394082679849714, + 0.9507806181551102, + 0.5170836330883236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9557760839718408, + 0.05381263945062512, + 0.28913020793893224, + 0.07649695707131944 + ], + [ + -0.01550541161770149, + 0.9909702615588103, + -0.13318229205351956, + 0.025811958837856044 + ], + [ + -0.2936863284492807, + 0.12280936666810215, + 0.9479800630501473, + 0.5253330255894726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9504584196225438, + 0.05378416848846502, + 0.3061634461992826, + 0.08176186226404254 + ], + [ + -0.01683321897805464, + 0.9923781005249621, + -0.12207517494275902, + 0.02553975226262307 + ], + [ + -0.3103956109668007, + 0.11087366151829192, + 0.9441194817786963, + 0.5341802371616569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9456603783247601, + 0.053603182742087266, + 0.32070726163682367, + 0.08604170500689565 + ], + [ + -0.018088317053984157, + 0.9934631057108251, + -0.11271144741132857, + 0.025354597284730156 + ], + [ + -0.3246525244824476, + 0.10078569537052637, + 0.9404482877627315, + 0.5416525499836498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9397762366445268, + 0.05293439161154262, + 0.33766636673344647, + 0.08863548756177342 + ], + [ + -0.019167641801643, + 0.9945417914502841, + -0.1025632807910499, + 0.027000254810370692 + ], + [ + -0.3412524381539485, + 0.08991426607371983, + 0.9356613694122516, + 0.5508476969691531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9344563174877798, + 0.052177364087167756, + 0.35223417407187063, + 0.09060060727589422 + ], + [ + -0.020193038630323824, + 0.9953789843868868, + -0.09387714648307227, + 0.028473444104658505 + ], + [ + -0.35550475650552404, + 0.08061141431487912, + 0.931191799783537, + 0.5589397048175864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9277065981752513, + 0.050945796965308404, + 0.36981751374654, + 0.09138753250035096 + ], + [ + -0.021311823838863875, + 0.9962562069081625, + -0.08378171854063192, + 0.0305574815364705 + ], + [ + -0.37270131991551086, + 0.06984336739111315, + 0.9253192044720059, + 0.5696080248291028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9219781103284816, + 0.04981360701781304, + 0.384024697944022, + 0.09206601395083668 + ], + [ + -0.022348746180858723, + 0.9968835862319103, + -0.07565480186709378, + 0.03189915139808894 + ], + [ + -0.3865965566572806, + 0.06116960076116692, + 0.9202181167111707, + 0.579270801830909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9166801256816269, + 0.048732865188234914, + 0.3966392000683523, + 0.09275244363179659 + ], + [ + -0.023353351599727054, + 0.9973729823950191, + -0.06856934415265152, + 0.03235152538555226 + ], + [ + -0.398938802511584, + 0.053593300318328596, + 0.915410066588528, + 0.5899705842451565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9109077764085076, + 0.04723931495255742, + 0.4098969016732401, + 0.09378956915938907 + ], + [ + -0.024475083629859777, + 0.9978614278634096, + -0.06060974396670424, + 0.033148327879060524 + ], + [ + -0.4118834703648838, + 0.04517762615732655, + 0.9101159206029578, + 0.6021771173726113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9065365086734339, + 0.04575443666783727, + 0.4196404293766154, + 0.09494858063996081 + ], + [ + -0.0253240470347762, + 0.9982126755857452, + -0.05413083171103615, + 0.03413876754945927 + ], + [ + -0.42136712150328215, + 0.03844458121968482, + 0.9060749213452945, + 0.6123238070751906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9019037070366115, + 0.0438051570714498, + 0.4297101481784713, + 0.09655507216793678 + ], + [ + -0.026221030797283943, + 0.9985619382196039, + -0.046760165558259535, + 0.03635616978863907 + ], + [ + -0.43114053483469406, + 0.030905723629346814, + 0.9017553301585749, + 0.623983179259961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8982357477836495, + 0.04199029723756571, + 0.43750355009011005, + 0.09809555084947193 + ], + [ + -0.026935092651761125, + 0.9988138710766674, + -0.040562935405166985, + 0.038939443394609696 + ], + [ + -0.4386878641897785, + 0.0246508799588085, + 0.8983013369298006, + 0.633862220260182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8950707256339073, + 0.039588317575080315, + 0.4441634397660002, + 0.09994889559537273 + ], + [ + -0.027368609623850404, + 0.9990506717572051, + -0.033892690491233404, + 0.04040105859394895 + ], + [ + -0.4450835374628543, + 0.01818021927953146, + 0.8953044869241414, + 0.6464693857122009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8927342775938055, + 0.03742005965022509, + 0.4490270022446755, + 0.10155671781783965 + ], + [ + -0.027615727938807844, + 0.9992160560975617, + -0.02836626177775873, + 0.04112168739076781 + ], + [ + -0.4497364574720133, + 0.012923326685036797, + 0.8930678061871428, + 0.6576463678545353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8917634853783668, + 0.034510002941869775, + 0.45118393792640665, + 0.10190241394154387 + ], + [ + -0.027541704409993418, + 0.9993784453349208, + -0.022004034133529457, + 0.041329347870543126 + ], + [ + -0.4516628617276608, + 0.007196019518394869, + 0.8921596699240955, + 0.6703324025511819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8911825162628, + 0.031956794159159446, + 0.45251793999196743, + 0.10198013969483694 + ], + [ + -0.027430716708753387, + 0.9994864958707412, + -0.016562015362606416, + 0.04141690355084864 + ], + [ + -0.45281483907702147, + 0.0023468871076824105, + 0.8916014881282754, + 0.6811556068907726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 643.8370768229166, + "fy": 643.8372230529785, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_102/rgb_video/00003.png b/spatialvid_eval/source/scene_102/rgb_video/00003.png new file mode 100644 index 0000000000000000000000000000000000000000..23ed2e869897732c74d40fcfaa029b39cc158454 --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00003.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:472704607bbf52247e4728e8b2d0f4b029423b9688183bff975da017fb6f7b0e +size 942876 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00014.png b/spatialvid_eval/source/scene_102/rgb_video/00014.png new file mode 100644 index 0000000000000000000000000000000000000000..ce664c485d7db103d4ccb88a73b4fee91e4ccf66 --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00014.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7aceca6673162aef3f3b4a670735628afacd3e1cd4fd569eb913de075b3d76c6 +size 976962 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00018.png b/spatialvid_eval/source/scene_102/rgb_video/00018.png new file mode 100644 index 0000000000000000000000000000000000000000..ec8a125142a8f583f2dd1a4c6d2339c13e295ad9 --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00018.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d21cf5ff62f29b6e4cf0248b3db2cb09943f4c625ae334fc78540e54c1d8525 +size 984628 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00021.png b/spatialvid_eval/source/scene_102/rgb_video/00021.png new file mode 100644 index 0000000000000000000000000000000000000000..13110ed6290789d410671b602d6c23db93134fca --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00021.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:390d92e02270d4df63d39bca9de4cfea18a8adc833171c618cbb1a240a59fb7c +size 994874 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00028.png b/spatialvid_eval/source/scene_102/rgb_video/00028.png new file mode 100644 index 0000000000000000000000000000000000000000..348b5baa9d202a0f871648bf4b9fe12879b0ac5b --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00028.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:125680eb1ceca34fbbcbf06892800a28a2d41f1abc1e6832414c916b5fb5cd00 +size 994153 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00061.png b/spatialvid_eval/source/scene_102/rgb_video/00061.png new file mode 100644 index 0000000000000000000000000000000000000000..ad36e5268384294bbc519407fb951a3b08297a3d --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00061.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab65eaea15be6af98eeb45801cceee563fcd84eef159452acfa9254bb3653811 +size 1006620 diff --git a/spatialvid_eval/source/scene_111/rgb_video/00038.png b/spatialvid_eval/source/scene_111/rgb_video/00038.png new file mode 100644 index 0000000000000000000000000000000000000000..ac61dc7199e86e73be9ff7bd604df22852d462a9 --- /dev/null +++ b/spatialvid_eval/source/scene_111/rgb_video/00038.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26b7375e759393522d3e6ece56054f0a2d25eeed332abde9dadd78938bcc67e1 +size 655052 diff --git a/spatialvid_eval/source/scene_111/rgb_video/00040.png b/spatialvid_eval/source/scene_111/rgb_video/00040.png new file mode 100644 index 0000000000000000000000000000000000000000..2d537940fe78d301e0a3c1948336beb994a3bd69 --- /dev/null +++ b/spatialvid_eval/source/scene_111/rgb_video/00040.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17b7ae9a6c8dfbb8171d118a11c0bbfc04a792c5bf94934bd43c2bcb082bce18 +size 676719 diff --git a/spatialvid_eval/source/scene_111/rgb_video/00041.png b/spatialvid_eval/source/scene_111/rgb_video/00041.png new file mode 100644 index 0000000000000000000000000000000000000000..7c84b9cf0357623a937f19d7ac40eecc0aacead9 --- /dev/null +++ b/spatialvid_eval/source/scene_111/rgb_video/00041.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3cca8ab73ebec3d1f4a3eb81323cb4452bfcac69a3fd77f173b4c58144eda00 +size 684354 diff --git a/spatialvid_eval/source/scene_111/rgb_video/00050.png b/spatialvid_eval/source/scene_111/rgb_video/00050.png new file mode 100644 index 0000000000000000000000000000000000000000..3691b1a5b28b03b7a1945bb3ba23ab347a9fa58f --- /dev/null +++ b/spatialvid_eval/source/scene_111/rgb_video/00050.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f04afde05a981a5945c4286629a6eae817b58a0ec2323f6560f3f15423ff7b25 +size 651713 diff --git a/spatialvid_eval/source/scene_111/rgb_video/00053.png b/spatialvid_eval/source/scene_111/rgb_video/00053.png new file mode 100644 index 0000000000000000000000000000000000000000..e200a883b07e6774cf1ca097e7d01962cee0ebfe --- /dev/null +++ b/spatialvid_eval/source/scene_111/rgb_video/00053.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d64d919379c0e77114b74ea47eea813fad4fffee5efd13f8d8bc5cb0caa25739 +size 686429 diff --git a/spatialvid_eval/source/scene_111/rgb_video/00055.png b/spatialvid_eval/source/scene_111/rgb_video/00055.png new file mode 100644 index 0000000000000000000000000000000000000000..b54689c35486881ac98a0a37d8995cd06d12b6e6 --- /dev/null +++ b/spatialvid_eval/source/scene_111/rgb_video/00055.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54f66fd980aac203a9b569c1d34d97f72a7a1e90db08364b7f67565571f10b0a +size 702838 diff --git a/spatialvid_eval/source/scene_111/rgb_video/00072.png b/spatialvid_eval/source/scene_111/rgb_video/00072.png new file mode 100644 index 0000000000000000000000000000000000000000..9dc46d6aac143f858de1d1d57cebc439008c4dc7 --- /dev/null +++ b/spatialvid_eval/source/scene_111/rgb_video/00072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d23b29ac0b46333a8698b5ee461f4c3607546b57995c22bbe50756be657ba7b9 +size 673836 diff --git a/spatialvid_eval/source/scene_111/rgb_video/00077.png b/spatialvid_eval/source/scene_111/rgb_video/00077.png new file mode 100644 index 0000000000000000000000000000000000000000..fb72ed39f59d21a3ccebd9e4b2ecee9d99155fbd --- /dev/null +++ b/spatialvid_eval/source/scene_111/rgb_video/00077.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d626b7881d533f74f6d9059359c337769a3ad7b05b79b8ca37ec4a54b48c25ae +size 681263 diff --git a/spatialvid_eval/source/scene_160/caption.txt b/spatialvid_eval/source/scene_160/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..9357cba06bf6e6b854b920898848b9d05cfa31aa --- /dev/null +++ b/spatialvid_eval/source/scene_160/caption.txt @@ -0,0 +1 @@ +Two women stroll along a garden path, admiring a vibrant display of blue hydrangeas in full bloom, their lush green foliage contrasting beautifully with the soft petals as they pause to take photos and soak in the serene natural surroundings. diff --git a/spatialvid_eval/source/scene_160/extras/temporal_mapping.json b/spatialvid_eval/source/scene_160/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..880e65ef596a6d1b68508e97880003ef8e6e0e6a --- /dev/null +++ b/spatialvid_eval/source/scene_160/extras/temporal_mapping.json @@ -0,0 +1,182 @@ +{ + "original_scene_id": "cf7a3c99-398e-555d-9243-3456bd202caa", + "original_video_path": "videos/group_0028/cf7a3c99-398e-555d-9243-3456bd202caa.mp4", + "original_video_num_frames": 129, + "original_annotation_num_frames": 12, + "source_frame_indices": [ + 0, + 2, + 3, + 5, + 6, + 8, + 9, + 11, + 12, + 14, + 15, + 17, + 18, + 20, + 21, + 23, + 24, + 26, + 27, + 29, + 30, + 32, + 33, + 35, + 36, + 38, + 39, + 41, + 42, + 44, + 45, + 47, + 48, + 50, + 51, + 53, + 54, + 56, + 57, + 59, + 60, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119, + 121 + ], + "sampling": { + "method": "81 uniformly spaced integer frames over the annotated source-frame range", + "pose_interpolation": "linear camera-center interpolation and quaternion SLERP in c2w", + "intrinsic_interpolation": "linear interpolation of normalized fx, fy, cx, cy", + "annotated_source_frame_range": [ + 0, + 121 + ], + "timing": "variable timestamps; use timestamps_seconds instead of a scalar output FPS" + }, + "timestamps_seconds": [ + 0.0, + 0.03336666666666667, + 0.050050000000000004, + 0.08341666666666667, + 0.10010000000000001, + 0.13346666666666668, + 0.15015, + 0.18351666666666666, + 0.20020000000000002, + 0.23356666666666667, + 0.25025000000000003, + 0.2836166666666667, + 0.3003, + 0.33366666666666667, + 0.35035, + 0.38371666666666665, + 0.40040000000000003, + 0.4337666666666667, + 0.45045, + 0.4838166666666667, + 0.5005000000000001, + 0.5338666666666667, + 0.55055, + 0.5839166666666666, + 0.6006, + 0.6339666666666667, + 0.6506500000000001, + 0.6840166666666667, + 0.7007, + 0.7340666666666666, + 0.75075, + 0.7841166666666667, + 0.8008000000000001, + 0.8341666666666667, + 0.85085, + 0.8842166666666667, + 0.9009, + 0.9342666666666667, + 0.95095, + 0.9843166666666667, + 1.0010000000000001, + 1.0343666666666667, + 1.0677333333333334, + 1.0844166666666666, + 1.1177833333333334, + 1.1344666666666667, + 1.1678333333333333, + 1.1845166666666667, + 1.2178833333333334, + 1.2345666666666666, + 1.2679333333333334, + 1.2846166666666667, + 1.3179833333333333, + 1.3346666666666667, + 1.3680333333333334, + 1.3847166666666666, + 1.4180833333333334, + 1.4347666666666667, + 1.4681333333333333, + 1.4848166666666667, + 1.5181833333333334, + 1.5348666666666666, + 1.5682333333333334, + 1.5849166666666668, + 1.6182833333333333, + 1.6349666666666667, + 1.6683333333333334, + 1.6850166666666666, + 1.7183833333333334, + 1.7350666666666668, + 1.7684333333333333, + 1.7851166666666667, + 1.8184833333333335, + 1.8351666666666666, + 1.8685333333333334, + 1.8852166666666668, + 1.9185833333333333, + 1.9352666666666667, + 1.9686333333333335, + 1.9853166666666666, + 2.018683333333333 + ] +} diff --git a/spatialvid_eval/source/scene_160/transforms.json b/spatialvid_eval/source/scene_160/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c6076c3266a8be094da03d37c525ee9b2635ecf7 --- /dev/null +++ b/spatialvid_eval/source/scene_160/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999565936024, + 0.0002480939623841054, + 0.00015894080395309685, + -0.00014854658487685094 + ], + [ + -0.00024804629038534606, + 0.9999999242709817, + -0.0002998850921703678, + 0.00020694448515448552 + ], + [ + -0.00015901519159744227, + 0.00029984565447662483, + 0.9999999424033744, + -4.974960060430943e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999954829341091, + 0.000644489057537745, + -0.002935769955678647, + -0.0011743462947319979 + ], + [ + -0.0006454425646698866, + 0.9999997392613368, + -0.000323853599947241, + 0.00034156214518084175 + ], + [ + 0.0029355604701085027, + 0.00032574700796866504, + 0.9999956381772939, + -8.505814375928242e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999989595728154, + 0.0008426560374142053, + -0.004483120146262903, + -0.0016872461496595713 + ], + [ + -0.0008441680064990423, + 0.9999995874513584, + -0.00033537663925218344, + 0.00040887097519401986 + ], + [ + 0.004482835689607903, + 0.00033915765649922426, + 0.9999898945270719, + -0.00010271241533676891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999705206354667, + 0.0012389264503253903, + -0.007577791319677257, + -0.002713045859514718 + ], + [ + -0.0012416710812943339, + 0.9999991652229365, + -0.00035750014847429434, + 0.000543488635220376 + ], + [ + 0.0075773420775209314, + 0.0003668987339388232, + 0.999971224222157, + -0.0001380209584917419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999573327951585, + 0.0014370289189378955, + -0.009125104770858398, + -0.0032259457144422914 + ], + [ + -0.0014404477468382625, + 0.999998894805521, + -0.00036810056454842244, + 0.0006107974652335542 + ], + [ + 0.00912456571468665, + 0.0003812290953330785, + 0.9999582976129032, + -0.00015567523006922837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999236566870919, + 0.0018331659698207345, + -0.012219668573324741, + -0.004251745424297439 + ], + [ + -0.001838048915358565, + 0.9999982353675706, + -0.00038837859062919344, + 0.0007454151252599104 + ], + [ + 0.01221893504768555, + 0.00041080928908816285, + 0.9999252616381029, + -0.00019098377322420137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999903168501293, + 0.002031199587993418, + -0.013766911393222303, + -0.0047646452792250125 + ], + [ + -0.002036872450673996, + 0.9999978463486411, + -0.00039805615128423626, + 0.0008127239552730885 + ], + [ + 0.013766073212604384, + 0.00042605904945826225, + 0.9999051523529578, + -0.00020863804480168786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998548921154787, + 0.002427194599983138, + -0.016861300042361832, + -0.0057904449890801585 + ], + [ + -0.0024345630039849515, + 0.9999969497156067, + -0.0004164882500599877, + 0.0009473416152994448 + ], + [ + 0.016860237712569955, + 0.0004574777116133175, + 0.9998577514318822, + -0.00024394658795666083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998273947205288, + 0.0026281202695126954, + -0.01839221982820592, + -0.006317666793947883 + ], + [ + -0.002636389405009945, + 0.9999964342503539, + -0.0004253674683752128, + 0.0009828281121391337 + ], + [ + 0.018391036329288946, + 0.0004737831011941519, + 0.9998307583347834, + -0.00019656805557674925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997652467211823, + 0.003029895204601801, + -0.02145393165792531, + -0.007372110403683331 + ], + [ + -0.003040081478240638, + 0.999995281171295, + -0.0004421987657869203, + 0.0010538011058185113 + ], + [ + 0.021452490604576827, + 0.0005073166584454618, + 0.9997697401285303, + -0.00010181099081692607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997305962650083, + 0.003230743511929228, + -0.02298471639962627, + -0.007899332208551055 + ], + [ + -0.003241946187641847, + 0.999994643560239, + -0.00045015080474080434, + 0.0010892876026582002 + ], + [ + 0.02298313896158564, + 0.000524544746138495, + 0.9997357151649039, + -5.443245843701449e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9996541428528651, + 0.003632359411037663, + -0.02604612528213237, + -0.008953775818286503 + ], + [ + -0.003645710544783248, + 0.9999932462026776, + -0.0004651275683167225, + 0.001160260596337578 + ], + [ + 0.02604425986138107, + 0.0005599233342147062, + 0.999660633922399, + 4.0324606322808695e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996123400792373, + 0.0038331260449658514, + -0.02757674212148571, + -0.009480997623154228 + ], + [ + -0.003847609229546553, + 0.9999924864595049, + -0.0004721522572192169, + 0.001195747093177267 + ], + [ + 0.027574725103402718, + 0.0005780737502200489, + 0.9996195778225891, + 8.770313870272027e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9995215828953656, + 0.0042345742874319485, + -0.030637782343816814, + -0.010535441232889676 + ], + [ + -0.004251437203820469, + 0.9999908448534349, + -0.0004852741654839961, + 0.0012667200868566445 + ], + [ + 0.03063544692092551, + 0.000615296609721848, + 0.9995304351554472, + 0.00018246020346254343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994726287015776, + 0.0044352549385168975, + -0.032168198426222025, + -0.0110626630377574 + ], + [ + -0.004453365530202466, + 0.999989962994453, + -0.0004913713535505659, + 0.0013022065836963334 + ], + [ + 0.0321656961966135, + 0.0006343689644418867, + 0.99948234880072, + 0.000229838735842455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993686108310142, + 0.004831688103175797, + -0.035199921530636516, + -0.01205214461395712 + ], + [ + -0.004853342360266289, + 0.9999880821403881, + -0.0005297594954895847, + 0.0013930325191634475 + ], + [ + 0.03519694239026146, + 0.0007002622813246526, + 0.9993801503327523, + 0.00030443668212555737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9993136369470902, + 0.005027399949988744, + -0.03670122969769249, + -0.012514404385289115 + ], + [ + -0.005051430498825433, + 0.9999870834846404, + -0.0005620620953723187, + 0.0014483719577908726 + ], + [ + 0.0366979299347452, + 0.0007470700277559352, + 0.9993261248585863, + 0.00033165609602874805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9991968083257541, + 0.005418610990590115, + -0.03970361301643572, + -0.013438923927953105 + ], + [ + -0.005447750612705094, + 0.9999849650968407, + -0.0006257743460451098, + 0.0015590508350457229 + ], + [ + 0.039699625248709826, + 0.0008415671114373033, + 0.9992113047398478, + 0.00038609492383512946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9991349538566751, + 0.005614109285843428, + -0.04120468127223677, + -0.013901183699285101 + ], + [ + -0.005645981677755962, + 0.9999838453696547, + -0.0006571838505006099, + 0.0016143902736731478 + ], + [ + 0.041200326123884703, + 0.0008892562316461019, + 0.999150510358995, + 0.00041331433773832013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9990043653120321, + 0.006004889181149927, + -0.044206553738407116, + -0.014825703241949092 + ], + [ + -0.006042583547591217, + 0.9999814848615686, + -0.0007191092569425947, + 0.001725069150927998 + ], + [ + 0.044201417076547976, + 0.0009855150811373494, + 0.9990221536524856, + 0.00046775316554470154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9989356315364041, + 0.006200169883658255, + -0.04570735105406348, + -0.015287963013281086 + ], + [ + -0.0062409534414588136, + 0.99998024408609, + -0.0007496250166985529, + 0.0017804085895554232 + ], + [ + 0.04570180026111843, + 0.0010340845893320799, + 0.9989545916216388, + 0.0004949725794478922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9987912857678762, + 0.006590510555778527, + -0.0487086506153396, + -0.01621248255594508 + ], + [ + -0.006637828869011081, + 0.9999776415065116, + -0.0008097622988369557, + 0.0018910874668102734 + ], + [ + 0.04870222481631382, + 0.0011321032148467894, + 0.9988127009806456, + 0.0005494114072542736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9987156741065097, + 0.006785569628854424, + -0.05020914596756224, + -0.016674742327277073 + ], + [ + -0.0068363334911506505, + 0.9999762797083891, + -0.0008393836830958448, + 0.0019464269054376986 + ], + [ + 0.05020225929555138, + 0.001181552107037189, + 0.9987383726963938, + 0.0005766308211574643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9985597218730754, + 0.007108219035543265, + -0.05317852080407188, + -0.0176910301905904 + ], + [ + -0.007166999766004536, + 0.999973898354391, + -0.0009147263395312873, + 0.0020383320113048498 + ], + [ + 0.05317063068198887, + 0.0012945393253515891, + 0.99858460242526, + 0.000402338030571813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9984783960305164, + 0.007269417116988056, + -0.05466304268065354, + -0.01819917412224707 + ], + [ + -0.007332416231019343, + 0.999972664282996, + -0.0009520288766467345, + 0.0020842845642384256 + ], + [ + 0.05465462773217647, + 0.0013513924471174926, + 0.9985044042997063, + 0.0003151916352789874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9983090458039672, + 0.007591558231841124, + -0.05763173873470411, + -0.019215461985560397 + ], + [ + -0.0076634139647724486, + 0.999970109365226, + -0.0010258959511580189, + 0.0021761896701055767 + ], + [ + 0.057622227936597166, + 0.0014658170795283638, + 0.9983373829662557, + 0.00014089884469333614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9982210217990739, + 0.007752500544125117, + -0.059115906266641864, + -0.01972360591721706 + ], + [ + -0.00782899449256061, + 0.9999687885245706, + -0.0010624603231997965, + 0.002222142223039152 + ], + [ + 0.059105824447752205, + 0.0015233883340297434, + 0.9982505601322423, + 5.375244940051052e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9980382769912732, + 0.008074126877033511, + -0.06208386372854192, + -0.020739893780530393 + ], + [ + -0.008160317016671607, + 0.9999660600945021, + -0.0011348503276025984, + 0.0023140473289063033 + ], + [ + 0.062072593682542525, + 0.0016392480752482211, + 0.9980702911014182, + -0.00012054034118514072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9979435565974469, + 0.008234810177685986, + -0.06356764701462642, + -0.021248037712187057 + ], + [ + -0.00832605827131725, + 0.9999646525111971, + -0.0011706757979160363, + 0.002359999881839879 + ], + [ + 0.06355575976495989, + 0.0016975363026091887, + 0.9979768453081467, + -0.0002076867364779663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9977474208901158, + 0.008555915248912008, + -0.06653480608956479, + -0.022264325575500385 + ], + [ + -0.00865769891070133, + 0.9999617506237994, + -0.0012415872737842498, + 0.0024519049877070303 + ], + [ + 0.0665216382592476, + 0.001814828818433574, + 0.9977833322117914, + -0.00038197952706361753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.997652089750246, + 0.008769189420897007, + -0.0679220813422827, + -0.022686190592695082 + ], + [ + -0.008875321542963862, + 0.9999598185350793, + -0.0012609452011896778, + 0.002518245503987529 + ], + [ + 0.0679082946662353, + 0.0018608149268075317, + 0.9976898320035802, + -0.00042807997917007206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9974555040477462, + 0.009195543675196746, + -0.07069624757633268, + -0.02352992062708448 + ], + [ + -0.009310645212818866, + 0.9999558115866652, + -0.0012987531615571255, + 0.002650926536548526 + ], + [ + 0.07068118087990317, + 0.001953676168455406, + 0.997497044516349, + -0.0005202808833829812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9973542498744067, + 0.009408622913219731, + -0.07208313306409765, + -0.023951785644279182 + ], + [ + -0.009528345388357819, + 0.999953736734906, + -0.0013172031196496002, + 0.0027172670528290248 + ], + [ + 0.07206740519555101, + 0.0020005511178400335, + 0.9973977576190981, + -0.0005663813354894356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9971458198860953, + 0.009834583501252573, + -0.07485649504915211, + -0.02479551567866858 + ], + [ + -0.00996382026514603, + 0.9999494442968269, + -0.001353194808973661, + 0.002849948085390022 + ], + [ + 0.0748394025190655, + 0.0020951892096081944, + 0.9971933985003938, + -0.0006585822397023448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9970386444838687, + 0.010047464007750232, + -0.07624296605446709, + -0.025217380695863278 + ], + [ + -0.01018159410404233, + 0.999947226719007, + -0.0013707364689323886, + 0.002916288601670521 + ], + [ + 0.07622517003766005, + 0.0021429521645838154, + 0.9970883266836243, + -0.0007046826918087994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9968183739244487, + 0.010473023337916368, + -0.07901547436282096, + -0.026061110730252676 + ], + [ + -0.010617212426597378, + 0.999942648867764, + -0.001404911245758174, + 0.0030489696342315183 + ], + [ + 0.07899622906763755, + 0.0022393654198032634, + 0.9968723995755977, + -0.0007968835960217083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9967052792034478, + 0.010685701318867239, + -0.08040150617557587, + -0.026482975747447374 + ], + [ + -0.010835056047619104, + 0.9999402886034058, + -0.001421544294950329, + 0.003115310150512017 + ], + [ + 0.08038151509160646, + 0.002288015529123894, + 0.9967615447119318, + -0.0008429840481281629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9964734729731632, + 0.011069198863666255, + -0.08317505934665256, + -0.0273058753526568 + ], + [ + -0.011230824860221332, + 0.9999358435798871, + -0.0014755667178178848, + 0.0032108353291928366 + ], + [ + 0.08315338979116607, + 0.0024044876161683692, + 0.9965338590361806, + -0.0009790797264117898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9963547726616823, + 0.011239992247305075, + -0.08456257782593977, + -0.027706909940671525 + ], + [ + -0.0114087795846629, + 0.9999337730796597, + -0.0015130112572196471, + 0.0032400199915931576 + ], + [ + 0.08453997127203307, + 0.0024722517987486965, + 0.9964170217476053, + -0.0010690749525889623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9961114885812599, + 0.011581294074443783, + -0.08733713954548823, + -0.028508979116700976 + ], + [ + -0.01176484342287927, + 0.9999295322135241, + -0.001587156727656352, + 0.0032983893163938 + ], + [ + 0.08731260376178211, + 0.002608492822352356, + 0.9961775469209964, + -0.001249065404943307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9959869052918793, + 0.01175180184517069, + -0.08872417731654307, + -0.0289100137047157 + ], + [ + -0.011942951834782264, + 0.9999273618559757, + -0.0016238575125360004, + 0.003327573978794121 + ], + [ + 0.0886986493052606, + 0.0026769693948178546, + 0.996054909855015, + -0.0013390606311204792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9957318574426691, + 0.012092529420418632, + -0.09149775301059908, + -0.02971208288074515 + ], + [ + -0.012299319888745143, + 0.9999229213133083, + -0.0016965148198957278, + 0.0033859433035947632 + ], + [ + 0.09147018532859001, + 0.0028146339861725403, + 0.995803837626406, + -0.001519051083474824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9954689695817984, + 0.012432870802238762, + -0.09427064401693284, + -0.0305141520567746 + ], + [ + -0.01265588724118146, + 0.9999183476965, + -0.0017681793007986032, + 0.0034443126283954057 + ], + [ + 0.0942409630568944, + 0.0029532462674337102, + 0.9955450362583267, + -0.0016990415358291687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9953345862923306, + 0.012602895831894603, + -0.09565682592960024, + -0.030915186644789327 + ], + [ + -0.012834244775807963, + 0.9999160109965217, + -0.0018036390544419255, + 0.0034734972907957268 + ], + [ + 0.09562606073299305, + 0.003022907450530987, + 0.9954127377822909, + -0.0017890367620063412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9950508351834947, + 0.01294879827180557, + -0.09851986613848925, + -0.031645983714037734 + ], + [ + -0.013197296273330663, + 0.9999111613791767, + -0.0018710212238494004, + 0.0035073304347367734 + ], + [ + 0.09848688629306791, + 0.00316195709367591, + 0.9951333253668244, + -0.001972865181174011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9949012033960166, + 0.013124669983059632, + -0.09999669254027388, + -0.031975746195271416 + ], + [ + -0.013381988537291875, + 0.9999086464702929, + -0.0019029179527743838, + 0.0035119789162774986 + ], + [ + 0.09996258231931626, + 0.0032313699545201634, + 0.9949859498426454, + -0.002066698374164508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9945952715981685, + 0.013476102071894865, + -0.10294969833619522, + -0.032635271157738774 + ], + [ + -0.013751512626396206, + 0.9999035109357636, + -0.0019658888116297437, + 0.0035212758793589493 + ], + [ + 0.1029132722978518, + 0.0033709777930885543, + 0.9946846208189142, + -0.0022543647601455026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9944389722721203, + 0.01365166166337726, + -0.10442587112491843, + -0.032965033638972456 + ], + [ + -0.013936343624971566, + 0.9999008903216056, + -0.001996962800704128, + 0.003525924360899675 + ], + [ + 0.1043882596499056, + 0.003441172458531727, + 0.9945306679933881, + -0.002348197953136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9941197085138611, + 0.014002465976975307, + -0.10737753997405544, + -0.03362455860143982 + ], + [ + -0.014306141462978964, + 0.9998955434288127, + -0.0020582875506081157, + 0.0035352213239811256 + ], + [ + 0.10733750258300898, + 0.003582342496663764, + 0.9942161874368569, + -0.0025358643391169946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9939567447957931, + 0.014177709914396408, + -0.10885302943204628, + -0.0339543210826735 + ], + [ + -0.014491107475230894, + 0.9998928171621376, + -0.002088538174263815, + 0.003539869805521851 + ], + [ + 0.10881175156706197, + 0.0036533175535772653, + 0.9940556604092956, + -0.0026296975321074916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9936241555044023, + 0.014527879390516822, + -0.11180330191268062, + -0.03461384604514086 + ], + [ + -0.01486117161753151, + 0.9998872590187223, + -0.0021482155806531377, + 0.0035491667686033015 + ], + [ + 0.11175948808185232, + 0.0037960469492989085, + 0.9937280346509507, + -0.002817363918088486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9934545306750298, + 0.014702804145941613, + -0.11327807833602462, + -0.03494360852637454 + ], + [ + -0.0150462689198044, + 0.9998844271544144, + -0.002177642229897706, + 0.003553815250144027 + ], + [ + 0.11323296901896275, + 0.0038678009688436457, + 0.9935609366530148, + -0.0029111971110789836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9930939050610752, + 0.015088356601383777, + -0.11634791457354816, + -0.035706618485725115 + ], + [ + -0.015447818378606815, + 0.9998782805277778, + -0.0021883866559755183, + 0.0034814269980948083 + ], + [ + 0.11630073360854505, + 0.003970594903028108, + 0.9932061083874939, + -0.002863894732405911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9929099787171283, + 0.0152810123551103, + -0.11788241949228574, + -0.036088123465400405 + ], + [ + -0.01564860415981229, + 0.9998751475317444, + -0.002193293464667839, + 0.003445232872070199 + ], + [ + 0.11783418583671619, + 0.00402243828735948, + 0.9930251379690359, + -0.002840243543069375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9925349011867396, + 0.0156660805772213, + -0.12095058431267401, + -0.03685113342475098 + ], + [ + -0.016050195389843095, + 0.9998687622122572, + -0.0022021762138285488, + 0.0033728446200209806 + ], + [ + 0.12090021155555151, + 0.0041270172615222155, + 0.9926560867563077, + -0.002792941164396303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9923437509104073, + 0.015858492111254473, + -0.1224842367695561, + -0.03723263840442627 + ], + [ + -0.016250999864224763, + 0.9998655099042971, + -0.0022061521327433327, + 0.003336650493996371 + ], + [ + 0.12243277760663752, + 0.004179752597597244, + 0.992468006857524, + -0.0027692899750597667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9919542296545555, + 0.016243067690886175, + -0.12555066317000024, + -0.03799564836377684 + ], + [ + -0.01665262409550517, + 0.9998588860314026, + -0.0022131730110048096, + 0.0032642622419471524 + ], + [ + 0.12549699749863086, + 0.004286114327934928, + 0.9920847407569561, + -0.0027219875963866947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.991755859620192, + 0.016435230803328777, + -0.12708342967301187, + -0.03837715334345213 + ], + [ + -0.016853442877880164, + 0.9998555144825403, + -0.0022162179533156473, + 0.003228068115922543 + ], + [ + 0.1270286439043418, + 0.004339740464115468, + 0.9918895554851498, + -0.0026983364070501587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9913519031452708, + 0.01681930534209141, + -0.13014805068866675, + -0.039140163302802705 + ], + [ + -0.017255091339710683, + 0.9998486522008911, + -0.0022213768073554374, + 0.003155679863873324 + ], + [ + 0.13009099105283395, + 0.004447882627892818, + 0.9914920828665353, + -0.0026510340283770863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9911412447636013, + 0.01699430014308773, + -0.13172025922805433, + -0.03956187570885433 + ], + [ + -0.017439564314691968, + 0.9998454381253854, + -0.0022274326858927078, + 0.0031539833170706596 + ], + [ + 0.13166204663825073, + 0.004504844337278382, + 0.9912844253051312, + -0.002600459727684631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9907123560416186, + 0.01734401594381922, + -0.13486368190660575, + -0.04040530052095758 + ], + [ + -0.01780853614979272, + 0.9998389092308532, + -0.002238666625399009, + 0.003150590223465331 + ], + [ + 0.13480312914271358, + 0.004619599441368725, + 0.9908616329610984, + -0.0024993111262997213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9904941267940061, + 0.017518736052566118, + -0.13643488803711581, + -0.04082701292700921 + ], + [ + -0.01799303406986437, + 0.9998355944284605, + -0.002243844657746772, + 0.0031488936766626663 + ], + [ + 0.1363731480590681, + 0.00467739254370624, + 0.9906464992556385, + -0.002448736825607266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9900501013055047, + 0.017867898461107982, + -0.13957626986541666, + -0.041670437739112456 + ], + [ + -0.018362051564778954, + 0.9998288641556485, + -0.0022533227816699153, + 0.0031455005830573375 + ], + [ + 0.13951212121995882, + 0.004793809112754585, + 0.9902087595183645, + -0.0023475882242223562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9898243061958816, + 0.018042339871324586, + -0.14114643755975337, + -0.042092150145164084 + ], + [ + -0.018546570199457747, + 0.9998254487023762, + -0.0022576228490974086, + 0.003143804036254673 + ], + [ + 0.14108106746717763, + 0.004852432282865157, + 0.9899861546018015, + -0.002297013923529901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9893651541222361, + 0.01839094088148515, + -0.14428570650683933, + -0.04293557495726734 + ], + [ + -0.018915624892723186, + 0.9998185172056078, + -0.0022653449401067918, + 0.0031404109426493437 + ], + [ + 0.14421785930876194, + 0.004970507647473706, + 0.98953347750853, + -0.0021958653221449908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9891317983280185, + 0.018565099593281065, + -0.1458547997615177, + -0.04335728736331896 + ], + [ + -0.019100160011050922, + 0.9998150011797715, + -0.0022687669440147294, + 0.0031387143958466796 + ], + [ + 0.14578569691136753, + 0.00502995954114523, + 0.9893034064851298, + -0.002145291021452536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9886616205672877, + 0.018914164418450313, + -0.14896460788259808, + -0.04418937788390785 + ], + [ + -0.019464851002874407, + 0.9998080335111719, + -0.002239576290146423, + 0.003077795104588119 + ], + [ + 0.14889365195568371, + 0.00511375702153662, + 0.9888399920595973, + -0.001980046754214341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9884248850758658, + 0.01908912731415762, + -0.1505053214379664, + -0.044599755998445116 + ], + [ + -0.019644951122408674, + 0.999804583483242, + -0.002206975600093735, + 0.003018572360132223 + ], + [ + 0.150433780974088, + 0.005138099287199146, + 0.9886067355008032, + -0.0018653767876686007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9879441187111287, + 0.019438936369036434, + -0.1535856310236469, + -0.045420512227519645 + ], + [ + -0.020004995989993366, + 0.9997975877867561, + -0.002140932325890309, + 0.0029001268712204307 + ], + [ + 0.15351292596889551, + 0.005187601432670524, + 0.9881330225996114, + -0.0016360368545771202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9877000890207307, + 0.019613781667509204, + -0.15512521947491395, + -0.04583089034205691 + ], + [ + -0.02018493985216003, + 0.9997940421354132, + -0.0021074899042378362, + 0.0028409041267645346 + ], + [ + 0.1550519343691191, + 0.005212761190680263, + 0.9878925674227758, + -0.0015213668880313801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9872047396260265, + 0.01996335165550426, + -0.15820324475366523, + -0.04665164657113144 + ], + [ + -0.02054466821950019, + 0.999786855270147, + -0.0020397639032534868, + 0.002722458637852742 + ], + [ + 0.15812880404170546, + 0.005263897767722362, + 0.9874044625748007, + -0.0012920269549398997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9869534211405184, + 0.020138075484916015, + -0.15974167400772482, + -0.0470620246856687 + ], + [ + -0.020724451839568662, + 0.9997832140739068, + -0.0020054804905601936, + 0.002663235893396846 + ], + [ + 0.15966665774348693, + 0.005289874460934118, + 0.9871568141046344, + -0.0011773569883941595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9864434996850121, + 0.02048739866504517, + -0.16281734681883647, + -0.04788278091474323 + ], + [ + -0.021083855740731974, + 0.9997758361990083, + -0.001936073262539701, + 0.002544790404485054 + ], + [ + 0.16274118395873177, + 0.005342644337163316, + 0.9866543281186158, + -0.0009480170553026793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.986184897969666, + 0.020661997156259278, + -0.164354582808252, + -0.0482931590292805 + ], + [ + -0.021263475137520103, + 0.999772099538503, + -0.0019009496179877134, + 0.002485567660029158 + ], + [ + 0.16427784890737973, + 0.005369437390341443, + 0.9863994918391208, + -0.0008333470887569392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9856737796245525, + 0.021088365066270057, + -0.16733941860625903, + -0.0492375150334136 + ], + [ + -0.02171169903814814, + 0.9997624752090845, + -0.0018961246482030402, + 0.0022494733336183947 + ], + [ + 0.16725968517705023, + 0.005502183442631349, + 0.9858975219016618, + -9.68781419320642e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9854147630708078, + 0.021301396295220272, + -0.16883126262033857, + -0.04970969303548015 + ], + [ + -0.02193580339145723, + 0.99975758877381, + -0.0018932033035530436, + 0.002131426170413013 + ], + [ + 0.16875000815311117, + 0.005569039867986823, + 0.9856431507108816, + 0.00027135633148037326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9848898182305037, + 0.02172715080931165, + -0.1718137854294436, + -0.05065404903961326 + ], + [ + -0.022383994282851153, + 0.9997476674192843, + -0.001886342928906953, + 0.0018953318440022497 + ], + [ + 0.1717294463562692, + 0.005703718735139245, + 0.9851276388604472, + 0.0010078252783052484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9846238911719379, + 0.021939873098493212, + -0.1733044572475091, + -0.05112622704167981 + ], + [ + -0.022608079772491387, + 0.9997426325232418, + -0.001882403914959205, + 0.0017772846807968682 + ], + [ + 0.173218554613622, + 0.0057715408618844305, + 0.9848664994067202, + 0.0013760597517176857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9840851308883688, + 0.022365005253042858, + -0.17628460427517045, + -0.05207058304581291 + ], + [ + -0.023056228218664612, + 0.9997324143524876, + -0.0018735082798865899, + 0.0015411903543861049 + ], + [ + 0.17619553202266774, + 0.005908149708437947, + 0.9843374564966385, + 0.002112528698542561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9838122989236773, + 0.022577414123907225, + -0.17777407251336405, + -0.052542761047879465 + ], + [ + -0.023280290126852312, + 0.9997272311016793, + -0.0018685516795711164, + 0.0014231431911807234 + ], + [ + 0.17768339421037296, + 0.005976936108679755, + 0.9840695542778641, + 0.0024807631719549984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9832597345396323, + 0.023001914968395678, + -0.18075178101705888, + -0.05348711705201257 + ], + [ + -0.02372838669271191, + 0.9997167163298253, + -0.0018576209713562233, + 0.00118704886476996 + ], + [ + 0.18065784814951505, + 0.00611547205854013, + 0.9835269914463397, + 0.0032172321187798735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 584.7107442220051, + "fy": 584.710807800293, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_187/caption.txt b/spatialvid_eval/source/scene_187/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..49d7251351f00fd79cc156221cd6edcd77d024db --- /dev/null +++ b/spatialvid_eval/source/scene_187/caption.txt @@ -0,0 +1 @@ +A vibrant night scene at The Mirage hotel in Las Vegas, with pedestrians walking under its illuminated archway and taxis, including a pink one, moving along the bustling street. The backdrop features dazzling hotel lights and the iconic Bellagio fountains, capturing the lively energy of the city. diff --git a/spatialvid_eval/source/scene_187/extras/temporal_mapping.json b/spatialvid_eval/source/scene_187/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..b382a9da2b13b075606166ec7f833be494cdccd8 --- /dev/null +++ b/spatialvid_eval/source/scene_187/extras/temporal_mapping.json @@ -0,0 +1,182 @@ +{ + "original_scene_id": "6e894c94-26a0-5669-8c06-c9d549462a63", + "original_video_path": "videos/group_0045/6e894c94-26a0-5669-8c06-c9d549462a63.mp4", + "original_video_num_frames": 380, + "original_annotation_num_frames": 43, + "source_frame_indices": [ + 0, + 5, + 9, + 14, + 19, + 24, + 28, + 33, + 38, + 43, + 47, + 52, + 57, + 61, + 66, + 71, + 76, + 80, + 85, + 90, + 94, + 99, + 104, + 109, + 113, + 118, + 123, + 128, + 132, + 137, + 142, + 146, + 151, + 156, + 161, + 165, + 170, + 175, + 180, + 184, + 189, + 194, + 198, + 203, + 208, + 213, + 217, + 222, + 227, + 232, + 236, + 241, + 246, + 250, + 255, + 260, + 265, + 269, + 274, + 279, + 284, + 288, + 293, + 298, + 302, + 307, + 312, + 317, + 321, + 326, + 331, + 335, + 340, + 345, + 350, + 354, + 359, + 364, + 369, + 373, + 378 + ], + "sampling": { + "method": "81 uniformly spaced integer frames over the annotated source-frame range", + "pose_interpolation": "linear camera-center interpolation and quaternion SLERP in c2w", + "intrinsic_interpolation": "linear interpolation of normalized fx, fy, cx, cy", + "annotated_source_frame_range": [ + 0, + 378 + ], + "timing": "variable timestamps; use timestamps_seconds instead of a scalar output FPS" + }, + "timestamps_seconds": [ + 0.0, + 0.10427081845450649, + 0.1876874732181117, + 0.29195829167261816, + 0.3962291101271247, + 0.5004999285816312, + 0.5839165833452363, + 0.6881874017997429, + 0.7924582202542494, + 0.8967290387087559, + 0.980145693472361, + 1.0844165119268676, + 1.188687330381374, + 1.2721039851449794, + 1.3763748035994858, + 1.4806456220539923, + 1.5849164405084988, + 1.6683330952721038, + 1.7726039137266105, + 1.876874732181117, + 1.960291386944722, + 2.0645622053992287, + 2.168833023853735, + 2.2731038423082417, + 2.356520497071847, + 2.4607913155263534, + 2.56506213398086, + 2.6693329524353664, + 2.7527496071989717, + 2.857020425653478, + 2.9612912441079846, + 3.04470789887159, + 3.1489787173260964, + 3.253249535780603, + 3.3575203542351093, + 3.4409370089987146, + 3.545207827453221, + 3.6494786459077275, + 3.753749464362234, + 3.8371661191258393, + 3.9414369375803457, + 4.045707756034852, + 4.1291244107984575, + 4.233395229252964, + 4.33766604770747, + 4.441936866161977, + 4.525353520925582, + 4.629624339380088, + 4.733895157834595, + 4.838165976289101, + 4.921582631052707, + 5.025853449507213, + 5.13012426796172, + 5.213540922725325, + 5.317811741179831, + 5.422082559634338, + 5.526353378088844, + 5.60977003285245, + 5.714040851306956, + 5.818311669761463, + 5.922582488215969, + 6.005999142979574, + 6.1102699614340805, + 6.214540779888587, + 6.297957434652193, + 6.402228253106699, + 6.506499071561206, + 6.610769890015712, + 6.694186544779317, + 6.798457363233823, + 6.90272818168833, + 6.986144836451936, + 7.090415654906442, + 7.194686473360949, + 7.298957291815455, + 7.38237394657906, + 7.486644765033566, + 7.590915583488073, + 7.695186401942579, + 7.778603056706185, + 7.8828738751606915 + ] +} diff --git a/spatialvid_eval/source/scene_187/transforms.json b/spatialvid_eval/source/scene_187/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..665d6439753a57a08d871f668e41ac5c3035af88 --- /dev/null +++ b/spatialvid_eval/source/scene_187/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999778139528, + 4.273864426246965e-05, + 0.00020626561182038707, + -5.6983251106664026e-05 + ], + [ + -4.2713511254125646e-05, + 0.9999999916639871, + -0.0001218506540973382, + -0.00011051248740107927 + ], + [ + -0.00020627081783271284, + 0.00012184184106542198, + 0.9999999713034575, + -0.0003636010280417801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999185811966328, + -0.0015120695655435235, + -0.012670620479758853, + 0.008148280407053855 + ], + [ + 0.001489346318679979, + 0.9999972661920578, + -0.0018026247402256445, + -0.0005119872020254449 + ], + [ + 0.012673311534723742, + 0.0017836070307094551, + 0.9999180996065148, + 0.0008507772115648046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997323410333401, + -0.0027712388301015926, + -0.02296881641147295, + 0.01471249133358227 + ], + [ + 0.0026993247613422955, + 0.9999913596973261, + -0.003161356753979444, + -0.0008331669737249374 + ], + [ + 0.02297737882853952, + 0.0030985102936192167, + 0.9997311835169144, + 0.0018222798032500721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999383747554701, + -0.004674563242764316, + -0.034788986504514154, + 0.010969167935874135 + ], + [ + 0.004494628815461896, + 0.9999761250945416, + -0.00524857625620935, + -5.2906460916592136e-05 + ], + [ + 0.03481269072239448, + 0.0050889782270532175, + 0.999380897788862, + 0.0069129188053296325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9988966808304737, + -0.006581596645374999, + -0.04649842590303932, + 0.007186116117309887 + ], + [ + 0.006242825686525104, + 0.9999529314620714, + -0.007427111676654476, + 0.0006563985693760673 + ], + [ + 0.04654511954341198, + 0.007128635634356931, + 0.9988907519847614, + 0.01182878167032482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9982931293522073, + -0.008434878512223491, + -0.05778997069268693, + 0.0032441506153211824 + ], + [ + 0.007875170574609588, + 0.9999199220307811, + -0.009906120046616333, + 0.001081881669605984 + ], + [ + 0.05786889990831334, + 0.009434105704368652, + 0.9982796141727832, + 0.016045539986982514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9977068567072503, + -0.01003923016910161, + -0.06693460941060579, + 0.0001979059407436868 + ], + [ + 0.009258345671490484, + 0.9998855376405213, + -0.011966396815789045, + 0.0013347806590492683 + ], + [ + 0.06704708132921038, + 0.011319252401882945, + 0.9976856034895447, + 0.01911528704603782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9968124908654705, + -0.012457029823942615, + -0.07880152576277932, + -0.003207420926177681 + ], + [ + 0.011324572292384571, + 0.9998263178011247, + -0.014801631485723213, + 0.0013228263055759409 + ], + [ + 0.07897222370537077, + 0.01386205757490573, + 0.9967804328149801, + 0.02181374739134127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.995752808274256, + -0.014986733712051864, + -0.09083910295999592, + -0.006432807158033266 + ], + [ + 0.013431956457416374, + 0.9997530626938438, + -0.017702999181082157, + 0.0012384595666999054 + ], + [ + 0.09108198153124888, + 0.016407664273849983, + 0.9957082209128425, + 0.02412168788218573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9945100320212377, + -0.01767040392177187, + -0.1031385138265921, + -0.00938828243729018 + ], + [ + 0.015615923129718373, + 0.9996639093348209, + -0.020693267461413933, + 0.001045474249719808 + ], + [ + 0.103469508329379, + 0.01896905898204535, + 0.9944517261523619, + 0.0258438485913417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.993405493033793, + -0.019910362700269305, + -0.1129119296949202, + -0.011418316867831495 + ], + [ + 0.017417349613771362, + 0.9995832014431693, + -0.023023017288281468, + 0.0009973148224747437 + ], + [ + 0.1133232647902386, + 0.02090456528532879, + 0.9933382288060362, + 0.027341560523081482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9918885542504755, + -0.022824059446705715, + -0.12504462506351455, + -0.013537927664927871 + ], + [ + 0.019738648967152425, + 0.9994707274022132, + -0.025858283064477818, + 0.0010699015713421809 + ], + [ + 0.12556863335982127, + 0.023180323044866554, + 0.9918140909160762, + 0.029363679643274975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9902393384137713, + -0.025739659746282843, + -0.136980007935473, + -0.01549569757089093 + ], + [ + 0.02201438706750661, + 0.9993472954217355, + -0.028641750911995938, + 0.0011582392602497399 + ], + [ + 0.13762782938017531, + 0.025346657558905257, + 0.9901596474966515, + 0.030843791068038872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9888243565666228, + -0.028076786379509566, + -0.14641750553538319, + -0.016975598353723604 + ], + [ + 0.023805206312221345, + 0.9992406501184959, + -0.030845344919428905, + 0.001237309912730519 + ], + [ + 0.14717236158000985, + 0.027015129416039223, + 0.9887418666009838, + 0.03173880943695421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9868449905057266, + -0.031073447791721626, + -0.15865498906774914, + -0.019291107070920244 + ], + [ + 0.02605991563262926, + 0.9990960906434945, + -0.03358396132242942, + 0.0013146347251334486 + ], + [ + 0.1595551488074662, + 0.02900762836257629, + 0.9867627435132551, + 0.033224166455881186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9846501572899511, + -0.03412985391373501, + -0.17117015166407323, + -0.021917037613887413 + ], + [ + 0.028310571430843277, + 0.9989389662477486, + -0.03632427916887755, + 0.0013776172020710158 + ], + [ + 0.17222827669733515, + 0.030920782391565354, + 0.9845716459060558, + 0.03495391284666337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9820880670244728, + -0.03734575288673449, + -0.18468438848332006, + -0.025089412691399207 + ], + [ + 0.030613001226866568, + 0.9987633394267124, + -0.039174430092676425, + 0.0014898275839002222 + ], + [ + 0.18591899516730073, + 0.032818996915278946, + 0.982016823011427, + 0.03704932550640922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9798550870421832, + -0.03996416922391459, + -0.19567031858664208, + -0.027736601660317564 + ], + [ + 0.03244318949243108, + 0.9986118959149249, + -0.04149362351925162, + 0.0015894414703419154 + ], + [ + 0.1970569660101208, + 0.034309568861201095, + 0.9797915113081174, + 0.03879878888799864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9765527628367652, + -0.043168319206128236, + -0.2109056604569881, + -0.019731283835401688 + ], + [ + 0.03459534742771542, + 0.998424755051739, + -0.04417205492424664, + 0.0014654150569894104 + ], + [ + 0.21248026574775408, + 0.03583998767846912, + 0.9765078760312028, + 0.035367446437641954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9729146191508501, + -0.04637228634627872, + -0.22646579190150368, + -0.008897390001469859 + ], + [ + 0.03668023329225143, + 0.9982295897171387, + -0.0468214341811415, + 0.00127925270078575 + ], + [ + 0.2282360714877963, + 0.037246439724780256, + 0.9728931073862359, + 0.03053156106794941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9699321142876419, + -0.0491111569279675, + -0.23836901631441426, + -0.003094177573272473 + ], + [ + 0.03849121945255665, + 0.9980564633625909, + -0.049007366438245256, + 0.001222527811589913 + ], + [ + 0.2403125458617591, + 0.03835870442746826, + 0.9699373640066075, + 0.029885570479775785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9659885911948576, + -0.052553169979798024, + -0.25318808425052086, + 0.004159837961974259 + ], + [ + 0.04071620187537218, + 0.9978286460873547, + -0.051770493066232534, + 0.0011516217000951167 + ], + [ + 0.25535902683519596, + 0.039700848511730155, + 0.966030853565884, + 0.029078082244558757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9621825562566141, + -0.055775518070660855, + -0.2666342438987107, + 0.00865775390749153 + ], + [ + 0.04275320342198317, + 0.9976034161556606, + -0.05440209253066014, + 0.0006665091577315152 + ], + [ + 0.26902953747246094, + 0.040945276388191176, + 0.9622611871570257, + 0.027967677946158218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.958252898069411, + -0.058995879140707454, + -0.27976931494713686, + 0.013040355314107323 + ], + [ + 0.04473847616762438, + 0.9973665992296327, + -0.05708183153435535, + 0.00040868426065131214 + ], + [ + 0.2824001630519609, + 0.04218237766571083, + 0.9583688198823528, + 0.026865641786746507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9552178833174169, + -0.06152457649392648, + -0.28943655933181145, + 0.01617742991491523 + ], + [ + 0.04625562293285501, + 0.9971674360369288, + -0.05930869965385725, + 0.0009297448078940249 + ], + [ + 0.2922656543928618, + 0.04326466219423075, + 0.9553580251756573, + 0.02601079090398139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9513592467739556, + -0.06464521124525563, + -0.30122513215325897, + 0.020068653544195306 + ], + [ + 0.04807756093457635, + 0.9969112115544947, + -0.06210140426376812, + 0.0015291613499085561 + ], + [ + 0.30430926984282647, + 0.04459857553785922, + 0.9515286834077678, + 0.025027657418663633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9476825147076435, + -0.06756146026361241, + -0.3119828527410531, + 0.023839398686556136 + ], + [ + 0.04969841232906875, + 0.9966556190118793, + -0.06486636188362836, + 0.001920941323767649 + ], + [ + 0.315321929350572, + 0.04596766449468897, + 0.9478708006324157, + 0.024386244405900433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9440573117091312, + -0.07042383943589337, + -0.3221742929652151, + 0.027224069235693003 + ], + [ + 0.05125009759615492, + 0.9963936820724847, + -0.06762438777853366, + 0.002174532511430024 + ], + [ + 0.32577479906357604, + 0.047329833774738816, + 0.9442619695454979, + 0.023978922671026737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9412955260164027, + -0.07264116028013136, + -0.3296755898374344, + 0.02946851616313374 + ], + [ + 0.05242605343581298, + 0.9961815929214252, + -0.06981219696927901, + 0.0022115789181238626 + ], + [ + 0.3334879932211192, + 0.0484303185792577, + 0.9415095658673164, + 0.023933974816595184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9380039795099592, + -0.07531022138645553, + -0.3383443585730421, + 0.032552276319865125 + ], + [ + 0.05379010446841044, + 0.995913161620588, + -0.07255066624202826, + 0.002524838990726467 + ], + [ + 0.34242540659939025, + 0.049853235257180106, + 0.9382214535223732, + 0.023841221227763054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9350114464482938, + -0.07781996275347774, + -0.34597347934157746, + 0.03605333872274223 + ], + [ + 0.05500873500842037, + 0.995643499100327, + -0.07528653114621972, + 0.003238527159682031 + ], + [ + 0.3503250406172002, + 0.051362204940059386, + 0.9352188459501084, + 0.02369361448274189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9329024704691709, + -0.07970417835328475, + -0.35119826956513545, + 0.0386808832266902 + ], + [ + 0.05590438087924332, + 0.9954306705624556, + -0.07741111226489689, + 0.0038841755666860524 + ], + [ + 0.3557635180720843, + 0.05258349604778814, + 0.9330955444928274, + 0.023614535932635922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9306449295870146, + -0.08190281687092615, + -0.35663979534340895, + 0.041748682083683035 + ], + [ + 0.05693005777162812, + 0.995169094168571, + -0.07998401423925557, + 0.0047846084152405426 + ], + [ + 0.3614678181472041, + 0.05413319314721686, + 0.9308118036658035, + 0.023564446302392173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.928904675564807, + -0.08381499278060046, + -0.3607092328996147, + 0.04441411962642668 + ], + [ + 0.05773551639695533, + 0.9949173350536474, + -0.08249913063860227, + 0.005546386149350987 + ], + [ + 0.3657905327646103, + 0.0558080943496206, + 0.9290224662218058, + 0.023656541655777918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9275156872855086, + -0.08553678748260045, + -0.36386550788230376, + 0.04681131629300422 + ], + [ + 0.058394266109730385, + 0.9946705126420501, + -0.08497459011908873, + 0.006215727140498736 + ], + [ + 0.36919474471448865, + 0.05756760606067953, + 0.9275673620862508, + 0.023843426998249997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.926849391800143, + -0.08648341366178817, + -0.3653365901208216, + 0.04772208839220497 + ], + [ + 0.05858768093075486, + 0.9945027426044275, + -0.08678582024402474, + 0.006163336885945085 + ], + [ + 0.37083377484104824, + 0.0590331611357222, + 0.926821124771907, + 0.024362102999587576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9262023887653807, + -0.08748825101254054, + -0.3667355191143467, + 0.04844097633534706 + ], + [ + 0.05868925457320254, + 0.9943029413361054, + -0.08897883033627402, + 0.005852906131306417 + ], + [ + 0.37243080759108055, + 0.06088897096466903, + 0.9260603796577842, + 0.02516426788765951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9259201508108278, + -0.08787079690302656, + -0.3673562268072794, + 0.04721000595420499 + ], + [ + 0.05855841959912904, + 0.9941993505888289, + -0.09021398329972691, + 0.005374753839761536 + ], + [ + 0.373152496730903, + 0.06201914495039515, + 0.9256947876287926, + 0.02662080649127935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.925729316769461, + -0.0880977489653854, + -0.36778256987081265, + 0.045491570991991886 + ], + [ + 0.05836956655689075, + 0.9941196166958539, + -0.09120954665192413, + 0.004854671163990101 + ], + [ + 0.3736552231315761, + 0.06296804211439927, + 0.9254279009727184, + 0.02824093852378617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9257164095360485, + -0.08777782750001045, + -0.36789153580242306, + 0.04326248326519117 + ], + [ + 0.058019755641815836, + 0.9941404850729162, + -0.09120528435486094, + 0.004512385246934631 + ], + [ + 0.3737416715740314, + 0.06308525135374726, + 0.9253850085184456, + 0.02969775529873137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9257001041299247, + -0.08737793019165968, + -0.36802773608692607, + 0.04047612360669028 + ], + [ + 0.057582482722371646, + 0.9941664026445524, + -0.09119989877361434, + 0.0040845278506152945 + ], + [ + 0.3738496688474853, + 0.0632318050367944, + 0.9253313806061126, + 0.03151877626741287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9258537139028885, + -0.08691456094980966, + -0.36775094771751493, + 0.03792753600205186 + ], + [ + 0.05722631410682656, + 0.9942144442049018, + -0.09089987848223657, + 0.00383199673244285 + ], + [ + 0.37352382711946963, + 0.06311495883893431, + 0.925470935548375, + 0.03305651347290562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9259764073434203, + -0.08654387907768307, + -0.3675293866312728, + 0.03588866591834113 + ], + [ + 0.05694129549053453, + 0.9942527168046265, + -0.0906599359942365, + 0.0036299718379048944 + ], + [ + 0.37326315370155666, + 0.06302136241630132, + 0.9255824792896425, + 0.03428670323729983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9265526058154867, + -0.08609854324189338, + -0.3661793406353709, + 0.03391584317276014 + ], + [ + 0.056606083408304045, + 0.9942818351034771, + -0.09055044839443921, + 0.003910518435375844 + ], + [ + 0.37188172848057927, + 0.06317177561922482, + 0.9261281265502149, + 0.03531081855559964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9272494887686727, + -0.08562203878309624, + -0.36452332168581636, + 0.032116366885376044 + ], + [ + 0.056253942934470995, + 0.9943103870828391, + -0.09045633224656024, + 0.004199390397046189 + ], + [ + 0.37019438067393795, + 0.06336971369511446, + 0.926790375383581, + 0.036217165107753455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9284313720697509, + -0.08502096186100061, + -0.3616443327371668, + 0.031010276430779544 + ], + [ + 0.055834638264351255, + 0.9943370779138397, + -0.09042272200976977, + 0.004521563815514116 + ], + [ + 0.3672841958573352, + 0.0637590113630798, + 0.927920852197769, + 0.03665243659532325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9295403674006099, + -0.08447583615645614, + -0.35891299569450974, + 0.030268358846713868 + ], + [ + 0.055470568326194056, + 0.9943616320036702, + -0.09037677162062575, + 0.0048439086156051815 + ], + [ + 0.36452396549789234, + 0.06409974964588618, + 0.9289851993831906, + 0.036769409391931886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.93154530703407, + -0.08355462016718711, + -0.3538954173078791, + 0.029877042290175005 + ], + [ + 0.05490797348929819, + 0.994404683514281, + -0.09024655036156, + 0.005489112360656733 + ], + [ + 0.35945577668205486, + 0.0646370702737999, + 0.9309208310894761, + 0.03604845891226568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9340835197175567, + -0.08225364174238292, + -0.34745117155102045, + 0.029233889737131806 + ], + [ + 0.05407715244260214, + 0.9944685226359629, + -0.09004453936772094, + 0.006051168602498043 + ], + [ + 0.3529357445424882, + 0.06531995029362164, + 0.9333647005955809, + 0.035218565961084296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.937397420416895, + -0.08038059927398998, + -0.33885842981414194, + 0.028212983189332106 + ], + [ + 0.05284276061134498, + 0.9945624822543854, + -0.08973913050040092, + 0.006488503589523993 + ], + [ + 0.3442291661767254, + 0.06621501455372594, + 0.9365478380739164, + 0.03422525930263016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.940592160056482, + -0.0785222168427248, + -0.33033414885897816, + 0.027325959748208645 + ], + [ + 0.05165703304229862, + 0.9946599820531321, + -0.08934803321467102, + 0.0069523025181130365 + ], + [ + 0.3355859642141612, + 0.06697597751557788, + 0.9396256057910962, + 0.03382307347412484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9451969673545741, + -0.07574535718684222, + -0.31759303167474234, + 0.026129307693199696 + ], + [ + 0.0499225246497392, + 0.994807953749451, + -0.08868414001063948, + 0.007674464852559697 + ], + [ + 0.3226614858273487, + 0.06796893423813716, + 0.9440708604454539, + 0.033810915561315665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9503119976163816, + -0.07243696834153676, + -0.3027540136874318, + 0.023461940780891404 + ], + [ + 0.04786185848628299, + 0.9949852449208123, + -0.0878271307291235, + 0.007744171549421273 + ], + [ + 0.30759770754770177, + 0.0689728062888464, + 0.9490133836274598, + 0.03419382056547335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9545802318486133, + -0.06950186159372575, + -0.2897344856913905, + 0.02054366599381846 + ], + [ + 0.04603302494316461, + 0.9951396801820334, + -0.08705157977763844, + 0.007451960566865156 + ], + [ + 0.2943765302778568, + 0.0697603624001994, + 0.9531400475582605, + 0.03471084479118182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9600725134905717, + -0.06538851472797874, + -0.2720020422378575, + 0.018526701558711958 + ], + [ + 0.04343997823281044, + 0.9953518306225222, + -0.08595173975858271, + 0.007417237666152758 + ], + [ + 0.27635798727561556, + 0.07070414003481747, + 0.9584504094896656, + 0.03434633323073411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9654786367648374, + -0.06097090599294096, + -0.25324602775386507, + 0.017596989822761915 + ], + [ + 0.04062991733703929, + 0.9955698690495015, + -0.0847929575963951, + 0.007602875317095526 + ], + [ + 0.2572940181346951, + 0.0715764239338531, + 0.9636786828445179, + 0.03330796044189755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9710187120254387, + -0.056039292214736254, + -0.23234082427444783, + 0.01700917261466715 + ], + [ + 0.03743335335057623, + 0.9957848810809882, + -0.08373299628852085, + 0.007644333735179118 + ], + [ + 0.2360538179174176, + 0.07260901003728079, + 0.9690234913086561, + 0.03290272117649869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.975202982361476, + -0.05197788414193976, + -0.21512192532006136, + 0.016607297753762396 + ], + [ + 0.034786541607390135, + 0.9959468051002706, + -0.08294490902738541, + 0.007648664623074156 + ], + [ + 0.21856129510112327, + 0.07340477484939936, + 0.9730584254365351, + 0.03270515646886714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9802587486583951, + -0.046606672591795927, + -0.19214734905430972, + 0.015942972055955757 + ], + [ + 0.03127924335209253, + 0.9961375788176764, + -0.08204592008490431, + 0.007738170686125764 + ], + [ + 0.19522908239808476, + 0.07441600726442575, + 0.9779303979572488, + 0.03296834884493637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9848048306154679, + -0.04114297699629429, + -0.168720778330123, + 0.0152381508277302 + ], + [ + 0.027705982425863036, + 0.9963097543627875, + -0.08123577967484719, + 0.007848699862473075 + ], + [ + 0.17144043902842138, + 0.07532681332331101, + 0.9823105654833901, + 0.03335907828615777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9886440119832293, + -0.035904555623928025, + -0.14592422847201464, + 0.013339222533487828 + ], + [ + 0.024416734486271678, + 0.9965144432900479, + -0.07976708212886388, + 0.00785116326116167 + ], + [ + 0.14827960293557363, + 0.07529825495836051, + 0.9860747092150242, + 0.03408280025096765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9913154653087596, + -0.03171470680057828, + -0.1276237658597761, + 0.01182007989809393 + ], + [ + 0.02176068785410338, + 0.9966649964619455, + -0.07864704248493196, + 0.007853133980112547 + ], + [ + 0.12969240804223617, + 0.07518684858446834, + 0.9886995585596984, + 0.034661777822815557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.99386487749574, + -0.026997922260856948, + -0.10725538435889755, + 0.008952487870594744 + ], + [ + 0.018822572797094053, + 0.9968905811074504, + -0.07651718795505029, + 0.007378825080125609 + ], + [ + 0.1089876875324741, + 0.07402892335328891, + 0.9912827056261383, + 0.03418800071873301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.995934953145838, + -0.022392673848558215, + -0.08724756306229889, + 0.006161266745655399 + ], + [ + 0.01589737324279777, + 0.9970985620716875, + -0.07444280380636277, + 0.007009134629147583 + ], + [ + 0.08866139309968518, + 0.0727531832464088, + 0.9934012943927232, + 0.033955996386137964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9971841811769937, + -0.019005762128437853, + -0.07254302045190988, + 0.004172676733895417 + ], + [ + 0.013710520252757513, + 0.9972518276328114, + -0.07280668868597515, + 0.007048161305193681 + ], + [ + 0.07372740633419642, + 0.07160707569043029, + 0.9947043260518663, + 0.03454406578882194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9984074622110993, + -0.014851858850382146, + -0.05442390733750182, + 0.0018190040082345098 + ], + [ + 0.010987887575432408, + 0.9974426768550108, + -0.07062133328492536, + 0.006995126939577556 + ], + [ + 0.05533358589340038, + 0.06991086236772633, + 0.996017402255191, + 0.03519215997672083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9992386835129464, + -0.010956660723075174, + -0.03744335664858849, + -6.409561270112607e-06 + ], + [ + 0.008401105190755266, + 0.9976676662194012, + -0.06773956902658532, + 0.006534821731266446 + ], + [ + 0.038098225718369606, + 0.06737343219795972, + 0.997000173435782, + 0.035492283902795456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997570791417194, + -0.007231094588242299, + -0.02082051817495674, + -0.0015424750366668043 + ], + [ + 0.005870493804891437, + 0.9978885167549694, + -0.06468419769197069, + 0.006287820839258437 + ], + [ + 0.02124429355155267, + 0.06454625782818944, + 0.9976885589159937, + 0.03604109628196925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9999584313844005, + -0.004437097958608805, + -0.007965404255593415, + -0.002424109704054641 + ], + [ + 0.003934771815832906, + 0.9980679114311185, + -0.06200775550108612, + 0.006346185305215749 + ], + [ + 0.008225148874436447, + 0.06197383587636688, + 0.9980438820977576, + 0.03677857232902728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.999967610400538, + -0.0010203306858457952, + 0.007983550283512976, + -0.0035474143165689143 + ], + [ + 0.0014846677483370669, + 0.9982936933077378, + -0.05837377547900686, + 0.006245090799779188 + ], + [ + -0.007910367343866301, + 0.05838373769542316, + 0.998262873826928, + 0.037504312153376324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9997154077600754, + 0.002292049280014968, + 0.02374552583550286, + -0.004702610846502407 + ], + [ + -0.0009997306369378103, + 0.998524534305502, + -0.0542932309651412, + 0.005882921162517825 + ], + [ + -0.023834932887678097, + 0.05425404040326012, + 0.9982426534035508, + 0.03793589412601511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993274388498481, + 0.004850475887988442, + 0.03634752873942425, + -0.005588232369806124 + ], + [ + -0.0030060765610551545, + 0.9987130895240776, + -0.05062734752069207, + 0.005741988578545041 + ], + [ + -0.03654631945233752, + 0.050484034079418545, + 0.9980559748017923, + 0.03812138525772789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.998611030171479, + 0.007921699127242101, + 0.05208893455231189, + -0.006647089648131926 + ], + [ + -0.00554877623735702, + 0.998946967089291, + -0.045543034872249505, + 0.005751826755874446 + ], + [ + -0.05239486140954399, + 0.04519074712863956, + 0.997603415627588, + 0.03815353111437104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9976579314366789, + 0.010759232881705173, + 0.06754917282457616, + -0.0081964547050813 + ], + [ + -0.008057260497243547, + 0.999161343504247, + -0.04014586155593186, + 0.005717808717933499 + ], + [ + -0.06792446094572104, + 0.039507575913813334, + 0.9969079290740183, + 0.03829834220453461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9964743799760369, + 0.013407246188422732, + 0.08281941681161302, + -0.01007282494777972 + ], + [ + -0.010574260835705783, + 0.9993469862342512, + -0.03455120999759148, + 0.005654553203145651 + ], + [ + -0.08322857117090936, + 0.033553641444144786, + 0.9959654402069815, + 0.03851826345037848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9954151788119026, + 0.015133996766803524, + 0.09444354892066648, + -0.011526646594402522 + ], + [ + -0.01238837698079702, + 0.9994853335600725, + -0.029590473367152592, + 0.00566777446374035 + ], + [ + -0.09484276412383605, + 0.02828480405045948, + 0.9950903576827471, + 0.03890222288527869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9939256261113948, + 0.017069387844182042, + 0.1087220573650843, + -0.01332422592454105 + ], + [ + -0.014629011240362935, + 0.9996237062268322, + -0.023204266406444206, + 0.005710895069660798 + ], + [ + -0.10907722855482314, + 0.021472818817211463, + 0.9938013263539358, + 0.03946884819483109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9922907496741783, + 0.018600374605096795, + 0.12252793222611473, + -0.014886298349723132 + ], + [ + -0.016763319709487953, + 0.9997313492859599, + -0.016006884993395625, + 0.0056616191611336365 + ], + [ + -0.12279274906677017, + 0.013829509008796067, + 0.9923359740819643, + 0.03942091468253926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9904797804179079, + 0.01994740097679079, + 0.1362053808686148, + -0.016389494048666103 + ], + [ + -0.018948321500846778, + 0.9997832379115221, + -0.008627763525600192, + 0.0055892441239945734 + ], + [ + -0.13634795816437387, + 0.005964761975490314, + 0.9906430517189238, + 0.039219341464786374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9889536331353822, + 0.020618923707884453, + 0.14678409823089208, + -0.017364985773745532 + ], + [ + -0.02059825028278547, + 0.9997864538063371, + -0.0016609848393325214, + 0.005407358849895077 + ], + [ + -0.14678700076510678, + -0.001380858601452197, + 0.9891671596024139, + 0.03889633320986845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9868877354477734, + 0.021347819743070442, + 0.15999021287248555, + -0.01858435043009482 + ], + [ + -0.022763715427880395, + 0.9997162112938681, + 0.007022117640202342, + 0.005180002257270706 + ], + [ + -0.15979490255538298, + -0.010572013453062417, + 0.98709362354787, + 0.03849257289122104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 533.6901346842448, + "fy": 533.690299987793, + "cx": 416.0, + "cy": 240.0 + } + } + ] +}